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-## TODOs - -### LED control is not implemented - -Need dependencies: -https://github.com/Freenove/Freenove_RPI_WS281x_Python diff --git a/_images/01_boot.png b/_images/01_boot.png new file mode 100644 index 0000000..32eaf7c Binary files /dev/null and b/_images/01_boot.png differ diff --git a/_images/02_psk.png b/_images/02_psk.png new file mode 100644 index 0000000..0cb0df7 Binary files /dev/null and b/_images/02_psk.png differ diff --git a/_images/03_codeServerFile.png b/_images/03_codeServerFile.png new file mode 100644 index 0000000..adec026 Binary files /dev/null and b/_images/03_codeServerFile.png differ diff --git a/_images/04_codeServerRun.png b/_images/04_codeServerRun.png new file mode 100644 index 0000000..7cf650c Binary files /dev/null and b/_images/04_codeServerRun.png differ diff --git a/_images/05_codeServerTerminal.png b/_images/05_codeServerTerminal.png new file mode 100644 index 0000000..bac5b4b Binary files /dev/null and b/_images/05_codeServerTerminal.png differ diff --git a/_images/06_codeServerFolder.png b/_images/06_codeServerFolder.png new file mode 100644 index 0000000..463cb18 Binary files /dev/null and b/_images/06_codeServerFolder.png differ diff --git a/_images/07_irSensor.webp b/_images/07_irSensor.webp new file mode 100644 index 0000000..4a1d412 Binary files /dev/null and b/_images/07_irSensor.webp differ diff --git a/_images/08_notepad.png b/_images/08_notepad.png new file mode 100644 index 0000000..c2ac6c5 Binary files /dev/null and b/_images/08_notepad.png differ diff --git a/_images/09_update.png b/_images/09_update.png new file mode 100644 index 0000000..bd73d23 Binary files /dev/null and b/_images/09_update.png differ diff --git a/_images/6x6_1000-0.png b/_images/6x6_1000-0.png new file mode 100644 index 0000000..747e1e1 Binary files /dev/null and b/_images/6x6_1000-0.png differ diff --git a/_images/Mainboard.png b/_images/Mainboard.png new file mode 100644 index 0000000..afe6987 Binary files /dev/null and b/_images/Mainboard.png differ diff --git a/_images/Sensorarray.png b/_images/Sensorarray.png new file mode 100644 index 0000000..11c4128 Binary files /dev/null and b/_images/Sensorarray.png differ diff --git a/_images/chessboard.jpg b/_images/chessboard.jpg new file mode 100644 index 0000000..53ffa83 Binary files /dev/null and b/_images/chessboard.jpg differ diff --git a/_images/chessboard_detected.jpg b/_images/chessboard_detected.jpg new file mode 100644 index 0000000..4f64fb6 Binary files /dev/null and b/_images/chessboard_detected.jpg differ diff --git a/_images/compair-logo-white.svg b/_images/compair-logo-white.svg new file mode 100644 index 0000000..8fb8da1 --- /dev/null +++ b/_images/compair-logo-white.svg @@ -0,0 +1,189 @@ + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + diff --git a/_images/opencv_http_stream.png b/_images/opencv_http_stream.png new file mode 100644 index 0000000..8fc6853 Binary files /dev/null and b/_images/opencv_http_stream.png differ diff --git a/_images/opencv_processed.png b/_images/opencv_processed.png new file mode 100644 index 0000000..27b59c7 Binary files /dev/null and b/_images/opencv_processed.png differ diff --git a/_sources/faq.rst.txt b/_sources/faq.rst.txt new file mode 100644 index 0000000..2e2f4b3 --- /dev/null +++ b/_sources/faq.rst.txt @@ -0,0 +1,32 @@ +FAQ +### + +Was ist das Passwort für die Entwicklungsumgebung? +-------------------------------------------------- +``compair`` + +Wie verbinde ich mich zur Entwicklungsumgebung? +----------------------------------------------- + +See :ref:`gettingstarted_codeserver` + +Was ist der Benutzername und das Passwort für den Raspberry Pi? +--------------------------------------------------------------- +``compair`` ``compair`` + +Wie aktualisiere ich meine Software? +------------------------------------ + +.. code-block:: bash + + sudo apt update + sudo apt upgrade + sudo update-firmware + +Wie kann ich die SD-Karte neu beschreiben? +------------------------------------------ +`SD-Karten Image `_ + +Software zum Schreiben der SD-Karte `balenaEtcher `_ + + diff --git a/_sources/gettingStarted/codeServer.rst.txt b/_sources/gettingStarted/codeServer.rst.txt new file mode 100644 index 0000000..0a7c27c --- /dev/null +++ b/_sources/gettingStarted/codeServer.rst.txt @@ -0,0 +1,11 @@ +.. _gettingstarted_codeserver: + +Programmierumgebung +################### + +Als Umgebung zur Programmierung des Roboters wird `code-server `_ eingesetzt, welche bereits am Roboter vorinstalliert ist. + +Verbindung zur Entwicklungsumgebung herstellen +---------------------------------------------- +Am Roboter wird die IP-Adresse des Raspberry Pi angezeigt. Um nun die Verbindung herzustellen, muss man in einem Web-Browser einfach ``:8080`` eingeben. +Das Passwort für Visual Studio Code im Browser ist ``compair``! \ No newline at end of file diff --git a/_sources/gettingStarted/firstProgram.rst.txt b/_sources/gettingStarted/firstProgram.rst.txt new file mode 100644 index 0000000..cb28686 --- /dev/null +++ b/_sources/gettingStarted/firstProgram.rst.txt @@ -0,0 +1,26 @@ +Mein erstes Programm +#################### + +Um mit der Programmierung zu beginnen, müssen wir zunächst einen neuen Ordner erstellen, in dem alle unsere Python-Dateien gespeichert werden. +|codeServerFolder| + +Sie können diesen Ordner nennen, wie Sie wollen, für dieses Beispiel heißt er ``compAIR``. +Im nächsten Schritt erstellen wir unsere Datei ``main.py``. +|codeServerFile| + +Dann können wir beginnen, unseren Code in diese Datei zu schreiben. + +.. code-block:: python + + print("Hallo Welt") + +Praktischerweise können wir die Datei auch über die VS-Code-Plattform ausführen. +|codeServerRun| + +Dann öffnet sich ein Terminal, der die Ausgabe unseres Programms anzeigt. +|codeServerTerminal| + +.. |codeServerFolder| image:: images/06_codeServerFolder.png +.. |codeServerFile| image:: images/03_codeServerFile.png +.. |codeServerRun| image:: images/04_codeServerRun.png +.. |codeServerTerminal| image:: images/05_codeServerTerminal.png diff --git a/_sources/gettingStarted/index.rst.txt b/_sources/gettingStarted/index.rst.txt new file mode 100644 index 0000000..8f0a94b --- /dev/null +++ b/_sources/gettingStarted/index.rst.txt @@ -0,0 +1,12 @@ +Erste Schritte +############## + +.. toctree:: + :maxdepth: 5 + + wifi.rst + codeServer.rst + firstProgram.rst + update.rst + secondProgram.rst + thridProgram.rst diff --git a/_sources/gettingStarted/secondProgram.rst.txt b/_sources/gettingStarted/secondProgram.rst.txt new file mode 100644 index 0000000..9f7d617 --- /dev/null +++ b/_sources/gettingStarted/secondProgram.rst.txt @@ -0,0 +1,313 @@ +Mein zweites Programm +##################### + +Motoren ansteuern +----------------- + +Um die Motoren des Roboters zu steuern, müssen wir zunächst das entsprechende Python-Modul am Anfang der Datei importieren. Dann können wir Motor.power(port, power) verwenden, um den Motor zu steuern. +Dies ist auch ein guter Punkt, um sich mit der Dokumentation vertraut zu machen: Besuchen wir https://lib.comp-air.at/lib/Motor.html#compLib.Motor.Motor.power. Hier werden die beiden relevanten Parameter beschrieben. + +Als Beispiel wollen wir den rechten Motor für fünf Sekunden auf volle Geschwindigkeit setzen: + +.. code-block:: python + :linenos: + + # motor.py + import time + from compLib.Motor import Motor + + Motor.power(0, 100) + time.sleep(5) + +Gerade fahren +------------- +Um geradeaus zu fahren, müssen wir beide Motoren auf dieselbe Geschwindigkeit einstellen. +Aber Achtung! Der rechte Motor muss umgedreht werden! Das liegt daran, dass einer nach rechts und einer nach links zeigt, sie sind also technisch gesehen gespiegelt. +Wenn wir nun diesen Code ausführen, wird der Roboter 5 Sekunden lang vorwärts fahren: + +.. code-block:: python + :linenos: + + # motor.py + import time + from compLib.Motor import Motor + + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(5) + +**Erläuterung** + +| In ``Zeile 2`` wird das python-Paket ``time`` importiert. Wir brauchen es später, um auf die Fahrt des Roboters zu warten. Z.B.: ``time.sleep(5)`` +| In ``Zeile 3`` importieren wir die notwendigen Funktionen aus dem ``Motor``-Modul der compLib. +| In ``Zeile 5`` stellen wir den ``rechten`` Motor so ein, dass er vorwärts fährt. Da der Motor rückwärts eingebaut ist, müssen wir den Wert auf ``-100`` setzen. +| In ``Zeile 6`` stellen wir den ``linken`` Motor auf Vorwärtsfahrt ein. Hier können wir den Wert ``100`` verwenden, da der Motor in der richtigen Richtung eingebaut ist. +| In ``Zeile 7`` müssen wir warten, bis der Roboter die Fahrbefehle tatsächlich ausführt. In diesem Fall warten wir ``5`` Sekunden lang. + +Danach wird das Programm beendet und der Roboter bleibt stehen. + +Mehr fahren ++++++++++++ + +Jetzt ist es Zeit für einige komplexere Bewegungen. Um unseren Code modular und leicht lesbar zu halten, werden wir jede Aktion in eine eigene Funktion packen. + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(2) + +In ``Zeile 4`` definieren wir die Funktion ``driveForward()``, die den Roboter mit voller Geschwindigkeit zwei Sekunden vorwärts bewegt. + +Jetzt werden wir eine Funktion für das Rückwärtsfahren definieren: + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(2) + + def driveBackward(): + Motor.power(0, 100) + Motor.power(3, -100) + time.sleep(2) + +In ``Zeile 9`` haben wir die Funktion ``driveBackward()`` definiert, die den Roboter zwei Sekunden lang rückwärts fahren lässt. + +Jetzt können wir diese beiden Funktionen aufrufen und vorwärts und dann wieder rückwärts fahren: + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(2) + + def driveBackward(): + Motor.power(0, 100) + Motor.power(3, -100) + time.sleep(2) + + driveForward() + driveBackward() + +Wenn wir diesen Code ausführen, sollte der Roboter zunächst zwei Sekunden vorwärts und dann wieder zwei Sekunden rückwärts fahren und ungefähr an der gleichen Position wie beim Start anhalten. + +Zwischen den Zeilen ``14`` und ``15`` brauchen wir kein ``time.sleep(2)``, da der sleep-Befehl bereits in den Funktionen integriert ist. + +Jetzt wollen wir, dass der Roboter erst vorwärts fährt, dann zwei Sekunden stillsteht und dann wieder rückwärts in seine Ausgangsposition fährt. + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(2) + + def driveBackward(): + Motor.power(0, 100) + Motor.power(3, -100) + time.sleep(2) + + driveForward() + time.sleep(2) + driveBackward() + +Wenn wir den obigen Code ausführen, bleibt der Roboter nicht zwei Sekunden lang stehen, sondern fährt nach der Funktion ``driveForward()`` noch zwei Sekunden lang weiter. Warum passiert das? Um das zu verstehen, müssen wir wie der Roboter denken! + +**Erläuterung** + +| 1. (``Zeile 14``) Die Funktion Vorwärtsfahrt wird aufgerufen +| (``Zeile 5``) Motor 1 wird auf -100 gesetzt +| (``Zeile 6``) Motor 4 wird auf 100 gesetzt +| (``Zeile 7``) Zwei Sekunden warten und Motor 1 mit der Geschwindigkeit -100 und Motor 4 mit der Geschwindigkeit 100 bewegen (z.B. vorwärts fahren) + +| 2. (``Zeile 15``) Zwei Sekunden warten, die Motoren sind immer noch auf -100 und 100 eingestellt, also fahren wir weiter vorwärts + +| 3. (``Zeile 16``) Die Funktion Rückwärtsfahren wird aufgerufen +| (``Zeile 5``) Motor 1 wird auf 100 gesetzt +| (``Zeile 6``) Motor 4 wird auf -100 gesetzt +| (``Zeile 7``) Warte zwei Sekunden und bewege Motor 1 mit der Geschwindigkeit 100 und Motor 4 mit der Geschwindigkeit -100 (z.B. Rückwärtsfahren) + +| 4. Das Programm ist beendet, und alle Motordrehzahlen werden auf 0 gesetzt. + +Wir sehen also, dass wir die Motoren nach der Vorwärts- oder Rückwärtsfunktion wieder auf Geschwindigkeit ``0`` setzen müssen, wenn wir den Roboter anhalten wollen. Für diesen Anwendungsfall können wir eine neue Funktion ``stopMotors()`` schreiben, die die Geschwindigkeit für Motor ``0`` und ``3`` auf ``0`` setzt: + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(2) + + def driveBackward(): + Motor.power(0, 100) + Motor.power(3, -100) + time.sleep(2) + + def stopMotors(): + Motor.power(0, 0) + Motor.power(3, 0) + +Wenn wir nun vorwärts fahren, dann zwei Sekunden warten und dann wieder rückwärts fahren wollen, können wir die Funktionen wie folgt aufrufen: + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(2) + + def driveBackward(): + Motor.power(0, 100) + Motor.power(3, -100) + time.sleep(2) + + def stopMotors(): + Motor.power(0, 0) + Motor.power(3, 0) + + driveForward() + stopMotors() + time.sleep(2) + driveBackward() + +Und endlich bekommen wir die Bewegung, die wir uns wünschen. + +**More Optimizations** + +Während der Code für sehr einfache Bewegungen funktioniert, wollen wir normalerweise nicht, dass unsere Funktionen entscheiden, wie lange wir vorwärts fahren. Vielleicht müssen wir manchmal vier Sekunden vorwärts fahren, und manchmal nur eine Sekunde. + +Nehmen wir an, wir wollen vier Sekunden vorwärts fahren. Wir wissen, dass ``driveForward()`` den Roboter zwei Sekunden vorwärts bewegen wird. Also können wir die Funktion einfach zwei Mal aufrufen! + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(2) + + driveForward() + driveForward() + +Was aber, wenn wir uns nur eine Sekunde vorwärts bewegen wollen? Oder vielleicht drei Sekunden? Mit der Funktion ``driveForward()`` können wir das im Moment nicht machen. + +Stattdessen werden wir die Funktion so umschreiben, dass sie einen Parameter akzeptiert, der die Zeit angibt. + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(seconds): + Motor.power(0, -100) + Motor.power(3, 100) + time.sleep(seconds) + + driveForward(3) + +Und mit dieser neuen Funktion können wir drei Sekunden lang vorwärts fahren. +Wie funktioniert das nun? + +In ``Zeile 4`` definieren wir die Funktion ``driveForward`` und sagen, dass sie einen Parameter ``seconds`` benötigt. Dieser Parameter ist im Grunde eine Variable, die wir uns zum Zeitpunkt der Definition wie einen Platzhalter vorstellen können. Wenn wir die Funktion definieren, wissen wir noch nicht, welchen Wert ``seconds`` haben wird. + +Später in ``Zeile 9``, wenn wir die Funktion aufrufen, übergeben wir den Wert ``3`` an die Funktion und unser Platzhalter ``seconds`` wird den Wert ``3`` haben. Der Roboter wird also drei Sekunden vorwärts fahren. + +Vielleicht wollen wir auch, dass der Roboter mit verschiedenen Geschwindigkeiten fahren kann. Wir können also einen weiteren Parameter mit dem Namen ``speed`` anlegen. Dann werden wir ein Programm schreiben, das den Roboter drei Sekunden mit voller Geschwindigkeit und dann fünf Sekunden mit halber Geschwindigkeit fahren lässt. + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(seconds, speed): + Motor.power(0, -speed) + Motor.power(3, speed) + time.sleep(seconds) + + driveForward(3, 100) + driveForward(5, 50) + +In ``Zeile 9`` wird der Platzhalter ``seconds`` auf ``3`` und die ``Geschwindigkeit`` auf ``100`` gesetzt. +In ``Zeile 10`` wird der Platzhalter ``seconds`` auf ``5`` und die ``Geschwindigkeit`` auf ``50`` gesetzt. + +**Bewährte Praktiken** +Nun werden wir uns einige weitere Optimierungen und bewährte Verfahren ansehen. + +**1. Wir sollten den Schlafbefehl nicht in die Fahrfunktion einbauen.** + +Wir haben das bis jetzt getan, um ein Gefühl dafür zu bekommen, wie Funktionen funktionieren, und der Einfachheit halber. Später, wenn Sie anfangen, komplexere Programme zu schreiben, sollten Sie dies vermeiden. + +Das Beispiel von oben, in dem wir vorwärts und rückwärts gefahren sind und zwei Sekunden gewartet haben, sollte also wie folgt aussehen: + +.. code-block:: python + :linenos: + + import time + from compLib.Motor import Motor + + def driveForward(speed): + Motor.power(0, -speed) + Motor.power(3, speed) + + def driveBackward(speed): + Motor.power(0, speed) + Motor.power(3, -speed) + + def stopMotors(): + Motor.power(0, 0) + Motor.power(3, 0) + + driveForward(100) # Set the motors to forward + time.sleep(2) # Let the robot drive for 2 seconds + stopMotors() # Now stop the robot + + time.sleep(2) # Wait another 2 seconds, robot is not moving + + driveBackward(100) # Now set the motors to a backwards speed + time.sleep(2) # Let the robot continue driving for 2 seconds + stopMotors() # And finally stop it again + +**Warum ist das so wichtig?** + +Normalerweise schlafen wir nicht sehr viel und führen in dieser Zeit andere Verarbeitungen durch. Zum Beispiel könnten wir ein Bild von der Kamera verarbeiten oder die IR-Sensoren auslesen. Wenn wir also eine Funktion wie ``driveForward()`` aufrufen, können wir davon ausgehen, dass sie im Hintergrund abläuft und wir andere Aufgaben erledigen, während sich der Roboter bewegt, anstatt nur darauf zu warten, dass er fertig wird. + +**2. Fahren Sie nicht zu langsam.** + +Wenn du die Fahrgeschwindigkeit auf eine sehr kleine Zahl einstellst, kann es sein, dass sich der Roboter gar nicht mehr bewegt, weil die Motoren eine bestimmte Menge an Energie benötigen, um den Roboter überhaupt zu bewegen. + +**3. Fahren Sie nicht zu schnell.** + +Wenn du die Fahrgeschwindigkeit auf eine sehr hohe Zahl einstellst (z. B. ``100``), könnte dein Roboter zu schnell für seine Sensoren sein. Dies wird später wichtig sein, wenn wir versuchen, eine schwarze Linie zu erkennen, aber zu schnell über sie fahren. diff --git a/_sources/gettingStarted/thridProgram.rst.txt b/_sources/gettingStarted/thridProgram.rst.txt new file mode 100644 index 0000000..762b544 --- /dev/null +++ b/_sources/gettingStarted/thridProgram.rst.txt @@ -0,0 +1,70 @@ +Mein drittes Programm +##################### + +Der offizielle compAIR-Bot ist mit einer Reihe von Sensoren ausgestattet. Die wichtigsten sind die Infrarotsensoren und -sender, die an der Vorderseite des Roboters angebracht sind. Insgesamt gibt es fünf IR-Sensoren. + +Um loszulegen, muss man zunächst das entsprechende Modul wie folgt importieren: + +.. code-block:: python + :linenos: + + from compLib.IRSensor import IRSensor + +|irSensor| + + +Wie im obigen Diagramm zu sehen ist, verfügt jeder Sensor auch über einen entsprechenden IR-Sender / Emitter. Dieser Sender kann mit ``IRSensor.set(port, enable)`` aktiviert werden. + +Schalten wir nun alle fünf Sender ein: + +.. code-block:: python + :linenos: + + from compLib.IRSensor import IRSensor + + IRSensor.enable() + +Diese fünf verschiedenen Sensoren befinden sich an der Vorderseite des Roboters und sind wichtig, um schwarze Linien zu erkennen. + +Es ist sehr einfach, den Wert der Sensoren abzulesen: + +.. code-block:: python + :linenos: + + from compLib.IRSensor import IRSensor + + IRSensor.enable() + + if IRSensor.read_all()[0] > 500: + print("high") + else: + print("low") + +**Erkennen einer schwarzen Linie** +Um den IR-Sensor zu testen, kannst du deinen Roboter auf eine schwarze Linie stellen. Der Sensor in der Mitte sollte auf der schwarzen Linie liegen. + +.. code-block:: python + :linenos: + + from compLib.IRSensor import IRSensor + + IRSensor.enable() + COLOR_BREAK = 900 + + if IRSensor.read_all()[2] > COLOR_BREAK: + print("Robot is standing on a black line") + else: + print("Robot is NOT standing on a black line") + +Wenn das Programm ausgeführt wird, zeigt es an, dass der Roboter auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor des Roboters über einer schwarzen Linie befindet, und es zeigt an, dass der Roboter NICHT auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor nicht über einer Linie befindet. + +| In ``Zeile 1`` importieren wir das ``IRSensor``-Modul, das zur Kommunikation mit dem IR-Sensor-Board verwendet werden kann. +| In ``Zeile 3`` wird der Sensor mit der Nummer ``3`` aktiviert. Wenn wir einen Sensor nicht aktivieren, können wir ihn nicht in unserem Programm verwenden. +| In ``Zeile 4`` stellen wir einen Farbschwellenwert von ``900`` ein, mit dem wir später prüfen werden, ob der Sensorwert unter oder über diesem Schwellenwert liegt. Unterhalb bedeutet, dass sich eine helle Farbe unter dem IR-Sensor befindet und ein höherer Wert als ``900`` bedeutet, dass sich eine dunkle Farbe unter dem IR-Sensor befindet. + +| In ``Zeile 6`` lesen wir den Sensor Nummer ``2`` aus und prüfen, ob der Wert über dem von uns definierten Schwellenwert von ``900`` liegt. Wenn das der Fall ist, hat der IR-Sensor eine schwarze Linie erkannt. + +Wir werden nun das Programm so ändern, dass es alle ``0.1`` Sekunden prüft, ob sich eine schwarze Linie unter dem Roboter befindet, und wenn dies der Fall ist, eine Meldung ausgibt. + + +.. |irSensor| image:: images/07_irSensor.webp \ No newline at end of file diff --git a/_sources/gettingStarted/update.rst.txt b/_sources/gettingStarted/update.rst.txt new file mode 100644 index 0000000..f09fae9 --- /dev/null +++ b/_sources/gettingStarted/update.rst.txt @@ -0,0 +1,13 @@ +Software Updaten +################# + +Da wir die ``compLib``, und die andere Software, welche auf dem Roboter läuft, laufend weiterentwickeln, solltet ihr immer wieder euren Roboter auf die neuste Version updaten. Dazu müsst ihr einfach den Roboter mit dem Internet verbinden und dann diesen Befehl in der Kommandozeile des Roboters eingeben: + +.. code-block:: bash + + sudo apt update && sudo apt upgrade + +Am einfachsten kann das über die Webseite gemacht werden, auf der ihr auch euren Code schreibt. Dazu müsst ihr einfach nur das Terminal (= Konsole) öffnen, dann den Befehl dort hineinkopieren und Enter drücken. +|updatePic| + +.. |updatePic| image:: images/09_update.png \ No newline at end of file diff --git a/_sources/gettingStarted/wifi.rst.txt b/_sources/gettingStarted/wifi.rst.txt new file mode 100644 index 0000000..343ba26 --- /dev/null +++ b/_sources/gettingStarted/wifi.rst.txt @@ -0,0 +1,86 @@ +.. _gettingStarted_wifi: + +WLAN-Verbindung herstellen +########################## + +Schritt für Schritt - macOS +--------------------------- +1. SD-Karte aus dem Raspberry Pi bzw. Roboter entnehmen. +2. Einstecken der SD-Karte in den Computer +3. Öffnen der SD-Karte mit dem Namen "boot" |bootImage| +4. Generieren des PSK auf `https://www.wireshark.org/tools/wpa-psk.html `_ |pskImage| +5. Öffnen der Datei "wpa_supplicant.conf" auf der SD-Karte +6. Einfügen der Konfiguration. Dabei muss die SSID und der vorher generierte PSK eingesetzt werden :: + + ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev + update_config=1 + country=AT + + network={ + ssid="EinTollerNameFürDasWlan" + psk="98117b165a48f25cbe36f288ddf597729a40feeea93054c19bfa8e5eab238541" + } + +7. Speichern, Auswerfen und wieder in den Raspberry Pi einbauen +8. Starten des Roboters +9. Die IP-Adresse sollte nun am Roboter angezeigt werden + +.. |bootImage| image:: images/01_boot.png +.. |pskImage| image:: images/02_psk.png + +Weitere Informationen +--------------------- +Die "wpa_supplicant.conf" Datei wird beim Start des Rpasberry Pi automatisch an den richtigen Ort kopiert, damit sich der Roboter zum Wlan verbindet. +Eine genauere Anleitung wird vom Hersteller des Raspberry Pi `hier `_ bereitgestellt. + +Windows...... +------------- +Je nach Betriebssystem und Editor, mit dem Sie die Datei erstellen, könnte die Datei falsche Zeilenumbrüche oder eine falsche Dateierweiterung haben; stellen Sie also sicher, dass Sie einen Editor verwenden, der dies berücksichtigt. Linux erwartet das Zeilenumbruchzeichen LF (Line Feed). +Beispielsweise kann `Notepad++ `_ verwendet werden, um die Datei richtig zu speichern. +|notepadImage| + +.. |notepadImage| image:: images/08_notepad.png + + +Fehlerbehandlung +---------------- +Sollte es dazu kommen, dass der Roboter nicht automatisch die Verbindung mit dem Netzwerk herstellt, kann eine Kabelgebundene Verbindung zur Diagnose von Fehlern genutzt werden. +Dabei wird automatisch die IP-Adresse der Verbindung "eth" am Roboter angezeigt. Nach der erfolgreichen Verbindung zum Roboter mittels SSH kann die "wpa_cli" zur Fehlerbehandlung verwendet werden: +:: + + > wpa_cli + wpa_cli v2.9 + Copyright (c) 2004-2019, Jouni Malinen and contributors + + This software may be distributed under the terms of the BSD license. + See README for more details. + + + Selected interface 'p2p-dev-wlan0' + + Interactive mode + + > interface wlan0 + Connected to interface 'wlan0. + > scan + OK + <3>CTRL-EVENT-SCAN-STARTED + <3>CTRL-EVENT-SCAN-RESULTS + > scan_result + bssid / frequency / signal level / flags / ssid + 68:02:b8:0c:d7:47 2462 -66 [WPA2-PSK-CCMP][ESS] WG + 68:02:b8:0c:d7:40 5220 -63 [WPA2-PSK-CCMP][ESS] WG + 34:2c:c4:da:dd:b9 5200 -65 [WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS] WLAN10573403 + 98:da:c4:e5:21:d0 2437 -57 [WPA2-PSK-CCMP][ESS] WG + 34:2c:c4:da:dd:c6 2412 -52 [WPA-PSK-][WPA2-PSK-CCMP+TKIP][WPS][ESS] WLAN10573403 + 20:83:f8:07:5b:90 2467 -67 [WPA2-PSK-CCMP][WPS][ESS] A1-075b8c + 7c:39:53:94:49:82 5280 -77 [WPA2-PSK-CCMP][WPS][ESS] A1-944980-5G + 7c:39:53:94:49:81 2427 -68 [WPA2-PSK-CCMP][WPS][ESS] A1-944980 + 90:fd:73:ac:d3:27 2452 -72 [WPA2-PSK-CCMP][WPS][ESS] Drei_H288A_24G_eKy5 + 50:e0:39:3c:e5:80 5180 -82 [WPA2-PSK-CCMP][WPS][ESS] A1-393CE57F + 90:fd:73:ac:d3:28 5500 -83 [WPA2-PSK-CCMP][WPS][ESS] Drei_H288A_5G_eKy5 + 68:02:b8:41:42:f9 5180 -84 [WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS] WLAN18792472 + 34:2c:c4:30:3c:65 5180 -89 [WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS] witt + fa:0d:ac:d3:40:d4 2467 -80 [WPA2-PSK-CCMP][WPS][ESS][P2P] DIRECT-d4-HP M28 LaserJet + 0e:84:dc:14:ac:27 2467 -85 [WPA2-PSK-CCMP][WPS][ESS][P2P] DIRECT-wo-BRAVIA + > diff --git a/_sources/index.rst.txt b/_sources/index.rst.txt new file mode 100644 index 0000000..7d70efd --- /dev/null +++ b/_sources/index.rst.txt @@ -0,0 +1,20 @@ +Dokumentation des Roboters +########################## + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + +Inhalt +****** + +.. toctree:: + :maxdepth: 1 + :glob: + + gettingStarted/index.rst + software/installation.rst + faq.rst + other/usage + lib/index.rst + other/hardware.rst diff --git a/_sources/lib/Api.rst.txt b/_sources/lib/Api.rst.txt new file mode 100644 index 0000000..850f69b --- /dev/null +++ b/_sources/lib/Api.rst.txt @@ -0,0 +1,107 @@ +.. _lib_api: + +Api +**** + +Seeding +======== + +.. autoclass:: compLib.Api.Seeding + :members: + +Double Elimination +=================== + +.. autoclass:: compLib.Api.DoubleElim + :members: + +Position +======== + +.. autoclass:: compLib.Api.Position + :members: + + +Examples +======== + +Calling Seeding API +--------------------- + +.. code-block:: python + + from compLib.Api import Seeding + + zones, code = Seeding.get_delivery() + if code == 403: + print(f"I am not in the correct zone to make that request!") + else: + print(f"First we need to go to zone {zone[0]}") + # put code here to follow line and drive to the zone + print(f"Now we need to go to zone {zone[1]}") + # put code here to follow line and drive to the next zone + print(f"Now we need to go to zone {zone[2]}") + # put code here to follow line and drive to the last zone + print(f"We delivered all packages, hopefully we scored some points!") + +.. code-block:: python + + from compLib.Api import Seeding + + package, code = Seeding.get_cargo("yellow") + if code == 403: + print(f"I am not in the correct zone to make that request!") + elif code == 404: + print(f"I am in the correct zone, but there is no yellow package here.") + elif code == 413: + print(f"I am in the correct zone, but I already have two packages loaded.") + else code == 200: + print(f"The {package['color']} has been picked up!") + +Calling Double Elimination API +---------------------------------- + +.. code-block:: python + + from compLib.Api import DoubleElim + + position, status = DoubleElim.get_position() + print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}") + + goal, status = DoubleElim.get_goal() + print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}") + +.. code-block:: python + + from compLib.Api import DoubleElim + import time + + # function which waits for the game to be started (you should include this in your double elimination program) + def wait_for_start(): + _, status = DoubleElim.get_position() + while status == 503: + time.sleep(0.1) + _, status = DoubleElim.get_position() + + wait_for_start() + print(f"Game has started, lets score some points!!") + + position, status = DoubleElim.get_position() + print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}") + + opponent_position, status = DoubleElim.get_opponent() + print(f"Position of the opponents robot is: x={opponent_position.x}, y={opponent_position.y} and rotation is: {opponent_position.degrees}, the server responded with status code: {status}") + + goal, status = DoubleElim.get_goal() + print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}") + + items, status = DoubleElim.get_items() + print(f"There are currently {len(items)} on the gameboard: {items}, the server responded with status code: {status}") + + score, status = DoubleElim.get_score() + print(f"The current score of the game is {score}, the server responded with status code: {status}") + + meteoroids, status = DoubleElim.get_meteoroids() + print(f"The current meteoroids in the game are {meteoroids}, the server responded with status code: {status}") + +In this second example we wait until the game is started by the judges and then make all possible requests once. You should use the wait_for_start function in your double elimination program. If your robot starts too soon your run will not count! diff --git a/_sources/lib/Aruco.rst.txt b/_sources/lib/Aruco.rst.txt new file mode 100644 index 0000000..51059ae --- /dev/null +++ b/_sources/lib/Aruco.rst.txt @@ -0,0 +1,83 @@ +.. _lib_vision: + +Aruco +******* + +Examples +========= + +Recognizing ArUco tags +------------------------- + +.. code-block:: python + + import time + import cv2 + from cv2 import aruco + from compLib import Vision + + ARUCO_DICT = cv2.aruco.Dictionary_get(aruco.DICT_6X6_250) + ARUCO_PARAMETERS = aruco.DetectorParameters_create() + + def getTagCenterFromFrame(id, frame): + gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) + + corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, ARUCO_DICT, parameters = ARUCO_PARAMETERS) + frame = aruco.drawDetectedMarkers(frame.copy(), corners, ids) + + if ids is None: + return frame, None, None + + for tag_id, corner in zip(ids, corners): + if (tag_id[0] == id): + + x, y = 0, 0 + for i in range(4): + x += corner[0][i][0] * 0.25 + y += corner[0][i][1] * 0.25 + + return frame, x, y + return frame, None, None + + # Get the center from the aruco tag with the specified id + # in pixel coordinates (0-640, 0-480) + def getTagPosition(id): + frame = Vision.Streaming.get_frame() + frame, x, y = getTagCenterFromFrame(id, frame) + Vision.Streaming.publish_frame(frame) + return x, y + + # Get the normalized center coordinates from the aruco tag + # with the specified id + # left is -1, right +1 + # bottom is -1, top +1 + def getNormalizedTagPosition(id): + frame = Vision.Streaming.get_frame() + frame, x, y = getTagCenterFromFrame(id, frame) + Vision.Streaming.publish_frame(frame) + + if x is None or y is None: + return None, None + + height, width = frame.shape[:2] + x = x / width * 2.0 - 1.0 + y = -(y / height * 2.0 - 1.0) + return x, y + + if __name__ == '__main__': + + desiredID = 11 + + while True: + x, y = getNormalizedTagPosition(desiredID) + + if x is not None: + print("X Coordinate: ", x) + else: + print("Tag not found") + + +This example shows how to recognize ArUco tags based on their id and position. +You can specify an ID of the tag you want to use and if it's found, the