更新V2
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commit
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# Default ignored files
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/shelf/
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/workspace.xml
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@ -1,14 +0,0 @@
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<component name="InspectionProjectProfileManager">
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<profile version="1.0">
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<option name="myName" value="Project Default" />
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<inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
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<option name="ignoredPackages">
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<value>
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<list size="1">
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<item index="0" class="java.lang.String" itemvalue="PyQt5" />
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</list>
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</value>
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</option>
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</inspection_tool>
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</profile>
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</component>
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Binary file not shown.
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After Width: | Height: | Size: 1.2 MiB |
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@ -2,7 +2,7 @@
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<project version="4">
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<component name="ProjectModuleManager">
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<modules>
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<module fileurl="file://$PROJECT_DIR$/.idea/foc.iml" filepath="$PROJECT_DIR$/.idea/foc.iml" />
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<module fileurl="file://$PROJECT_DIR$/.idea/可执行文件_main.iml" filepath="$PROJECT_DIR$/.idea/可执行文件_main.iml" />
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</modules>
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</component>
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</project>
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@ -1,6 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="$PROJECT_DIR$" vcs="Git" />
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<mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
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</component>
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</project>
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@ -0,0 +1,34 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ChangeListManager">
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<list default="true" id="2c3b4595-924f-4b8c-9cdc-2475a5485c3c" name="Changes" comment="" />
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<option name="SHOW_DIALOG" value="false" />
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<option name="HIGHLIGHT_CONFLICTS" value="true" />
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<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
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<option name="LAST_RESOLUTION" value="IGNORE" />
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<component name="Git.Settings">
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<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/../.." />
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<component name="ProjectId" id="25pTJBDLAdnVsIriUpaQWzCiJd5" />
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<component name="ProjectViewState">
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<option name="hideEmptyMiddlePackages" value="true" />
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<option name="showLibraryContents" value="true" />
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<component name="PropertiesComponent">
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<property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
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<property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
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<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
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<component name="TaskManager">
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<task active="true" id="Default" summary="Default task">
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<changelist id="2c3b4595-924f-4b8c-9cdc-2475a5485c3c" name="Changes" comment="" />
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<created>1646222955974</created>
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<option name="number" value="Default" />
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<option name="presentableId" value="Default" />
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<updated>1646222955974</updated>
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</task>
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<servers />
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</project>
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@ -5,8 +5,4 @@
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<orderEntry type="inheritedJdk" />
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<orderEntry type="sourceFolder" forTests="false" />
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</component>
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<component name="PyDocumentationSettings">
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<option name="format" value="PLAIN" />
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<option name="myDocStringFormat" value="Plain" />
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</component>
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</module>
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#include "Command.h"
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void Command::run(char* str){
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for(int i=0; i < call_count; i++){
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if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15"
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call_list[i](str+strlen(call_ids[i])); // get 15.15 input function
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break;
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}
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}
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}
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void Command::add(char* id, CommandCallback onCommand){
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call_list[call_count] = onCommand;
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call_ids[call_count] = id;
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call_count++;
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}
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void Command::scalar(float* value, char* user_cmd){
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*value = atof(user_cmd);
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}
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bool Command::isSentinel(char* ch,char* str)
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{
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char s[strlen(ch)+1];
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strncpy(s,str,strlen(ch));
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s[strlen(ch)] = '\0'; //strncpy need add end '\0'
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if(strcmp(ch, s) == 0)
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return true;
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else
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return false;
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}
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@ -0,0 +1,17 @@
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#include <Arduino.h>
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// callback function pointer definiton
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typedef void (* CommandCallback)(char*); //!< command callback function pointer
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class Command
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{
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public:
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void add(char* id , CommandCallback onCommand);
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void run(char* str);
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void scalar(float* value, char* user_cmd);
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bool isSentinel(char* ch,char* str);
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private:
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// Subscribed command callback variables
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CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
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char* call_ids[20]; //!< added callback commands
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int call_count;//!< number callbacks that are subscribed
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};
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@ -0,0 +1,93 @@
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/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
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This software may be distributed and modified under the terms of the GNU
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General Public License version 2 (GPL2) as published by the Free Software
|
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Foundation and appearing in the file GPL2.TXT included in the packaging of
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this file. Please note that GPL2 Section 2[b] requires that all works based
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on this software must also be made publicly available under the terms of
|
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the GPL2 ("Copyleft").
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Contact information
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-------------------
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Kristian Lauszus, TKJ Electronics
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Web : http://www.tkjelectronics.com
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e-mail : kristianl@tkjelectronics.com
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*/
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#include "Kalman.h"
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Kalman::Kalman() {
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/* We will set the variables like so, these can also be tuned by the user */
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Q_angle = 0.001f;
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Q_bias = 0.003f;
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R_measure = 0.03f;
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angle = 0.0f; // Reset the angle
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bias = 0.0f; // Reset bias
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P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
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P[0][1] = 0.0f;
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P[1][0] = 0.0f;
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P[1][1] = 0.0f;
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};
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// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
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float Kalman::getAngle(float newAngle, float newRate, float dt) {
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// KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145
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// Modified by Kristian Lauszus
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// See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it
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// Discrete Kalman filter time update equations - Time Update ("Predict")
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// Update xhat - Project the state ahead
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/* Step 1 */
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rate = newRate - bias;
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angle += dt * rate;
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// Update estimation error covariance - Project the error covariance ahead
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/* Step 2 */
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P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle);
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P[0][1] -= dt * P[1][1];
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P[1][0] -= dt * P[1][1];
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P[1][1] += Q_bias * dt;
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// Discrete Kalman filter measurement update equations - Measurement Update ("Correct")
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// Calculate Kalman gain - Compute the Kalman gain
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/* Step 4 */
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float S = P[0][0] + R_measure; // Estimate error
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/* Step 5 */
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float K[2]; // Kalman gain - This is a 2x1 vector
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K[0] = P[0][0] / S;
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K[1] = P[1][0] / S;
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// Calculate angle and bias - Update estimate with measurement zk (newAngle)
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/* Step 3 */
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float y = newAngle - angle; // Angle difference
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/* Step 6 */
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angle += K[0] * y;
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bias += K[1] * y;
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// Calculate estimation error covariance - Update the error covariance
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/* Step 7 */
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float P00_temp = P[0][0];
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float P01_temp = P[0][1];
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P[0][0] -= K[0] * P00_temp;
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P[0][1] -= K[0] * P01_temp;
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P[1][0] -= K[1] * P00_temp;
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P[1][1] -= K[1] * P01_temp;
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return angle;
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};
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void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle
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float Kalman::getRate() { return this->rate; }; // Return the unbiased rate
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/* These are used to tune the Kalman filter */
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void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; };
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void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; };
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void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; };
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float Kalman::getQangle() { return this->Q_angle; };
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float Kalman::getQbias() { return this->Q_bias; };
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float Kalman::getRmeasure() { return this->R_measure; };
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@ -0,0 +1,59 @@
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/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
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This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
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Contact information
|
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-------------------
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||||
|
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Kristian Lauszus, TKJ Electronics
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Web : http://www.tkjelectronics.com
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e-mail : kristianl@tkjelectronics.com
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||||
*/
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#ifndef _Kalman_h_
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#define _Kalman_h_
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class Kalman {
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public:
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Kalman();
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// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
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float getAngle(float newAngle, float newRate, float dt);
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void setAngle(float angle); // Used to set angle, this should be set as the starting angle
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float getRate(); // Return the unbiased rate
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/* These are used to tune the Kalman filter */
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void setQangle(float Q_angle);
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/**
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* setQbias(float Q_bias)
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* Default value (0.003f) is in Kalman.cpp.
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* Raise this to follow input more closely,
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* lower this to smooth result of kalman filter.
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*/
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void setQbias(float Q_bias);
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void setRmeasure(float R_measure);
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float getQangle();
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float getQbias();
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float getRmeasure();
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private:
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/* Kalman filter variables */
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float Q_angle; // Process noise variance for the accelerometer
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float Q_bias; // Process noise variance for the gyro bias
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float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise
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float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
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float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
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float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate
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float P[2][2]; // Error covariance matrix - This is a 2x2 matrix
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};
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#endif
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@ -0,0 +1,299 @@
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/*
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Highcharts JS v3.0.10 (2014-03-10)
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(c) 2009-2014 Torstein Honsi
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License: www.highcharts.com/license
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*/
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|
||||
a.startOfWeek)),d[0]<this.min&&d.shift();else for(b=this.min+(b[0]-this.min)%c;b<=this.max;b+=c)d.push(b);return d},adjustForMinRange:function(){var a=this.options,b=this.min,c=this.max,d,e=this.dataMax-this.dataMin>=this.minRange,f,g,h,i,j;if(this.isXAxis&&this.minRange===u&&!this.isLog)r(a.min)||r(a.max)?this.minRange=null:(p(this.series,function(a){i=a.xData;for(g=j=a.xIncrement?1:i.length-1;g>0;g--)if(h=i[g]-i[g-1],f===u||h<f)f=h}),this.minRange=E(f*5,this.dataMax-this.dataMin));if(c-b<this.minRange){var k=
|
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this.minRange;d=(k-c+b)/2;d=[b-d,o(a.min,b-d)];if(e)d[2]=this.dataMin;b=Ba(d);c=[b+k,o(a.max,b+k)];if(e)c[2]=this.dataMax;c=Na(c);c-b<k&&(d[0]=c-k,d[1]=o(a.min,c-k),b=Ba(d))}this.min=b;this.max=c},setAxisTranslation:function(a){var b=this,c=b.max-b.min,d=b.axisPointRange||0,e,f=0,g=0,h=b.linkedParent,i=!!b.categories,j=b.transA;if(b.isXAxis||i||d)h?(f=h.minPointOffset,g=h.pointRangePadding):p(b.series,function(a){var h=t(b.isXAxis?a.pointRange:b.axisPointRange||0,+i),j=a.options.pointPlacement,n=
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a.closestPointRange;h>c&&(h=0);d=t(d,h);f=t(f,ga(j)?0:h/2);g=t(g,j==="on"?0:h);!a.noSharedTooltip&&r(n)&&(e=r(e)?E(e,n):n)}),h=b.ordinalSlope&&e?b.ordinalSlope/e:1,b.minPointOffset=f*=h,b.pointRangePadding=g*=h,b.pointRange=E(d,c),b.closestPointRange=e;if(a)b.oldTransA=j;b.translationSlope=b.transA=j=b.len/(c+g||1);b.transB=b.horiz?b.left:b.bottom;b.minPixelPadding=j*f},setTickPositions:function(a){var b=this,c=b.chart,d=b.options,e=b.isLog,f=b.isDatetimeAxis,g=b.isXAxis,h=b.isLinked,i=b.options.tickPositioner,
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||||
j=d.maxPadding,k=d.minPadding,l=d.tickInterval,m=d.minTickInterval,n=d.tickPixelInterval,q,qa=b.categories;h?(b.linkedParent=c[b.coll][d.linkedTo],c=b.linkedParent.getExtremes(),b.min=o(c.min,c.dataMin),b.max=o(c.max,c.dataMax),d.type!==b.linkedParent.options.type&&oa(11,1)):(b.min=o(b.userMin,d.min,b.dataMin),b.max=o(b.userMax,d.max,b.dataMax));if(e)!a&&E(b.min,o(b.dataMin,b.min))<=0&&oa(10,1),b.min=aa(za(b.min)),b.max=aa(za(b.max));if(b.range&&r(b.max))b.userMin=b.min=t(b.min,b.max-b.range),b.userMax=
|
||||
b.max,b.range=null;b.beforePadding&&b.beforePadding();b.adjustForMinRange();if(!qa&&!b.axisPointRange&&!b.usePercentage&&!h&&r(b.min)&&r(b.max)&&(c=b.max-b.min)){if(!r(d.min)&&!r(b.userMin)&&k&&(b.dataMin<0||!b.ignoreMinPadding))b.min-=c*k;if(!r(d.max)&&!r(b.userMax)&&j&&(b.dataMax>0||!b.ignoreMaxPadding))b.max+=c*j}b.min===b.max||b.min===void 0||b.max===void 0?b.tickInterval=1:h&&!l&&n===b.linkedParent.options.tickPixelInterval?b.tickInterval=b.linkedParent.tickInterval:(b.tickInterval=o(l,qa?1:
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||||
(b.max-b.min)*n/t(b.len,n)),!r(l)&&b.len<n&&!this.isRadial&&!this.isLog&&!qa&&d.startOnTick&&d.endOnTick&&(q=!0,b.tickInterval/=4));g&&!a&&p(b.series,function(a){a.processData(b.min!==b.oldMin||b.max!==b.oldMax)});b.setAxisTranslation(!0);b.beforeSetTickPositions&&b.beforeSetTickPositions();if(b.postProcessTickInterval)b.tickInterval=b.postProcessTickInterval(b.tickInterval);if(b.pointRange)b.tickInterval=t(b.pointRange,b.tickInterval);if(!l&&b.tickInterval<m)b.tickInterval=m;if(!f&&!e&&!l)b.tickInterval=
|
||||
nb(b.tickInterval,null,mb(b.tickInterval),d);b.minorTickInterval=d.minorTickInterval==="auto"&&b.tickInterval?b.tickInterval/5:d.minorTickInterval;b.tickPositions=a=d.tickPositions?[].concat(d.tickPositions):i&&i.apply(b,[b.min,b.max]);if(!a)!b.ordinalPositions&&(b.max-b.min)/b.tickInterval>t(2*b.len,200)&&oa(19,!0),a=f?b.getTimeTicks(b.normalizeTimeTickInterval(b.tickInterval,d.units),b.min,b.max,d.startOfWeek,b.ordinalPositions,b.closestPointRange,!0):e?b.getLogTickPositions(b.tickInterval,b.min,
|
||||
b.max):b.getLinearTickPositions(b.tickInterval,b.min,b.max),q&&a.splice(1,a.length-2),b.tickPositions=a;if(!h)e=a[0],f=a[a.length-1],h=b.minPointOffset||0,d.startOnTick?b.min=e:b.min-h>e&&a.shift(),d.endOnTick?b.max=f:b.max+h<f&&a.pop(),a.length===1&&(d=N(b.max||1)*0.001,b.min-=d,b.max+=d)},setMaxTicks:function(){var a=this.chart,b=a.maxTicks||{},c=this.tickPositions,d=this._maxTicksKey=[this.coll,this.pos,this.len].join("-");if(!this.isLinked&&!this.isDatetimeAxis&&c&&c.length>(b[d]||0)&&this.options.alignTicks!==
|
||||