coordinates of the center are returned. +With the normalized function this is very easy: The x-coordinate is -1 on the left, 1 on the right and 0 in the center of the screen, same for y. +This way it is quite simple to act on the position of the tag. diff --git a/_sources/lib/Battery.rst.txt b/_sources/lib/Battery.rst.txt new file mode 100644 index 0000000..c7d1fb1 --- /dev/null +++ b/_sources/lib/Battery.rst.txt @@ -0,0 +1,23 @@ +.. _lib_battery: + +Battery +******** + +Class Documentation +==================== + +.. autoclass:: compLib.Battery.Battery + :members: + + +Examples +========= + +Printing percentage +-------------------- + +.. code-block:: python + + from compLib.Battery import Battery + + print(Battery.percent()) \ No newline at end of file diff --git a/_sources/lib/Buzzer.rst.txt b/_sources/lib/Buzzer.rst.txt new file mode 100644 index 0000000..56a81c4 --- /dev/null +++ b/_sources/lib/Buzzer.rst.txt @@ -0,0 +1,25 @@ +.. _lib_buzzer: + +Buzzer +******* + +Class Documentation +==================== + +.. autoclass:: compLib.Buzzer.Buzzer + :members: + +Examples +========= + +Turning buzzer on and off +-------------------------- + +.. code-block:: python + + import time + from compLib.Buzzer import Buzzer + + Buzzer.set(True) + time.sleep(1) + Buzzer.set(False) \ No newline at end of file diff --git a/_sources/lib/Display.rst.txt b/_sources/lib/Display.rst.txt new file mode 100644 index 0000000..6701845 --- /dev/null +++ b/_sources/lib/Display.rst.txt @@ -0,0 +1,23 @@ +.. _lib_display: + +Display +******* + +Class Documentation +==================== + +.. autoclass:: compLib.Display.Display + :members: + +Examples +========= + +Write a line to the display +--------------------------- + +.. code-block:: python + + import time + from compLib.Display import Display + + Display.write(1, "Hello World!") \ No newline at end of file diff --git a/_sources/lib/Encoder.rst.txt b/_sources/lib/Encoder.rst.txt new file mode 100644 index 0000000..1d5bf30 --- /dev/null +++ b/_sources/lib/Encoder.rst.txt @@ -0,0 +1,10 @@ +.. _lib_encoder: + +Encoder +******* + +Class Documentation +==================== + +.. autoclass:: compLib.Encoder.Encoder + :members: diff --git a/_sources/lib/IRSensor.rst.txt b/_sources/lib/IRSensor.rst.txt new file mode 100644 index 0000000..b1dd232 --- /dev/null +++ b/_sources/lib/IRSensor.rst.txt @@ -0,0 +1,20 @@ +.. _lib_irsensor: + +Infrared Sensor +**************** + +.. autoclass:: compLib.IRSensor.IRSensor + :members: + +Examples +========= + +Testing analog sensors +------------------------- + +.. code-block:: python + + from compLib import IRSensor + + while True: + print ("left: {} middle: {} right: {}".format(IRSensor.read(1), IRSensor.read(3), IRSensor.read(5))) \ No newline at end of file diff --git a/_sources/lib/IRWrapper.rst.txt b/_sources/lib/IRWrapper.rst.txt new file mode 100644 index 0000000..15232a7 --- /dev/null +++ b/_sources/lib/IRWrapper.rst.txt @@ -0,0 +1,22 @@ +.. _lib_irwrapper: + +Infrared Wrapper +**************** + +.. autoclass:: compLib.IRWrapper.IRWrapper + :members: + +Examples +========= + +Calibrating analog sensors +-------------------------- + +.. code-block:: python + + from compLib import IRWrapper + + ir = IRWrapper.IRWrapper() + + ir.calibrate() + print("left {} middle {} right {}".format(ir.bottom_left_calibrated(), ir.bottom_middle_calibrated(), ir.bottom_right_calibrated())) diff --git a/_sources/lib/Linefollower.rst.txt b/_sources/lib/Linefollower.rst.txt new file mode 100644 index 0000000..41de752 --- /dev/null +++ b/_sources/lib/Linefollower.rst.txt @@ -0,0 +1,79 @@ +.. _lib_Linefollower: + +Linefollower Examples +********************* + +Simple Linefollower +------------------------- + +.. code-block:: python + + from compLib.Motor import Motor + from compLib.Display import Display + from compLib.IRSensor import IRSensor + from compLib.Encoder import Encoder + + import time + + IRSensor.set(1, True) + IRSensor.set(2, True) + IRSensor.set(3, True) + IRSensor.set(4, True) + IRSensor.set(5, True) + + DRIVE_SPEED = 75 + COLOR_BREAK = 900 + KP = 10.0 + KD = 0.0 + + def drive(leftSpeed, rightSpeed): + rightSpeed *= -0.906 + + Motor.power(1, min(max(-100, rightSpeed), 100)) + Motor.power(4, min(max(-100, leftSpeed), 100)) + + def follow(sleepTime = 0.1): + lastError = 0 + sensorsBlack = 0 + while sensorsBlack < 3: + sensorsBlack = 0 + for i in range(1, 6): + if IRSensor.read(i) > COLOR_BREAK: + sensorsBlack += 1 + + error = lastError + if IRSensor.read(3) > COLOR_BREAK: + error = 0 + elif IRSensor.read(1) > COLOR_BREAK: + error = -1.5 + elif IRSensor.read(5) > COLOR_BREAK: + error = 1.5 + elif IRSensor.read(2) > COLOR_BREAK: + error = -1 + elif IRSensor.read(4) > COLOR_BREAK: + error = 1 + elif error == 1.5: + error = 3 + elif error == -1.5: + error = -3 + + lastError = error + + adjustment = KP * error + KD * (error - lastError) + leftSpeed = DRIVE_SPEED + adjustment + rightSpeed = DRIVE_SPEED - adjustment + + print(f"{leftSpeed} {rightSpeed} {adjustment} {error}") + drive(leftSpeed, rightSpeed) + + drive(0, 0) + time.sleep(sleepTime) + + def main(): + follow() + follow() + follow() + follow() + follow(0.2) + + main() \ No newline at end of file diff --git a/_sources/lib/Logging.rst.txt b/_sources/lib/Logging.rst.txt new file mode 100644 index 0000000..5fe6d41 --- /dev/null +++ b/_sources/lib/Logging.rst.txt @@ -0,0 +1,22 @@ +.. _lib_logging: + +Logging +******* + +Class Documentation +==================== + +.. autoclass:: compLib.LogstashLogging.Logging + :members: + +Examples +========= + +Turn up the logging +-------------------- + +.. code-block:: python + + from compLib.LogstashLogging import Logging + + Logging.set_debug() \ No newline at end of file diff --git a/_sources/lib/Motor.rst.txt b/_sources/lib/Motor.rst.txt new file mode 100644 index 0000000..bd8b253 --- /dev/null +++ b/_sources/lib/Motor.rst.txt @@ -0,0 +1,23 @@ +.. _lib_motor: + +Motor +****** + +Class Documentation +==================== + +.. autoclass:: compLib.Motor.Motor + :members: + +Examples +========= + +Driving straight (maybe) +------------------------- + +.. code-block:: python + + from compLib.Motor import Motor + + Motor.power(1, -50) + Motor.power(4, 50) \ No newline at end of file diff --git a/_sources/lib/Odom.rst.txt b/_sources/lib/Odom.rst.txt new file mode 100644 index 0000000..672e11c --- /dev/null +++ b/_sources/lib/Odom.rst.txt @@ -0,0 +1,50 @@ +.. _lib_odom: + +Odometry +******** + +Class Documentation +==================== + +.. autoclass:: compLib.Odom.Odometry + :members: + +.. autoclass:: compLib.Odom.Odom + :members: + + +Examples +========= + +Getting actual distance driven +------------------------------ + +.. code-block:: python + + import time + import math + from compLib.Motor import Motor + from compLib.Encoder import Encoder + from compLib.Odom import Odom, Odometry + + # distance in meters + # speed in % of max speed + def drive_example(distance, speed): + Odom.update() + odom = Odom.get_odom() + while abs(odom.get_x()) < distance: + Odom.update() + odom = Odom.get_odom() + + Motor.power(4, speed) + Motor.power(1, -speed) + + print(f" Forward: {odom.get_x()} m") + print(f" Right: {odom.get_y()} m") + print(f" Turned: {math.degrees(odom.get_orientation())} degrees") + + Motor.active_break(1) + Motor.active_break(4) + time.sleep(0.1) + Encoder.clear_all() + Odom.clear() \ No newline at end of file diff --git a/_sources/lib/QC.rst.txt b/_sources/lib/QC.rst.txt new file mode 100644 index 0000000..924fa71 --- /dev/null +++ b/_sources/lib/QC.rst.txt @@ -0,0 +1,71 @@ +.. _lib_qc: + +Quality Control +############### + +Infrared Test +------------------------- + +.. code-block:: python + + from compLib.IRSensor import IRSensor + import time + + IRSensor.set(1, True) + IRSensor.set(2, True) + IRSensor.set(3, True) + IRSensor.set(4, True) + IRSensor.set(5, True) + + while True: + t = time.time() + for i in range(1, 6): + print(f"{i}: {IRSensor.read(i)}") + print("") + time.sleep(0.2) + +Motor Test +------------------------- + +.. code-block:: python + + from compLib.Motor import Motor + from compLib.Encoder import Encoder + import time + + Motor.power(1, -50) + Motor.power(4, 50) + + while True: + print(f"L:{Encoder.read(4)} R:{Encoder.read(1)}") + time.sleep(0.1) + +Servo Test +------------------------- + +.. code-block:: python + + from compLib.Servo import Servo + import time + + for i in range(1, 8 + 1): + Servo.set_position(i, 45) + print(f"{i}") + time.sleep(1) + + Servo.setup_position() + time.sleep(10) + +Vision Test +------------------------- + +.. code-block:: python + + import cv2 + from compLib import Vision + from compLib.Servo import Servo + + while True: + frame = Vision.Streaming.get_frame() + Vision.Streaming.publish_frame(frame) + Servo.set_position(3, -45) diff --git a/_sources/lib/Robot.rst.txt b/_sources/lib/Robot.rst.txt new file mode 100644 index 0000000..c7aa712 --- /dev/null +++ b/_sources/lib/Robot.rst.txt @@ -0,0 +1,11 @@ +.. _lib_robot: + +Robot +****** + +Class Documentation +==================== + +.. autoclass:: compLib.Robot.Robot + :members: + :private-members: \ No newline at end of file diff --git a/_sources/lib/Servo.rst.txt b/_sources/lib/Servo.rst.txt new file mode 100644 index 0000000..d991b73 --- /dev/null +++ b/_sources/lib/Servo.rst.txt @@ -0,0 +1,7 @@ +.. _lib_servo: + +Servo +****** + +.. autoclass:: compLib.Servo.Servo + :members: \ No newline at end of file diff --git a/_sources/lib/Vision.rst.txt b/_sources/lib/Vision.rst.txt new file mode 100644 index 0000000..5c030d9 --- /dev/null +++ b/_sources/lib/Vision.rst.txt @@ -0,0 +1,104 @@ +.. _lib_vision: + +Vision +******* + +This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv. + +How do I use this module? + +1. Get frames from the raspberry pi camera +2. -- here comes your own processing -- +3. Publish the processed frames on an http server +4. You can view the http stream of your processed images in a web browser + +Opencv Stream +============== + +Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up +to 5 Seconds. + +.. autoclass:: compLib.Vision.__Streaming + :members: + +Examples +========= + +Using the Vision Module +------------------------- + +.. code-block:: python + + import cv2 + from compLib import Vision + + while True: + # get newest opencv frame from camera + frame = Vision.Streaming.get_frame() + + # do some processing with the frame..... + + # publish frame to streaming server + Vision.Streaming.publish_frame(frame) + +Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/". This should display +your raspberry pi camera. Note: the stream will lag a little bit BUT the processing of the image will be done in +realtime. + +The output on the website should show whatever your raspberry pi cam records: + +.. image:: images/opencv_http_stream.png + :width: 680 + :alt: Processed frames from opencv + + +Chessboard Detection +------------------------------------------ + +In this example we process the captured stream of images and want to detect chessboards. Run this example and +point your raspberry pi camera to a chessboard and it should be detected. + +For testing you can point it at this image: + +.. image:: images/chessboard.jpg + :width: 680 + :alt: Chessboard for opencv processing + +.. code-block:: python + + import cv2 + from compLib import Vision + + while True: + # get newest opencv frame from camera + frame = Vision.Streaming.get_frame() + + criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) + + # convert image to grayscale image + gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) + + # find the chessboard corners + ret, corners = cv2.findChessboardCorners(gray, (6, 9), None) + + # draw detected chessboard position onto the image + cv2.drawChessboardCorners(frame, (6, 9), corners, ret) + + # publish frame to streaming server + Vision.Streaming.publish_frame(frame) + +Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/". + +The output image should look like this: + +.. image:: images/chessboard_detected.jpg + :width: 680 + :alt: Processed frames from opencv + +Here is a screenshot of the stream website while viewing the chessboard in this documentation. + +.. image:: images/opencv_processed.png + :width: 680 + :alt: Processed frames from opencv + + diff --git a/_sources/lib/classes/DoubleElimination.rst.txt b/_sources/lib/classes/DoubleElimination.rst.txt new file mode 100644 index 0000000..240f713 --- /dev/null +++ b/_sources/lib/classes/DoubleElimination.rst.txt @@ -0,0 +1,13 @@ +.. _lib_doubleElim: + +Double Elimination +******************* + +Dokumentation des Double Elimination Moduls +============================================ + +.. autoclass:: compLib.DoubleElimination.Position + :members: + +.. autoclass:: compLib.DoubleElimination.DoubleElim + :members: diff --git a/_sources/lib/classes/Encoder.rst.txt b/_sources/lib/classes/Encoder.rst.txt new file mode 100644 index 0000000..ecca45c --- /dev/null +++ b/_sources/lib/classes/Encoder.rst.txt @@ -0,0 +1,10 @@ +.. _lib_encoder: + +Encoder +******* + +Dokumentation der Klasse +======================== + +.. autoclass:: compLib.Encoder.Encoder + :members: diff --git a/_sources/lib/classes/IRSensor.rst.txt b/_sources/lib/classes/IRSensor.rst.txt new file mode 100644 index 0000000..1454156 --- /dev/null +++ b/_sources/lib/classes/IRSensor.rst.txt @@ -0,0 +1,10 @@ +.. _lib_irsensor: + +Infrarot Sensoren +***************** + +Dokumentation der Klasse +======================== + +.. autoclass:: compLib.IRSensor.IRSensor + :members: diff --git a/_sources/lib/classes/Motor.rst.txt b/_sources/lib/classes/Motor.rst.txt new file mode 100644 index 0000000..d647932 --- /dev/null +++ b/_sources/lib/classes/Motor.rst.txt @@ -0,0 +1,50 @@ +.. _lib_motor: + +Motoren +******** + +Dokumentation der Klasse +======================== + +.. autoclass:: compLib.Motor.Motor + :members: + +Genauere Informationen +====================== + +Power vs Speed vs PulseWidth +----------------------------- +Zur ansteuerung der Motoren kann entweder ``Motor.power(...)``, ``Motor.speed(...)`` oder ``Motor.pulse_width(...)``` verwendet werden. +Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters. + +| Bei ``Motor.power()`` wird dabei ein Wert zwischen -100% und 100% der maximalen Geschwindigkeit angegeben. +| ``Motor.speed()`` verwendet die Encoder um die Geschwindigkeit der Motoren mittels closed-loop zu steuern. Diese Funktion sollte nur verwendet werden, wenn ``Motor.power()`` nicht zur Ansteuerung ausreicht. +| ``Motor.pulse_width()`` stellt die Geschwindigkeit des Motors mittels der Pulsbreite der PWM-Steuerung des Motors ein. Diese Funktion ist so nah an der Hardware wie möglich und sollte auch nur verwendet werden, wenn es einen expliziten Grund dafür gibt. + +Normal vs Multiple +------------------ +Der Aufruf der funktionen kann entweder über ``Motor.power(port, percent)`` oder ``Motor.power((port, percent), (port, percent), ..)`` erfolgen. +Der zweite Aufruf ermöglicht dem Entwickler dabei beide Motoren in einem Aufruf anzusteuern und bringt einen kleinen Vorteil in der Leistungsfähigkeit der Software. + + +Beispiele +========= + +Vorwärts fahren +--------------- + +Mit folgenden Programm drehen sich beide Motoren mit 50% ihrer maximalen Geschwindigkeit. +Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum aneren Motor gedreht werden muss, da diese spiegelverkehrt montiert sind. + +Zusätzlich ist ein ``time.sleep(5)`` notwendig, welches das Programm für 5 Sekunden pausiert. Diese Pause wird benötigt, da der Roboter automatisch alle Motoren beim Ende des Progammes deaktiviert. + +.. code-block:: python + + from compLib.Motor import Motor + import time + + Motor.power(0, -50) + Motor.power(3, 50) + + time.sleep(5) + diff --git a/_sources/lib/classes/Opencv.rst.txt b/_sources/lib/classes/Opencv.rst.txt new file mode 100644 index 0000000..9d788db --- /dev/null +++ b/_sources/lib/classes/Opencv.rst.txt @@ -0,0 +1,79 @@ +.. _lib_camera: + +Camera und OpenCV +******************* + +Dokumentation des Camera Moduls +================================ + +.. autoclass:: compLib.Camera.Marker + :members: + +.. autoclass:: compLib.Camera.Camera + :members: + +Beispiele +========= + +Bild Anzeigen +--------------- + +Das folgende Programm fragt Bilder von der Kamera ab und schickt sie an den Webserver, der im Hintergrund läuft. Der Benutzer kann dann auf die Webseite: http://raspi_ip:9898 gehen und die Ausgabe der Kamera sehen. + +.. code-block:: python + + from compLib.Camera import * + + camera = Camera() + while True: + image = camera.get_frame() + camera.publish_frame(image) + +ArUco Marker Erkennen +------------------------ + +In diesem Programm werden die ArUco Marker, die sich am Spielfeld befinden, erkannt. Diese "QR-Code" ähnlichen Marker finden sich in den Logistikzonen und können dazu verwendet werden zu erkennen, wo der Roboter hinfahren sollt etc. + +.. code-block:: python + + from compLib.Camera import * + + camera = Camera() + while True: + image = camera.get_frame() + + markers, image = camera.detect_markers_midpoint(image) + print(markers) + print("-----------------") + + camera.publish_frame(image) + +Hier ist z.B. der ArUco Marker mit der ID 0. Führe das Programm aus und lass den Roboter auf den Bildschirm schauen. Das Programm sollte die 2D Position ausgeben, welcher der ArUco Marker (genauer sein Mittelpunkt) im Camera Bild hat. + +|ArucoExample| + +.. |ArucoExample| image:: images/6x6_1000-0.png + +Um die Positionen zu verarbeiten, muss dann nur noch das "markers" array durchgegangen werden. Das könnte z.B. so gemacht werden: + +.. code-block:: python + + from compLib.Camera import * + + camera = Camera() + while True: + image = camera.get_frame() + + markers, image = camera.detect_markers_midpoint(image) + print(markers) + print("-----------------") + + for marker in markers: + print(f"Marker mit der id: {marker.id}") + print(f"Ist auf der X Position: {marker.x}") + print(f"und auf der Y Position: {marker.y}") + print("-----------------") + + camera.publish_frame(image) + +Wichtig ist noch zu beachten, dass die X und Y Positionen ihren Ursprung in der linken oberen Ecke des Bildes haben. D.h. die Position (0,0) ist im oberen linken Bildrand. diff --git a/_sources/lib/classes/Seeding.rst.txt b/_sources/lib/classes/Seeding.rst.txt new file mode 100644 index 0000000..e56de99 --- /dev/null +++ b/_sources/lib/classes/Seeding.rst.txt @@ -0,0 +1,36 @@ +.. _lib_seeding: + +Seeding +******* + +Dokumentation des Seeding Moduls +================================ + +.. autoclass:: compLib.Seeding.Gamestate + :members: + +Beispiele +---------- + +| In ``Zeile 1`` wird das Seeding Modul importiert. +| In ``Zeile 2`` definieren wir dann eine Variable, in der wir den "Seed" des Gamestates den wir erstellen wollten speichern. +| In ``Zeile 3`` erstellen wir dann einen neuen Gamestate mit dem Seed und speichern ihn in die Variable ``gamestate``. +| In ``Zeile 4`` geben wir dann den Gamestate aus, damit wir ihn auf der Konsole ansehen können. + +.. code-block:: python + + import compLib.Seeding as Seeding + seed = 42 + gamestate = Seeding.Gamestate(seed) + print(gamestate) + +In der Ausgabe des Print Statements sehen wir den generierten Gamestate. + +.. code-block:: + + Seed: 42 + Heu Color: 1 + Material Pairs: [[3, 0], [2, 3], [0, 2], [1, 2]] + Material Zones: [2, 1, 3, 2] + Logistic Plan: [12, 13, 12, 13, 10, 11, 13, 10, 13, 12, 11, 10, 11, 13, 10, 11, 12, 11, 12, 10, 12] + Logistic Centers: [[0, 3, 1, 1], [1, 0, 2, 2], [1, 2, 0, 2], [3, 0, 2, 0]] diff --git a/_sources/lib/index.rst.txt b/_sources/lib/index.rst.txt new file mode 100644 index 0000000..d781e5e --- /dev/null +++ b/_sources/lib/index.rst.txt @@ -0,0 +1,12 @@ +compLib +####### + +.. toctree:: + :maxdepth: 5 + + classes/Motor + classes/Encoder + classes/IRSensor + classes/Seeding + classes/DoubleElimination + classes/Opencv diff --git a/_sources/other/hardware.rst.txt b/_sources/other/hardware.rst.txt new file mode 100644 index 0000000..81b96c1 --- /dev/null +++ b/_sources/other/hardware.rst.txt @@ -0,0 +1,64 @@ +.. _other_bardware: + +Hardware +######## + +Sensorarray +*********** + +|SensorarrayImage| + +.. |SensorarrayImage| image:: images/Sensorarray.png + +Specs V4 +-------- + +| **Processor:** `STM32G030F6P6 `_ - 32-bit ARM Cortex M0 CPU @ 64 MHz +| **I/O:** 1x I2C, 1x SWD +| **Sensors:** 5x `QRE1113GR `_ + +Specs V2 +-------- + +| **Processor:** `ATMEGA328P-AU `_ - 8-bit CPU @ 16 MHz +| **I/O:** 1x I2C, 1x UART, 1x ISP +| **Sensors:** 5x `QRE1113GR `_ + +Details +------- + +Das Sensorarray wird verwendet um Linienen vor dem Roboter zu erkennen. Es agiert als I2C Slave und muss dementsprechend aktiv gepollt werden. +Zusätzlich besteht die möglichkeit alle Emitter zu deaktiviern um einen eventuellen Messfehler durch Sonneneinstralung oder andere Störquellen zu erkennen. + +Version 4 unterscheidet sich zu Version 2 im Mikroprozessor, da es zu Lieferengpässen des ATMEGA gekommen ist. +Zusätzlich wurde die möglichkeit alle Emitter einzeln an bzw. auszuschalten entfernt, da diese keinen signifikanten Mehrwert brachte. + +Motorboard +********** + +|MainboardImage| + +.. |MainboardImage| image:: images/Mainboard.png + +Specs +----- +**Motor-Treiber:** `LV8548MC-AH `_ + +Details +------- +Das Motorboard kann an einen der 4 Ports am Roboter angesteckt werden und ermöglicht das Ansteuern von Motoren und auslesen von Encodern. + +Mainboard +********* + +Specs +----- + +| **Processor:** `STM32L051C8T6TR `_ - 32-bit ARM Cortex M0 @ 32MHz +| **I/O:** 4x I2C (3x Bus 1, 1x Bus 2), 1x 40 Pin GPIO Header, 2x SPI (Verbunden mit GPIO), 4x Motor-/Servo-connector, 1x SWD, 1x USB-C + +Details +------- + +Das Mainboard wird auf den GPIO-Header eines Raspberry Pi gesteckt und ermöglicht die Steuerung eines Roboters mittels 4 Motor- bzw. Servo-Ports. Der RaspberryPi kommuniziert dabei mittels SPI mit dem Mainboard und steuert die einzelnen Sensoren oder Module an. +Zusätzlich befinden sich auf der Unterseite des Mainboards Lötstellen, welche direkt mit der Stromversorgung der Motoren verbunden sind und geben so die möglichkeit Motoren mit mehr als 5V anzusteuern. \ No newline at end of file diff --git a/_sources/other/usage.rst.txt b/_sources/other/usage.rst.txt new file mode 100644 index 0000000..97f67d4 --- /dev/null +++ b/_sources/other/usage.rst.txt @@ -0,0 +1,166 @@ +.. _other_usage: + +Beispiele +######### + +Vorwärts und rückwärts fahren +***************************** + +.. code-block:: python + + import time + from compLib.Motor import * + + def forward(): + Motor.power(0, -30) + Motor.power(3, 30) + + + def backward(): + Motor.power(0, 30) + Motor.power(3, -30) + + def main(): + print("hallo ich bin ein roboter beep buup") + + forward() + time.sleep(1) + backward() + time.sleep(1) + + if __name__ == '__main__': + main() + + +Eine Linie verfolgen +******************** + +.. code-block:: python + + import time + from compLib.Motor import Motor + from compLib.Encoder import Encoder + from compLib.IRSensor import IRSensor + + COLOR_BREAK = 850 + DRIVE_SPEED = 35 + + IRSensor.enable() + + def drive(left, right): + right *= -1 + Motor.multiple_power((0, right), (3, left)) + print(f"{left} {right}") + + def follow(): + while True: + sensors = IRSensor.read_all() + + if sensors[0] > COLOR_BREAK: + # turn left + drive(-DRIVE_SPEED, DRIVE_SPEED) + elif sensors[4] > COLOR_BREAK: + # turn right + drive(DRIVE_SPEED, -DRIVE_SPEED) + else: + # straight + drive(DRIVE_SPEED, DRIVE_SPEED) + + if sensors[0] > COLOR_BREAK and sensors[4] > COLOR_BREAK: + break + + drive(0, 0) + time.sleep(1) + + def main(): + follow() + + drive(DRIVE_SPEED, DRIVE_SPEED) + time.sleep(0.5) + follow() + + drive(DRIVE_SPEED, DRIVE_SPEED) + time.sleep(0.5) + follow() + + drive(DRIVE_SPEED, DRIVE_SPEED) + time.sleep(0.5) + follow() + + if __name__ == "__main__": + main() + +Funktionalität des Roboters überprüfen +************************************** + +.. code-block:: python + + import time + from compLib.Motor import Motor + from compLib.Encoder import Encoder + from compLib.IRSensor import IRSensor + + + def testIR(): + print("Enabling Infrared Sensor") + IRSensor.enable() + time.sleep(1) + + print("Writing sensor values...") + for i in range(0, 50): + print(IRSensor.read_all()) + time.sleep(0.1) + + print("Disabling Infrared Sensor") + IRSensor.disable() + + def testEncoders(): + Motor.multiple_pulse_width((0, 50), (3, -50)) + + print("Writing encoder positions...") + for i in range(0, 50): + print(Encoder.read_all_positions()) + time.sleep(0.1) + + time.sleep(2) + print("Writing encoder velocities...") + for i in range(0, 50): + print(Encoder.read_all_velocities()) + time.sleep(0.1) + + Motor.multiple_pulse_width((0, 0), (3, 0)) + + + def testMotors(): + print("Setting pulse_with") + Motor.multiple_pulse_width((0, 50), (3, -50)) + time.sleep(3) + + print("Setting power") + Motor.multiple_power((0, 50), (3, -50)) + time.sleep(3) + + print("Setting pulse_with") + Motor.multiple_speed((0, 5), (3, -5)) + time.sleep(3) + + for i in range(0, 100): + Motor.multiple_power((0, i), (3, -i)) + time.sleep(0.1) + + + if __name__ == "__main__": + print("Make sure robot is turned on it's back!") + time.sleep(5) + + print() + print("----------------- Testing Infrared Sensor -----------------") + testIR() + + print() + print("----------------- Testing Encoder -----------------") + testEncoders() + + print() + print("----------------- Testing Motors -----------------") + testMotors() \ No newline at end of file diff --git a/_sources/software/installation.rst.txt b/_sources/software/installation.rst.txt new file mode 100644 index 0000000..1a648fe --- /dev/null +++ b/_sources/software/installation.rst.txt @@ -0,0 +1,59 @@ +.. _software_installation: + +Installationsanweisungen +######################## + +Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen. + +**Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.** + +Betriebssystem aufsetzen +======================== + +Als Basis wird für den Roboter Raspberry Pi OS (64-bit) verwendet. Das 32-Bit Betriebssystem wird nicht unterstützt, da die Software-Komponenten nur für aarch64 bzw. arm64/v8 kompiliert werden. +Genauere Informationen sind `hier `_ zu finden. + +Bearbeiten der boot-Partition +============================= + +1. ``cmdline.txt`` + +:: + + console=tty1 root=PARTUUID=21e60f8c-02 rootfstype=ext4 fsck.repair=yes rootwait quiet init=/usr/lib/raspi-config/init_resize.sh + + +Stellen Sie sicher, dass die folgenden Einstellungen in der ``config.txt`` korrekt gesetzt sind + +2. ``config.txt`` + +:: + + # SPI + dtparam=spi=on + dtoverlay=spi1-3cs + + # Run in 64-bit mode + arm_64bit=1 + + [all] + + [pi4] + # Run as fast as firmware / board allows + arm_boost=1 + + [all] + start_x=1 + gpu_mem=128 + + dtoverlay=pi3-disable-bt + enable_uart=1 + +3. Erstellen der leeren Datei ``ssh``, damit ssh beim nächsten Start aktiviert wird +4. Hinzufügen der ``userconf.txt`` + +:: + + compair:$6$eh2pkHm18RgYtwiG$PoeabVCH8llbyIio66OefPGXZ2r2BRI2hPHIdkNTBjmiR0lGXsozGyLx0uViOx3bi998syXjSDXkwt0t3x8Bq. + +5. Wlan Verbindung einrichten \ No newline at end of file diff --git a/_static/_sphinx_javascript_frameworks_compat.js b/_static/_sphinx_javascript_frameworks_compat.js new file mode 100644 index 0000000..8549469 --- /dev/null +++ b/_static/_sphinx_javascript_frameworks_compat.js @@ -0,0 +1,134 @@ +/* + * _sphinx_javascript_frameworks_compat.js + * ~~~~~~~~~~ + * + * Compatability shim for jQuery and underscores.js. + * + * WILL BE REMOVED IN Sphinx 6.0 + * xref RemovedInSphinx60Warning + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} diff --git a/_static/_stemmer.js b/_static/_stemmer.js new file mode 100644 index 0000000..a5beb8f --- /dev/null +++ b/_static/_stemmer.js @@ -0,0 +1,2506 @@ +// generatedy by JSX compiler 0.9.89 (2014-05-20 06:01:03 +0900; 8e8c6105f36f3dfe440ea026a3c93a3444977102) +var JSX = {}; +(function (JSX) { +/** + * extends the class + */ +function $__jsx_extend(derivations, base) { + var ctor = function () {}; + ctor.prototype = base.prototype; + var proto = new ctor(); + for (var i in derivations) { + derivations[i].prototype = proto; + } +} + +/** + * copies the implementations from source interface to target + */ +function $__jsx_merge_interface(target, source) { + for (var k in source.prototype) + if (source.prototype.hasOwnProperty(k)) + target.prototype[k] = source.prototype[k]; +} + +/** + * defers the initialization of the property + */ +function $__jsx_lazy_init(obj, prop, func) { + function reset(obj, prop, value) { + delete obj[prop]; + obj[prop] = value; + return value; + } + + Object.defineProperty(obj, prop, { + get: function () { + return reset(obj, prop, func()); + }, + set: function (v) { + reset(obj, prop, v); + }, + enumerable: true, + configurable: true + }); +} + +var $__jsx_imul = Math.imul; +if (typeof $__jsx_imul === "undefined") { + $__jsx_imul = function (a, b) { + var ah = (a >>> 16) & 0xffff; + var al = a & 0xffff; + var bh = (b >>> 16) & 0xffff; + var bl = b & 0xffff; + return ((al * bl) + (((ah * bl + al * bh) << 16) >>> 0)|0); + }; +} + +/** + * fused int-ops with side-effects + */ +function $__jsx_ipadd(o, p, r) { + return o[p] = (o[p] + r) | 0; +} +function $__jsx_ipsub(o, p, r) { + return o[p] = (o[p] - r) | 0; +} +function $__jsx_ipmul(o, p, r) { + return o[p] = $__jsx_imul(o[p], r); +} +function $__jsx_ipdiv(o, p, r) { + return o[p] = (o[p] / r) | 0; +} +function $__jsx_ipmod(o, p, r) { + return o[p] = (o[p] % r) | 0; +} +function $__jsx_ippostinc(o, p) { + var v = o[p]; + o[p] = (v + 1) | 0; + return v; +} +function $__jsx_ippostdec(o, p) { + var v = o[p]; + o[p] = (v - 1) | 0; + return v; +} + +/** + * non-inlined version of Array#each + */ +function $__jsx_forEach(o, f) { + var l = o.length; + for (var i = 0; i < l; ++i) + f(o[i]); +} + +/* + * global functions, renamed to avoid conflict with local variable names + */ +var $__jsx_parseInt = parseInt; +var $__jsx_parseFloat = parseFloat; +function $__jsx_isNaN(n) { return n !== n; } +var $__jsx_isFinite = isFinite; + +var $__jsx_encodeURIComponent = encodeURIComponent; +var $__jsx_decodeURIComponent = decodeURIComponent; +var $__jsx_encodeURI = encodeURI; +var $__jsx_decodeURI = decodeURI; + +var $__jsx_ObjectToString = Object.prototype.toString; +var $__jsx_ObjectHasOwnProperty = Object.prototype.hasOwnProperty; + +/* + * profiler object, initialized afterwards + */ +function $__jsx_profiler() { +} + +/* + * public interface to JSX code + */ +JSX.require = function (path) { + var m = $__jsx_classMap[path]; + return m !== undefined ? m : null; +}; + +JSX.profilerIsRunning = function () { + return $__jsx_profiler.getResults != null; +}; + +JSX.getProfileResults = function () { + return ($__jsx_profiler.getResults || function () { return {}; })(); +}; + +JSX.postProfileResults = function (url, cb) { + if ($__jsx_profiler.postResults == null) + throw new Error("profiler has not been turned on"); + return $__jsx_profiler.postResults(url, cb); +}; + +JSX.resetProfileResults = function () { + if ($__jsx_profiler.resetResults == null) + throw new Error("profiler has not been turned on"); + return $__jsx_profiler.resetResults(); +}; +JSX.DEBUG = false; +var GeneratorFunction$0 = +(function () { + try { + return Function('import {GeneratorFunction} from "std:iteration"; return GeneratorFunction')(); + } catch (e) { + return function GeneratorFunction () {}; + } +})(); +var __jsx_generator_object$0 = +(function () { + function __jsx_generator_object() { + this.