!1)b[d]=c.length;a.maxTicks=b},adjustTickAmount:function(){var a=this._maxTicksKey,b=this.tickPositions,c=this.chart.maxTicks;if(c&&c[a]&&!this.isDatetimeAxis&&!this.categories&&!this.isLinked&&this.options.alignTicks!==!1&&this.min!==u){var d=this.tickAmount,e=b.length;this.tickAmount=a=c[a];if(e<a){for(;b.length<a;)b.push(aa(b[b.length-1]+this.tickInterval));this.transA*=(e-1)/(a-1);this.max=b[b.length-1]}if(r(d)&&a!==d)this.isDirty=!0}},setScale:function(){var a=this.stacks,b,c,d,e;this.oldMin=
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||||
this.min;this.oldMax=this.max;this.oldAxisLength=this.len;this.setAxisSize();e=this.len!==this.oldAxisLength;p(this.series,function(a){if(a.isDirtyData||a.isDirty||a.xAxis.isDirty)d=!0});if(e||d||this.isLinked||this.forceRedraw||this.userMin!==this.oldUserMin||this.userMax!==this.oldUserMax){if(!this.isXAxis)for(b in a)for(c in a[b])a[b][c].total=null,a[b][c].cum=0;this.forceRedraw=!1;this.getSeriesExtremes();this.setTickPositions();this.oldUserMin=this.userMin;this.oldUserMax=this.userMax;if(!this.isDirty)this.isDirty=
|
||||
e||this.min!==this.oldMin||this.max!==this.oldMax}else if(!this.isXAxis){if(this.oldStacks)a=this.stacks=this.oldStacks;for(b in a)for(c in a[b])a[b][c].cum=a[b][c].total}this.setMaxTicks()},setExtremes:function(a,b,c,d,e){var f=this,g=f.chart,c=o(c,!0),e=s(e,{min:a,max:b});I(f,"setExtremes",e,function(){f.userMin=a;f.userMax=b;f.eventArgs=e;f.isDirtyExtremes=!0;c&&g.redraw(d)})},zoom:function(a,b){var c=this.dataMin,d=this.dataMax,e=this.options;this.allowZoomOutside||(r(c)&&a<=E(c,o(e.min,c))&&
|
||||
(a=u),r(d)&&b>=t(d,o(e.max,d))&&(b=u));this.displayBtn=a!==u||b!==u;this.setExtremes(a,b,!1,u,{trigger:"zoom"});return!0},setAxisSize:function(){var a=this.chart,b=this.options,c=b.offsetLeft||0,d=b.offsetRight||0,e=this.horiz,f,g;this.left=g=o(b.left,a.plotLeft+c);this.top=f=o(b.top,a.plotTop);this.width=c=o(b.width,a.plotWidth-c+d);this.height=b=o(b.height,a.plotHeight);this.bottom=a.chartHeight-b-f;this.right=a.chartWidth-c-g;this.len=t(e?c:b,0);this.pos=e?g:f},getExtremes:function(){var a=this.isLog;
|
||||
return{min:a?aa(ha(this.min)):this.min,max:a?aa(ha(this.max)):this.max,dataMin:this.dataMin,dataMax:this.dataMax,userMin:this.userMin,userMax:this.userMax}},getThreshold:function(a){var b=this.isLog,c=b?ha(this.min):this.min,b=b?ha(this.max):this.max;c>a||a===null?a=c:b<a&&(a=b);return this.translate(a,0,1,0,1)},autoLabelAlign:function(a){a=(o(a,0)-this.side*90+720)%360;return a>15&&a<165?"right":a>195&&a<345?"left":"center"},getOffset:function(){var a=this,b=a.chart,c=b.renderer,d=a.options,e=a.tickPositions,
|
||||
f=a.ticks,g=a.horiz,h=a.side,i=b.inverted?[1,0,3,2][h]:h,j,k=0,l,m=0,n=d.title,q=d.labels,qa=0,K=b.axisOffset,s=b.clipOffset,P=[-1,1,1,-1][h],v,w=1,x=o(q.maxStaggerLines,5),y,z,H,A;a.hasData=j=a.hasVisibleSeries||r(a.min)&&r(a.max)&&!!e;a.showAxis=b=j||o(d.showEmpty,!0);a.staggerLines=a.horiz&&q.staggerLines;if(!a.axisGroup)a.gridGroup=c.g("grid").attr({zIndex:d.gridZIndex||1}).add(),a.axisGroup=c.g("axis").attr({zIndex:d.zIndex||2}).add(),a.labelGroup=c.g("axis-labels").attr({zIndex:q.zIndex||7}).addClass("highcharts-"+
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a.coll.toLowerCase()+"-labels").add();if(j||a.isLinked){a.labelAlign=o(q.align||a.autoLabelAlign(q.rotation));p(e,function(b){f[b]?f[b].addLabel():f[b]=new Sa(a,b)});if(a.horiz&&!a.staggerLines&&x&&!q.rotation){for(v=a.reversed?[].concat(e).reverse():e;w<x;){j=[];y=!1;for(q=0;q<v.length;q++)z=v[q],H=(H=f[z].label&&f[z].label.getBBox())?H.width:0,A=q%w,H&&(z=a.translate(z),j[A]!==u&&z<j[A]&&(y=!0),j[A]=z+H);if(y)w++;else break}if(w>1)a.staggerLines=w}p(e,function(b){if(h===0||h===2||{1:"left",3:"right"}[h]===
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||||
a.labelAlign)qa=t(f[b].getLabelSize(),qa)});if(a.staggerLines)qa*=a.staggerLines,a.labelOffset=qa}else for(v in f)f[v].destroy(),delete f[v];if(n&&n.text&&n.enabled!==!1){if(!a.axisTitle)a.axisTitle=c.text(n.text,0,0,n.useHTML).attr({zIndex:7,rotation:n.rotation||0,align:n.textAlign||{low:"left",middle:"center",high:"right"}[n.align]}).addClass("highcharts-"+this.coll.toLowerCase()+"-title").css(n.style).add(a.axisGroup),a.axisTitle.isNew=!0;if(b)k=a.axisTitle.getBBox()[g?"height":"width"],m=o(n.margin,
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||||
g?5:10),l=n.offset;a.axisTitle[b?"show":"hide"]()}a.offset=P*o(d.offset,K[h]);a.axisTitleMargin=o(l,qa+m+(h!==2&&qa&&P*d.labels[g?"y":"x"]));K[h]=t(K[h],a.axisTitleMargin+k+P*a.offset);s[i]=t(s[i],S(d.lineWidth/2)*2)},getLinePath:function(a){var b=this.chart,c=this.opposite,d=this.offset,e=this.horiz,f=this.left+(c?this.width:0)+d,d=b.chartHeight-this.bottom-(c?this.height:0)+d;c&&(a*=-1);return b.renderer.crispLine(["M",e?this.left:f,e?d:this.top,"L",e?b.chartWidth-this.right:f,e?d:b.chartHeight-
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||||
this.bottom],a)},getTitlePosition:function(){var a=this.horiz,b=this.left,c=this.top,d=this.len,e=this.options.title,f=a?b:c,g=this.opposite,h=this.offset,i=x(e.style.fontSize||12),d={low:f+(a?0:d),middle:f+d/2,high:f+(a?d:0)}[e.align],b=(a?c+this.height:b)+(a?1:-1)*(g?-1:1)*this.axisTitleMargin+(this.side===2?i:0);return{x:a?d:b+(g?this.width:0)+h+(e.x||0),y:a?b-(g?this.height:0)+h:d+(e.y||0)}},render:function(){var a=this,b=a.horiz,c=a.reversed,d=a.chart,e=d.renderer,f=a.options,g=a.isLog,h=a.isLinked,
|
||||
i=a.tickPositions,j,k=a.axisTitle,l=a.ticks,m=a.minorTicks,n=a.alternateBands,q=f.stackLabels,o=f.alternateGridColor,K=a.tickmarkOffset,t=f.lineWidth,v=d.hasRendered&&r(a.oldMin)&&!isNaN(a.oldMin),s=a.hasData,w=a.showAxis,x,y=f.labels.overflow,z=a.justifyLabels=b&&y!==!1,H;a.labelEdge.length=0;a.justifyToPlot=y==="justify";p([l,m,n],function(a){for(var b in a)a[b].isActive=!1});if(s||h)if(a.minorTickInterval&&!a.categories&&p(a.getMinorTickPositions(),function(b){m[b]||(m[b]=new Sa(a,b,"minor"));
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||||
v&&m[b].isNew&&m[b].render(null,!0);m[b].render(null,!1,1)}),i.length&&(j=i.slice(),(b&&c||!b&&!c)&&j.reverse(),z&&(j=j.slice(1).concat([j[0]])),p(j,function(b,c){z&&(c=c===j.length-1?0:c+1);if(!h||b>=a.min&&b<=a.max)l[b]||(l[b]=new Sa(a,b)),v&&l[b].isNew&&l[b].render(c,!0,0.1),l[b].render(c,!1,1)}),K&&a.min===0&&(l[-1]||(l[-1]=new Sa(a,-1,null,!0)),l[-1].render(-1))),o&&p(i,function(b,c){if(c%2===0&&b<a.max)n[b]||(n[b]=new Q.PlotLineOrBand(a)),x=b+K,H=i[c+1]!==u?i[c+1]+K:a.max,n[b].options={from:g?