__next = 0; + this.__loop = null; + this.__seed = null; + this.__value = undefined; + this.__status = 0; // SUSPENDED: 0, ACTIVE: 1, DEAD: 2 + } + + __jsx_generator_object.prototype.next = function (seed) { + switch (this.__status) { + case 0: + this.__status = 1; + this.__seed = seed; + + // go next! + this.__loop(this.__next); + + var done = false; + if (this.__next != -1) { + this.__status = 0; + } else { + this.__status = 2; + done = true; + } + return { value: this.__value, done: done }; + case 1: + throw new Error("Generator is already running"); + case 2: + throw new Error("Generator is already finished"); + default: + throw new Error("Unexpected generator internal state"); + } + }; + + return __jsx_generator_object; +}()); +function Among(s, substring_i, result) { + this.s_size = s.length; + this.s = s; + this.substring_i = substring_i; + this.result = result; + this.method = null; + this.instance = null; +}; + +function Among$0(s, substring_i, result, method, instance) { + this.s_size = s.length; + this.s = s; + this.substring_i = substring_i; + this.result = result; + this.method = method; + this.instance = instance; +}; + +$__jsx_extend([Among, Among$0], Object); +function Stemmer() { +}; + +$__jsx_extend([Stemmer], Object); +function BaseStemmer() { + var current$0; + var cursor$0; + var limit$0; + this.cache = ({ }); + current$0 = this.current = ""; + cursor$0 = this.cursor = 0; + limit$0 = this.limit = current$0.length; + this.limit_backward = 0; + this.bra = cursor$0; + this.ket = limit$0; +}; + +$__jsx_extend([BaseStemmer], Stemmer); +BaseStemmer.prototype.setCurrent$S = function (value) { + var current$0; + var cursor$0; + var limit$0; + current$0 = this.current = value; + cursor$0 = this.cursor = 0; + limit$0 = this.limit = current$0.length; + this.limit_backward = 0; + this.bra = cursor$0; + this.ket = limit$0; +}; + + +function BaseStemmer$setCurrent$LBaseStemmer$S($this, value) { + var current$0; + var cursor$0; + var limit$0; + current$0 = $this.current = value; + cursor$0 = $this.cursor = 0; + limit$0 = $this.limit = current$0.length; + $this.limit_backward = 0; + $this.bra = cursor$0; + $this.ket = limit$0; +}; + +BaseStemmer.setCurrent$LBaseStemmer$S = BaseStemmer$setCurrent$LBaseStemmer$S; + +BaseStemmer.prototype.getCurrent$ = function () { + return this.current; +}; + + +function BaseStemmer$getCurrent$LBaseStemmer$($this) { + return $this.current; +}; + +BaseStemmer.getCurrent$LBaseStemmer$ = BaseStemmer$getCurrent$LBaseStemmer$; + +BaseStemmer.prototype.copy_from$LBaseStemmer$ = function (other) { + this.current = other.current; + this.cursor = other.cursor; + this.limit = other.limit; + this.limit_backward = other.limit_backward; + this.bra = other.bra; + this.ket = other.ket; +}; + + +function BaseStemmer$copy_from$LBaseStemmer$LBaseStemmer$($this, other) { + $this.current = other.current; + $this.cursor = other.cursor; + $this.limit = other.limit; + $this.limit_backward = other.limit_backward; + $this.bra = other.bra; + $this.ket = other.ket; +}; + +BaseStemmer.copy_from$LBaseStemmer$LBaseStemmer$ = BaseStemmer$copy_from$LBaseStemmer$LBaseStemmer$; + +BaseStemmer.prototype.in_grouping$AIII = function (s, min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor >= this.limit) { + return false; + } + ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) { + return false; + } + ch -= min; + if ((s[ch >>> 3] & 0x1 << (ch & 0x7)) === 0) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; +}; + + +function BaseStemmer$in_grouping$LBaseStemmer$AIII($this, s, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor >= $this.limit) { + return false; + } + ch = $this.current.charCodeAt($this.cursor); + if (ch > max || ch < min) { + return false; + } + ch -= min; + if ((s[ch >>> 3] & 0x1 << (ch & 0x7)) === 0) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; +}; + +BaseStemmer.in_grouping$LBaseStemmer$AIII = BaseStemmer$in_grouping$LBaseStemmer$AIII; + +BaseStemmer.prototype.in_grouping_b$AIII = function (s, min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor <= this.limit_backward) { + return false; + } + ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) { + return false; + } + ch -= min; + if ((s[ch >>> 3] & 0x1 << (ch & 0x7)) === 0) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; +}; + + +function BaseStemmer$in_grouping_b$LBaseStemmer$AIII($this, s, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor <= $this.limit_backward) { + return false; + } + ch = $this.current.charCodeAt($this.cursor - 1); + if (ch > max || ch < min) { + return false; + } + ch -= min; + if ((s[ch >>> 3] & 0x1 << (ch & 0x7)) === 0) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; +}; + +BaseStemmer.in_grouping_b$LBaseStemmer$AIII = BaseStemmer$in_grouping_b$LBaseStemmer$AIII; + +BaseStemmer.prototype.out_grouping$AIII = function (s, min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor >= this.limit) { + return false; + } + ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) { + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; + } + ch -= min; + if ((s[ch >>> 3] & 0X1 << (ch & 0x7)) === 0) { + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; + } + return false; +}; + + +function BaseStemmer$out_grouping$LBaseStemmer$AIII($this, s, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor >= $this.limit) { + return false; + } + ch = $this.current.charCodeAt($this.cursor); + if (ch > max || ch < min) { + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; + } + ch -= min; + if ((s[ch >>> 3] & 0X1 << (ch & 0x7)) === 0) { + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; + } + return false; +}; + +BaseStemmer.out_grouping$LBaseStemmer$AIII = BaseStemmer$out_grouping$LBaseStemmer$AIII; + +BaseStemmer.prototype.out_grouping_b$AIII = function (s, min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor <= this.limit_backward) { + return false; + } + ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) { + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; + } + ch -= min; + if ((s[ch >>> 3] & 0x1 << (ch & 0x7)) === 0) { + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; + } + return false; +}; + + +function BaseStemmer$out_grouping_b$LBaseStemmer$AIII($this, s, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor <= $this.limit_backward) { + return false; + } + ch = $this.current.charCodeAt($this.cursor - 1); + if (ch > max || ch < min) { + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; + } + ch -= min; + if ((s[ch >>> 3] & 0x1 << (ch & 0x7)) === 0) { + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; + } + return false; +}; + +BaseStemmer.out_grouping_b$LBaseStemmer$AIII = BaseStemmer$out_grouping_b$LBaseStemmer$AIII; + +BaseStemmer.prototype.in_range$II = function (min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor >= this.limit) { + return false; + } + ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; +}; + + +function BaseStemmer$in_range$LBaseStemmer$II($this, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor >= $this.limit) { + return false; + } + ch = $this.current.charCodeAt($this.cursor); + if (ch > max || ch < min) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; +}; + +BaseStemmer.in_range$LBaseStemmer$II = BaseStemmer$in_range$LBaseStemmer$II; + +BaseStemmer.prototype.in_range_b$II = function (min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor <= this.limit_backward) { + return false; + } + ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; +}; + + +function BaseStemmer$in_range_b$LBaseStemmer$II($this, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor <= $this.limit_backward) { + return false; + } + ch = $this.current.charCodeAt($this.cursor - 1); + if (ch > max || ch < min) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; +}; + +BaseStemmer.in_range_b$LBaseStemmer$II = BaseStemmer$in_range_b$LBaseStemmer$II; + +BaseStemmer.prototype.out_range$II = function (min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor >= this.limit) { + return false; + } + ch = this.current.charCodeAt(this.cursor); + if (! (ch > max || ch < min)) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; +}; + + +function BaseStemmer$out_range$LBaseStemmer$II($this, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor >= $this.limit) { + return false; + } + ch = $this.current.charCodeAt($this.cursor); + if (! (ch > max || ch < min)) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + return true; +}; + +BaseStemmer.out_range$LBaseStemmer$II = BaseStemmer$out_range$LBaseStemmer$II; + +BaseStemmer.prototype.out_range_b$II = function (min, max) { + var ch; + var $__jsx_postinc_t; + if (this.cursor <= this.limit_backward) { + return false; + } + ch = this.current.charCodeAt(this.cursor - 1); + if (! (ch > max || ch < min)) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; +}; + + +function BaseStemmer$out_range_b$LBaseStemmer$II($this, min, max) { + var ch; + var $__jsx_postinc_t; + if ($this.cursor <= $this.limit_backward) { + return false; + } + ch = $this.current.charCodeAt($this.cursor - 1); + if (! (ch > max || ch < min)) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t - 1) | 0, $__jsx_postinc_t); + return true; +}; + +BaseStemmer.out_range_b$LBaseStemmer$II = BaseStemmer$out_range_b$LBaseStemmer$II; + +BaseStemmer.prototype.eq_s$IS = function (s_size, s) { + var cursor$0; + if (((this.limit - this.cursor) | 0) < s_size) { + return false; + } + if (this.current.slice(cursor$0 = this.cursor, ((cursor$0 + s_size) | 0)) !== s) { + return false; + } + this.cursor = (this.cursor + s_size) | 0; + return true; +}; + + +function BaseStemmer$eq_s$LBaseStemmer$IS($this, s_size, s) { + var cursor$0; + if ((($this.limit - $this.cursor) | 0) < s_size) { + return false; + } + if ($this.current.slice(cursor$0 = $this.cursor, ((cursor$0 + s_size) | 0)) !== s) { + return false; + } + $this.cursor = ($this.cursor + s_size) | 0; + return true; +}; + +BaseStemmer.eq_s$LBaseStemmer$IS = BaseStemmer$eq_s$LBaseStemmer$IS; + +BaseStemmer.prototype.eq_s_b$IS = function (s_size, s) { + var cursor$0; + if (((this.cursor - this.limit_backward) | 0) < s_size) { + return false; + } + if (this.current.slice((((cursor$0 = this.cursor) - s_size) | 0), cursor$0) !== s) { + return false; + } + this.cursor = (this.cursor - s_size) | 0; + return true; +}; + + +function BaseStemmer$eq_s_b$LBaseStemmer$IS($this, s_size, s) { + var cursor$0; + if ((($this.cursor - $this.limit_backward) | 0) < s_size) { + return false; + } + if ($this.current.slice((((cursor$0 = $this.cursor) - s_size) | 0), cursor$0) !== s) { + return false; + } + $this.cursor = ($this.cursor - s_size) | 0; + return true; +}; + +BaseStemmer.eq_s_b$LBaseStemmer$IS = BaseStemmer$eq_s_b$LBaseStemmer$IS; + +BaseStemmer.prototype.eq_v$S = function (s) { + return BaseStemmer$eq_s$LBaseStemmer$IS(this, s.length, s); +}; + + +function BaseStemmer$eq_v$LBaseStemmer$S($this, s) { + return BaseStemmer$eq_s$LBaseStemmer$IS($this, s.length, s); +}; + +BaseStemmer.eq_v$LBaseStemmer$S = BaseStemmer$eq_v$LBaseStemmer$S; + +BaseStemmer.prototype.eq_v_b$S = function (s) { + return BaseStemmer$eq_s_b$LBaseStemmer$IS(this, s.length, s); +}; + + +function BaseStemmer$eq_v_b$LBaseStemmer$S($this, s) { + return BaseStemmer$eq_s_b$LBaseStemmer$IS($this, s.length, s); +}; + +BaseStemmer.eq_v_b$LBaseStemmer$S = BaseStemmer$eq_v_b$LBaseStemmer$S; + +BaseStemmer.prototype.find_among$ALAmong$I = function (v, v_size) { + var i; + var j; + var c; + var l; + var common_i; + var common_j; + var first_key_inspected; + var k; + var diff; + var common; + var w; + var i2; + var res; + i = 0; + j = v_size; + c = this.cursor; + l = this.limit; + common_i = 0; + common_j = 0; + first_key_inspected = false; + while (true) { + k = i + (j - i >>> 1); + diff = 0; + common = (common_i < common_j ? common_i : common_j); + w = v[k]; + for (i2 = common; i2 < w.s_size; i2++) { + if (c + common === l) { + diff = -1; + break; + } + diff = this.current.charCodeAt(c + common) - w.s.charCodeAt(i2); + if (diff !== 0) { + break; + } + common++; + } + if (diff < 0) { + j = k; + common_j = common; + } else { + i = k; + common_i = common; + } + if (j - i <= 1) { + if (i > 0) { + break; + } + if (j === i) { + break; + } + if (first_key_inspected) { + break; + } + first_key_inspected = true; + } + } + while (true) { + w = v[i]; + if (common_i >= w.s_size) { + this.cursor = (c + w.s_size | 0); + if (w.method == null) { + return w.result; + } + res = w.method(w.instance); + this.cursor = (c + w.s_size | 0); + if (res) { + return w.result; + } + } + i = w.substring_i; + if (i < 0) { + return 0; + } + } + return -1; +}; + + +function BaseStemmer$find_among$LBaseStemmer$ALAmong$I($this, v, v_size) { + var i; + var j; + var c; + var l; + var common_i; + var common_j; + var first_key_inspected; + var k; + var diff; + var common; + var w; + var i2; + var res; + i = 0; + j = v_size; + c = $this.cursor; + l = $this.limit; + common_i = 0; + common_j = 0; + first_key_inspected = false; + while (true) { + k = i + (j - i >>> 1); + diff = 0; + common = (common_i < common_j ? common_i : common_j); + w = v[k]; + for (i2 = common; i2 < w.s_size; i2++) { + if (c + common === l) { + diff = -1; + break; + } + diff = $this.current.charCodeAt(c + common) - w.s.charCodeAt(i2); + if (diff !== 0) { + break; + } + common++; + } + if (diff < 0) { + j = k; + common_j = common; + } else { + i = k; + common_i = common; + } + if (j - i <= 1) { + if (i > 0) { + break; + } + if (j === i) { + break; + } + if (first_key_inspected) { + break; + } + first_key_inspected = true; + } + } + while (true) { + w = v[i]; + if (common_i >= w.s_size) { + $this.cursor = (c + w.s_size | 0); + if (w.method == null) { + return w.result; + } + res = w.method(w.instance); + $this.cursor = (c + w.s_size | 0); + if (res) { + return w.result; + } + } + i = w.substring_i; + if (i < 0) { + return 0; + } + } + return -1; +}; + +BaseStemmer.find_among$LBaseStemmer$ALAmong$I = BaseStemmer$find_among$LBaseStemmer$ALAmong$I; + +BaseStemmer.prototype.find_among_b$ALAmong$I = function (v, v_size) { + var i; + var j; + var c; + var lb; + var common_i; + var common_j; + var first_key_inspected; + var k; + var diff; + var common; + var w; + var i2; + var res; + i = 0; + j = v_size; + c = this.cursor; + lb = this.limit_backward; + common_i = 0; + common_j = 0; + first_key_inspected = false; + while (true) { + k = i + (j - i >> 1); + diff = 0; + common = (common_i < common_j ? common_i : common_j); + w = v[k]; + for (i2 = w.s_size - 1 - common; i2 >= 0; i2--) { + if (c - common === lb) { + diff = -1; + break; + } + diff = this.current.charCodeAt(c - 1 - common) - w.s.charCodeAt(i2); + if (diff !== 0) { + break; + } + common++; + } + if (diff < 0) { + j = k; + common_j = common; + } else { + i = k; + common_i = common; + } + if (j - i <= 1) { + if (i > 0) { + break; + } + if (j === i) { + break; + } + if (first_key_inspected) { + break; + } + first_key_inspected = true; + } + } + while (true) { + w = v[i]; + if (common_i >= w.s_size) { + this.cursor = (c - w.s_size | 0); + if (w.method == null) { + return w.result; + } + res = w.method(this); + this.cursor = (c - w.s_size | 0); + if (res) { + return w.result; + } + } + i = w.substring_i; + if (i < 0) { + return 0; + } + } + return -1; +}; + + +function BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I($this, v, v_size) { + var i; + var j; + var c; + var lb; + var common_i; + var common_j; + var first_key_inspected; + var k; + var diff; + var common; + var w; + var i2; + var res; + i = 0; + j = v_size; + c = $this.cursor; + lb = $this.limit_backward; + common_i = 0; + common_j = 0; + first_key_inspected = false; + while (true) { + k = i + (j - i >> 1); + diff = 0; + common = (common_i < common_j ? common_i : common_j); + w = v[k]; + for (i2 = w.s_size - 1 - common; i2 >= 0; i2--) { + if (c - common === lb) { + diff = -1; + break; + } + diff = $this.current.charCodeAt(c - 1 - common) - w.s.charCodeAt(i2); + if (diff !== 0) { + break; + } + common++; + } + if (diff < 0) { + j = k; + common_j = common; + } else { + i = k; + common_i = common; + } + if (j - i <= 1) { + if (i > 0) { + break; + } + if (j === i) { + break; + } + if (first_key_inspected) { + break; + } + first_key_inspected = true; + } + } + while (true) { + w = v[i]; + if (common_i >= w.s_size) { + $this.cursor = (c - w.s_size | 0); + if (w.method == null) { + return w.result; + } + res = w.method($this); + $this.cursor = (c - w.s_size | 0); + if (res) { + return w.result; + } + } + i = w.substring_i; + if (i < 0) { + return 0; + } + } + return -1; +}; + +BaseStemmer.find_among_b$LBaseStemmer$ALAmong$I = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I; + +BaseStemmer.prototype.replace_s$IIS = function (c_bra, c_ket, s) { + var adjustment; + adjustment = ((s.length - (((c_ket - c_bra) | 0))) | 0); + this.current = this.current.slice(0, c_bra) + s + this.current.slice(c_ket); + this.limit = (this.limit + adjustment) | 0; + if (this.cursor >= c_ket) { + this.cursor = (this.cursor + adjustment) | 0; + } else if (this.cursor > c_bra) { + this.cursor = c_bra; + } + return (adjustment | 0); +}; + + +function BaseStemmer$replace_s$LBaseStemmer$IIS($this, c_bra, c_ket, s) { + var adjustment; + adjustment = ((s.length - (((c_ket - c_bra) | 0))) | 0); + $this.current = $this.current.slice(0, c_bra) + s + $this.current.slice(c_ket); + $this.limit = ($this.limit + adjustment) | 0; + if ($this.cursor >= c_ket) { + $this.cursor = ($this.cursor + adjustment) | 0; + } else if ($this.cursor > c_bra) { + $this.cursor = c_bra; + } + return (adjustment | 0); +}; + +BaseStemmer.replace_s$LBaseStemmer$IIS = BaseStemmer$replace_s$LBaseStemmer$IIS; + +BaseStemmer.prototype.slice_check$ = function () { + var bra$0; + var ket$0; + var limit$0; + return ((bra$0 = this.bra) < 0 || bra$0 > (ket$0 = this.ket) || ket$0 > (limit$0 = this.limit) || limit$0 > this.current.length ? false : true); +}; + + +function BaseStemmer$slice_check$LBaseStemmer$($this) { + var bra$0; + var ket$0; + var limit$0; + return ((bra$0 = $this.bra) < 0 || bra$0 > (ket$0 = $this.ket) || ket$0 > (limit$0 = $this.limit) || limit$0 > $this.current.length ? false : true); +}; + +BaseStemmer.slice_check$LBaseStemmer$ = BaseStemmer$slice_check$LBaseStemmer$; + +BaseStemmer.prototype.slice_from$S = function (s) { + var result; + var bra$0; + var ket$0; + var limit$0; + result = false; + if ((bra$0 = this.bra) < 0 || bra$0 > (ket$0 = this.ket) || ket$0 > (limit$0 = this.limit) || limit$0 > this.current.length ? false : true) { + BaseStemmer$replace_s$LBaseStemmer$IIS(this, this.bra, this.ket, s); + result = true; + } + return result; +}; + + +function BaseStemmer$slice_from$LBaseStemmer$S($this, s) { + var result; + var bra$0; + var ket$0; + var limit$0; + result = false; + if ((bra$0 = $this.bra) < 0 || bra$0 > (ket$0 = $this.ket) || ket$0 > (limit$0 = $this.limit) || limit$0 > $this.current.length ? false : true) { + BaseStemmer$replace_s$LBaseStemmer$IIS($this, $this.bra, $this.ket, s); + result = true; + } + return result; +}; + +BaseStemmer.slice_from$LBaseStemmer$S = BaseStemmer$slice_from$LBaseStemmer$S; + +BaseStemmer.prototype.slice_del$ = function () { + return BaseStemmer$slice_from$LBaseStemmer$S(this, ""); +}; + + +function BaseStemmer$slice_del$LBaseStemmer$($this) { + return BaseStemmer$slice_from$LBaseStemmer$S($this, ""); +}; + +BaseStemmer.slice_del$LBaseStemmer$ = BaseStemmer$slice_del$LBaseStemmer$; + +BaseStemmer.prototype.insert$IIS = function (c_bra, c_ket, s) { + var adjustment; + adjustment = BaseStemmer$replace_s$LBaseStemmer$IIS(this, c_bra, c_ket, s); + if (c_bra <= this.bra) { + this.bra = (this.bra + adjustment) | 0; + } + if (c_bra <= this.ket) { + this.ket = (this.ket + adjustment) | 0; + } +}; + + +function BaseStemmer$insert$LBaseStemmer$IIS($this, c_bra, c_ket, s) { + var adjustment; + adjustment = BaseStemmer$replace_s$LBaseStemmer$IIS($this, c_bra, c_ket, s); + if (c_bra <= $this.bra) { + $this.bra = ($this.bra + adjustment) | 0; + } + if (c_bra <= $this.ket) { + $this.ket = ($this.ket + adjustment) | 0; + } +}; + +BaseStemmer.insert$LBaseStemmer$IIS = BaseStemmer$insert$LBaseStemmer$IIS; + +BaseStemmer.prototype.slice_to$S = function (s) { + var result; + var bra$0; + var ket$0; + var limit$0; + result = ''; + if ((bra$0 = this.bra) < 0 || bra$0 > (ket$0 = this.ket) || ket$0 > (limit$0 = this.limit) || limit$0 > this.current.length ? false : true) { + result = this.current.slice(this.bra, this.ket); + } + return result; +}; + + +function BaseStemmer$slice_to$LBaseStemmer$S($this, s) { + var result; + var bra$0; + var ket$0; + var limit$0; + result = ''; + if ((bra$0 = $this.bra) < 0 || bra$0 > (ket$0 = $this.ket) || ket$0 > (limit$0 = $this.limit) || limit$0 > $this.current.length ? false : true) { + result = $this.current.slice($this.bra, $this.ket); + } + return result; +}; + +BaseStemmer.slice_to$LBaseStemmer$S = BaseStemmer$slice_to$LBaseStemmer$S; + +BaseStemmer.prototype.assign_to$S = function (s) { + return this.current.slice(0, this.limit); +}; + + +function BaseStemmer$assign_to$LBaseStemmer$S($this, s) { + return $this.current.slice(0, $this.limit); +}; + +BaseStemmer.assign_to$LBaseStemmer$S = BaseStemmer$assign_to$LBaseStemmer$S; + +BaseStemmer.prototype.stem$ = function () { + return false; +}; + + +BaseStemmer.prototype.stemWord$S = function (word) { + var result; + var current$0; + var cursor$0; + var limit$0; + result = this.cache['.' + word]; + if (result == null) { + current$0 = this.current = word; + cursor$0 = this.cursor = 0; + limit$0 = this.limit = current$0.length; + this.limit_backward = 0; + this.bra = cursor$0; + this.ket = limit$0; + this.stem$(); + result = this.current; + this.cache['.' + word] = result; + } + return result; +}; + +BaseStemmer.prototype.stemWord = BaseStemmer.prototype.stemWord$S; + +BaseStemmer.prototype.stemWords$AS = function (words) { + var results; + var i; + var word; + var result; + var current$0; + var cursor$0; + var limit$0; + results = [ ]; + for (i = 0; i < words.length; i++) { + word = words[i]; + result = this.cache['.' + word]; + if (result == null) { + current$0 = this.current = word; + cursor$0 = this.cursor = 0; + limit$0 = this.limit = current$0.length; + this.limit_backward = 0; + this.bra = cursor$0; + this.ket = limit$0; + this.stem$(); + result = this.current; + this.cache['.' + word] = result; + } + results.push(result); + } + return results; +}; + +BaseStemmer.prototype.stemWords = BaseStemmer.prototype.stemWords$AS; + +function GermanStemmer() { + BaseStemmer.call(this); + this.I_x = 0; + this.I_p2 = 0; + this.I_p1 = 0; +}; + +$__jsx_extend([GermanStemmer], BaseStemmer); +GermanStemmer.prototype.copy_from$LGermanStemmer$ = function (other) { + this.I_x = other.I_x; + this.I_p2 = other.I_p2; + this.I_p1 = other.I_p1; + BaseStemmer$copy_from$LBaseStemmer$LBaseStemmer$(this, other); +}; + +GermanStemmer.prototype.copy_from = GermanStemmer.prototype.copy_from$LGermanStemmer$; + +GermanStemmer.prototype.r_prelude$ = function () { + var v_1; + var v_2; + var v_3; + var v_4; + var v_5; + var v_6; + var lab1; + var lab2; + var lab3; + var lab5; + var lab7; + var lab8; + var lab9; + var cursor$0; + var cursor$1; + var $__jsx_postinc_t; + v_1 = this.cursor; +replab0: + while (true) { + v_2 = this.cursor; + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + lab2 = true; + lab2: + while (lab2 === true) { + lab2 = false; + v_3 = this.cursor; + lab3 = true; + lab3: + while (lab3 === true) { + lab3 = false; + this.bra = this.cursor; + if (! BaseStemmer$eq_s$LBaseStemmer$IS(this, 1, "\u00DF")) { + break lab3; + } + this.ket = this.cursor; + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "ss")) { + return false; + } + break lab2; + } + cursor$0 = this.cursor = v_3; + if (cursor$0 >= this.limit) { + break lab1; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + continue replab0; + } + this.cursor = v_2; + break replab0; + } + this.cursor = v_1; +replab4: + while (true) { + v_4 = this.cursor; + lab5 = true; + lab5: + while (lab5 === true) { + lab5 = false; + golab6: + while (true) { + v_5 = this.cursor; + lab7 = true; + lab7: + while (lab7 === true) { + lab7 = false; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII(this, GermanStemmer.g_v, 97, 252)) { + break lab7; + } + this.bra = this.cursor; + lab8 = true; + lab8: + while (lab8 === true) { + lab8 = false; + v_6 = this.cursor; + lab9 = true; + lab9: + while (lab9 === true) { + lab9 = false; + if (! BaseStemmer$eq_s$LBaseStemmer$IS(this, 1, "u")) { + break lab9; + } + this.ket = this.cursor; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII(this, GermanStemmer.g_v, 97, 252)) { + break lab9; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "U")) { + return false; + } + break lab8; + } + this.cursor = v_6; + if (! BaseStemmer$eq_s$LBaseStemmer$IS(this, 1, "y")) { + break lab7; + } + this.ket = this.cursor; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII(this, GermanStemmer.g_v, 97, 252)) { + break lab7; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "Y")) { + return false; + } + } + this.cursor = v_5; + break golab6; + } + cursor$1 = this.cursor = v_5; + if (cursor$1 >= this.limit) { + break lab5; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + continue replab4; + } + this.cursor = v_4; + break replab4; + } + return true; +}; + +GermanStemmer.prototype.r_prelude = GermanStemmer.prototype.r_prelude$; + +function GermanStemmer$r_prelude$LGermanStemmer$($this) { + var v_1; + var v_2; + var v_3; + var v_4; + var v_5; + var v_6; + var lab1; + var lab2; + var lab3; + var lab5; + var lab7; + var lab8; + var lab9; + var cursor$0; + var cursor$1; + var $__jsx_postinc_t; + v_1 = $this.cursor; +replab0: + while (true) { + v_2 = $this.cursor; + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + lab2 = true; + lab2: + while (lab2 === true) { + lab2 = false; + v_3 = $this.cursor; + lab3 = true; + lab3: + while (lab3 === true) { + lab3 = false; + $this.bra = $this.cursor; + if (! BaseStemmer$eq_s$LBaseStemmer$IS($this, 1, "\u00DF")) { + break lab3; + } + $this.ket = $this.cursor; + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "ss")) { + return false; + } + break lab2; + } + cursor$0 = $this.cursor = v_3; + if (cursor$0 >= $this.limit) { + break lab1; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + continue replab0; + } + $this.cursor = v_2; + break replab0; + } + $this.cursor = v_1; +replab4: + while (true) { + v_4 = $this.cursor; + lab5 = true; + lab5: + while (lab5 === true) { + lab5 = false; + golab6: + while (true) { + v_5 = $this.cursor; + lab7 = true; + lab7: + while (lab7 === true) { + lab7 = false; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII($this, GermanStemmer.g_v, 97, 252)) { + break lab7; + } + $this.bra = $this.cursor; + lab8 = true; + lab8: + while (lab8 === true) { + lab8 = false; + v_6 = $this.cursor; + lab9 = true; + lab9: + while (lab9 === true) { + lab9 = false; + if (! BaseStemmer$eq_s$LBaseStemmer$IS($this, 1, "u")) { + break lab9; + } + $this.ket = $this.cursor; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII($this, GermanStemmer.g_v, 97, 252)) { + break lab9; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "U")) { + return false; + } + break lab8; + } + $this.cursor = v_6; + if (! BaseStemmer$eq_s$LBaseStemmer$IS($this, 1, "y")) { + break lab7; + } + $this.ket = $this.cursor; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII($this, GermanStemmer.g_v, 97, 252)) { + break lab7; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "Y")) { + return false; + } + } + $this.cursor = v_5; + break golab6; + } + cursor$1 = $this.cursor = v_5; + if (cursor$1 >= $this.limit) { + break lab5; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + continue replab4; + } + $this.cursor = v_4; + break replab4; + } + return true; +}; + +GermanStemmer.r_prelude$LGermanStemmer$ = GermanStemmer$r_prelude$LGermanStemmer$; + +GermanStemmer.prototype.r_mark_regions$ = function () { + var v_1; + var c; + var lab1; + var lab3; + var lab4; + var lab6; + var lab8; + var limit$0; + var cursor$0; + var cursor$1; + var $__jsx_postinc_t; + this.I_p1 = limit$0 = this.limit; + this.I_p2 = limit$0; + v_1 = cursor$0 = this.cursor; + c = (cursor$0 + 3 | 0); + if (0 > c || c > limit$0) { + return false; + } + cursor$1 = this.cursor = c; + this.I_x = cursor$1; + this.cursor = v_1; +golab0: + while (true) { + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII(this, GermanStemmer.g_v, 97, 252)) { + break lab1; + } + break golab0; + } + if (this.cursor >= this.limit) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } +golab2: + while (true) { + lab3 = true; + lab3: + while (lab3 === true) { + lab3 = false; + if (! BaseStemmer$out_grouping$LBaseStemmer$AIII(this, GermanStemmer.g_v, 97, 252)) { + break lab3; + } + break golab2; + } + if (this.cursor >= this.limit) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + this.I_p1 = this.cursor; + lab4 = true; +lab4: + while (lab4 === true) { + lab4 = false; + if (! (this.I_p1 < this.I_x)) { + break lab4; + } + this.I_p1 = this.I_x; + } +golab5: + while (true) { + lab6 = true; + lab6: + while (lab6 === true) { + lab6 = false; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII(this, GermanStemmer.g_v, 97, 252)) { + break lab6; + } + break golab5; + } + if (this.cursor >= this.limit) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } +golab7: + while (true) { + lab8 = true; + lab8: + while (lab8 === true) { + lab8 = false; + if (! BaseStemmer$out_grouping$LBaseStemmer$AIII(this, GermanStemmer.g_v, 97, 252)) { + break lab8; + } + break golab7; + } + if (this.cursor >= this.limit) { + return false; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + this.I_p2 = this.cursor; + return true; +}; + +GermanStemmer.prototype.r_mark_regions = GermanStemmer.prototype.r_mark_regions$; + +function GermanStemmer$r_mark_regions$LGermanStemmer$($this) { + var v_1; + var c; + var lab1; + var lab3; + var lab4; + var lab6; + var lab8; + var limit$0; + var cursor$0; + var cursor$1; + var $__jsx_postinc_t; + $this.I_p1 = limit$0 = $this.limit; + $this.I_p2 = limit$0; + v_1 = cursor$0 = $this.cursor; + c = (cursor$0 + 3 | 0); + if (0 > c || c > limit$0) { + return false; + } + cursor$1 = $this.cursor = c; + $this.I_x = cursor$1; + $this.cursor = v_1; +golab0: + while (true) { + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII($this, GermanStemmer.g_v, 97, 252)) { + break lab1; + } + break golab0; + } + if ($this.cursor >= $this.limit) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } +golab2: + while (true) { + lab3 = true; + lab3: + while (lab3 === true) { + lab3 = false; + if (! BaseStemmer$out_grouping$LBaseStemmer$AIII($this, GermanStemmer.g_v, 97, 252)) { + break lab3; + } + break golab2; + } + if ($this.cursor >= $this.limit) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + $this.I_p1 = $this.cursor; + lab4 = true; +lab4: + while (lab4 === true) { + lab4 = false; + if (! ($this.I_p1 < $this.I_x)) { + break lab4; + } + $this.I_p1 = $this.I_x; + } +golab5: + while (true) { + lab6 = true; + lab6: + while (lab6 === true) { + lab6 = false; + if (! BaseStemmer$in_grouping$LBaseStemmer$AIII($this, GermanStemmer.g_v, 97, 252)) { + break lab6; + } + break golab5; + } + if ($this.cursor >= $this.limit) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } +golab7: + while (true) { + lab8 = true; + lab8: + while (lab8 === true) { + lab8 = false; + if (! BaseStemmer$out_grouping$LBaseStemmer$AIII($this, GermanStemmer.g_v, 97, 252)) { + break lab8; + } + break golab7; + } + if ($this.cursor >= $this.limit) { + return false; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + } + $this.I_p2 = $this.cursor; + return true; +}; + +GermanStemmer.r_mark_regions$LGermanStemmer$ = GermanStemmer$r_mark_regions$LGermanStemmer$; + +GermanStemmer.prototype.r_postlude$ = function () { + var among_var; + var v_1; + var lab1; + var $__jsx_postinc_t; +replab0: + while (true) { + v_1 = this.cursor; + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + this.bra = this.cursor; + among_var = BaseStemmer$find_among$LBaseStemmer$ALAmong$I(this, GermanStemmer.a_0, 6); + if (among_var === 0) { + break lab1; + } + this.ket = this.cursor; + switch (among_var) { + case 0: + break lab1; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "y")) { + return false; + } + break; + case 2: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "u")) { + return false; + } + break; + case 3: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "a")) { + return false; + } + break; + case 4: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "o")) { + return false; + } + break; + case 5: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "u")) { + return false; + } + break; + case 6: + if (this.cursor >= this.limit) { + break lab1; + } + ($__jsx_postinc_t = this.cursor, this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + break; + } + continue replab0; + } + this.cursor = v_1; + break replab0; + } + return true; +}; + +GermanStemmer.prototype.r_postlude = GermanStemmer.prototype.r_postlude$; + +function GermanStemmer$r_postlude$LGermanStemmer$($this) { + var among_var; + var v_1; + var lab1; + var $__jsx_postinc_t; +replab0: + while (true) { + v_1 = $this.cursor; + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + $this.bra = $this.cursor; + among_var = BaseStemmer$find_among$LBaseStemmer$ALAmong$I($this, GermanStemmer.a_0, 6); + if (among_var === 0) { + break lab1; + } + $this.ket = $this.cursor; + switch (among_var) { + case 0: + break lab1; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "y")) { + return false; + } + break; + case 2: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "u")) { + return false; + } + break; + case 3: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "a")) { + return false; + } + break; + case 4: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "o")) { + return false; + } + break; + case 5: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "u")) { + return false; + } + break; + case 6: + if ($this.cursor >= $this.limit) { + break lab1; + } + ($__jsx_postinc_t = $this.cursor, $this.cursor = ($__jsx_postinc_t + 1) | 0, $__jsx_postinc_t); + break; + } + continue replab0; + } + $this.cursor = v_1; + break replab0; + } + return true; +}; + +GermanStemmer.r_postlude$LGermanStemmer$ = GermanStemmer$r_postlude$LGermanStemmer$; + +GermanStemmer.prototype.r_R1$ = function () { + return (! (this.I_p1 <= this.cursor) ? false : true); +}; + +GermanStemmer.prototype.r_R1 = GermanStemmer.prototype.r_R1$; + +function GermanStemmer$r_R1$LGermanStemmer$($this) { + return (! ($this.I_p1 <= $this.cursor) ? false : true); +}; + +GermanStemmer.r_R1$LGermanStemmer$ = GermanStemmer$r_R1$LGermanStemmer$; + +GermanStemmer.prototype.r_R2$ = function () { + return (! (this.I_p2 <= this.cursor) ? false : true); +}; + +GermanStemmer.prototype.r_R2 = GermanStemmer.prototype.r_R2$; + +function GermanStemmer$r_R2$LGermanStemmer$($this) { + return (! ($this.I_p2 <= $this.cursor) ? false : true); +}; + +GermanStemmer.r_R2$LGermanStemmer$ = GermanStemmer$r_R2$LGermanStemmer$; + +GermanStemmer.prototype.r_standard_suffix$ = function () { + var among_var; + var v_1; + var v_2; + var v_3; + var v_4; + var v_5; + var v_6; + var v_7; + var v_8; + var v_9; + var v_10; + var lab0; + var lab1; + var lab2; + var c; + var lab3; + var lab4; + var lab5; + var lab6; + var lab7; + var lab8; + var lab9; + var lab10; + var cursor$0; + var cursor$1; + var limit$0; + var cursor$2; + var cursor$3; + var cursor$4; + var cursor$5; + var cursor$6; + var cursor$7; + var limit$1; + var cursor$8; + v_1 = ((this.limit - this.cursor) | 0); + lab0 = true; +lab0: + while (lab0 === true) { + lab0 = false; + this.ket = this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I(this, GermanStemmer.a_1, 7); + if (among_var === 0) { + break lab0; + } + this.bra = cursor$0 = this.cursor; + if (! (! (this.I_p1 <= cursor$0) ? false : true)) { + break lab0; + } + switch (among_var) { + case 0: + break lab0; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + break; + case 2: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + v_2 = ((this.limit - this.cursor) | 0); + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + this.ket = this.cursor; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS(this, 1, "s")) { + this.cursor = ((this.limit - v_2) | 0); + break lab1; + } + this.bra = this.cursor; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS(this, 3, "nis")) { + this.cursor = ((this.limit - v_2) | 0); + break lab1; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + } + break; + case 3: + if (! BaseStemmer$in_grouping_b$LBaseStemmer$AIII(this, GermanStemmer.g_s_ending, 98, 116)) { + break lab0; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + break; + } + } + cursor$2 = this.cursor = (((limit$0 = this.limit) - v_1) | 0); + v_3 = ((limit$0 - cursor$2) | 0); + lab2 = true; +lab2: + while (lab2 === true) { + lab2 = false; + this.ket = this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I(this, GermanStemmer.a_2, 4); + if (among_var === 0) { + break lab2; + } + this.bra = cursor$1 = this.cursor; + if (! (! (this.I_p1 <= cursor$1) ? false : true)) { + break lab2; + } + switch (among_var) { + case 0: + break lab2; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + break; + case 2: + if (! BaseStemmer$in_grouping_b$LBaseStemmer$AIII(this, GermanStemmer.g_st_ending, 98, 116)) { + break lab2; + } + c = (this.cursor - 3 | 0); + if (this.limit_backward > c || c > this.limit) { + break lab2; + } + this.cursor = c; + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + break; + } + } + cursor$8 = this.cursor = (((limit$1 = this.limit) - v_3) | 0); + v_4 = ((limit$1 - cursor$8) | 0); + lab3 = true; +lab3: + while (lab3 === true) { + lab3 = false; + this.ket = this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I(this, GermanStemmer.a_4, 8); + if (among_var === 0) { + break lab3; + } + this.bra = cursor$3 = this.cursor; + if (! (! (this.I_p2 <= cursor$3) ? false : true)) { + break lab3; + } + switch (among_var) { + case 0: + break lab3; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + v_5 = ((this.limit - this.cursor) | 0); + lab4 = true; + lab4: + while (lab4 === true) { + lab4 = false; + this.ket = this.cursor; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS(this, 2, "ig")) { + this.cursor = ((this.limit - v_5) | 0); + break lab4; + } + this.bra = cursor$4 = this.cursor; + v_6 = ((this.limit - cursor$4) | 0); + lab5 = true; + lab5: + while (lab5 === true) { + lab5 = false; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS(this, 1, "e")) { + break lab5; + } + this.cursor = ((this.limit - v_5) | 0); + break lab4; + } + cursor$5 = this.cursor = ((this.limit - v_6) | 0); + if (! (! (this.I_p2 <= cursor$5) ? false : true)) { + this.cursor = ((this.limit - v_5) | 0); + break lab4; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + } + break; + case 2: + v_7 = ((this.limit - this.cursor) | 0); + lab6 = true; + lab6: + while (lab6 === true) { + lab6 = false; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS(this, 1, "e")) { + break lab6; + } + break lab3; + } + this.cursor = ((this.limit - v_7) | 0); + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + break; + case 3: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + v_8 = ((this.limit - this.cursor) | 0); + lab7 = true; + lab7: + while (lab7 === true) { + lab7 = false; + this.ket = this.cursor; + lab8 = true; + lab8: + while (lab8 === true) { + lab8 = false; + v_9 = ((this.limit - this.cursor) | 0); + lab9 = true; + lab9: + while (lab9 === true) { + lab9 = false; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS(this, 2, "er")) { + break lab9; + } + break lab8; + } + this.cursor = ((this.limit - v_9) | 0); + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS(this, 2, "en")) { + this.cursor = ((this.limit - v_8) | 0); + break lab7; + } + } + this.bra = cursor$6 = this.cursor; + if (! (! (this.I_p1 <= cursor$6) ? false : true)) { + this.cursor = ((this.limit - v_8) | 0); + break lab7; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + } + break; + case 4: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + v_10 = ((this.limit - this.cursor) | 0); + lab10 = true; + lab10: + while (lab10 === true) { + lab10 = false; + this.ket = this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I(this, GermanStemmer.a_3, 2); + if (among_var === 0) { + this.cursor = ((this.limit - v_10) | 0); + break lab10; + } + this.bra = cursor$7 = this.cursor; + if (! (! (this.I_p2 <= cursor$7) ? false : true)) { + this.cursor = ((this.limit - v_10) | 0); + break lab10; + } + switch (among_var) { + case 0: + this.cursor = ((this.limit - v_10) | 0); + break lab10; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S(this, "")) { + return false; + } + break; + } + } + break; + } + } + this.cursor = ((this.limit - v_4) | 0); + return true; +}; + +GermanStemmer.prototype.r_standard_suffix = GermanStemmer.prototype.r_standard_suffix$; + +function GermanStemmer$r_standard_suffix$LGermanStemmer$($this) { + var among_var; + var v_1; + var v_2; + var v_3; + var v_4; + var v_5; + var v_6; + var v_7; + var v_8; + var v_9; + var v_10; + var lab0; + var lab1; + var lab2; + var c; + var lab3; + var lab4; + var lab5; + var lab6; + var lab7; + var lab8; + var lab9; + var lab10; + var cursor$0; + var cursor$1; + var limit$0; + var cursor$2; + var cursor$3; + var cursor$4; + var cursor$5; + var cursor$6; + var cursor$7; + var limit$1; + var cursor$8; + v_1 = (($this.limit - $this.cursor) | 0); + lab0 = true; +lab0: + while (lab0 === true) { + lab0 = false; + $this.ket = $this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I($this, GermanStemmer.a_1, 7); + if (among_var === 0) { + break lab0; + } + $this.bra = cursor$0 = $this.cursor; + if (! (! ($this.I_p1 <= cursor$0) ? false : true)) { + break lab0; + } + switch (among_var) { + case 0: + break lab0; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + break; + case 2: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + v_2 = (($this.limit - $this.cursor) | 0); + lab1 = true; + lab1: + while (lab1 === true) { + lab1 = false; + $this.ket = $this.cursor; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS($this, 1, "s")) { + $this.cursor = (($this.limit - v_2) | 0); + break lab1; + } + $this.bra = $this.cursor; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS($this, 3, "nis")) { + $this.cursor = (($this.limit - v_2) | 0); + break lab1; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + } + break; + case 3: + if (! BaseStemmer$in_grouping_b$LBaseStemmer$AIII($this, GermanStemmer.g_s_ending, 98, 116)) { + break lab0; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + break; + } + } + cursor$2 = $this.cursor = (((limit$0 = $this.limit) - v_1) | 0); + v_3 = ((limit$0 - cursor$2) | 0); + lab2 = true; +lab2: + while (lab2 === true) { + lab2 = false; + $this.ket = $this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I($this, GermanStemmer.a_2, 4); + if (among_var === 0) { + break lab2; + } + $this.bra = cursor$1 = $this.cursor; + if (! (! ($this.I_p1 <= cursor$1) ? false : true)) { + break lab2; + } + switch (among_var) { + case 0: + break lab2; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + break; + case 2: + if (! BaseStemmer$in_grouping_b$LBaseStemmer$AIII($this, GermanStemmer.g_st_ending, 98, 116)) { + break lab2; + } + c = ($this.cursor - 3 | 0); + if ($this.limit_backward > c || c > $this.limit) { + break lab2; + } + $this.cursor = c; + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + break; + } + } + cursor$8 = $this.cursor = (((limit$1 = $this.limit) - v_3) | 0); + v_4 = ((limit$1 - cursor$8) | 0); + lab3 = true; +lab3: + while (lab3 === true) { + lab3 = false; + $this.ket = $this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I($this, GermanStemmer.a_4, 8); + if (among_var === 0) { + break lab3; + } + $this.bra = cursor$3 = $this.cursor; + if (! (! ($this.I_p2 <= cursor$3) ? false : true)) { + break lab3; + } + switch (among_var) { + case 0: + break lab3; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + v_5 = (($this.limit - $this.cursor) | 0); + lab4 = true; + lab4: + while (lab4 === true) { + lab4 = false; + $this.ket = $this.cursor; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS($this, 2, "ig")) { + $this.cursor = (($this.limit - v_5) | 0); + break lab4; + } + $this.bra = cursor$4 = $this.cursor; + v_6 = (($this.limit - cursor$4) | 0); + lab5 = true; + lab5: + while (lab5 === true) { + lab5 = false; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS($this, 1, "e")) { + break lab5; + } + $this.cursor = (($this.limit - v_5) | 0); + break lab4; + } + cursor$5 = $this.cursor = (($this.limit - v_6) | 0); + if (! (! ($this.I_p2 <= cursor$5) ? false : true)) { + $this.cursor = (($this.limit - v_5) | 0); + break lab4; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + } + break; + case 2: + v_7 = (($this.limit - $this.cursor) | 0); + lab6 = true; + lab6: + while (lab6 === true) { + lab6 = false; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS($this, 1, "e")) { + break lab6; + } + break lab3; + } + $this.cursor = (($this.limit - v_7) | 0); + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + break; + case 3: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + v_8 = (($this.limit - $this.cursor) | 0); + lab7 = true; + lab7: + while (lab7 === true) { + lab7 = false; + $this.ket = $this.cursor; + lab8 = true; + lab8: + while (lab8 === true) { + lab8 = false; + v_9 = (($this.limit - $this.cursor) | 0); + lab9 = true; + lab9: + while (lab9 === true) { + lab9 = false; + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS($this, 2, "er")) { + break lab9; + } + break lab8; + } + $this.cursor = (($this.limit - v_9) | 0); + if (! BaseStemmer$eq_s_b$LBaseStemmer$IS($this, 2, "en")) { + $this.cursor = (($this.limit - v_8) | 0); + break lab7; + } + } + $this.bra = cursor$6 = $this.cursor; + if (! (! ($this.I_p1 <= cursor$6) ? false : true)) { + $this.cursor = (($this.limit - v_8) | 0); + break lab7; + } + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + } + break; + case 4: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + v_10 = (($this.limit - $this.cursor) | 0); + lab10 = true; + lab10: + while (lab10 === true) { + lab10 = false; + $this.ket = $this.cursor; + among_var = BaseStemmer$find_among_b$LBaseStemmer$ALAmong$I($this, GermanStemmer.a_3, 2); + if (among_var === 0) { + $this.cursor = (($this.limit - v_10) | 0); + break lab10; + } + $this.bra = cursor$7 = $this.cursor; + if (! (! ($this.I_p2 <= cursor$7) ? false : true)) { + $this.cursor = (($this.limit - v_10) | 0); + break lab10; + } + switch (among_var) { + case 0: + $this.cursor = (($this.limit - v_10) | 0); + break lab10; + case 1: + if (! BaseStemmer$slice_from$LBaseStemmer$S($this, "")) { + return false; + } + break; + } + } + break; + } + } + $this.cursor = (($this.limit - v_4) | 0); + return true; +}; + +GermanStemmer.r_standard_suffix$LGermanStemmer$ = GermanStemmer$r_standard_suffix$LGermanStemmer$; + +GermanStemmer.prototype.stem$ = function () { + var v_1; + var v_2; + var v_4; + var lab0; + var lab1; + var lab2; + var lab3; + var cursor$0; + var cursor$1; + var cursor$2; + v_1 = this.cursor; + lab0 = true; +lab0: + while (lab0 === true) { + lab0 = false; + if (! GermanStemmer$r_prelude$LGermanStemmer$(this)) { + break lab0; + } + } + cursor$0 = this.cursor = v_1; + v_2 = cursor$0; + lab1 = true; +lab1: + while (lab1 === true) { + lab1 = false; + if (! GermanStemmer$r_mark_regions$LGermanStemmer$(this)) { + break lab1; + } + } + cursor$1 = this.cursor = v_2; + this.limit_backward = cursor$1; + this.cursor = this.limit; + lab2 = true; +lab2: + while (lab2 === true) { + lab2 = false; + if (! GermanStemmer$r_standard_suffix$LGermanStemmer$(this)) { + break lab2; + } + } + cursor$2 = this.cursor = this.limit_backward; + v_4 = cursor$2; + lab3 = true; +lab3: + while (lab3 === true) { + lab3 = false; + if (! GermanStemmer$r_postlude$LGermanStemmer$(this)) { + break lab3; + } + } + this.cursor = v_4; + return true; +}; + +GermanStemmer.prototype.stem = GermanStemmer.prototype.stem$; + +GermanStemmer.prototype.equals$X = function (o) { + return o instanceof GermanStemmer; +}; + +GermanStemmer.prototype.equals = GermanStemmer.prototype.equals$X; + +function GermanStemmer$equals$LGermanStemmer$X($this, o) { + return o instanceof GermanStemmer; +}; + +GermanStemmer.equals$LGermanStemmer$X = GermanStemmer$equals$LGermanStemmer$X; + +GermanStemmer.prototype.hashCode$ = function () { + var classname; + var hash; + var i; + var char; + classname = "GermanStemmer"; + hash = 0; + for (i = 0; i < classname.length; i++) { + char = classname.charCodeAt(i); + hash = (hash << 5) - hash + char; + hash = hash & hash; + } + return (hash | 0); +}; + +GermanStemmer.prototype.hashCode = GermanStemmer.prototype.hashCode$; + +function GermanStemmer$hashCode$LGermanStemmer$($this) { + var classname; + var hash; + var i; + var char; + classname = "GermanStemmer"; + hash = 0; + for (i = 0; i < classname.length; i++) { + char = classname.charCodeAt(i); + hash = (hash << 5) - hash + char; + hash = hash & hash; + } + return (hash | 0); +}; + +GermanStemmer.hashCode$LGermanStemmer$ = GermanStemmer$hashCode$LGermanStemmer$; + +GermanStemmer.serialVersionUID = 1; +$__jsx_lazy_init(GermanStemmer, "methodObject", function () { + return new GermanStemmer(); +}); +$__jsx_lazy_init(GermanStemmer, "a_0", function () { + return [ new Among("", -1, 6), new Among("U", 0, 2), new Among("Y", 0, 1), new Among("\u00E4", 0, 3), new Among("\u00F6", 0, 4), new Among("\u00FC", 0, 5) ]; +}); +$__jsx_lazy_init(GermanStemmer, "a_1", function () { + return [ new Among("e", -1, 2), new Among("em", -1, 1), new Among("en", -1, 2), new Among("ern", -1, 1), new Among("er", -1, 1), new Among("s", -1, 3), new Among("es", 5, 2) ]; +}); +$__jsx_lazy_init(GermanStemmer, "a_2", function () { + return [ new Among("en", -1, 1), new Among("er", -1, 1), new Among("st", -1, 2), new Among("est", 2, 1) ]; +}); +$__jsx_lazy_init(GermanStemmer, "a_3", function () { + return [ new Among("ig", -1, 1), new Among("lich", -1, 1) ]; +}); +$__jsx_lazy_init(GermanStemmer, "a_4", function () { + return [ new Among("end", -1, 1), new Among("ig", -1, 2), new Among("ung", -1, 1), new Among("lich", -1, 3), new Among("isch", -1, 2), new Among("ik", -1, 2), new Among("heit", -1, 3), new Among("keit", -1, 4) ]; +}); +GermanStemmer.g_v = [ 17, 65, 16, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 0, 32, 8 ]; +GermanStemmer.g_s_ending = [ 117, 30, 5 ]; +GermanStemmer.g_st_ending = [ 117, 30, 4 ]; + +var $__jsx_classMap = { + "src/among.jsx": { + Among: Among, + Among$SII: Among, + Among$SIIF$LBaseStemmer$B$LBaseStemmer$: Among$0 + }, + "src/stemmer.jsx": { + Stemmer: Stemmer, + Stemmer$: Stemmer + }, + "src/base-stemmer.jsx": { + BaseStemmer: BaseStemmer, + BaseStemmer$: BaseStemmer + }, + "src/german-stemmer.jsx": { + GermanStemmer: GermanStemmer, + GermanStemmer$: GermanStemmer + } +}; + + +})(JSX); + +var Among = JSX.require("src/among.jsx").Among; +var Among$SII = JSX.require("src/among.jsx").Among$SII; +var Stemmer = JSX.require("src/stemmer.jsx").Stemmer; +var BaseStemmer = JSX.require("src/base-stemmer.jsx").BaseStemmer; +var GermanStemmer = JSX.require("src/german-stemmer.jsx").GermanStemmer; diff --git a/_static/base-stemmer.js b/_static/base-stemmer.js new file mode 100644 index 0000000..ca6cca1 --- /dev/null +++ b/_static/base-stemmer.js @@ -0,0 +1,294 @@ +/**@constructor*/ +BaseStemmer = function() { + this.setCurrent = function(value) { + this.current = value; + this.cursor = 0; + this.limit = this.current.length; + this.limit_backward = 0; + this.bra = this.cursor; + this.ket = this.limit; + }; + + this.getCurrent = function() { + return this.current; + }; + + this.copy_from = function(other) { + this.current = other.current; + this.cursor = other.cursor; + this.limit = other.limit; + this.limit_backward = other.limit_backward; + this.bra = other.bra; + this.ket = other.ket; + }; + + this.in_grouping = function(s, min, max) { + if (this.cursor >= this.limit) return false; + var ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) return false; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false; + this.cursor++; + return true; + }; + + this.in_grouping_b = function(s, min, max) { + if (this.cursor <= this.limit_backward) return false; + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) return false; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false; + this.cursor--; + return true; + }; + + this.out_grouping = function(s, min, max) { + if (this.cursor >= this.limit) return false; + var ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) { + this.cursor++; + return true; + } + ch -= min; + if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) == 0) { + this.cursor++; + return true; + } + return false; + }; + + this.out_grouping_b = function(s, min, max) { + if (this.cursor <= this.limit_backward) return false; + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) { + this.cursor--; + return true; + } + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) { + this.cursor--; + return true; + } + return false; + }; + + this.eq_s = function(s) + { + if (this.limit - this.cursor < s.length) return false; + if (this.current.slice(this.cursor, this.cursor + s.length) != s) + { + return false; + } + this.cursor += s.length; + return true; + }; + + this.eq_s_b = function(s) + { + if (this.cursor - this.limit_backward < s.length) return false; + if (this.current.slice(this.cursor - s.length, this.cursor) != s) + { + return false; + } + this.cursor -= s.length; + return true; + }; + + /** @return {number} */ this.find_among = function(v) + { + var i = 0; + var j = v.length; + + var c = this.cursor; + var l = this.limit; + + var common_i = 0; + var common_j = 0; + + var first_key_inspected = false; + + while (true) + { + var k = i + ((j - i) >>> 1); + var diff = 0; + var common = common_i < common_j ? common_i : common_j; // smaller + // w[0]: string, w[1]: substring_i, w[2]: result, w[3]: function (optional) + var w = v[k]; + var i2; + for (i2 = common; i2 < w[0].length; i2++) + { + if (c + common == l) + { + diff = -1; + break; + } + diff = this.current.charCodeAt(c + common) - w[0].charCodeAt(i2); + if (diff != 0) break; + common++; + } + if (diff < 0) + { + j = k; + common_j = common; + } + else + { + i = k; + common_i = common; + } + if (j - i <= 1) + { + if (i > 0) break; // v->s has been inspected + if (j == i) break; // only one item in v + + // - but now we need to go round once more to get + // v->s inspected. This looks messy, but is actually + // the optimal approach. + + if (first_key_inspected) break; + first_key_inspected = true; + } + } + do { + var w = v[i]; + if (common_i >= w[0].length) + { + this.cursor = c + w[0].length; + if (w.length < 4) return w[2]; + var res = w[3](this); + this.cursor = c + w[0].length; + if (res) return w[2]; + } + i = w[1]; + } while (i >= 0); + return 0; + }; + + // find_among_b is for backwards processing. Same comments apply + this.find_among_b = function(v) + { + var i = 0; + var j = v.length + + var c = this.cursor; + var lb = this.limit_backward; + + var common_i = 0; + var common_j = 0; + + var first_key_inspected = false; + + while (true) + { + var k = i + ((j - i) >> 1); + var diff = 0; + var common = common_i < common_j ? common_i : common_j; + var w = v[k]; + var i2; + for (i2 = w[0].length - 1 - common; i2 >= 0; i2--) + { + if (c - common == lb) + { + diff = -1; + break; + } + diff = this.current.charCodeAt(c - 1 - common) - w[0].charCodeAt(i2); + if (diff != 0) break; + common++; + } + if (diff < 0) + { + j = k; + common_j = common; + } + else + { + i = k; + common_i = common; + } + if (j - i <= 1) + { + if (i > 0) break; + if (j == i) break; + if (first_key_inspected) break; + first_key_inspected = true; + } + } + do { + var w = v[i]; + if (common_i >= w[0].length) + { + this.cursor = c - w[0].length; + if (w.length < 4) return w[2]; + var res = w[3](this); + this.cursor = c - w[0].length; + if (res) return w[2]; + } + i = w[1]; + } while (i >= 0); + return 0; + }; + + /* to replace chars between c_bra and c_ket in this.current by the + * chars in s. + */ + this.replace_s = function(c_bra, c_ket, s) + { + var adjustment = s.length - (c_ket - c_bra); + this.current = this.current.slice(0, c_bra) + s + this.current.slice(c_ket); + this.limit += adjustment; + if (this.cursor >= c_ket) this.cursor += adjustment; + else if (this.cursor > c_bra) this.cursor = c_bra; + return adjustment; + }; + + this.slice_check = function() + { + if (this.bra < 0 || + this.bra > this.ket || + this.ket > this.limit || + this.limit > this.current.length) + { + return false; + } + return true; + }; + + this.slice_from = function(s) + { + var result = false; + if (this.slice_check()) + { + this.replace_s(this.bra, this.ket, s); + result = true; + } + return result; + }; + + this.slice_del = function() + { + return this.slice_from(""); + }; + + this.insert = function(c_bra, c_ket, s) + { + var adjustment = this.replace_s(c_bra, c_ket, s); + if (c_bra <= this.bra) this.bra += adjustment; + if (c_bra <= this.ket) this.ket += adjustment; + }; + + this.slice_to = function() + { + var result = ''; + if (this.slice_check()) + { + result = this.current.slice(this.bra, this.ket); + } + return result; + }; + + this.assign_to = function() + { + return this.current.slice(0, this.limit); + }; +}; diff --git a/_static/basic.css b/_static/basic.css new file mode 100644 index 0000000..be19270 --- /dev/null +++ b/_static/basic.css @@ -0,0 +1,856 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar ---------------------------------------------------------------- */ + +div.related { + width: 100%; + font-size: 90%; +} + +div.related h3 { + display: none; +} + +div.related ul { + margin: 0; + padding: 0 0 0 10px; + list-style: none; +} + +div.related li { + display: inline; +} + +div.related li.right { + float: right; + margin-right: 5px; +} + +/* -- sidebar --------------------------------------------------------------- */ + +div.sphinxsidebarwrapper { + padding: 10px 5px 0 10px; +} + +div.sphinxsidebar { + float: left; + width: 230px; + margin-left: -100%; + font-size: 90%; + word-wrap: break-word; + overflow-wrap : break-word; +} + +div.sphinxsidebar ul { + list-style: none; +} + +div.sphinxsidebar ul ul, +div.sphinxsidebar ul.want-points { + margin-left: 20px; + list-style: square; +} + +div.sphinxsidebar ul ul { + margin-top: 0; + margin-bottom: 0; +} + +div.sphinxsidebar form { + margin-top: 10px; +} + +div.sphinxsidebar input { + border: 1px solid #98dbcc; + font-family: sans-serif; + font-size: 1em; +} + +div.sphinxsidebar #searchbox form.search { + overflow: hidden; +} + +div.sphinxsidebar #searchbox input[type="text"] { + float: left; + width: 80%; + padding: 0.25em; + box-sizing: border-box; +} + +div.sphinxsidebar #searchbox input[type="submit"] { + float: left; + width: 20%; + border-left: none; + padding: 0.25em; + box-sizing: border-box; +} + + +img { + border: 0; + max-width: 100%; +} + +/* -- search page ----------------------------------------------------------- */ + +ul.search { + margin: 10px 0 0 20px; + padding: 0; +} + +ul.search li { + padding: 5px 0 5px 20px; + background-image: url(file.png); + background-repeat: no-repeat; + background-position: 0 7px; +} + +ul.search li a { + font-weight: bold; +} + +ul.search li div.context { + color: #888; + margin: 2px 0 0 30px; + text-align: left; +} + +ul.keywordmatches li.goodmatch a { + font-weight: bold; +} + +/* -- index page ------------------------------------------------------------ */ + +table.contentstable { + width: 90%; + margin-left: auto; + margin-right: auto; +} + +table.contentstable p.biglink { + line-height: 150%; +} + +a.biglink { + font-size: 1.3em; +} + +span.linkdescr { + font-style: italic; + padding-top: 5px; + font-size: 90%; +} + +/* -- general index --------------------------------------------------------- */ + +table.indextable { + width: 100%; +} + +table.indextable td { + text-align: left; + vertical-align: top; +} + +table.indextable ul { + margin-top: 0; + margin-bottom: 0; + list-style-type: none; +} + +table.indextable > tbody > tr > td > ul { + padding-left: 0em; +} + +table.indextable tr.pcap { + height: 10px; +} + +table.indextable tr.cap { + margin-top: 10px; + background-color: #f2f2f2; +} + +img.toggler { + margin-right: 3px; + margin-top: 3px; + cursor: pointer; +} + +div.modindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +div.genindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +/* -- domain module index --------------------------------------------------- */ + +table.modindextable td { + padding: 2px; + border-collapse: collapse; +} + +/* -- general body styles --------------------------------------------------- */ + +div.body { + min-width: 450px; + max-width: 800px; +} + +div.body p, div.body dd, div.body li, div.body blockquote { + -moz-hyphens: auto; + -ms-hyphens: auto; + -webkit-hyphens: auto; + hyphens: auto; +} + +a.headerlink { + visibility: hidden; +} + +a.brackets:before, +span.brackets > a:before{ + content: "["; +} + +a.brackets:after, +span.brackets > a:after { + content: "]"; +} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, +h4:hover > a.headerlink, +h5:hover > a.headerlink, +h6:hover > a.headerlink, +dt:hover > a.headerlink, +caption:hover > a.headerlink, +p.caption:hover > a.headerlink, +div.code-block-caption:hover > a.headerlink { + visibility: visible; +} + +div.body p.caption { + text-align: inherit; +} + +div.body td { + text-align: left; +} + +.first { + margin-top: 0 !important; +} + +p.rubric { + margin-top: 30px; + font-weight: bold; +} + +img.align-left, .figure.align-left, object.align-left { + clear: left; + float: left; + margin-right: 1em; +} + +img.align-right, .figure.align-right, object.align-right { + clear: right; + float: right; + margin-left: 1em; +} + +img.align-center, .figure.align-center, object.align-center { + display: block; + margin-left: auto; + margin-right: auto; +} + +img.align-default, .figure.align-default { + display: block; + margin-left: auto; + margin-right: auto; +} + +.align-left { + text-align: left; +} + +.align-center { + text-align: center; +} + +.align-default { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar { + margin: 0 0 0.5em 1em; 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b/_static/doctools.js @@ -0,0 +1,316 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + */ +jQuery.urldecode = function(x) { + return decodeURIComponent(x).replace(/\+/g, ' '); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) { + this.initOnKeyListeners(); + } + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