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||||
ha(x):x,to:g?ha(H):H,color:o},n[b].render(),n[b].isActive=!0}),!a._addedPlotLB)p((f.plotLines||[]).concat(f.plotBands||[]),function(b){a.addPlotBandOrLine(b)}),a._addedPlotLB=!0;p([l,m,n],function(a){var b,c,e=[],f=sa?sa.duration||500:0,g=function(){for(c=e.length;c--;)a[e[c]]&&!a[e[c]].isActive&&(a[e[c]].destroy(),delete a[e[c]])};for(b in a)if(!a[b].isActive)a[b].render(b,!1,0),a[b].isActive=!1,e.push(b);a===n||!d.hasRendered||!f?g():f&&setTimeout(g,f)});if(t)b=a.getLinePath(t),a.axisLine?a.axisLine.animate({d:b}):
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||||
a.axisLine=e.path(b).attr({stroke:f.lineColor,"stroke-width":t,zIndex:7}).add(a.axisGroup),a.axisLine[w?"show":"hide"]();if(k&&w)k[k.isNew?"attr":"animate"](a.getTitlePosition()),k.isNew=!1;q&&q.enabled&&a.renderStackTotals();a.isDirty=!1},redraw:function(){var a=this.chart.pointer;a&&a.reset(!0);this.render();p(this.plotLinesAndBands,function(a){a.render()});p(this.series,function(a){a.isDirty=!0})},destroy:function(a){var b=this,c=b.stacks,d,e=b.plotLinesAndBands;a||U(b);for(d in c)Oa(c[d]),c[d]=
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||||
null;p([b.ticks,b.minorTicks,b.alternateBands],function(a){Oa(a)});for(a=e.length;a--;)e[a].destroy();p("stackTotalGroup,axisLine,axisTitle,axisGroup,cross,gridGroup,labelGroup".split(","),function(a){b[a]&&(b[a]=b[a].destroy())});this.cross&&this.cross.destroy()},drawCrosshair:function(a,b){if(this.crosshair)if((r(b)||!o(this.crosshair.snap,!0))===!1)this.hideCrosshair();else{var c,d=this.crosshair,e=d.animation;o(d.snap,!0)?r(b)&&(c=this.chart.inverted!=this.horiz?b.plotX:this.len-b.plotY):c=this.horiz?
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a.chartX-this.pos:this.len-a.chartY+this.pos;c=this.isRadial?this.getPlotLinePath(this.isXAxis?b.x:o(b.stackY,b.y)):this.getPlotLinePath(null,null,null,null,c);if(c===null)this.hideCrosshair();else if(this.cross)this.cross.attr({visibility:"visible"})[e?"animate":"attr"]({d:c},e);else{e={"stroke-width":d.width||1,stroke:d.color||"#C0C0C0",zIndex:d.zIndex||2};if(d.dashStyle)e.dashstyle=d.dashStyle;this.cross=this.chart.renderer.path(c).attr(e).add()}}},hideCrosshair:function(){this.cross&&this.cross.hide()}};
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||||
s(ka.prototype,{getPlotBandPath:function(a,b){var c=this.getPlotLinePath(b),d=this.getPlotLinePath(a);d&&c?d.push(c[4],c[5],c[1],c[2]):d=null;return d},addPlotBand:function(a){this.addPlotBandOrLine(a,"plotBands")},addPlotLine:function(a){this.addPlotBandOrLine(a,"plotLines")},addPlotBandOrLine:function(a,b){var c=(new Q.PlotLineOrBand(this,a)).render(),d=this.userOptions;c&&(b&&(d[b]=d[b]||[],d[b].push(a)),this.plotLinesAndBands.push(c));return c},removePlotBandOrLine:function(a){for(var b=this.plotLinesAndBands,
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c=this.options,d=this.userOptions,e=b.length;e--;)b[e].id===a&&b[e].destroy();p([c.plotLines||[],d.plotLines||[],c.plotBands||[],d.plotBands||[]],function(b){for(e=b.length;e--;)b[e].id===a&&ia(b,b[e])})}});ka.prototype.getTimeTicks=function(a,b,c,d){var e=[],f={},g=L.global.useUTC,h,i=new Date(b-Ra),j=a.unitRange,k=a.count;if(r(b)){j>=B.second&&(i.setMilliseconds(0),i.setSeconds(j>=B.minute?0:k*S(i.getSeconds()/k)));if(j>=B.minute)i[Db](j>=B.hour?0:k*S(i[pb]()/k));if(j>=B.hour)i[Eb](j>=B.day?0:k*
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S(i[qb]()/k));if(j>=B.day)i[sb](j>=B.month?1:k*S(i[Xa]()/k));j>=B.month&&(i[Fb](j>=B.year?0:k*S(i[eb]()/k)),h=i[fb]());j>=B.year&&(h-=h%k,i[Gb](h));if(j===B.week)i[sb](i[Xa]()-i[rb]()+o(d,1));b=1;Ra&&(i=new Date(i.getTime()+Ra));h=i[fb]();for(var d=i.getTime(),l=i[eb](),m=i[Xa](),n=g?Ra:(864E5+i.getTimezoneOffset()*6E4)%864E5;d<c;)e.push(d),j===B.year?d=db(h+b*k,0):j===B.month?d=db(h,l+b*k):!g&&(j===B.day||j===B.week)?d=db(h,l,m+b*k*(j===B.day?1:7)):d+=j*k,b++;e.push(d);p(vb(e,function(a){return j<=
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B.hour&&a%B.day===n}),function(a){f[a]="day"})}e.info=s(a,{higherRanks:f,totalRange:j*k});return e};ka.prototype.normalizeTimeTickInterval=function(a,b){var c=b||[["millisecond",[1,2,5,10,20,25,50,100,200,500]],["second",[1,2,5,10,15,30]],["minute",[1,2,5,10,15,30]],["hour",[1,2,3,4,6,8,12]],["day",[1,2]],["week",[1,2]],["month",[1,2,3,4,6]],["year",null]],d=c[c.length-1],e=B[d[0]],f=d[1],g;for(g=0;g<c.length;g++)if(d=c[g],e=B[d[0]],f=d[1],c[g+1]&&a<=(e*f[f.length-1]+B[c[g+1][0]])/2)break;e===B.year&&
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a<5*e&&(f=[1,2,5]);c=nb(a/e,f,d[0]==="year"?t(mb(a/e),1):1);return{unitRange:e,count:c,unitName:d[0]}};ka.prototype.getLogTickPositions=function(a,b,c,d){var e=this.options,f=this.len,g=[];if(!d)this._minorAutoInterval=null;if(a>=0.5)a=v(a),g=this.getLinearTickPositions(a,b,c);else if(a>=0.08)for(var f=S(b),h,i,j,k,l,e=a>0.3?[1,2,4]:a>0.15?[1,2,4,6,8]:[1,2,3,4,5,6,7,8,9];f<c+1&&!l;f++){i=e.length;for(h=0;h<i&&!l;h++)j=za(ha(f)*e[h]),j>b&&(!d||k<=c)&&g.push(k),k>c&&(l=!0),k=j}else if(b=ha(b),c=ha(c),
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a=e[d?"minorTickInterval":"tickInterval"],a=o(a==="auto"?null:a,this._minorAutoInterval,(c-b)*(e.tickPixelInterval/(d?5:1))/((d?f/this.tickPositions.length:f)||1)),a=nb(a,null,mb(a)),g=Ua(this.getLinearTickPositions(a,b,c),za),!d)this._minorAutoInterval=a/5;if(!d)this.tickInterval=a;return g};var Nb=Q.Tooltip=function(){this.init.apply(this,arguments)};Nb.prototype={init:function(a,b){var c=b.borderWidth,d=b.style,e=x(d.padding);this.chart=a;this.options=b;this.crosshairs=[];this.now={x:0,y:0};this.isHidden=
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||||
!0;this.label=a.renderer.label("",0,0,b.shape,null,null,b.useHTML,null,"tooltip").attr({padding:e,fill:b.backgroundColor,"stroke-width":c,r:b.borderRadius,zIndex:8}).css(d).css({padding:0}).add().attr({y:-9999});ca||this.label.shadow(b.shadow);this.shared=b.shared},destroy:function(){if(this.label)this.label=this.label.destroy();clearTimeout(this.hideTimer);clearTimeout(this.tooltipTimeout)},move:function(a,b,c,d){var e=this,f=e.now,g=e.options.animation!==!1&&!e.isHidden;s(f,{x:g?(2*f.x+a)/3:a,y:g?