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document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON' && !event.altKey && !event.ctrlKey && !event.metaKey + && !event.shiftKey) { + switch (event.keyCode) { + case 37: // left + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + case 39: // right + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return 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/dev/null and b/_static/fonts/RobotoSlab/roboto-slab-v7-regular.woff2 differ diff --git a/_static/fonts/fontawesome-webfont.eot b/_static/fonts/fontawesome-webfont.eot new file mode 100644 index 0000000..e9f60ca Binary files /dev/null and b/_static/fonts/fontawesome-webfont.eot differ diff --git a/_static/fonts/fontawesome-webfont.svg b/_static/fonts/fontawesome-webfont.svg new file mode 100644 index 0000000..855c845 --- /dev/null +++ b/_static/fonts/fontawesome-webfont.svg @@ -0,0 +1,2671 @@ + + + + +Created by FontForge 20120731 at Mon Oct 24 17:37:40 2016 + By ,,, +Copyright Dave Gandy 2016. All rights reserved. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/_static/fonts/fontawesome-webfont.ttf b/_static/fonts/fontawesome-webfont.ttf new file mode 100644 index 0000000..35acda2 Binary files /dev/null and b/_static/fonts/fontawesome-webfont.ttf differ diff --git a/_static/fonts/fontawesome-webfont.woff b/_static/fonts/fontawesome-webfont.woff new file mode 100644 index 0000000..400014a Binary files /dev/null and b/_static/fonts/fontawesome-webfont.woff differ diff --git a/_static/fonts/fontawesome-webfont.woff2 b/_static/fonts/fontawesome-webfont.woff2 new file mode 100644 index 0000000..4d13fc6 Binary files /dev/null and b/_static/fonts/fontawesome-webfont.woff2 differ diff --git a/_static/fonts/lato-bold-italic.woff b/_static/fonts/lato-bold-italic.woff new file mode 100644 index 0000000..88ad05b Binary files /dev/null and b/_static/fonts/lato-bold-italic.woff differ diff --git a/_static/fonts/lato-bold-italic.woff2 b/_static/fonts/lato-bold-italic.woff2 new file mode 100644 index 0000000..c4e3d80 Binary files /dev/null and b/_static/fonts/lato-bold-italic.woff2 differ diff --git a/_static/fonts/lato-bold.woff b/_static/fonts/lato-bold.woff new file mode 100644 index 0000000..c6dff51 Binary files /dev/null and b/_static/fonts/lato-bold.woff differ diff --git a/_static/fonts/lato-bold.woff2 b/_static/fonts/lato-bold.woff2 new file mode 100644 index 0000000..bb19504 Binary files /dev/null and b/_static/fonts/lato-bold.woff2 differ diff --git a/_static/fonts/lato-normal-italic.woff b/_static/fonts/lato-normal-italic.woff new file mode 100644 index 0000000..76114bc Binary files /dev/null and b/_static/fonts/lato-normal-italic.woff differ diff --git a/_static/fonts/lato-normal-italic.woff2 b/_static/fonts/lato-normal-italic.woff2 new file mode 100644 index 0000000..3404f37 Binary files /dev/null and b/_static/fonts/lato-normal-italic.woff2 differ diff --git a/_static/fonts/lato-normal.woff b/_static/fonts/lato-normal.woff new file mode 100644 index 0000000..ae1307f Binary files /dev/null and b/_static/fonts/lato-normal.woff differ diff --git a/_static/fonts/lato-normal.woff2 b/_static/fonts/lato-normal.woff2 new file mode 100644 index 0000000..3bf9843 Binary files /dev/null and b/_static/fonts/lato-normal.woff2 differ diff --git a/_static/german-stemmer.js b/_static/german-stemmer.js new file mode 100644 index 0000000..f5ff81b --- /dev/null +++ b/_static/german-stemmer.js @@ -0,0 +1,577 @@ +// Generated by Snowball 2.1.0 - https://snowballstem.org/ + +/**@constructor*/ +GermanStemmer = function() { + var base = new BaseStemmer(); + /** @const */ var a_0 = [ + ["", -1, 5], + ["U", 0, 2], + ["Y", 0, 1], + ["\u00E4", 0, 3], + ["\u00F6", 0, 4], + ["\u00FC", 0, 2] + ]; + + /** @const */ var a_1 = [ + ["e", -1, 2], + ["em", -1, 1], + ["en", -1, 2], + ["ern", -1, 1], + ["er", -1, 1], + ["s", -1, 3], + ["es", 5, 2] + ]; + + /** @const */ var a_2 = [ + ["en", -1, 1], + ["er", -1, 1], + ["st", -1, 2], + ["est", 2, 1] + ]; + + /** @const */ var a_3 = [ + ["ig", -1, 1], + ["lich", -1, 1] + ]; + + /** @const */ var a_4 = [ + ["end", -1, 1], + ["ig", -1, 2], + ["ung", -1, 1], + ["lich", -1, 3], + ["isch", -1, 2], + ["ik", -1, 2], + ["heit", -1, 3], + ["keit", -1, 4] + ]; + + /** @const */ var /** Array */ g_v = [17, 65, 16, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 0, 32, 8]; + + /** @const */ var /** Array */ g_s_ending = [117, 30, 5]; + + /** @const */ var /** Array */ g_st_ending = [117, 30, 4]; + + var /** number */ I_x = 0; + var /** number */ I_p2 = 0; + var /** number */ I_p1 = 0; + + + /** @return {boolean} */ + function r_prelude() { + var /** number */ v_1 = base.cursor; + while(true) + { + var /** number */ v_2 = base.cursor; + lab0: { + lab1: { + var /** number */ v_3 = base.cursor; + lab2: { + base.bra = base.cursor; + if (!(base.eq_s("\u00DF"))) + { + break lab2; + } + base.ket = base.cursor; + if (!base.slice_from("ss")) + { + return false; + } + break lab1; + } + base.cursor = v_3; + if (base.cursor >= base.limit) + { + break lab0; + } + base.cursor++; + } + continue; + } + base.cursor = v_2; + break; + } + base.cursor = v_1; + while(true) + { + var /** number */ v_4 = base.cursor; + lab3: { + golab4: while(true) + { + var /** number */ v_5 = base.cursor; + lab5: { + if (!(base.in_grouping(g_v, 97, 252))) + { + break lab5; + } + base.bra = base.cursor; + lab6: { + var /** number */ v_6 = base.cursor; + lab7: { + if (!(base.eq_s("u"))) + { + break lab7; + } + base.ket = base.cursor; + if (!(base.in_grouping(g_v, 97, 252))) + { + break lab7; + } + if (!base.slice_from("U")) + { + return false; + } + break lab6; + } + base.cursor = v_6; + if (!(base.eq_s("y"))) + { + break lab5; + } + base.ket = base.cursor; + if (!(base.in_grouping(g_v, 97, 252))) + { + break lab5; + } + if (!base.slice_from("Y")) + { + return false; + } + } + base.cursor = v_5; + break golab4; + } + base.cursor = v_5; + if (base.cursor >= base.limit) + { + break lab3; + } + base.cursor++; + } + continue; + } + base.cursor = v_4; + break; + } + return true; + }; + + /** @return {boolean} */ + function r_mark_regions() { + I_p1 = base.limit; + I_p2 = base.limit; + var /** number */ v_1 = base.cursor; + { + var /** number */ c1 = base.cursor + 3; + if (c1 > base.limit) + { + return false; + } + base.cursor = c1; + } + I_x = base.cursor; + base.cursor = v_1; + golab0: while(true) + { + lab1: { + if (!(base.in_grouping(g_v, 97, 252))) + { + break lab1; + } + break golab0; + } + if (base.cursor >= base.limit) + { + return false; + } + base.cursor++; + } + golab2: while(true) + { + lab3: { + if (!(base.out_grouping(g_v, 97, 252))) + { + break lab3; + } + break golab2; + } + if (base.cursor >= base.limit) + { + return false; + } + base.cursor++; + } + I_p1 = base.cursor; + lab4: { + if (!(I_p1 < I_x)) + { + break lab4; + } + I_p1 = I_x; + } + golab5: while(true) + { + lab6: { + if (!(base.in_grouping(g_v, 97, 252))) + { + break lab6; + } + break golab5; + } + if (base.cursor >= base.limit) + { + return false; + } + base.cursor++; + } + golab7: while(true) + { + lab8: { + if (!(base.out_grouping(g_v, 97, 252))) + { + break lab8; + } + break golab7; + } + if (base.cursor >= base.limit) + { + return false; + } + base.cursor++; + } + I_p2 = base.cursor; + return true; + }; + + /** @return {boolean} */ + function r_postlude() { + var /** number */ among_var; + while(true) + { + var /** number */ v_1 = base.cursor; + lab0: { + base.bra = base.cursor; + among_var = base.find_among(a_0); + if (among_var == 0) + { + break lab0; + } + base.ket = base.cursor; + switch (among_var) { + case 1: + if (!base.slice_from("y")) + { + return false; + } + break; + case 2: + if (!base.slice_from("u")) + { + return false; + } + break; + case 3: + if (!base.slice_from("a")) + { + return false; + } + break; + case 4: + if (!base.slice_from("o")) + { + return false; + } + break; + case 5: + if (base.cursor >= base.limit) + { + break lab0; + } + base.cursor++; + break; + } + continue; + } + base.cursor = v_1; + break; + } + return true; + }; + + /** @return {boolean} */ + function r_R1() { + if (!(I_p1 <= base.cursor)) + { + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_R2() { + if (!(I_p2 <= base.cursor)) + { + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_standard_suffix() { + var /** number */ among_var; + var /** number */ v_1 = base.limit - base.cursor; + lab0: { + base.ket = base.cursor; + among_var = base.find_among_b(a_1); + if (among_var == 0) + { + break lab0; + } + base.bra = base.cursor; + if (!r_R1()) + { + break lab0; + } + switch (among_var) { + case 1: + if (!base.slice_del()) + { + return false; + } + break; + case 2: + if (!base.slice_del()) + { + return false; + } + var /** number */ v_2 = base.limit - base.cursor; + lab1: { + base.ket = base.cursor; + if (!(base.eq_s_b("s"))) + { + base.cursor = base.limit - v_2; + break lab1; + } + base.bra = base.cursor; + if (!(base.eq_s_b("nis"))) + { + base.cursor = base.limit - v_2; + break lab1; + } + if (!base.slice_del()) + { + return false; + } + } + break; + case 3: + if (!(base.in_grouping_b(g_s_ending, 98, 116))) + { + break lab0; + } + if (!base.slice_del()) + { + return false; + } + break; + } + } + base.cursor = base.limit - v_1; + var /** number */ v_3 = base.limit - base.cursor; + lab2: { + base.ket = base.cursor; + among_var = base.find_among_b(a_2); + if (among_var == 0) + { + break lab2; + } + base.bra = base.cursor; + if (!r_R1()) + { + break lab2; + } + switch (among_var) { + case 1: + if (!base.slice_del()) + { + return false; + } + break; + case 2: + if (!(base.in_grouping_b(g_st_ending, 98, 116))) + { + break lab2; + } + { + var /** number */ c1 = base.cursor - 3; + if (c1 < base.limit_backward) + { + break lab2; + } + base.cursor = c1; + } + if (!base.slice_del()) + { + return false; + } + break; + } + } + base.cursor = base.limit - v_3; + var /** number */ v_4 = base.limit - base.cursor; + lab3: { + base.ket = base.cursor; + among_var = base.find_among_b(a_4); + if (among_var == 0) + { + break lab3; + } + base.bra = base.cursor; + if (!r_R2()) + { + break lab3; + } + switch (among_var) { + case 1: + if (!base.slice_del()) + { + return false; + } + var /** number */ v_5 = base.limit - base.cursor; + lab4: { + base.ket = base.cursor; + if (!(base.eq_s_b("ig"))) + { + base.cursor = base.limit - v_5; + break lab4; + } + base.bra = base.cursor; + { + var /** number */ v_6 = base.limit - base.cursor; + lab5: { + if (!(base.eq_s_b("e"))) + { + break lab5; + } + base.cursor = base.limit - v_5; + break lab4; + } + base.cursor = base.limit - v_6; + } + if (!r_R2()) + { + base.cursor = base.limit - v_5; + break lab4; + } + if (!base.slice_del()) + { + return false; + } + } + break; + case 2: + { + var /** number */ v_7 = base.limit - base.cursor; + lab6: { + if (!(base.eq_s_b("e"))) + { + break lab6; + } + break lab3; + } + base.cursor = base.limit - v_7; + } + if (!base.slice_del()) + { + return false; + } + break; + case 3: + if (!base.slice_del()) + { + return false; + } + var /** number */ v_8 = base.limit - base.cursor; + lab7: { + base.ket = base.cursor; + lab8: { + var /** number */ v_9 = base.limit - base.cursor; + lab9: { + if (!(base.eq_s_b("er"))) + { + break lab9; + } + break lab8; + } + base.cursor = base.limit - v_9; + if (!(base.eq_s_b("en"))) + { + base.cursor = base.limit - v_8; + break lab7; + } + } + base.bra = base.cursor; + if (!r_R1()) + { + base.cursor = base.limit - v_8; + break lab7; + } + if (!base.slice_del()) + { + return false; + } + } + break; + case 4: + if (!base.slice_del()) + { + return false; + } + var /** number */ v_10 = base.limit - base.cursor; + lab10: { + base.ket = base.cursor; + if (base.find_among_b(a_3) == 0) + { + base.cursor = base.limit - v_10; + break lab10; + } + base.bra = base.cursor; + if (!r_R2()) + { + base.cursor = base.limit - v_10; + break lab10; + } + if (!base.slice_del()) + { + return false; + } + } + break; + } + } + base.cursor = base.limit - v_4; + return true; + }; + + this.stem = /** @return {boolean} */ function() { + var /** number */ v_1 = base.cursor; + r_prelude(); + base.cursor = v_1; + var /** number */ v_2 = base.cursor; + r_mark_regions(); + base.cursor = v_2; + base.limit_backward = base.cursor; base.cursor = base.limit; + r_standard_suffix(); + base.cursor = base.limit_backward; + var /** number */ v_4 = base.cursor; + r_postlude(); + base.cursor = v_4; + return true; + }; + + /**@return{string}*/ + this['stemWord'] = function(/**string*/word) { + base.setCurrent(word); + this.stem(); + return base.getCurrent(); + }; +}; diff --git a/_static/jquery-3.5.1.js b/_static/jquery-3.5.1.js new file mode 100644 index 0000000..5093733 --- /dev/null +++ b/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

FAQ

+
+

Was ist das Passwort für die Entwicklungsumgebung?

+

compair

+
+
+

Wie verbinde ich mich zur Entwicklungsumgebung?

+

See Programmierumgebung

+
+
+

Was ist der Benutzername und das Passwort für den Raspberry Pi?

+

compair compair

+
+
+

Wie aktualisiere ich meine Software?

+
sudo apt update
+sudo apt upgrade
+sudo update-firmware
+
+
+
+
+

Wie kann ich die SD-Karte neu beschreiben?

+

SD-Karten Image

+

Software zum Schreiben der SD-Karte balenaEtcher

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/genindex.html b/genindex.html new file mode 100644 index 0000000..ec35f45 --- /dev/null +++ b/genindex.html @@ -0,0 +1,242 @@ + + + + + + Stichwortverzeichnis — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
  • »
    • +
  • Stichwortverzeichnis
    • +
  • +
    • +
+
+
+
+
+ + +

Stichwortverzeichnis

+ +
+ C + | D + | E + | G + | I + | M + | P + | R + | S + +
+

C

+ + +
+ +

D

+ + + +
+ +

E

+ + + +
+ +

G

+ + + +
+ +

I

+ + +
+ +

M

+ + + +
+ +

P

+ + + +
+ +

R

+ + + +
+ +

S

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/gettingStarted/codeServer.html b/gettingStarted/codeServer.html new file mode 100644 index 0000000..bab1a99 --- /dev/null +++ b/gettingStarted/codeServer.html @@ -0,0 +1,124 @@ + + + + + + Programmierumgebung — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Programmierumgebung

+

Als Umgebung zur Programmierung des Roboters wird code-server eingesetzt, welche bereits am Roboter vorinstalliert ist.

+
+

Verbindung zur Entwicklungsumgebung herstellen

+

Am Roboter wird die IP-Adresse des Raspberry Pi angezeigt. Um nun die Verbindung herzustellen, muss man in einem Web-Browser einfach <roboter_ip>:8080 eingeben. +Das Passwort für Visual Studio Code im Browser ist compair!

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/gettingStarted/firstProgram.html b/gettingStarted/firstProgram.html new file mode 100644 index 0000000..b32beb7 --- /dev/null +++ b/gettingStarted/firstProgram.html @@ -0,0 +1,128 @@ + + + + + + Mein erstes Programm — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Mein erstes Programm

+

Um mit der Programmierung zu beginnen, müssen wir zunächst einen neuen Ordner erstellen, in dem alle unsere Python-Dateien gespeichert werden. +codeServerFolder

+

Sie können diesen Ordner nennen, wie Sie wollen, für dieses Beispiel heißt er compAIR. +Im nächsten Schritt erstellen wir unsere Datei main.py. +codeServerFile

+

Dann können wir beginnen, unseren Code in diese Datei zu schreiben.

+
print("Hallo Welt")
+
+
+

Praktischerweise können wir die Datei auch über die VS-Code-Plattform ausführen. +codeServerRun

+

Dann öffnet sich ein Terminal, der die Ausgabe unseres Programms anzeigt. +codeServerTerminal

+
+ + +
+
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/gettingStarted/index.html b/gettingStarted/index.html new file mode 100644 index 0000000..4dfa5c0 --- /dev/null +++ b/gettingStarted/index.html @@ -0,0 +1,140 @@ + + + + + + Erste Schritte — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/gettingStarted/secondProgram.html b/gettingStarted/secondProgram.html new file mode 100644 index 0000000..9002f42 --- /dev/null +++ b/gettingStarted/secondProgram.html @@ -0,0 +1,522 @@ + + + + + + Mein zweites Programm — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Mein zweites Programm

+
+

Motoren ansteuern

+

Um die Motoren des Roboters zu steuern, müssen wir zunächst das entsprechende Python-Modul am Anfang der Datei importieren. Dann können wir Motor.power(port, power) verwenden, um den Motor zu steuern. +Dies ist auch ein guter Punkt, um sich mit der Dokumentation vertraut zu machen: Besuchen wir https://lib.comp-air.at/lib/Motor.html#compLib.Motor.Motor.power. Hier werden die beiden relevanten Parameter beschrieben.

+

Als Beispiel wollen wir den rechten Motor für fünf Sekunden auf volle Geschwindigkeit setzen:

+
1
+2
+3
+4
+5
+6
# motor.py
+import time
+from compLib.Motor import Motor
+
+Motor.power(0, 100)
+time.sleep(5)
+
+
+
+
+

Gerade fahren

+

Um geradeaus zu fahren, müssen wir beide Motoren auf dieselbe Geschwindigkeit einstellen. +Aber Achtung! Der rechte Motor muss umgedreht werden! Das liegt daran, dass einer nach rechts und einer nach links zeigt, sie sind also technisch gesehen gespiegelt. +Wenn wir nun diesen Code ausführen, wird der Roboter 5 Sekunden lang vorwärts fahren:

+
1
+2
+3
+4
+5
+6
+7
# motor.py
+import time
+from compLib.Motor import Motor
+
+Motor.power(0, -100)
+Motor.power(3, 100)
+time.sleep(5)
+
+
+

Erläuterung

+
+
In Zeile 2 wird das python-Paket time importiert. Wir brauchen es später, um auf die Fahrt des Roboters zu warten. Z.B.: time.sleep(5)
+
In Zeile 3 importieren wir die notwendigen Funktionen aus dem Motor-Modul der compLib.
+
In Zeile 5 stellen wir den rechten Motor so ein, dass er vorwärts fährt. Da der Motor rückwärts eingebaut ist, müssen wir den Wert auf -100 setzen.
+
In Zeile 6 stellen wir den linken Motor auf Vorwärtsfahrt ein. Hier können wir den Wert 100 verwenden, da der Motor in der richtigen Richtung eingebaut ist.
+
In Zeile 7 müssen wir warten, bis der Roboter die Fahrbefehle tatsächlich ausführt. In diesem Fall warten wir 5 Sekunden lang.
+
+

Danach wird das Programm beendet und der Roboter bleibt stehen.

+
+

Mehr fahren

+

Jetzt ist es Zeit für einige komplexere Bewegungen. Um unseren Code modular und leicht lesbar zu halten, werden wir jede Aktion in eine eigene Funktion packen.

+
1
+2
+3
+4
+5
+6
+7
import time
+from compLib.Motor import Motor
+
+def driveForward():
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(2)
+
+
+

In Zeile 4 definieren wir die Funktion driveForward(), die den Roboter mit voller Geschwindigkeit zwei Sekunden vorwärts bewegt.

+

Jetzt werden wir eine Funktion für das Rückwärtsfahren definieren:

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
+11
+12
import time
+from compLib.Motor import Motor
+
+def driveForward():
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(2)
+
+def driveBackward():
+    Motor.power(0, 100)
+    Motor.power(3, -100)
+    time.sleep(2)
+
+
+

In Zeile 9 haben wir die Funktion driveBackward() definiert, die den Roboter zwei Sekunden lang rückwärts fahren lässt.

+

Jetzt können wir diese beiden Funktionen aufrufen und vorwärts und dann wieder rückwärts fahren:

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
+11
+12
+13
+14
+15
import time
+from compLib.Motor import Motor
+
+def driveForward():
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(2)
+
+def driveBackward():
+    Motor.power(0, 100)
+    Motor.power(3, -100)
+    time.sleep(2)
+
+driveForward()
+driveBackward()
+
+
+

Wenn wir diesen Code ausführen, sollte der Roboter zunächst zwei Sekunden vorwärts und dann wieder zwei Sekunden rückwärts fahren und ungefähr an der gleichen Position wie beim Start anhalten.

+

Zwischen den Zeilen 14 und 15 brauchen wir kein time.sleep(2), da der sleep-Befehl bereits in den Funktionen integriert ist.

+

Jetzt wollen wir, dass der Roboter erst vorwärts fährt, dann zwei Sekunden stillsteht und dann wieder rückwärts in seine Ausgangsposition fährt.

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
+11
+12
+13
+14
+15
+16
import time
+from compLib.Motor import Motor
+
+def driveForward():
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(2)
+
+def driveBackward():
+    Motor.power(0, 100)
+    Motor.power(3, -100)
+    time.sleep(2)
+
+driveForward()
+time.sleep(2)
+driveBackward()
+
+
+

Wenn wir den obigen Code ausführen, bleibt der Roboter nicht zwei Sekunden lang stehen, sondern fährt nach der Funktion driveForward() noch zwei Sekunden lang weiter. Warum passiert das? Um das zu verstehen, müssen wir wie der Roboter denken!

+

Erläuterung

+
+
1. (Zeile 14) Die Funktion Vorwärtsfahrt wird aufgerufen
+
+
(Zeile 5) Motor 1 wird auf -100 gesetzt
+
(Zeile 6) Motor 4 wird auf 100 gesetzt
+
(Zeile 7) Zwei Sekunden warten und Motor 1 mit der Geschwindigkeit -100 und Motor 4 mit der Geschwindigkeit 100 bewegen (z.B. vorwärts fahren)
+
+
+
+
2. (Zeile 15) Zwei Sekunden warten, die Motoren sind immer noch auf -100 und 100 eingestellt, also fahren wir weiter vorwärts
+
+
+
3. (Zeile 16) Die Funktion Rückwärtsfahren wird aufgerufen
+
+
(Zeile 5) Motor 1 wird auf 100 gesetzt
+
(Zeile 6) Motor 4 wird auf -100 gesetzt
+
(Zeile 7) Warte zwei Sekunden und bewege Motor 1 mit der Geschwindigkeit 100 und Motor 4 mit der Geschwindigkeit -100 (z.B. Rückwärtsfahren)
+
+
+
+
4. Das Programm ist beendet, und alle Motordrehzahlen werden auf 0 gesetzt.
+
+

Wir sehen also, dass wir die Motoren nach der Vorwärts- oder Rückwärtsfunktion wieder auf Geschwindigkeit 0 setzen müssen, wenn wir den Roboter anhalten wollen. Für diesen Anwendungsfall können wir eine neue Funktion stopMotors() schreiben, die die Geschwindigkeit für Motor 0 und 3 auf 0 setzt:

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
+11
+12
+13
+14
+15
+16
import time
+from compLib.Motor import Motor
+
+def driveForward():
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(2)
+
+def driveBackward():
+    Motor.power(0, 100)
+    Motor.power(3, -100)
+    time.sleep(2)
+
+def stopMotors():
+    Motor.power(0, 0)
+    Motor.power(3, 0)
+
+
+

Wenn wir nun vorwärts fahren, dann zwei Sekunden warten und dann wieder rückwärts fahren wollen, können wir die Funktionen wie folgt aufrufen:

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
+11
+12
+13
+14
+15
+16
+17
+18
+19
+20
+21
import time
+from compLib.Motor import Motor
+
+def driveForward():
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(2)
+
+def driveBackward():
+    Motor.power(0, 100)
+    Motor.power(3, -100)
+    time.sleep(2)
+
+def stopMotors():
+    Motor.power(0, 0)
+    Motor.power(3, 0)
+
+driveForward()
+stopMotors()
+time.sleep(2)
+driveBackward()
+
+
+

Und endlich bekommen wir die Bewegung, die wir uns wünschen.

+

More Optimizations

+

Während der Code für sehr einfache Bewegungen funktioniert, wollen wir normalerweise nicht, dass unsere Funktionen entscheiden, wie lange wir vorwärts fahren. Vielleicht müssen wir manchmal vier Sekunden vorwärts fahren, und manchmal nur eine Sekunde.

+

Nehmen wir an, wir wollen vier Sekunden vorwärts fahren. Wir wissen, dass driveForward() den Roboter zwei Sekunden vorwärts bewegen wird. Also können wir die Funktion einfach zwei Mal aufrufen!

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
import time
+from compLib.Motor import Motor
+
+def driveForward():
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(2)
+
+driveForward()
+driveForward()
+
+
+

Was aber, wenn wir uns nur eine Sekunde vorwärts bewegen wollen? Oder vielleicht drei Sekunden? Mit der Funktion driveForward() können wir das im Moment nicht machen.

+

Stattdessen werden wir die Funktion so umschreiben, dass sie einen Parameter akzeptiert, der die Zeit angibt.

+
1
+2
+3
+4
+5
+6
+7
+8
+9
import time
+from compLib.Motor import Motor
+
+def driveForward(seconds):
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(seconds)
+
+driveForward(3)
+
+
+

Und mit dieser neuen Funktion können wir drei Sekunden lang vorwärts fahren. +Wie funktioniert das nun?

+

In Zeile 4 definieren wir die Funktion driveForward und sagen, dass sie einen Parameter seconds benötigt. Dieser Parameter ist im Grunde eine Variable, die wir uns zum Zeitpunkt der Definition wie einen Platzhalter vorstellen können. Wenn wir die Funktion definieren, wissen wir noch nicht, welchen Wert seconds haben wird.

+

Später in Zeile 9, wenn wir die Funktion aufrufen, übergeben wir den Wert 3 an die Funktion und unser Platzhalter seconds wird den Wert 3 haben. Der Roboter wird also drei Sekunden vorwärts fahren.

+

Vielleicht wollen wir auch, dass der Roboter mit verschiedenen Geschwindigkeiten fahren kann. Wir können also einen weiteren Parameter mit dem Namen speed anlegen. Dann werden wir ein Programm schreiben, das den Roboter drei Sekunden mit voller Geschwindigkeit und dann fünf Sekunden mit halber Geschwindigkeit fahren lässt.

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
import time
+from compLib.Motor import Motor
+
+def driveForward(seconds, speed):
+    Motor.power(0, -speed)
+    Motor.power(3, speed)
+    time.sleep(seconds)
+
+driveForward(3, 100)
+driveForward(5, 50)
+
+
+

In Zeile 9 wird der Platzhalter seconds auf 3 und die Geschwindigkeit auf 100 gesetzt. +In Zeile 10 wird der Platzhalter seconds auf 5 und die Geschwindigkeit auf 50 gesetzt.

+

Bewährte Praktiken +Nun werden wir uns einige weitere Optimierungen und bewährte Verfahren ansehen.

+

1. Wir sollten den Schlafbefehl nicht in die Fahrfunktion einbauen.

+

Wir haben das bis jetzt getan, um ein Gefühl dafür zu bekommen, wie Funktionen funktionieren, und der Einfachheit halber. Später, wenn Sie anfangen, komplexere Programme zu schreiben, sollten Sie dies vermeiden.

+

Das Beispiel von oben, in dem wir vorwärts und rückwärts gefahren sind und zwei Sekunden gewartet haben, sollte also wie folgt aussehen:

+
 1
+ 2
+ 3
+ 4
+ 5
+ 6
+ 7
+ 8
+ 9
+10
+11
+12
+13
+14
+15
+16
+17
+18
+19
+20
+21
+22
+23
+24
import time
+from compLib.Motor import Motor
+
+def driveForward(speed):
+    Motor.power(0, -speed)
+    Motor.power(3, speed)
+
+def driveBackward(speed):
+    Motor.power(0, speed)
+    Motor.power(3, -speed)
+
+def stopMotors():
+    Motor.power(0, 0)
+    Motor.power(3, 0)
+
+driveForward(100)   # Set the motors to forward
+time.sleep(2)       # Let the robot drive for 2 seconds
+stopMotors()        # Now stop the robot
+
+time.sleep(2)       # Wait another 2 seconds, robot is not moving
+
+driveBackward(100)  # Now set the motors to a backwards speed
+time.sleep(2)       # Let the robot continue driving for 2 seconds
+stopMotors()        # And finally stop it again
+
+
+

Warum ist das so wichtig?

+

Normalerweise schlafen wir nicht sehr viel und führen in dieser Zeit andere Verarbeitungen durch. Zum Beispiel könnten wir ein Bild von der Kamera verarbeiten oder die IR-Sensoren auslesen. Wenn wir also eine Funktion wie driveForward() aufrufen, können wir davon ausgehen, dass sie im Hintergrund abläuft und wir andere Aufgaben erledigen, während sich der Roboter bewegt, anstatt nur darauf zu warten, dass er fertig wird.

+

2. Fahren Sie nicht zu langsam.

+

Wenn du die Fahrgeschwindigkeit auf eine sehr kleine Zahl einstellst, kann es sein, dass sich der Roboter gar nicht mehr bewegt, weil die Motoren eine bestimmte Menge an Energie benötigen, um den Roboter überhaupt zu bewegen.

+

3. Fahren Sie nicht zu schnell.

+

Wenn du die Fahrgeschwindigkeit auf eine sehr hohe Zahl einstellst (z. B. 100), könnte dein Roboter zu schnell für seine Sensoren sein. Dies wird später wichtig sein, wenn wir versuchen, eine schwarze Linie zu erkennen, aber zu schnell über sie fahren.

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/gettingStarted/thridProgram.html b/gettingStarted/thridProgram.html new file mode 100644 index 0000000..6e206d8 --- /dev/null +++ b/gettingStarted/thridProgram.html @@ -0,0 +1,180 @@ + + + + + + Mein drittes Programm — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Mein drittes Programm

+

Der offizielle compAIR-Bot ist mit einer Reihe von Sensoren ausgestattet. Die wichtigsten sind die Infrarotsensoren und -sender, die an der Vorderseite des Roboters angebracht sind. Insgesamt gibt es fünf IR-Sensoren.

+

Um loszulegen, muss man zunächst das entsprechende Modul wie folgt importieren:

+
1
from compLib.IRSensor import IRSensor
+
+
+

irSensor

+

Wie im obigen Diagramm zu sehen ist, verfügt jeder Sensor auch über einen entsprechenden IR-Sender / Emitter. Dieser Sender kann mit IRSensor.set(port, enable) aktiviert werden.

+

Schalten wir nun alle fünf Sender ein:

+
1
+2
+3
from compLib.IRSensor import IRSensor
+
+IRSensor.enable()
+
+
+

Diese fünf verschiedenen Sensoren befinden sich an der Vorderseite des Roboters und sind wichtig, um schwarze Linien zu erkennen.

+

Es ist sehr einfach, den Wert der Sensoren abzulesen:

+
1
+2
+3
+4
+5
+6
+7
+8
from compLib.IRSensor import IRSensor
+
+IRSensor.enable()
+
+if IRSensor.read_all()[0] > 500:
+    print("high")
+else:
+    print("low")
+
+
+

Erkennen einer schwarzen Linie +Um den IR-Sensor zu testen, kannst du deinen Roboter auf eine schwarze Linie stellen. Der Sensor in der Mitte sollte auf der schwarzen Linie liegen.

+
1
+2
+3
+4
+5
+6
+7
+8
+9
from compLib.IRSensor import IRSensor
+
+IRSensor.enable()
+COLOR_BREAK = 900
+
+if IRSensor.read_all()[2] > COLOR_BREAK:
+    print("Robot is standing on a black line")
+else:
+print("Robot is NOT standing on a black line")
+
+
+

Wenn das Programm ausgeführt wird, zeigt es an, dass der Roboter auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor des Roboters über einer schwarzen Linie befindet, und es zeigt an, dass der Roboter NICHT auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor nicht über einer Linie befindet.

+
+
In Zeile 1 importieren wir das IRSensor-Modul, das zur Kommunikation mit dem IR-Sensor-Board verwendet werden kann.
+
In Zeile 3 wird der Sensor mit der Nummer 3 aktiviert. Wenn wir einen Sensor nicht aktivieren, können wir ihn nicht in unserem Programm verwenden.
+
In Zeile 4 stellen wir einen Farbschwellenwert von 900 ein, mit dem wir später prüfen werden, ob der Sensorwert unter oder über diesem Schwellenwert liegt. Unterhalb bedeutet, dass sich eine helle Farbe unter dem IR-Sensor befindet und ein höherer Wert als 900 bedeutet, dass sich eine dunkle Farbe unter dem IR-Sensor befindet.
+
+
+
In Zeile 6 lesen wir den Sensor Nummer 2 aus und prüfen, ob der Wert über dem von uns definierten Schwellenwert von 900 liegt. Wenn das der Fall ist, hat der IR-Sensor eine schwarze Linie erkannt.
+
+

Wir werden nun das Programm so ändern, dass es alle 0.1 Sekunden prüft, ob sich eine schwarze Linie unter dem Roboter befindet, und wenn dies der Fall ist, eine Meldung ausgibt.

+
+ + +
+
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/gettingStarted/update.html b/gettingStarted/update.html new file mode 100644 index 0000000..b88f5fb --- /dev/null +++ b/gettingStarted/update.html @@ -0,0 +1,121 @@ + + + + + + Software Updaten — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Software Updaten

+

Da wir die compLib, und die andere Software, welche auf dem Roboter läuft, laufend weiterentwickeln, solltet ihr immer wieder euren Roboter auf die neuste Version updaten. Dazu müsst ihr einfach den Roboter mit dem Internet verbinden und dann diesen Befehl in der Kommandozeile des Roboters eingeben:

+
sudo apt update && sudo apt upgrade
+
+
+

Am einfachsten kann das über die Webseite gemacht werden, auf der ihr auch euren Code schreibt. Dazu müsst ihr einfach nur das Terminal (= Konsole) öffnen, dann den Befehl dort hineinkopieren und Enter drücken. +updatePic

+
+ + +
+
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/gettingStarted/wifi.html b/gettingStarted/wifi.html new file mode 100644 index 0000000..cc7f41d --- /dev/null +++ b/gettingStarted/wifi.html @@ -0,0 +1,200 @@ + + + + + + WLAN-Verbindung herstellen — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

WLAN-Verbindung herstellen

+
+

Schritt für Schritt - macOS

+
    +

  1. SD-Karte aus dem Raspberry Pi bzw. Roboter entnehmen.

    2. +

  2. Einstecken der SD-Karte in den Computer

    3. +

  3. Öffnen der SD-Karte mit dem Namen „boot“ bootImage

    4. +

  4. Generieren des PSK auf https://www.wireshark.org/tools/wpa-psk.html pskImage

    5. +

  5. Öffnen der Datei „wpa_supplicant.conf“ auf der SD-Karte

    6. +

  6. Einfügen der Konfiguration. Dabei muss die SSID und der vorher generierte PSK eingesetzt werden

    +
    ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+country=AT
+
+network={
+    ssid="EinTollerNameFürDasWlan"
+    psk="98117b165a48f25cbe36f288ddf597729a40feeea93054c19bfa8e5eab238541"
+}
+
    +
    +
    7. +

  7. Speichern, Auswerfen und wieder in den Raspberry Pi einbauen

    8. +

  8. Starten des Roboters

    9. +

  9. Die IP-Adresse sollte nun am Roboter angezeigt werden

    10. +
+
+
+

Weitere Informationen

+

Die „wpa_supplicant.conf“ Datei wird beim Start des Rpasberry Pi automatisch an den richtigen Ort kopiert, damit sich der Roboter zum Wlan verbindet. +Eine genauere Anleitung wird vom Hersteller des Raspberry Pi hier bereitgestellt.

+
+
+

Windows……

+

Je nach Betriebssystem und Editor, mit dem Sie die Datei erstellen, könnte die Datei falsche Zeilenumbrüche oder eine falsche Dateierweiterung haben; stellen Sie also sicher, dass Sie einen Editor verwenden, der dies berücksichtigt. Linux erwartet das Zeilenumbruchzeichen LF (Line Feed). +Beispielsweise kann Notepad++ verwendet werden, um die Datei richtig zu speichern. +notepadImage

+
+
+

Fehlerbehandlung

+

Sollte es dazu kommen, dass der Roboter nicht automatisch die Verbindung mit dem Netzwerk herstellt, kann eine Kabelgebundene Verbindung zur Diagnose von Fehlern genutzt werden. +Dabei wird automatisch die IP-Adresse der Verbindung „eth“ am Roboter angezeigt. Nach der erfolgreichen Verbindung zum Roboter mittels SSH kann die „wpa_cli“ zur Fehlerbehandlung verwendet werden:

+
> wpa_cli
+    wpa_cli v2.9
+    Copyright (c) 2004-2019, Jouni Malinen <j@w1.fi> and contributors
+
+    This software may be distributed under the terms of the BSD license.
+    See README for more details.
+
+
+    Selected interface 'p2p-dev-wlan0'
+
+    Interactive mode
+
+> interface wlan0
+    Connected to interface 'wlan0.
+> scan
+    OK
+    <3>CTRL-EVENT-SCAN-STARTED
+    <3>CTRL-EVENT-SCAN-RESULTS
+> scan_result
+    bssid / frequency / signal level / flags / ssid
+    68:02:b8:0c:d7:47       2462    -66     [WPA2-PSK-CCMP][ESS]    WG
+    68:02:b8:0c:d7:40       5220    -63     [WPA2-PSK-CCMP][ESS]    WG
+    34:2c:c4:da:dd:b9       5200    -65     [WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS] WLAN10573403
+    98:da:c4:e5:21:d0       2437    -57     [WPA2-PSK-CCMP][ESS]    WG
+    34:2c:c4:da:dd:c6       2412    -52     [WPA-PSK-][WPA2-PSK-CCMP+TKIP][WPS][ESS]        WLAN10573403
+    20:83:f8:07:5b:90       2467    -67     [WPA2-PSK-CCMP][WPS][ESS]       A1-075b8c
+    7c:39:53:94:49:82       5280    -77     [WPA2-PSK-CCMP][WPS][ESS]       A1-944980-5G
+    7c:39:53:94:49:81       2427    -68     [WPA2-PSK-CCMP][WPS][ESS]       A1-944980
+    90:fd:73:ac:d3:27       2452    -72     [WPA2-PSK-CCMP][WPS][ESS]       Drei_H288A_24G_eKy5
+    50:e0:39:3c:e5:80       5180    -82     [WPA2-PSK-CCMP][WPS][ESS]       A1-393CE57F
+    90:fd:73:ac:d3:28       5500    -83     [WPA2-PSK-CCMP][WPS][ESS]       Drei_H288A_5G_eKy5
+    68:02:b8:41:42:f9       5180    -84     [WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS] WLAN18792472
+    34:2c:c4:30:3c:65       5180    -89     [WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS] witt
+    fa:0d:ac:d3:40:d4       2467    -80     [WPA2-PSK-CCMP][WPS][ESS][P2P]  DIRECT-d4-HP M28 LaserJet
+    0e:84:dc:14:ac:27       2467    -85     [WPA2-PSK-CCMP][WPS][ESS][P2P]  DIRECT-wo-BRAVIA
+>
+
+
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..7c44084 --- /dev/null +++ b/index.html @@ -0,0 +1,119 @@ + + + + + + Dokumentation des Roboters — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Dokumentation des Roboters

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/init_build.sh b/init_build.sh deleted file mode 100755 index 1cedad2..0000000 --- a/init_build.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/usr/bin/env bash - -# DO NOT RUN UNLESS YOUR REALLY KNOW WHAT YOU ARE DOING - -DEBEMAIL="joel.klimont@gmail.com" -DEBFULLNAME="Joel Klimont" -export DEBEMAIL DEBFULLNAME -python3 setup.py sdist -cd dist || exit -tar -xzmf *.tar.gz -cd complib-0.0.1 || exit -git init -git remote add origin https://github.com/F-WuTS/complib-DEB.git -git fetch origin -git checkout -b master --track origin/master -gbp import-orig -u 0.0.1 --pristine-tar --sign-tags --no-interactive ../complib-0.0.1.tar.gz -mv setup.py setup.py.old -echo "#!/usr/bin/env python3" >> setup.py -cat setup.py.old >> setup.py -debmake -b":python3" -mv setup.py.old setup.py -git add debian/ -git commit -m "init" -gbp buildpackage --git-pristine-tar --git-sign-tags --git-keyid=97B61E4D515353C0A498D2AB22680B5AAC0C4FCE -git push --set-upstream origin master diff --git a/lib/Api.html b/lib/Api.html new file mode 100644 index 0000000..30e67fb --- /dev/null +++ b/lib/Api.html @@ -0,0 +1,498 @@ + + + + + + + + + + Api — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Api

+
+

Seeding

+
+
+class compLib.Api.Seeding
+

Class used for communicating with seeding api

+
+
+static get_cargo(color: str) → Tuple[Dict, int]
+

Makes the /api/getCargo call to the api.