|
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(f.y+b)/2:b,anchorX:g?(2*f.anchorX+c)/3:c,anchorY:g?(f.anchorY+d)/2:d});e.label.attr(f);if(g&&(N(a-f.x)>1||N(b-f.y)>1))clearTimeout(this.tooltipTimeout),this.tooltipTimeout=setTimeout(function(){e&&e.move(a,b,c,d)},32)},hide:function(){var a=this,b;clearTimeout(this.hideTimer);if(!this.isHidden)b=this.chart.hoverPoints,this.hideTimer=setTimeout(function(){a.label.fadeOut();a.isHidden=!0},o(this.options.hideDelay,500)),b&&p(b,function(a){a.setState()}),this.chart.hoverPoints=null},getAnchor:function(a,
|
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b){var c,d=this.chart,e=d.inverted,f=d.plotTop,g=0,h=0,i,a=na(a);c=a[0].tooltipPos;this.followPointer&&b&&(b.chartX===u&&(b=d.pointer.normalize(b)),c=[b.chartX-d.plotLeft,b.chartY-f]);c||(p(a,function(a){i=a.series.yAxis;g+=a.plotX;h+=(a.plotLow?(a.plotLow+a.plotHigh)/2:a.plotY)+(!e&&i?i.top-f:0)}),g/=a.length,h/=a.length,c=[e?d.plotWidth-h:g,this.shared&&!e&&a.length>1&&b?b.chartY-f:e?d.plotHeight-g:h]);return Ua(c,v)},getPosition:function(a,b,c){var d=this.chart,e=d.plotLeft,f=d.plotTop,g=d.plotWidth,
|
||||
h=d.plotHeight,i=o(this.options.distance,12),j=isNaN(c.plotX)?0:c.plotX,c=c.plotY,d=j+e+(d.inverted?i:-a-i),k=c-b+f+15,l;d<7&&(d=e+t(j,0)+i);d+a>e+g&&(d-=d+a-(e+g),k=c-b+f-i,l=!0);k<f+5&&(k=f+5,l&&c>=k&&c<=k+b&&(k=c+f+i));k+b>f+h&&(k=t(f,f+h-b-i));return{x:d,y:k}},defaultFormatter:function(a){var b=this.points||na(this),c=b[0].series,d;d=[a.tooltipHeaderFormatter(b[0])];p(b,function(a){c=a.series;d.push(c.tooltipFormatter&&c.tooltipFormatter(a)||a.point.tooltipFormatter(c.tooltipOptions.pointFormat))});
|
||||
d.push(a.options.footerFormat||"");return d.join("")},refresh:function(a,b){var c=this.chart,d=this.label,e=this.options,f,g,h={},i,j=[];i=e.formatter||this.defaultFormatter;var h=c.hoverPoints,k,l=this.shared;clearTimeout(this.hideTimer);this.followPointer=na(a)[0].series.tooltipOptions.followPointer;g=this.getAnchor(a,b);f=g[0];g=g[1];l&&(!a.series||!a.series.noSharedTooltip)?(c.hoverPoints=a,h&&p(h,function(a){a.setState()}),p(a,function(a){a.setState("hover");j.push(a.getLabelConfig())}),h={x:a[0].category,
|
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y:a[0].y},h.points=j,a=a[0]):h=a.getLabelConfig();i=i.call(h,this);h=a.series;i===!1?this.hide():(this.isHidden&&(ab(d),d.attr("opacity",1).show()),d.attr({text:i}),k=e.borderColor||a.color||h.color||"#606060",d.attr({stroke:k}),this.updatePosition({plotX:f,plotY:g}),this.isHidden=!1);I(c,"tooltipRefresh",{text:i,x:f+c.plotLeft,y:g+c.plotTop,borderColor:k})},updatePosition:function(a){var b=this.chart,c=this.label,c=(this.options.positioner||this.getPosition).call(this,c.width,c.height,a);this.move(v(c.x),
|
||||
v(c.y),a.plotX+b.plotLeft,a.plotY+b.plotTop)},tooltipHeaderFormatter:function(a){var b=a.series,c=b.tooltipOptions,d=c.dateTimeLabelFormats,e=c.xDateFormat,f=b.xAxis,g=f&&f.options.type==="datetime"&&ya(a.key),c=c.headerFormat,f=f&&f.closestPointRange,h;if(g&&!e){if(f)for(h in B){if(B[h]>=f||B[h]<=B.day&&a.key%B[h]>0){e=d[h];break}}else e=d.day;e=e||d.year}g&&e&&(c=c.replace("{point.key}","{point.key:"+e+"}"));return Ia(c,{point:a,series:b})}};var fa;$a=y.documentElement.ontouchstart!==u;var Wa=Q.Pointer=
|
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function(a,b){this.init(a,b)};Wa.prototype={init:function(a,b){var c=b.chart,d=c.events,e=ca?"":c.zoomType,c=a.inverted,f;this.options=b;this.chart=a;this.zoomX=f=/x/.test(e);this.zoomY=e=/y/.test(e);this.zoomHor=f&&!c||e&&c;this.zoomVert=e&&!c||f&&c;this.runChartClick=d&&!!d.click;this.pinchDown=[];this.lastValidTouch={};if(Q.Tooltip&&b.tooltip.enabled)a.tooltip=new Nb(a,b.tooltip);this.setDOMEvents()},normalize:function(a,b){var c,d,a=a||G.event,a=Sb(a);if(!a.target)a.target=a.srcElement;d=a.touches?
|
||||
a.touches.item(0):a;if(!b)this.chartPosition=b=Rb(this.chart.container);d.pageX===u?(c=t(a.x,a.clientX-b.left),d=a.y):(c=d.pageX-b.left,d=d.pageY-b.top);return s(a,{chartX:v(c),chartY:v(d)})},getCoordinates:function(a){var b={xAxis:[],yAxis:[]};p(this.chart.axes,function(c){b[c.isXAxis?"xAxis":"yAxis"].push({axis:c,value:c.toValue(a[c.horiz?"chartX":"chartY"])})});return b},getIndex:function(a){var b=this.chart;return b.inverted?b.plotHeight+b.plotTop-a.chartY:a.chartX-b.plotLeft},runPointActions:function(a){var b=
|
||||
this.chart,c=b.series,d=b.tooltip,e,f,g=b.hoverPoint,h=b.hoverSeries,i,j,k=b.chartWidth,l=this.getIndex(a);if(d&&this.options.tooltip.shared&&(!h||!h.noSharedTooltip)){f=[];i=c.length;for(j=0;j<i;j++)if(c[j].visible&&c[j].options.enableMouseTracking!==!1&&!c[j].noSharedTooltip&&c[j].singularTooltips!==!0&&c[j].tooltipPoints.length&&(e=c[j].tooltipPoints[l])&&e.series)e._dist=N(l-e.clientX),k=E(k,e._dist),f.push(e);for(i=f.length;i--;)f[i]._dist>k&&f.splice(i,1);if(f.length&&f[0].clientX!==this.hoverX)d.refresh(f,
|
||||
a),this.hoverX=f[0].clientX}if(h&&h.tracker&&(!d||!d.followPointer)){if((e=h.tooltipPoints[l])&&e!==g)e.onMouseOver(a)}else d&&d.followPointer&&!d.isHidden&&(c=d.getAnchor([{}],a),d.updatePosition({plotX:c[0],plotY:c[1]}));if(d&&!this._onDocumentMouseMove)this._onDocumentMouseMove=function(a){if(r(fa))Y[fa].pointer.onDocumentMouseMove(a)},C(y,"mousemove",this._onDocumentMouseMove);p(b.axes,function(b){b.drawCrosshair(a,o(e,g))})},reset:function(a){var b=this.chart,c=b.hoverSeries,d=b.hoverPoint,e=
|
||||
b.tooltip,f=e&&e.shared?b.hoverPoints:d;(a=a&&e&&f)&&na(f)[0].plotX===u&&(a=!1);if(a)e.refresh(f),d&&d.setState(d.state,!0);else{if(d)d.onMouseOut();if(c)c.onMouseOut();e&&e.hide();if(this._onDocumentMouseMove)U(y,"mousemove",this._onDocumentMouseMove),this._onDocumentMouseMove=null;p(b.axes,function(a){a.hideCrosshair()});this.hoverX=null}},scaleGroups:function(a,b){var c=this.chart,d;p(c.series,function(e){d=a||e.getPlotBox();e.xAxis&&e.xAxis.zoomEnabled&&(e.group.attr(d),e.markerGroup&&(e.markerGroup.attr(d),