+
+
Parameters
+

color – Color parameter which specifies which cargo should be taken. (A string which is either “green”, “red”, “yellow” or “blue”)

+
+
Returns
+

Json Object and status code as returned by the api.

+
+
Return type
+

Tuple[Dict, int]

+
+
+
+ +
+
+static get_delivery() → Tuple[Dict, int]
+

Makes the /api/getDelivery call to the api.

+
+
Returns
+

Json Object and status code as returned by the api.

+
+
Return type
+

Tuple[Dict, int]

+
+
+
+ +
+
+static get_garbage() → Tuple[Dict, int]
+

Makes the /api/getGarbage call to the api.

+
+
Returns
+

Json Object and status code as returned by the api.

+
+
Return type
+

Tuple[Dict, int]

+
+
+
+ +
+
+static get_material() → Tuple[Dict, int]
+

Makes the /api/getMaterial call to the api.

+
+
Returns
+

Json Object and status code as returned by the api.

+
+
Return type
+

Tuple[Dict, int]

+
+
+
+ +
+
+static list_cargo() → Tuple[Dict, int]
+

Makes the /api/listCargo call to the api.

+
+
Returns
+

Json Object and status code as returned by the api.

+
+
Return type
+

Tuple[Dict, int]

+
+
+
+ +
+ +
+
+

Double Elimination

+
+
+class compLib.Api.DoubleElim
+

Class used for communicating with double elimination api

+
+
+static get_goal() → Tuple[compLib.Api.Position, int]
+

Makes the /api/getGoal call to the api.

+
+
Returns
+

A Position object with x and y coordinates of the goal, rotation is always -1

+
+
Return type
+

Tuple[Position, int]

+
+
+
+ +
+
+static get_items() → Tuple[List[Dict], int]
+

Makes the /api/getItems call to the api.

+
+
Returns
+

A list will all items currently on the game field. Items are dictionaries that look like: {“id”: 0, “x”: 0, “y”: 0}

+
+
Return type
+

Tuple[List[Dict], int]

+
+
+
+ +
+
+static get_meteoroids() → Tuple[List[Dict], int]
+

Makes the /api/getMeteoroids call to the api.

+
+
Returns
+

A list will all meteoroids currently on the game field. Meteoroids are dictionaries that look like: {“x”: 0, “y”: 0}

+
+
Return type
+

Tuple[List[Dict], int]

+
+
+
+ +
+
+static get_opponent() → Tuple[compLib.Api.Position, int]
+

Makes the /api/getOp call to the api.

+
+
Returns
+

A Position object with opponents robot position

+
+
Return type
+

Tuple[Position, int]

+
+
+
+ +
+
+static get_position() → Tuple[compLib.Api.Position, int]
+

Makes the /api/getPos call to the api.

+
+
Returns
+

A Position object with robot position

+
+
Return type
+

Tuple[Position, int]

+
+
+
+ +
+
+static get_scores() → Tuple[Dict, int]
+

Makes the /api/getScores call to the api.

+
+
Returns
+

A dictionary with all scores included like: {“self”:2,”opponent”:0}

+
+
Return type
+

Tuple[Dict, int]

+
+
+
+ +
+ +
+
+

Position

+
+
+class compLib.Api.Position(x, y, degrees)
+

Datastructure for holding a position

+
+ +
+
+

Examples

+
+

Calling Seeding API

+
from compLib.Api import Seeding
+
+zones, code = Seeding.get_delivery()
+if code == 403:
+    print(f"I am not in the correct zone to make that request!")
+else:
+    print(f"First we need to go to zone {zone[0]}")
+    # put code here to follow line and drive to the zone
+    print(f"Now we need to go to zone {zone[1]}")
+    # put code here to follow line and drive to the next zone
+    print(f"Now we need to go to zone {zone[2]}")
+    # put code here to follow line and drive to the last zone
+    print(f"We delivered all packages, hopefully we scored some points!")
+
+
+
from compLib.Api import Seeding
+
+package, code = Seeding.get_cargo("yellow")
+if code == 403:
+    print(f"I am not in the correct zone to make that request!")
+elif code == 404:
+    print(f"I am in the correct zone, but there is no yellow package here.")
+elif code == 413:
+    print(f"I am in the correct zone, but I already have two packages loaded.")
+else code == 200:
+    print(f"The {package['color']} has been picked up!")
+
+
+
+
+

Calling Double Elimination API

+
from compLib.Api import DoubleElim
+
+position, status = DoubleElim.get_position()
+print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}")
+
+goal, status = DoubleElim.get_goal()
+print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}")
+
+
+
from compLib.Api import DoubleElim
+import time
+
+# function which waits for the game to be started (you should include this in your double elimination program)
+def wait_for_start():
+    _, status = DoubleElim.get_position()
+    while status == 503:
+        time.sleep(0.1)
+        _, status = DoubleElim.get_position()
+
+wait_for_start()
+print(f"Game has started, lets score some points!!")
+
+position, status = DoubleElim.get_position()
+print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}")
+
+opponent_position, status = DoubleElim.get_opponent()
+print(f"Position of the opponents robot is: x={opponent_position.x}, y={opponent_position.y} and rotation is: {opponent_position.degrees}, the server responded with status code: {status}")
+
+goal, status = DoubleElim.get_goal()
+print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}")
+
+items, status = DoubleElim.get_items()
+print(f"There are currently {len(items)} on the gameboard: {items}, the server responded with status code: {status}")
+
+score, status = DoubleElim.get_score()
+print(f"The current score of the game is {score}, the server responded with status code: {status}")
+
+meteoroids, status = DoubleElim.get_meteoroids()
+print(f"The current meteoroids in the game are {meteoroids}, the server responded with status code: {status}")
+
+
+

In this second example we wait until the game is started by the judges and then make all possible requests once. You should use the wait_for_start function in your double elimination program. If your robot starts too soon your run will not count!

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

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Aruco.html b/lib/Aruco.html new file mode 100644 index 0000000..a0197c0 --- /dev/null +++ b/lib/Aruco.html @@ -0,0 +1,307 @@ + + + + + + + + + + Aruco — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Aruco

+
+

Examples

+
+

Recognizing ArUco tags

+
import time
+import cv2
+from cv2 import aruco
+from compLib import Vision
+
+ARUCO_DICT = cv2.aruco.Dictionary_get(aruco.DICT_6X6_250)
+ARUCO_PARAMETERS = aruco.DetectorParameters_create()
+
+def getTagCenterFromFrame(id, frame):
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, ARUCO_DICT, parameters = ARUCO_PARAMETERS)
+    frame = aruco.drawDetectedMarkers(frame.copy(), corners, ids)
+
+    if ids is None:
+        return frame, None, None
+
+    for tag_id, corner in zip(ids, corners):
+        if (tag_id[0] == id):
+
+            x, y = 0, 0
+            for i in range(4):
+                x += corner[0][i][0] * 0.25
+                y += corner[0][i][1] * 0.25
+
+            return frame, x, y
+    return frame, None, None
+
+# Get the center from the aruco tag with the specified id
+# in pixel coordinates (0-640, 0-480)
+def getTagPosition(id):
+    frame = Vision.Streaming.get_frame()
+    frame, x, y = getTagCenterFromFrame(id, frame)
+    Vision.Streaming.publish_frame(frame)
+    return x, y
+
+# Get the normalized center coordinates from the aruco tag
+# with the specified id
+# left is -1, right +1
+# bottom is -1, top +1
+def getNormalizedTagPosition(id):
+    frame = Vision.Streaming.get_frame()
+    frame, x, y = getTagCenterFromFrame(id, frame)
+    Vision.Streaming.publish_frame(frame)
+
+    if x is None or y is None:
+        return None, None
+
+    height, width = frame.shape[:2]
+    x = x / width * 2.0 - 1.0
+    y = -(y / height * 2.0 - 1.0)
+    return x, y
+
+if __name__ == '__main__':
+
+    desiredID = 11
+
+    while True:
+        x, y = getNormalizedTagPosition(desiredID)
+
+        if x is not None:
+            print("X Coordinate: ", x)
+        else:
+            print("Tag not found")
+
+
+

This example shows how to recognize ArUco tags based on their id and position. +You can specify an ID of the tag you want to use and if it’s found, the coordinates of the center are returned. +With the normalized function this is very easy: The x-coordinate is -1 on the left, 1 on the right and 0 in the center of the screen, same for y. +This way it is quite simple to act on the position of the tag.

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

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Battery.html b/lib/Battery.html new file mode 100644 index 0000000..9640f3b --- /dev/null +++ b/lib/Battery.html @@ -0,0 +1,264 @@ + + + + + + + + + + Battery — CompLib 0.0.2 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Battery

+
+

Class Documentation

+
+
+class compLib.Battery.Battery
+

Used to interact with the battery

+
+
+static percent() → int
+

Get battery percentage

+
+
Returns
+

Percentage between 0 and 100

+
+
Return type
+

int

+
+
+
+ +
+ +
+
+

Examples

+
+

Printing percentage

+
from compLib.Battery import Battery
+
+print(Battery.percent())
+
+
+
+
+
+ + +
+ +
+ + +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Buzzer.html b/lib/Buzzer.html new file mode 100644 index 0000000..aeb7ca3 --- /dev/null +++ b/lib/Buzzer.html @@ -0,0 +1,264 @@ + + + + + + + + + + Buzzer — CompLib 0.0.2 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Buzzer

+
+

Class Documentation

+
+
+class compLib.Buzzer.Buzzer
+

Used to interact with the buzzer

+
+
+static set(on: bool)
+

Turn the buzzer on / off

+
+
Parameters
+

on – True if on, False if off

+
+
+
+ +
+ +
+
+

Examples

+
+

Turning buzzer on and off

+
import time
+from compLib.Buzzer import Buzzer
+
+Buzzer.set(True)
+time.sleep(1)
+Buzzer.set(False)
+
+
+
+
+
+ + +
+ +
+ + +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Display.html b/lib/Display.html new file mode 100644 index 0000000..91b1f8b --- /dev/null +++ b/lib/Display.html @@ -0,0 +1,277 @@ + + + + + + + + + + Display — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Display

+
+

Class Documentation

+
+
+class compLib.Display.Display
+

Access the display on the robot. +The display is split into 4 Rows and 16 Columns. Each function call changes one line at a time.

+
+
+static clear()
+

Clear the display

+
+ +
+
+static write(line: int, text: str)
+

Write a string of text to the integrated display.

+
+
Parameters
+
    +

  • line – Line to write. Between 1 and 4

    • +

  • text – Text to write. Up to 16 characters

    • +
+
+
Raises
+

IndexError

+
+
+
+ +
+ +
+
+

Examples

+
+

Write a line to the display

+
import time
+from compLib.Display import Display
+
+Display.write(1, "Hello World!")
+
+
+
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Encoder.html b/lib/Encoder.html new file mode 100644 index 0000000..07baa68 --- /dev/null +++ b/lib/Encoder.html @@ -0,0 +1,335 @@ + + + + + + + + + + Encoder — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Encoder

+
+

Class Documentation

+
+
+class compLib.Encoder.Encoder
+

Class used to read the encoders

+
+
+static clear(port: int)
+

Reset encoder position to 0

+
+
Parameters
+

port – Port, which the motor is connected to. Between 1 and 4

+
+
Raises
+

IndexError

+
+
+
+ +
+
+static clear_all()
+

Reset all encoder positions to 0

+
+ +
+
+static handle_wrap(raw_value, port)
+

Handle overflow and underflow of int for encoders.

+
+
Parameters
+
    +

  • raw_value – Raw value which was read on port

    • +

  • port – Port, which the motor is connected to. Between 1 and 4

    • +
+
+
Raises
+

IndexError

+
+
Returns
+

Current encoder position

+
+
+
+ +
+
+static read(port: int) → int
+

Read encoder from a specified port

+
+
Parameters
+

port – Port, which the motor is connected to. Between 1 and 4

+
+
Raises
+

IndexError

+
+
Returns
+

Current encoder position

+
+
+
+ +
+
+static read_all()
+

Read all encoders at once. +This is faster than read as it only uses one SPI call for all encoders!

+
+
Returns
+

Tuple of all current encoder positions

+
+
+
+ +
+
+static read_all_raw()
+

Read all encoders at once. +This is faster than read_raw as it only uses one SPI call for all encoders!

+
+
Returns
+

Tuple of all current raw encoder positions

+
+
+
+ +
+
+static read_raw(port: int) → int
+

Read raw encoder from a specified port. Will not be reset to 0 at start.

+
+
Parameters
+

port – Port, which the motor is connected to. Between 1 and 4

+
+
Raises
+

IndexError

+
+
Returns
+

Current encoder position

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

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/IRSensor.html b/lib/IRSensor.html new file mode 100644 index 0000000..24b1921 --- /dev/null +++ b/lib/IRSensor.html @@ -0,0 +1,295 @@ + + + + + + + + + + Infrared Sensor — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Infrared Sensor

+
+
+class compLib.IRSensor.IRSensor
+

Access the different IR Sensors of the robot

+
+
+static read(sensor: int) → int
+

Read one infrared sensor

+
+
Parameters
+

sensor – Which sensor to read. Between 1 and 5

+
+
Raises
+

IndexError

+
+
Returns
+

Sensor value. 10 bit accuracy

+
+
Return type
+

int

+
+
+
+ +
+
+static read_all()
+

Read all IR sensors at once. +This is faster than read as it only uses one SPI call for all sensors!

+
+
Returns
+

Tuple of all current ir sensors

+
+
+
+ +
+
+static set(sensor: int, on: bool)
+

Turn on / off a IR emitter

+
+
Parameters
+

sensor – Which sensor to read. Between 1 and 5

+
+
Raises
+

IndexError

+
+
+
+ +
+ +
+

Examples

+
+

Testing analog sensors

+
from compLib import IRSensor
+
+while True:
+   print ("left: {}  middle: {}  right: {}".format(IRSensor.read(1), IRSensor.read(3), IRSensor.read(5)))
+
+
+
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/IRWrapper.html b/lib/IRWrapper.html new file mode 100644 index 0000000..d0e8e81 --- /dev/null +++ b/lib/IRWrapper.html @@ -0,0 +1,314 @@ + + + + + + + + + + Infrared Wrapper — CompLib 0.0.2 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Infrared Wrapper

+
+
+class compLib.IRWrapper.IRWrapper
+

Wrapper around the IRSensor to enable calibration of the sensor

+
+
+static adjust_for_calibration(raw_value: float) → float
+

Adjust a raw sensor value to 0 to 1000

+
+
Returns
+

Value between 0 and 1000, White and Black

+
+
Return type
+

float

+
+
+
+ +
+
+static bottom_left_calibrated() → float
+

Returns calibrated value of the bottom left analog sensor

+
+
Returns
+

Value between 0 and 1000, White and Black

+
+
Return type
+

float

+
+
+
+ +
+
+static bottom_middle_calibrated() → float
+

Returns calibrated value of the bottom middle analog sensor

+
+
Returns
+

Value between 0 and 1000, White and Black

+
+
Return type
+

float

+
+
+
+ +
+
+static bottom_right_calibrated() → float
+

Returns calibrated value of the bottom right analog sensor

+
+
Returns
+

Value between 0 and 1000, White and Black

+
+
Return type
+

float

+
+
+
+ +
+
+static calibrate()
+

Calibrate the black and white values of the IRSensors +This is done by putting the bot on black line with the middle sensor +Afterwards, all sensors are read for 2 seconds and filtered. +The minimum value is used for white, maximum is black.

+
+ +
+ +
+

Examples

+
+

Calibrating analog sensors

+
from compLib import IRWrapper
+
+ir = IRWrapper.IRWrapper()
+
+ ir.calibrate()
+ print("left {} middle {} right {}".format(ir.bottom_left_calibrated(), ir.bottom_middle_calibrated(), ir.bottom_right_calibrated()))
+
+
+
+
+
+ + +
+ +
+ + +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Linefollower.html b/lib/Linefollower.html new file mode 100644 index 0000000..f4d9e47 --- /dev/null +++ b/lib/Linefollower.html @@ -0,0 +1,302 @@ + + + + + + + + + + Linefollower Examples — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Linefollower Examples

+
+

Simple Linefollower

+
from compLib.Motor import Motor
+from compLib.Display import Display
+from compLib.IRSensor import IRSensor
+from compLib.Encoder import Encoder
+
+import time
+
+IRSensor.set(1, True)
+IRSensor.set(2, True)
+IRSensor.set(3, True)
+IRSensor.set(4, True)
+IRSensor.set(5, True)
+
+DRIVE_SPEED = 75
+COLOR_BREAK = 900
+KP = 10.0
+KD = 0.0
+
+def drive(leftSpeed, rightSpeed):
+    rightSpeed *= -0.906
+
+    Motor.power(1, min(max(-100, rightSpeed), 100))
+    Motor.power(4, min(max(-100, leftSpeed), 100))
+
+def follow(sleepTime = 0.1):
+    lastError = 0
+    sensorsBlack = 0
+    while sensorsBlack < 3:
+        sensorsBlack = 0
+        for i in range(1, 6):
+            if IRSensor.read(i) > COLOR_BREAK:
+                sensorsBlack += 1
+
+        error = lastError
+        if IRSensor.read(3) > COLOR_BREAK:
+            error = 0
+        elif IRSensor.read(1) > COLOR_BREAK:
+            error = -1.5
+        elif IRSensor.read(5) > COLOR_BREAK:
+            error = 1.5
+        elif IRSensor.read(2) > COLOR_BREAK:
+            error = -1
+        elif IRSensor.read(4) > COLOR_BREAK:
+            error = 1
+        elif error == 1.5:
+            error = 3
+        elif error == -1.5:
+            error = -3
+
+        lastError = error
+
+        adjustment = KP * error + KD * (error - lastError)
+        leftSpeed = DRIVE_SPEED + adjustment
+        rightSpeed = DRIVE_SPEED - adjustment
+
+        print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
+        drive(leftSpeed, rightSpeed)
+
+    drive(0, 0)
+    time.sleep(sleepTime)
+
+def main():
+    follow()
+    follow()
+    follow()
+    follow()
+    follow(0.2)
+
+main()
+
+
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Logging.html b/lib/Logging.html new file mode 100644 index 0000000..57414a5 --- /dev/null +++ b/lib/Logging.html @@ -0,0 +1,273 @@ + + + + + + + + + + Logging — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Logging

+
+

Class Documentation

+
+
+class compLib.LogstashLogging.Logging
+

Can be used to manually use the logger or turn up the logging level used for debugging this library.

+
+
+static get_logger() → logging.Logger
+

Get the logger object used to communicate with logstash

+
+
Returns
+

Python logger

+
+
Return type
+

logging.Logger

+
+
+
+ +
+
+static set_debug()
+

Turns up the logging level of the library to debug. Should be used, when debugging with the +Competition organizers

+
+ +
+ +
+
+

Examples

+
+

Turn up the logging

+
from compLib.LogstashLogging import Logging
+
+Logging.set_debug()
+
+
+
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Motor.html b/lib/Motor.html new file mode 100644 index 0000000..cb6e3c5 --- /dev/null +++ b/lib/Motor.html @@ -0,0 +1,353 @@ + + + + + + + + + + Motor — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Motor

+
+

Class Documentation

+
+
+class compLib.Motor.Motor
+

Class used to control the motors

+
+
+static active_break(port: int)
+

Actively break with a specific motor

+
+
Parameters
+

port – Port, which the motor is connected to. 1-4

+
+
+
+ +
+
+static all_off()
+

Turns of all motors

+
+ +
+
+static get_motor_curve()
+

Get the currently active motor curve. Check set_motor_curve() for more info.

+
+
Returns
+

current motor curve

+
+
+
+ +
+
+static power(port: int, percent: float)
+

Set specified motor to percentage power, percentage is linearized +so that it’s roughly proportional to the speed

+
+
Parameters
+
    +

  • port – Port, which the motor is connected to. 1-4

    • +

  • percent – Percentage of max speed. between -100 and 100

    • +
+
+
Raises
+

IndexError

+
+
+
+ +
+
+static power_raw(port: int, percent: float, log_metric=True)
+

Set specified motor to percentage power

+
+
Parameters
+
    +

  • port – Port, which the motor is connected to. 1-4

    • +

  • percent – Percentage of max speed. between -100 and 100

    • +
+
+
Raises
+

IndexError

+
+
+
+ +
+
+static pwm(port: int, pwm: int, mode: compLib.Motor.MotorMode)
+

Set specified motor to a specific pwm value and motor mode

+
+
Parameters
+
    +

  • port – Port, which the motor is connected to. 1-4 allowed

    • +

  • pwm – Raw PWM value which the motor should be set to. From 0 to 2^16 - 1

    • +

  • mode – Motor mode. See enum MotorMode for more info

    • +
+
+
Raises
+

IndexError

+
+
+
+ +
+
+static set_motor_curve(curve)
+

Set the global motor curve, must be a float array with exactly 21 elements. +[0] = x ticks/s (0% power) +[1] = x ticks/s (5% power) +[2] = x ticks/s (10% power) +… +[20] = x ticks/s (100% power)

+
+
Parameters
+

curve – float array with 21 elements

+
+
Raises
+

ValueError

+
+
+
+ +
+ +
+
+

Examples

+
+

Driving straight (maybe)

+
from compLib.Motor import Motor
+
+Motor.power(1, -50)
+Motor.power(4, 50)
+
+
+
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Odom.html b/lib/Odom.html new file mode 100644 index 0000000..9e2643a --- /dev/null +++ b/lib/Odom.html @@ -0,0 +1,329 @@ + + + + + + + + + + Odometry — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Odometry

+
+

Class Documentation

+
+
+class compLib.Odom.Odometry(x, y, orientation)
+

DTO used for holding all odometry information.

+

Coordinate system:

+
+

X: + Forward; - Backwards

+

Y: + Right; - Left

+

Orientation: + Right; - Left

+
+
+
+get_orientation() → float
+

Returns degrees turned in radians

+
+ +
+
+get_x() → float
+

Returns distance driven on x-axis in meters

+
+ +
+
+get_y() → float
+

Returns distance driven on y-axis in meters

+
+ +
+ +
+
+class compLib.Odom.Odom
+

Class used to track the movement of the robot in X, Y, Theta (Orientation)

+
+
+static clear() → None
+

Clears the current odometry information and start from X, Y, Orientation set to 0

+
+ +
+
+static get_odom() → compLib.Odom.Odometry
+
+
Returns
+

Current orientation of the robot

+
+
+
+ +
+
+static update() → None
+

Updates the current odometry information of the robot, Should be called in a loop with at least 100HZ. +Do not clear encoder positions between updates! Must be cleared, when clearing encoders!

+
+ +
+ +
+
+

Examples

+
+

Getting actual distance driven

+
import time
+import math
+from compLib.Motor import Motor
+from compLib.Encoder import Encoder
+from compLib.Odom import Odom, Odometry
+
+ # distance in meters
+ # speed in % of max speed
+ def drive_example(distance, speed):
+     Odom.update()
+     odom = Odom.get_odom()
+     while abs(odom.get_x()) < distance:
+         Odom.update()
+         odom = Odom.get_odom()
+
+         Motor.power(4, speed)
+         Motor.power(1, -speed)
+
+     print(f" Forward: {odom.get_x()} m")
+     print(f" Right: {odom.get_y()} m")
+     print(f" Turned: {math.degrees(odom.get_orientation())} degrees")
+
+     Motor.active_break(1)
+     Motor.active_break(4)
+     time.sleep(0.1)
+     Encoder.clear_all()
+     Odom.clear()
+
+
+
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/QC.html b/lib/QC.html new file mode 100644 index 0000000..8474bb0 --- /dev/null +++ b/lib/QC.html @@ -0,0 +1,294 @@ + + + + + + + + + + Quality Control — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Quality Control

+
+

Infrared Test

+
from compLib.IRSensor import IRSensor
+import time
+
+IRSensor.set(1, True)
+IRSensor.set(2, True)
+IRSensor.set(3, True)
+IRSensor.set(4, True)
+IRSensor.set(5, True)
+
+while True:
+    t = time.time()
+    for i in range(1, 6):
+        print(f"{i}: {IRSensor.read(i)}")
+    print("")
+    time.sleep(0.2)
+
+
+
+
+

Motor Test

+
from compLib.Motor import Motor
+from compLib.Encoder import Encoder
+import time
+
+Motor.power(1, -50)
+Motor.power(4, 50)
+
+while True:
+    print(f"L:{Encoder.read(4)} R:{Encoder.read(1)}")
+    time.sleep(0.1)
+
+
+
+
+

Servo Test

+
from compLib.Servo import Servo
+import time
+
+for i in range(1, 8 + 1):
+    Servo.set_position(i, 45)
+    print(f"{i}")
+    time.sleep(1)
+
+Servo.setup_position()
+time.sleep(10)
+
+
+
+
+

Vision Test

+
import cv2
+from compLib import Vision
+from compLib.Servo import Servo
+
+while True:
+    frame = Vision.Streaming.get_frame()
+    Vision.Streaming.publish_frame(frame)
+    Servo.set_position(3, -45)
+
+
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Robot.html b/lib/Robot.html new file mode 100644 index 0000000..3ce6afd --- /dev/null +++ b/lib/Robot.html @@ -0,0 +1,278 @@ + + + + + + + + + + Robot — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Robot

+
+

Class Documentation

+
+
+class compLib.Robot.Robot
+
+
+ARBOR_LENGTH_M = 0.139
+

Distance between the two wheels in meters

+
+ +
+
+ARBOR_LENGTH_MM = 139.0
+

Distance between the two wheels in millimeters

+
+ +
+
+LEFT_PORT = 4
+

Motor port for the left motor

+
+ +
+
+RIGHT_PORT = 1
+

Motor port for the right motor

+
+ +
+
+TICKS_PER_METER = 12418.568799001412
+

Ticks after driving one meter

+
+ +
+
+TICKS_PER_TURN = 2770.0
+

Ticks per 360 degree turn of a wheel

+
+ +
+
+WHEEL_CIRCUMFERENCE_MM = 223.05307840487532
+

Circumference of a wheel in millimeters

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

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Servo.html b/lib/Servo.html new file mode 100644 index 0000000..f2a649d --- /dev/null +++ b/lib/Servo.html @@ -0,0 +1,251 @@ + + + + + + + + + + Servo — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Servo

+
+
+class compLib.Servo.Servo
+

Control the servo ports on the robot

+
+
+static set_position(port: int, angle: float, offset: float = 90.0)
+

Set position of servo connected to port

+
+
Parameters
+
    +

  • port – port between 1 and 8

    • +

  • angle – Angle of servo

    • +
+
+
+
+ +
+
+static setup_position()
+

Set position of servos to the position used during the setup process

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

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/Vision.html b/lib/Vision.html new file mode 100644 index 0000000..1f9d175 --- /dev/null +++ b/lib/Vision.html @@ -0,0 +1,336 @@ + + + + + + + + + + Vision — CompLib 0.2.3 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Vision

+

This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.

+

How do I use this module?