|
||||
e.markerGroup.clip(b?c.clipRect:null)),e.dataLabelsGroup&&e.dataLabelsGroup.attr(d))});c.clipRect.attr(b||c.clipBox)},dragStart:function(a){var b=this.chart;b.mouseIsDown=a.type;b.cancelClick=!1;b.mouseDownX=this.mouseDownX=a.chartX;b.mouseDownY=this.mouseDownY=a.chartY},drag:function(a){var b=this.chart,c=b.options.chart,d=a.chartX,e=a.chartY,f=this.zoomHor,g=this.zoomVert,h=b.plotLeft,i=b.plotTop,j=b.plotWidth,k=b.plotHeight,l,m=this.mouseDownX,n=this.mouseDownY;d<h?d=h:d>h+j&&(d=h+j);e<i?e=i:e>
|
||||
i+k&&(e=i+k);this.hasDragged=Math.sqrt(Math.pow(m-d,2)+Math.pow(n-e,2));if(this.hasDragged>10){l=b.isInsidePlot(m-h,n-i);if(b.hasCartesianSeries&&(this.zoomX||this.zoomY)&&l&&!this.selectionMarker)this.selectionMarker=b.renderer.rect(h,i,f?1:j,g?1:k,0).attr({fill:c.selectionMarkerFill||"rgba(69,114,167,0.25)",zIndex:7}).add();this.selectionMarker&&f&&(d-=m,this.selectionMarker.attr({width:N(d),x:(d>0?0:d)+m}));this.selectionMarker&&g&&(d=e-n,this.selectionMarker.attr({height:N(d),y:(d>0?0:d)+n}));
|
||||
l&&!this.selectionMarker&&c.panning&&b.pan(a,c.panning)}},drop:function(a){var b=this.chart,c=this.hasPinched;if(this.selectionMarker){var d={xAxis:[],yAxis:[],originalEvent:a.originalEvent||a},e=this.selectionMarker,f=e.x,g=e.y,h;if(this.hasDragged||c)p(b.axes,function(a){if(a.zoomEnabled){var b=a.horiz,c=a.toValue(b?f:g),b=a.toValue(b?f+e.width:g+e.height);!isNaN(c)&&!isNaN(b)&&(d[a.coll].push({axis:a,min:E(c,b),max:t(c,b)}),h=!0)}}),h&&I(b,"selection",d,function(a){b.zoom(s(a,c?{animation:!1}:
|
||||
null))});this.selectionMarker=this.selectionMarker.destroy();c&&this.scaleGroups()}if(b)D(b.container,{cursor:b._cursor}),b.cancelClick=this.hasDragged>10,b.mouseIsDown=this.hasDragged=this.hasPinched=!1,this.pinchDown=[]},onContainerMouseDown:function(a){a=this.normalize(a);a.preventDefault&&a.preventDefault();this.dragStart(a)},onDocumentMouseUp:function(a){r(fa)&&Y[fa].pointer.drop(a)},onDocumentMouseMove:function(a){var b=this.chart,c=this.chartPosition,d=b.hoverSeries,a=this.normalize(a,c);c&&
|
||||
d&&!this.inClass(a.target,"highcharts-tracker")&&!b.isInsidePlot(a.chartX-b.plotLeft,a.chartY-b.plotTop)&&this.reset()},onContainerMouseLeave:function(){var a=Y[fa];if(a)a.pointer.reset(),a.pointer.chartPosition=null;fa=null},onContainerMouseMove:function(a){var b=this.chart;fa=b.index;a=this.normalize(a);b.mouseIsDown==="mousedown"&&this.drag(a);(this.inClass(a.target,"highcharts-tracker")||b.isInsidePlot(a.chartX-b.plotLeft,a.chartY-b.plotTop))&&!b.openMenu&&this.runPointActions(a)},inClass:function(a,
|
||||
b){for(var c;a;){if(c=z(a,"class"))if(c.indexOf(b)!==-1)return!0;else if(c.indexOf("highcharts-container")!==-1)return!1;a=a.parentNode}},onTrackerMouseOut:function(a){var b=this.chart.hoverSeries,c=(a=a.relatedTarget||a.toElement)&&a.point&&a.point.series;if(b&&!b.options.stickyTracking&&!this.inClass(a,"highcharts-tooltip")&&c!==b)b.onMouseOut()},onContainerClick:function(a){var b=this.chart,c=b.hoverPoint,d=b.plotLeft,e=b.plotTop,f=b.inverted,g,h,i,a=this.normalize(a);a.cancelBubble=!0;if(!b.cancelClick)c&&
|
||||
this.inClass(a.target,"highcharts-tracker")?(g=this.chartPosition,h=c.plotX,i=c.plotY,s(c,{pageX:g.left+d+(f?b.plotWidth-i:h),pageY:g.top+e+(f?b.plotHeight-h:i)}),I(c.series,"click",s(a,{point:c})),b.hoverPoint&&c.firePointEvent("click",a)):(s(a,this.getCoordinates(a)),b.isInsidePlot(a.chartX-d,a.chartY-e)&&I(b,"click",a))},setDOMEvents:function(){var a=this,b=a.chart.container;b.onmousedown=function(b){a.onContainerMouseDown(b)};b.onmousemove=function(b){a.onContainerMouseMove(b)};b.onclick=function(b){a.onContainerClick(b)};
|
||||
C(b,"mouseleave",a.onContainerMouseLeave);C(y,"mouseup",a.onDocumentMouseUp);if($a)b.ontouchstart=function(b){a.onContainerTouchStart(b)},b.ontouchmove=function(b){a.onContainerTouchMove(b)},C(y,"touchend",a.onDocumentTouchEnd)},destroy:function(){var a;U(this.chart.container,"mouseleave",this.onContainerMouseLeave);U(y,"mouseup",this.onDocumentMouseUp);U(y,"touchend",this.onDocumentTouchEnd);clearInterval(this.tooltipTimeout);for(a in this)this[a]=null}};s(Q.Pointer.prototype,{pinchTranslate:function(a,
|
||||
b,c,d,e,f,g,h){a&&this.pinchTranslateDirection(!0,c,d,e,f,g,h);b&&this.pinchTranslateDirection(!1,c,d,e,f,g,h)},pinchTranslateDirection:function(a,b,c,d,e,f,g,h){var i=this.chart,j=a?"x":"y",k=a?"X":"Y",l="chart"+k,m=a?"width":"height",n=i["plot"+(a?"Left":"Top")],q,o,p=h||1,t=i.inverted,r=i.bounds[a?"h":"v"],v=b.length===1,s=b[0][l],u=c[0][l],w=!v&&b[1][l],x=!v&&c[1][l],y,c=function(){!v&&N(s-w)>20&&(p=h||N(u-x)/N(s-w));o=(n-u)/p+s;q=i["plot"+(a?"Width":"Height")]/p};c();b=o;b<r.min?(b=r.min,y=!0):
|
||||
b+q>r.max&&(b=r.max-q,y=!0);y?(u-=0.8*(u-g[j][0]),v||(x-=0.8*(x-g[j][1])),c()):g[j]=[u,x];t||(f[j]=o-n,f[m]=q);f=t?1/p:p;e[m]=q;e[j]=b;d[t?a?"scaleY":"scaleX":"scale"+k]=p;d["translate"+k]=f*n+(u-f*s)},pinch:function(a){var b=this,c=b.chart,d=b.pinchDown,e=c.tooltip&&c.tooltip.options.followTouchMove,f=a.touches,g=f.length,h=b.lastValidTouch,i=b.zoomHor||b.pinchHor,j=b.zoomVert||b.pinchVert,k=i||j,l=b.selectionMarker,m={},n=g===1&&(b.inClass(a.target,"highcharts-tracker")&&c.runTrackerClick||c.runChartClick),
|
||||
q={};(k||e)&&!n&&a.preventDefault();Ua(f,function(a){return b.normalize(a)});if(a.type==="touchstart")p(f,function(a,b){d[b]={chartX:a.chartX,chartY:a.chartY}}),h.x=[d[0].chartX,d[1]&&d[1].chartX],h.y=[d[0].chartY,d[1]&&d[1].chartY],p(c.axes,function(a){if(a.zoomEnabled){var b=c.bounds[a.horiz?"h":"v"],d=a.minPixelPadding,e=a.toPixels(a.dataMin),f=a.toPixels(a.dataMax),g=E(e,f),e=t(e,f);b.min=E(a.pos,g-d);b.max=t(a.pos+a.len,e+d)}});else if(d.length){if(!l)b.selectionMarker=l=s({destroy:Ea},c.plotBox);