+
    +

  1. Get frames from the raspberry pi camera

    2. +

  2. – here comes your own processing –

    3. +

  3. Publish the processed frames on an http server

    4. +

  4. You can view the http stream of your processed images in a web browser

    5. +
+
+

Opencv Stream

+

Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up +to 5 Seconds.

+
+
+class compLib.Vision.__Streaming
+

Class that handles rtmp streaming for opencv.

+

DO NOT CREATE AN INSTANCE OF THIS CLASS YOURSELF!

+

This is automatically done when importing this module. Use Vision.Streaming which is +an instance of this class!

+

grab frames -> do your own processing -> publish frame -> view on http server

+
+
+get_frame()
+

Grab the newest frame from the rtmp stream.

+
+
Returns
+

An opencv frame

+
+
+
+ +
+
+publish_frame(image)
+

Publish an opencv frame to the http webserver.

+
+
Parameters
+

image – Opencv frame that will be published

+
+
Returns
+

None

+
+
+
+ +
+ +
+
+

Examples

+
+

Using the Vision Module

+
import cv2
+from compLib import Vision
+
+while True:
+    # get newest opencv frame from camera
+    frame = Vision.Streaming.get_frame()
+
+    # do some processing with the frame.....
+
+    # publish frame to streaming server
+    Vision.Streaming.publish_frame(frame)
+
+
+

Connect the raspberry pi to your internet and view the stream at: “http://your_raspi_ip:9898/”. This should display +your raspberry pi camera. Note: the stream will lag a little bit BUT the processing of the image will be done in +realtime.

+

The output on the website should show whatever your raspberry pi cam records:

+Processed frames from opencv +
+
+

Chessboard Detection

+

In this example we process the captured stream of images and want to detect chessboards. Run this example and +point your raspberry pi camera to a chessboard and it should be detected.

+

For testing you can point it at this image:

+Chessboard for opencv processing +
import cv2
+from compLib import Vision
+
+while True:
+    # get newest opencv frame from camera
+    frame = Vision.Streaming.get_frame()
+
+    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+
+    # convert image to grayscale image
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    # find the chessboard corners
+    ret, corners = cv2.findChessboardCorners(gray, (6, 9), None)
+
+    # draw detected chessboard position onto the image
+    cv2.drawChessboardCorners(frame,  (6, 9), corners, ret)
+
+    # publish frame to streaming server
+    Vision.Streaming.publish_frame(frame)
+
+
+

Connect the raspberry pi to your internet and view the stream at: “http://your_raspi_ip:9898/”.

+

The output image should look like this:

+Processed frames from opencv +

Here is a screenshot of the stream website while viewing the chessboard in this documentation.

+Processed frames from opencv +
+
+
+ + +
+ +
+
+ + + + +
+ +
+

+ + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS) + +

+
+ + + + Built with Sphinx using a + + theme + + provided by Read the Docs. + +
+ +
+
+ +
+ +
+ + + + + + + + + + + \ No newline at end of file diff --git a/lib/classes/DoubleElimination.html b/lib/classes/DoubleElimination.html new file mode 100644 index 0000000..4752c78 --- /dev/null +++ b/lib/classes/DoubleElimination.html @@ -0,0 +1,212 @@ + + + + + + Double Elimination — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Double Elimination

+
+

Dokumentation des Double Elimination Moduls

+
+
+class compLib.DoubleElimination.Position(x, y, degrees)
+

Datenstruktur, welche eine Position representiert.

+
+
Variablen
+
    +

  • x – X Position in Centimeter

    • +

  • y – Y Position in Centimeter

    • +

  • degrees – Rotation in Grad von -180 bis 180

    • +
+
+
+
+ +
+
+class compLib.DoubleElimination.DoubleElim
+

Klasse für die Kommunikation mit Double Elimination Api

+
+
+static get_goal() → Tuple[compLib.DoubleElimination.Position, int]
+

Führt den /api/getGoal Aufruf an die API aus.

+
+
Rückgabe
+

Ein Objekt der Klasse Position mit der Position des Ziels relativ zum eigenen Roboter und der Status Code

+
+
Rückgabetyp
+

Tuple[Position, int]

+
+
+
+ +
+
+static get_items() → Tuple[List[Dict], int]
+

Führt den /api/getItems Aufruf an die API aus.

+
+
Rückgabe
+

Eine Liste aller Items, die sich derzeit auf dem Spielfeld befinden. Items sind „dictionaries“, die wie folgt aussehen: {„id“: 0, „x“: 0, „y“: 0}

+
+
Rückgabetyp
+

Tuple[List[Dict], int]

+
+
+
+ +
+
+static get_opponent() → Tuple[compLib.DoubleElimination.Position, int]
+

Führt den /api/getOp Aufruf an die API aus.

+
+
Rückgabe
+

Ein Objekt der Klasse Position mit der Position des gegnerischen Roboters relativ zum eigenen Roboter und der Status Code

+
+
Rückgabetyp
+

Tuple[Position, int]

+
+
+
+ +
+
+static get_pos() → Tuple[compLib.DoubleElimination.Position, int]
+

Führt den /api/getPos Aufruf an die API aus.

+
+
Rückgabe
+

Ein Objekt der Klasse Position mit der Position des Roboters und der Status Code

+
+
Rückgabetyp
+

Tuple[Position, int]

+
+
+
+ +
+
+static get_scores() → Tuple[Dict, int]
+

Führt den /api/getScores Aufruf an die API aus.

+
+
Rückgabe
+

Ein „dictionary“ mit dem eignen Score und dem des Gegners: {„self“:2,“opponent“:0}

+
+
Rückgabetyp
+

Tuple[Dict, int]

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/lib/classes/Encoder.html b/lib/classes/Encoder.html new file mode 100644 index 0000000..fc244cc --- /dev/null +++ b/lib/classes/Encoder.html @@ -0,0 +1,149 @@ + + + + + + Encoder — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Encoder

+
+

Dokumentation der Klasse

+
+
+class compLib.Encoder.Encoder
+

Klasse zum Zugriff auf die Encoder der einzelnen Motoren

+
+
+static read_all_positions()
+

Lesen aller absoluten Positionen der einzelnen Encoder

+
+
Rückgabe
+

Tupel mit allen aktuellen Encoderpositionen

+
+
+
+ +
+
+static read_all_velocities()
+

Lesen der Geschwindigkeit aller angeschlossenen Motoren.

+
+
Rückgabe
+

Tupel aller aktuellen Motorgeschwindigkeiten in Radianten pro Sekunde

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/lib/classes/IRSensor.html b/lib/classes/IRSensor.html new file mode 100644 index 0000000..f22113e --- /dev/null +++ b/lib/classes/IRSensor.html @@ -0,0 +1,150 @@ + + + + + + Infrarot Sensoren — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Infrarot Sensoren

+
+

Dokumentation der Klasse

+
+
+class compLib.IRSensor.IRSensor
+

Ermöglicht den Zugriff auf die einzelnen IRSensoren des Roboters

+
+
+static disable()
+

Deaktivieren der Infrarot-Sender

+
+ +
+
+static enable()
+

Aktivieren Infrarot-Sender. Muss bei jedem Programmstart ausgeführt werden.

+
+ +
+
+static read_all()
+

Auslesen aller Sensoren gleichzeitig

+
+
Rückgabe
+

Array aller Sensorwerte

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/lib/classes/Motor.html b/lib/classes/Motor.html new file mode 100644 index 0000000..31cf699 --- /dev/null +++ b/lib/classes/Motor.html @@ -0,0 +1,265 @@ + + + + + + Motoren — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Motoren

+
+

Dokumentation der Klasse

+
+
+class compLib.Motor.Motor
+

Klasse zum Ansteuern der Motoren

+
+
+static multiple_power(*arguments: tuple)
+

Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen

+
+
Parameter
+

arguments – tuple von port, percentage

+
+
Raises
+

IndexError

+
+
+
+ +
+
+static multiple_pulse_width(*arguments: tuple)
+

Setzen den Pulsbreite mehrerer Motoren in Prozent der Periode

+
+
Parameter
+

arguments – tuple von port, prozent

+
+
Raises
+

IndexError

+
+
+
+ +
+
+static multiple_speed(*arguments: tuple)
+

Geschwindigkeit mehrerer Motoren einstellen

+
+
Parameter
+

arguments – tuple von port, Geschwindigkeit in Radianten pro Sekunde (rad/s)

+
+
Raises
+

IndexError

+
+
+
+ +
+
+static power(port: int, percent: float)
+

Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen

+
+
Parameter
+
    +

  • port – Port, an welchen der Motor angesteckt ist. 0-3

    • +

  • percent – Prozentsatz der Höchstgeschwindigkeit. zwischen -100 und 100

    • +
+
+
Raises
+

IndexError

+
+
+
+ +
+
+static pulse_width(port: int, percent: float)
+

Setzen den Pulsbreite eines Motors in Prozent der Periode

+
+
Parameter
+
    +

  • port – Port, an welchen der Motor angesteckt ist. 0-3

    • +

  • percent – Prozent der Periode zwischen -100 und 100

    • +
+
+
Raises
+

IndexError

+
+
+
+ +
+
+static speed(port: int, speed: float)
+

Geschwindigkeit des Motors einstellen

+
+
Parameter
+
    +

  • port – Port, an welchen der Motor angesteckt ist. 0-3

    • +

  • speed – Drehzahl, mit der sich ein Motor dreht, in Centimeter pro Sekunde (cm/s)

    • +
+
+
Raises
+

IndexError

+
+
+
+ +
+ +
+
+

Genauere Informationen

+
+

Power vs Speed vs PulseWidth

+

Zur ansteuerung der Motoren kann entweder Motor.power(...), Motor.speed(...) oder Motor.pulse_width(...)` verwendet werden. +Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.

+
+
Bei Motor.power() wird dabei ein Wert zwischen -100% und 100% der maximalen Geschwindigkeit angegeben.
+
Motor.speed() verwendet die Encoder um die Geschwindigkeit der Motoren mittels closed-loop zu steuern. Diese Funktion sollte nur verwendet werden, wenn Motor.power() nicht zur Ansteuerung ausreicht.
+
Motor.pulse_width() stellt die Geschwindigkeit des Motors mittels der Pulsbreite der PWM-Steuerung des Motors ein. Diese Funktion ist so nah an der Hardware wie möglich und sollte auch nur verwendet werden, wenn es einen expliziten Grund dafür gibt.
+
+
+
+

Normal vs Multiple

+

Der Aufruf der funktionen kann entweder über Motor.power(port, percent) oder Motor.power((port, percent), (port, percent), ..) erfolgen. +Der zweite Aufruf ermöglicht dem Entwickler dabei beide Motoren in einem Aufruf anzusteuern und bringt einen kleinen Vorteil in der Leistungsfähigkeit der Software.

+
+
+
+

Beispiele

+
+

Vorwärts fahren

+

Mit folgenden Programm drehen sich beide Motoren mit 50% ihrer maximalen Geschwindigkeit. +Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum aneren Motor gedreht werden muss, da diese spiegelverkehrt montiert sind.

+

Zusätzlich ist ein time.sleep(5) notwendig, welches das Programm für 5 Sekunden pausiert. Diese Pause wird benötigt, da der Roboter automatisch alle Motoren beim Ende des Progammes deaktiviert.

+
from compLib.Motor import Motor
+import time
+
+Motor.power(0, -50)
+Motor.power(3, 50)
+
+time.sleep(5)
+
+
+
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/lib/classes/Opencv.html b/lib/classes/Opencv.html new file mode 100644 index 0000000..f73a95a --- /dev/null +++ b/lib/classes/Opencv.html @@ -0,0 +1,265 @@ + + + + + + Camera und OpenCV — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Camera und OpenCV

+
+

Dokumentation des Camera Moduls

+
+
+class compLib.Camera.Marker(id: int, x: float, y: float)
+
+ +
+
+class compLib.Camera.Camera
+
+
+detect_markers(image) → Any
+

Funktion um die ArUco Marker in einem Bild zu erkennen.

+
+
Parameter
+

image – Bild, welches die Kamera aufgenommen hat.

+
+
Rückgabe
+

Gibt drei Variablen zurueck. Erstens eine Liste an Postionen der „Ecken“ der erkannten Markern. Zweitens eine Liste an IDs der erkannten Markern und dritten noch Debug Informationen (diese können ignoriert werden).

+
+
+
+ +
+
+detect_markers_midpoint(image) → Tuple[List[compLib.Camera.Marker], Any]
+

Funktion um die ArUco Marker in einem Bild zu erkennen, einzuzeichnen und den Mittelpunkt der Marker auszurechnen.

+
+
Parameter
+

image – Bild, welches die Kamera aufgenommen hat.

+
+
Rückgabe
+

Gibt zwei Variablen zurueck. Erstens eine Liste an „Markern“ und zweitens das Bild mit den eigezeichneten Marken.

+
+
Rückgabetyp
+

Tuple[List[Marker], Any]

+
+
+
+ +
+
+draw_markers(image, corners, ids) → Any
+

Zeichnet die erkannten Markern mit ihren IDs in das Bild.

+
+
Parameter
+
    +

  • image – Original Bild, in dem die Marker erkannt wurden.

    • +

  • corners – List der Positionen der Ecken der erkannten Marker.

    • +

  • ids – IDs der erkannten Markern.

    • +
+
+
Rückgabe
+

Neues Bild mit den eigezeichneten Markern.

+
+
+
+ +
+
+get_frame() → Any
+

Die Funktion gibt das neuste Bild, welches die Kamera aufgenommen, hat zurück.

+
+
Rückgabe
+

Ein „opencv image frame“

+
+
+
+ +
+
+publish_frame(image)
+

Sendet das Bild, welches der Funktion übergeben wird, an den Webserver, damit es der Nutzer in seinem Browser ansehen kann.

+
+
Parameter
+

image – Opencv Bild, welches dem Nutzer angezeigt werden soll.

+
+
Rückgabe
+

None

+
+
+
+ +
+ +
+
+

Beispiele

+
+

Bild Anzeigen

+

Das folgende Programm fragt Bilder von der Kamera ab und schickt sie an den Webserver, der im Hintergrund läuft. Der Benutzer kann dann auf die Webseite: http://raspi_ip:9898 gehen und die Ausgabe der Kamera sehen.

+
from compLib.Camera import *
+
+camera = Camera()
+while True:
+    image = camera.get_frame()
+    camera.publish_frame(image)
+
+
+
+
+

ArUco Marker Erkennen

+

In diesem Programm werden die ArUco Marker, die sich am Spielfeld befinden, erkannt. Diese „QR-Code“ ähnlichen Marker finden sich in den Logistikzonen und können dazu verwendet werden zu erkennen, wo der Roboter hinfahren sollt etc.

+
from compLib.Camera import *
+
+camera = Camera()
+while True:
+    image = camera.get_frame()
+
+    markers, image = camera.detect_markers_midpoint(image)
+    print(markers)
+    print("-----------------")
+
+    camera.publish_frame(image)
+
+
+

Hier ist z.B. der ArUco Marker mit der ID 0. Führe das Programm aus und lass den Roboter auf den Bildschirm schauen. Das Programm sollte die 2D Position ausgeben, welcher der ArUco Marker (genauer sein Mittelpunkt) im Camera Bild hat.

+

ArucoExample

+

Um die Positionen zu verarbeiten, muss dann nur noch das „markers“ array durchgegangen werden. Das könnte z.B. so gemacht werden:

+
from compLib.Camera import *
+
+camera = Camera()
+while True:
+    image = camera.get_frame()
+
+    markers, image = camera.detect_markers_midpoint(image)
+    print(markers)
+    print("-----------------")
+
+    for marker in markers:
+        print(f"Marker mit der id: {marker.id}")
+        print(f"Ist auf der X Position: {marker.x}")
+        print(f"und auf der Y Position: {marker.y}")
+        print("-----------------")
+
+    camera.publish_frame(image)
+
+
+

Wichtig ist noch zu beachten, dass die X und Y Positionen ihren Ursprung in der linken oberen Ecke des Bildes haben. D.h. die Position (0,0) ist im oberen linken Bildrand.

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/lib/classes/Seeding.html b/lib/classes/Seeding.html new file mode 100644 index 0000000..1d58989 --- /dev/null +++ b/lib/classes/Seeding.html @@ -0,0 +1,192 @@ + + + + + + Seeding — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Seeding

+
+

Dokumentation des Seeding Moduls

+
+
+class compLib.Seeding.Gamestate(seed: int)
+

Erstellt den Seeding „Gamestate“ für den angegebenen Seed.

+
+
Parameter
+

seed – Seed welcher zum Erstellen des Gamestates benutzt werden soll.

+
+
+
+
+get_heuballen() → int
+

Die Funktion gibt entweder die Zahl „1“ oder „2“ zurück. Wenn die Funktion „1“ zurückgibt, dann liegen die Heuballen auf den gelben Linien. Wenn die Funktion „2“ zurückgibt, dann liegen sie auf den blauen Flächen.

+
+
Rückgabe
+

Gibt entweder die Zahl 1 oder 2 zurück.

+
+
+
+ +
+
+get_logistic_plan() → ]
+

Die Funktion gibt den „Logistik Plan“ zurück. Also die Reihenfolge, in welcher der Roboter die Logistik Zonen Abfahren muss, um die Pakete welche dort liegen zu sortieren.

+
+
Rückgabe
+

Eine Liste an Zahlen zwischen 10 und 13.

+
+
+
+ +
+
+get_material_deliveries() → []]
+

Die Funktion gibt die einzelnen „Material Lieferungen“ zurück. Da der Roboter immer zwei Paare an Materialien anliefern muss, gibt die Funktion eine Liste an Material Paaren zurück. Die Materialien werden dabei durch ihre Zonen-ID representiert. Also Holz ist z.B. „0“ und die Ziegelsteine sind „3“.

+
+
Rückgabe
+

Eine Liste and Material Paaren.

+
+
+
+ +
+ +
+

Beispiele

+
+
In Zeile 1 wird das Seeding Modul importiert.
+
In Zeile 2 definieren wir dann eine Variable, in der wir den „Seed“ des Gamestates den wir erstellen wollten speichern.
+
In Zeile 3 erstellen wir dann einen neuen Gamestate mit dem Seed und speichern ihn in die Variable gamestate.
+
In Zeile 4 geben wir dann den Gamestate aus, damit wir ihn auf der Konsole ansehen können.
+
+
import compLib.Seeding as Seeding
+seed = 42
+gamestate = Seeding.Gamestate(seed)
+print(gamestate)
+
+
+

In der Ausgabe des Print Statements sehen wir den generierten Gamestate.

+
Seed: 42
+Heu Color: 1
+Material Pairs: [[3, 0], [2, 3], [0, 2], [1, 2]]
+Material Zones: [2, 1, 3, 2]
+Logistic Plan: [12, 13, 12, 13, 10, 11, 13, 10, 13, 12, 11, 10, 11, 13, 10, 11, 12, 11, 12, 10, 12]
+Logistic Centers: [[0, 3, 1, 1], [1, 0, 2, 2], [1, 2, 0, 2], [3, 0, 2, 0]]
+
+
+
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/lib/index.html b/lib/index.html new file mode 100644 index 0000000..9f13db4 --- /dev/null +++ b/lib/index.html @@ -0,0 +1,159 @@ + + + + + + compLib — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/objects.inv b/objects.inv new file mode 100644 index 0000000..482e106 Binary files /dev/null and b/objects.inv differ diff --git a/other/hardware.html b/other/hardware.html new file mode 100644 index 0000000..aab1957 --- /dev/null +++ b/other/hardware.html @@ -0,0 +1,176 @@ + + + + + + Hardware — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Hardware

+
+

Sensorarray

+

SensorarrayImage

+
+

Specs V4

+
+
Processor: STM32G030F6P6 - 32-bit ARM Cortex M0 CPU @ 64 MHz
+
I/O: 1x I2C, 1x SWD
+
Sensors: 5x QRE1113GR
+
+
+
+

Specs V2

+
+
Processor: ATMEGA328P-AU - 8-bit CPU @ 16 MHz
+
I/O: 1x I2C, 1x UART, 1x ISP
+
Sensors: 5x QRE1113GR
+
+
+
+

Details

+

Das Sensorarray wird verwendet um Linienen vor dem Roboter zu erkennen. Es agiert als I2C Slave und muss dementsprechend aktiv gepollt werden. +Zusätzlich besteht die möglichkeit alle Emitter zu deaktiviern um einen eventuellen Messfehler durch Sonneneinstralung oder andere Störquellen zu erkennen.

+

Version 4 unterscheidet sich zu Version 2 im Mikroprozessor, da es zu Lieferengpässen des ATMEGA gekommen ist. +Zusätzlich wurde die möglichkeit alle Emitter einzeln an bzw. auszuschalten entfernt, da diese keinen signifikanten Mehrwert brachte.

+
+
+
+

Motorboard

+

MainboardImage

+
+

Specs

+

Motor-Treiber: LV8548MC-AH

+
+
+

Details

+

Das Motorboard kann an einen der 4 Ports am Roboter angesteckt werden und ermöglicht das Ansteuern von Motoren und auslesen von Encodern.

+
+
+
+

Mainboard

+
+

Specs

+
+
Processor: STM32L051C8T6TR - 32-bit ARM Cortex M0 @ 32MHz
+
I/O: 4x I2C (3x Bus 1, 1x Bus 2), 1x 40 Pin GPIO Header, 2x SPI (Verbunden mit GPIO), 4x Motor-/Servo-connector, 1x SWD, 1x USB-C
+
+
+
+

Details

+

Das Mainboard wird auf den GPIO-Header eines Raspberry Pi gesteckt und ermöglicht die Steuerung eines Roboters mittels 4 Motor- bzw. Servo-Ports. Der RaspberryPi kommuniziert dabei mittels SPI mit dem Mainboard und steuert die einzelnen Sensoren oder Module an. +Zusätzlich befinden sich auf der Unterseite des Mainboards Lötstellen, welche direkt mit der Stromversorgung der Motoren verbunden sind und geben so die möglichkeit Motoren mit mehr als 5V anzusteuern.

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

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/other/usage.html b/other/usage.html new file mode 100644 index 0000000..a5bee94 --- /dev/null +++ b/other/usage.html @@ -0,0 +1,269 @@ + + + + + + Beispiele — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Beispiele

+
+

Vorwärts und rückwärts fahren

+
import time
+from compLib.Motor import *
+
+def forward():
+    Motor.power(0, -30)
+    Motor.power(3, 30)
+
+
+def backward():
+    Motor.power(0, 30)
+    Motor.power(3, -30)
+
+def main():
+    print("hallo ich bin ein roboter beep buup")
+
+    forward()
+    time.sleep(1)
+    backward()
+    time.sleep(1)
+
+if __name__ == '__main__':
+    main()
+
+
+
+
+

Eine Linie verfolgen

+
import time
+from compLib.Motor import Motor
+from compLib.Encoder import Encoder
+from compLib.IRSensor import IRSensor
+
+COLOR_BREAK = 850
+DRIVE_SPEED = 35
+
+IRSensor.enable()
+
+def drive(left, right):
+    right *= -1
+    Motor.multiple_power((0, right), (3, left))
+    print(f"{left} {right}")
+
+def follow():
+    while True:
+        sensors = IRSensor.read_all()
+
+        if sensors[0] > COLOR_BREAK:
+            # turn left
+            drive(-DRIVE_SPEED, DRIVE_SPEED)
+        elif sensors[4] > COLOR_BREAK:
+            # turn right
+            drive(DRIVE_SPEED, -DRIVE_SPEED)
+        else:
+            # straight
+            drive(DRIVE_SPEED, DRIVE_SPEED)
+
+        if sensors[0] > COLOR_BREAK and sensors[4] > COLOR_BREAK:
+            break
+
+    drive(0, 0)
+    time.sleep(1)
+
+def main():
+    follow()
+
+    drive(DRIVE_SPEED, DRIVE_SPEED)
+    time.sleep(0.5)
+    follow()
+
+    drive(DRIVE_SPEED, DRIVE_SPEED)
+    time.sleep(0.5)
+    follow()
+
+    drive(DRIVE_SPEED, DRIVE_SPEED)
+    time.sleep(0.5)
+    follow()
+
+if __name__ == "__main__":
+    main()
+
+
+
+
+

Funktionalität des Roboters überprüfen

+
import time
+from compLib.Motor import Motor
+from compLib.Encoder import Encoder
+from compLib.IRSensor import IRSensor
+
+
+def testIR():
+    print("Enabling Infrared Sensor")
+    IRSensor.enable()
+    time.sleep(1)
+
+    print("Writing sensor values...")
+    for i in range(0, 50):
+        print(IRSensor.read_all())
+        time.sleep(0.1)
+
+    print("Disabling Infrared Sensor")
+    IRSensor.disable()
+
+def testEncoders():
+    Motor.multiple_pulse_width((0, 50), (3, -50))
+
+    print("Writing encoder positions...")
+    for i in range(0, 50):
+        print(Encoder.read_all_positions())
+        time.sleep(0.1)
+
+    time.sleep(2)
+    print("Writing encoder velocities...")
+    for i in range(0, 50):
+        print(Encoder.read_all_velocities())
+        time.sleep(0.1)
+
+    Motor.multiple_pulse_width((0, 0), (3, 0))
+
+
+def testMotors():
+    print("Setting pulse_with")
+    Motor.multiple_pulse_width((0, 50), (3, -50))
+    time.sleep(3)
+
+    print("Setting power")
+    Motor.multiple_power((0, 50), (3, -50))
+    time.sleep(3)
+
+    print("Setting pulse_with")
+    Motor.multiple_speed((0, 5), (3, -5))
+    time.sleep(3)
+
+    for i in range(0, 100):
+        Motor.multiple_power((0, i), (3, -i))
+        time.sleep(0.1)
+
+
+if __name__ == "__main__":
+    print("Make sure robot is turned on it's back!")
+    time.sleep(5)
+
+    print()
+    print("----------------- Testing Infrared Sensor -----------------")
+    testIR()
+
+    print()
+    print("----------------- Testing Encoder -----------------")
+    testEncoders()
+
+    print()
+    print("----------------- Testing Motors -----------------")
+    testMotors()
+
+
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).

+
+ + Erstellt mit Sphinx mit einem + theme + bereitgestellt von Read the Docs. + + +
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+
+ + + + \ No newline at end of file diff --git a/search.html b/search.html new file mode 100644 index 0000000..22742e7 --- /dev/null +++ b/search.html @@ -0,0 +1,118 @@ + + + + + + Suche — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + + +
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+
+ + + + + + + + + \ No newline at end of file diff --git a/searchindex.js b/searchindex.js new file mode 100644 index 0000000..0248660 --- /dev/null +++ b/searchindex.js @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/setup.py b/setup.py deleted file mode 100644 index db3c254..0000000 --- a/setup.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 -import setuptools -import os - -base_dir = os.path.dirname(__file__) -readme_path = os.path.join(base_dir, "README.md") -if os.path.exists(readme_path): - with open(readme_path) as stream: - long_description = stream.read() -else: - long_description = "" - -setuptools.setup( - name="complib", - version="0.0.1", - author="F-WuTs", - author_email="--", - description="", - long_description=long_description, - long_description_content_type="text/markdown", - url="https://github.com/F-WuTS/compLIB", - packages=setuptools.find_packages(), - include_package_data=True, - classifiers=[ - "Programming Language :: Python :: 3.7", - "License :: Other/Proprietary License", - "Operating System :: Unix" - ], - license="proprietary", - install_requires=[ - "smbus", - "requests" - ], - setup_requires=[ - "smbus", - "requests" - ] -) diff --git a/software/installation.html b/software/installation.html new file mode 100644 index 0000000..c994464 --- /dev/null +++ b/software/installation.html @@ -0,0 +1,161 @@ + + + + + + Installationsanweisungen — CompLib 0.2.3 Dokumentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Installationsanweisungen

+

Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen.

+

Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.

+
+

Betriebssystem aufsetzen

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Als Basis wird für den Roboter Raspberry Pi OS (64-bit) verwendet. Das 32-Bit Betriebssystem wird nicht unterstützt, da die Software-Komponenten nur für aarch64 bzw. arm64/v8 kompiliert werden. +Genauere Informationen sind hier zu finden.

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Bearbeiten der boot-Partition

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  1. cmdline.txt

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console=tty1 root=PARTUUID=21e60f8c-02 rootfstype=ext4 fsck.repair=yes rootwait quiet init=/usr/lib/raspi-config/init_resize.sh
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Stellen Sie sicher, dass die folgenden Einstellungen in der config.txt korrekt gesetzt sind

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  1. config.txt

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# SPI
+dtparam=spi=on
+dtoverlay=spi1-3cs
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+# Run in 64-bit mode
+arm_64bit=1
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+[all]
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+[pi4]
+# Run as fast as firmware / board allows
+arm_boost=1
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+[all]
+start_x=1
+gpu_mem=128
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+dtoverlay=pi3-disable-bt
+enable_uart=1
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  1. Erstellen der leeren Datei ssh, damit ssh beim nächsten Start aktiviert wird

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  2. Hinzufügen der userconf.txt

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compair:$6$eh2pkHm18RgYtwiG$PoeabVCH8llbyIio66OefPGXZ2r2BRI2hPHIdkNTBjmiR0lGXsozGyLx0uViOx3bi998syXjSDXkwt0t3x8Bq.
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  1. Wlan Verbindung einrichten

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