|
||||
b.pinchTranslate(i,j,d,f,m,l,q,h);b.hasPinched=k;b.scaleGroups(m,q);!k&&e&&g===1&&this.runPointActions(b.normalize(a))}},onContainerTouchStart:function(a){var b=this.chart;fa=b.index;a.touches.length===1?(a=this.normalize(a),b.isInsidePlot(a.chartX-b.plotLeft,a.chartY-b.plotTop)?(this.runPointActions(a),this.pinch(a)):this.reset()):a.touches.length===2&&this.pinch(a)},onContainerTouchMove:function(a){(a.touches.length===1||a.touches.length===2)&&this.pinch(a)},onDocumentTouchEnd:function(a){r(fa)&&
|
||||
Y[fa].pointer.drop(a)}});if(G.PointerEvent||G.MSPointerEvent){var ra={},zb=!!G.PointerEvent,Wb=function(){var a,b=[];b.item=function(a){return this[a]};for(a in ra)ra.hasOwnProperty(a)&&b.push({pageX:ra[a].pageX,pageY:ra[a].pageY,target:ra[a].target});return b},Ab=function(a,b,c,d){a=a.originalEvent||a;if((a.pointerType==="touch"||a.pointerType===a.MSPOINTER_TYPE_TOUCH)&&Y[fa])d(a),d=Y[fa].pointer,d[b]({type:c,target:a.currentTarget,preventDefault:Ea,touches:Wb()})};s(Wa.prototype,{onContainerPointerDown:function(a){Ab(a,
|
||||
"onContainerTouchStart","touchstart",function(a){ra[a.pointerId]={pageX:a.pageX,pageY:a.pageY,target:a.currentTarget}})},onContainerPointerMove:function(a){Ab(a,"onContainerTouchMove","touchmove",function(a){ra[a.pointerId]={pageX:a.pageX,pageY:a.pageY};if(!ra[a.pointerId].target)ra[a.pointerId].target=a.currentTarget})},onDocumentPointerUp:function(a){Ab(a,"onContainerTouchEnd","touchend",function(a){delete ra[a.pointerId]})},batchMSEvents:function(a){a(this.chart.container,zb?"pointerdown":"MSPointerDown",
|
||||
this.onContainerPointerDown);a(this.chart.container,zb?"pointermove":"MSPointerMove",this.onContainerPointerMove);a(y,zb?"pointerup":"MSPointerUp",this.onDocumentPointerUp)}});Ma(Wa.prototype,"init",function(a,b,c){D(b.container,{"-ms-touch-action":O,"touch-action":O});a.call(this,b,c)});Ma(Wa.prototype,"setDOMEvents",function(a){a.apply(this);this.batchMSEvents(C)});Ma(Wa.prototype,"destroy",function(a){this.batchMSEvents(U);a.call(this)})}var lb=Q.Legend=function(a,b){this.init(a,b)};lb.prototype=
|
||||
{init:function(a,b){var c=this,d=b.itemStyle,e=o(b.padding,8),f=b.itemMarginTop||0;this.options=b;if(b.enabled)c.baseline=x(d.fontSize)+3+f,c.itemStyle=d,c.itemHiddenStyle=w(d,b.itemHiddenStyle),c.itemMarginTop=f,c.padding=e,c.initialItemX=e,c.initialItemY=e-5,c.maxItemWidth=0,c.chart=a,c.itemHeight=0,c.lastLineHeight=0,c.symbolWidth=o(b.symbolWidth,16),c.pages=[],c.render(),C(c.chart,"endResize",function(){c.positionCheckboxes()})},colorizeItem:function(a,b){var c=this.options,d=a.legendItem,e=a.legendLine,
|
||||
f=a.legendSymbol,g=this.itemHiddenStyle.color,c=b?c.itemStyle.color:g,h=b?a.legendColor||a.color||"#CCC":g,g=a.options&&a.options.marker,i={stroke:h,fill:h},j;d&&d.css({fill:c,color:c});e&&e.attr({stroke:h});if(f){if(g&&f.isMarker)for(j in g=a.convertAttribs(g),g)d=g[j],d!==u&&(i[j]=d);f.attr(i)}},positionItem:function(a){var b=this.options,c=b.symbolPadding,b=!b.rtl,d=a._legendItemPos,e=d[0],d=d[1],f=a.checkbox;a.legendGroup&&a.legendGroup.translate(b?e:this.legendWidth-e-2*c-4,d);if(f)f.x=e,f.y=
|
||||
d},destroyItem:function(a){var b=a.checkbox;p(["legendItem","legendLine","legendSymbol","legendGroup"],function(b){a[b]&&(a[b]=a[b].destroy())});b&&Pa(a.checkbox)},destroy:function(){var a=this.group,b=this.box;if(b)this.box=b.destroy();if(a)this.group=a.destroy()},positionCheckboxes:function(a){var b=this.group.alignAttr,c,d=this.clipHeight||this.legendHeight;if(b)c=b.translateY,p(this.allItems,function(e){var f=e.checkbox,g;f&&(g=c+f.y+(a||0)+3,D(f,{left:b.translateX+e.legendItemWidth+f.x-20+"px",
|
||||
top:g+"px",display:g>c-6&&g<c+d-6?"":O}))})},renderTitle:function(){var a=this.padding,b=this.options.title,c=0;if(b.text){if(!this.title)this.title=this.chart.renderer.label(b.text,a-3,a-4,null,null,null,null,null,"legend-title").attr({zIndex:1}).css(b.style).add(this.group);a=this.title.getBBox();c=a.height;this.offsetWidth=a.width;this.contentGroup.attr({translateY:c})}this.titleHeight=c},renderItem:function(a){var b=this.chart,c=b.renderer,d=this.options,e=d.layout==="horizontal",f=this.symbolWidth,
|
||||
g=d.symbolPadding,h=this.itemStyle,i=this.itemHiddenStyle,j=this.padding,k=e?o(d.itemDistance,8):0,l=!d.rtl,m=d.width,n=d.itemMarginBottom||0,q=this.itemMarginTop,p=this.initialItemX,r=a.legendItem,s=a.series&&a.series.drawLegendSymbol?a.series:a,u=s.options,u=this.createCheckboxForItem&&u&&u.showCheckbox,x=d.useHTML;if(!r)a.legendGroup=c.g("legend-item").attr({zIndex:1}).add(this.scrollGroup),s.drawLegendSymbol(this,a),a.legendItem=r=c.text(d.labelFormat?Ia(d.labelFormat,a):d.labelFormatter.call(a),
|
||||
l?f+g:-g,this.baseline,x).css(w(a.visible?h:i)).attr({align:l?"left":"right",zIndex:2}).add(a.legendGroup),this.setItemEvents&&this.setItemEvents(a,r,x,h,i),this.colorizeItem(a,a.visible),u&&this.createCheckboxForItem(a);c=r.getBBox();f=a.legendItemWidth=d.itemWidth||a.legendItemWidth||f+g+c.width+k+(u?20:0);this.itemHeight=g=v(a.legendItemHeight||c.height);if(e&&this.itemX-p+f>(m||b.chartWidth-2*j-p-d.x))this.itemX=p,this.itemY+=q+this.lastLineHeight+n,this.lastLineHeight=0;this.maxItemWidth=t(this.maxItemWidth,
|
||||
f);this.lastItemY=q+this.itemY+n;this.lastLineHeight=t(g,this.lastLineHeight);a._legendItemPos=[this.itemX,this.itemY];e?this.itemX+=f:(this.itemY+=q+g+n,this.lastLineHeight=g);this.offsetWidth=m||t((e?this.itemX-p-k:f)+j,this.offsetWidth)},getAllItems:function(){var a=[];p(this.chart.series,function(b){var c=b.options;if(o(c.showInLegend,!r(c.linkedTo)?u:!1,!0))a=a.concat(b.legendItems||(c.legendType==="point"?b.data:b))});return a},render:function(){var a=this,b=a.chart,c=b.renderer,d=a.group,e,
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a[0];else if(c==="number")b.x=a[0];f++}for(;g<e;)b[d[g++]]=a[f++]}else if(typeof a==="object"){b=a;if(a.dataLabels)c._hasPointLabels=!0;if(a.marker)c._hasPointMarkers=!0}return b},destroy:function(){var a=this.series.chart,b=a.hoverPoints,c;a.pointCount--;if(b&&(this.setState(),ia(b,this),!b.length))a.hoverPoints=null;if(this===a.hoverPoint)this.onMouseOut();if(this.graphic||this.dataLabel)U(this),this.destroyElements();this.legendItem&&a.legend.destroyItem(this);for(c in this)this[c]=null},destroyElements:function(){for(var a=
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||||
c.options=b=c.setOptions(b);c.linkedSeries=[];c.bindAxes();s(c,{name:b.name,state:"",pointAttr:{},visible:b.visible!==!1,selected:b.selected===!0});if(ca)b.animation=!1;e=b.events;for(d in e)C(c,d,e[d]);if(e&&e.click||b.point&&b.point.events&&b.point.events.click||b.allowPointSelect)a.runTrackerClick=!0;c.getColor();c.getSymbol();p(c.parallelArrays,function(a){c[a+"Data"]=[]});c.setData(b.data,!1);if(c.isCartesian)a.hasCartesianSeries=!0;f.push(c);c._i=f.length-1;ob(f,g);this.yAxis&&ob(this.yAxis.series,
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||||
g);p(f,function(a,b){a.index=b;a.name=a.name||"Series "+(b+1)})},bindAxes:function(){var a=this,b=a.options,c=a.chart,d;p(a.axisTypes||[],function(e){p(c[e],function(c){d=c.options;if(b[e]===d.index||b[e]!==u&&b[e]===d.id||b[e]===u&&d.index===0)c.series.push(a),a[e]=c,c.isDirty=!0});!a[e]&&a.optionalAxis!==e&&oa(18,!0)})},updateParallelArrays:function(a,b){var c=a.series,d=arguments;p(c.parallelArrays,typeof b==="number"?function(d){var f=d==="y"&&c.toYData?c.toYData(a):a[d];c[d+"Data"][b]=f}:function(a){Array.prototype[b].apply(c[a+
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"Data"],Array.prototype.slice.call(d,2))})},autoIncrement:function(){var a=this.options,b=this.xIncrement,b=o(b,a.pointStart,0);this.pointInterval=o(this.pointInterval,a.pointInterval,1);this.xIncrement=b+this.pointInterval;return b},getSegments:function(){var a=-1,b=[],c,d=this.points,e=d.length;if(e)if(this.options.connectNulls){for(c=e;c--;)d[c].y===null&&d.splice(c,1);d.length&&(b=[d])}else p(d,function(c,g){c.y===null?(g>a+1&&b.push(d.slice(a+1,g)),a=g):g===e-1&&b.push(d.slice(a+1,g+1))});this.segments=
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b},setOptions:function(a){var b=this.chart,c=b.options.plotOptions,b=b.userOptions||{},d=b.plotOptions||{},e=c[this.type];this.userOptions=a;c=w(e,c.series,a);this.tooltipOptions=w(L.tooltip,L.plotOptions[this.type].tooltip,b.tooltip,d.series&&d.series.tooltip,d[this.type]&&d[this.type].tooltip,a.tooltip);e.marker===null&&delete c.marker;return c},getColor:function(){var a=this.options,b=this.userOptions,c=this.chart.options.colors,d=this.chart.counters,e;e=a.color||Z[this.type].color;if(!e&&!a.colorByPoint)r(b._colorIndex)?
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e.options,j=e.chart,k=null,l=e.xAxis,m=l&&!!l.categories,n=e.tooltipPoints,q=i.turboThreshold,t=this.xData,r=this.yData,s=(h=e.pointArrayMap)&&h.length,a=a||[];h=a.length;b=o(b,!0);if(d!==!1&&h&&g===h&&!e.cropped&&!e.hasGroupedData)p(a,function(a,b){f[b].update(a,!1)});else{e.xIncrement=null;e.pointRange=m?1:i.pointRange;e.colorCounter=0;p(this.parallelArrays,function(a){e[a+"Data"].length=0});if(q&&h>q){for(c=0;k===null&&c<h;)k=a[c],c++;if(ya(k)){m=o(i.pointStart,0);i=o(i.pointInterval,1);for(c=
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j.isDirtyBox=!0;c=!1}b&&j.redraw(c)},processData:function(a){var b=this.xData,c=this.yData,d=b.length,e;e=0;var f,g,h=this.xAxis,i=this.options,j=i.cropThreshold,k=this.isCartesian;if(k&&!this.isDirty&&!h.isDirty&&!this.yAxis.isDirty&&!a)return!1;if(k&&this.sorted&&(!j||d>j||this.forceCrop))if(a=h.min,h=h.max,b[d-1]<a||b[0]>h)b=[],c=[];else if(b[0]<a||b[d-1]>h)e=this.cropData(this.xData,this.yData,a,h),b=e.xData,c=e.yData,e=e.start,f=!0;for(h=b.length-1;h>=0;h--)d=b[h]-b[h-1],d>0&&(g===u||d<g)?g=
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d:d<0&&this.requireSorting&&oa(15);this.cropped=f;this.cropStart=e;this.processedXData=b;this.processedYData=c;if(i.pointRange===null)this.pointRange=g||1;this.closestPointRange=g},cropData:function(a,b,c,d){var e=a.length,f=0,g=e,h=o(this.cropShoulder,1),i;for(i=0;i<e;i++)if(a[i]>=c){f=t(0,i-h);break}for(;i<e;i++)if(a[i]>d){g=i+h;break}return{xData:a.slice(f,g),yData:b.slice(f,g),start:f,end:g}},generatePoints:function(){var a=this.options.data,b=this.data,c,d=this.processedXData,e=this.processedYData,
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f=this.pointClass,g=d.length,h=this.cropStart||0,i,j=this.hasGroupedData,k,l=[],m;if(!b&&!j)b=[],b.length=a.length,b=this.data=b;for(m=0;m<g;m++)i=h+m,j?l[m]=(new f).init(this,[d[m]].concat(na(e[m]))):(b[i]?k=b[i]:a[i]!==u&&(b[i]=k=(new f).init(this,a[i],d[m])),l[m]=k);if(b&&(g!==(c=b.length)||j))for(m=0;m<c;m++)if(m===h&&!j&&(m+=g),b[m])b[m].destroyElements(),b[m].plotX=u;this.data=b;this.points=l},getExtremes:function(a){var b=this.yAxis,c=this.processedXData,d,e=[],f=0;d=this.xAxis.getExtremes();
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var g=d.min,h=d.max,i,j,k,l,a=a||this.stackedYData||this.processedYData;d=a.length;for(l=0;l<d;l++)if(j=c[l],k=a[l],i=k!==null&&k!==u&&(!b.isLog||k.length||k>0),j=this.getExtremesFromAll||this.cropped||(c[l+1]||j)>=g&&(c[l-1]||j)<=h,i&&j)if(i=k.length)for(;i--;)k[i]!==null&&(e[f++]=k[i]);else e[f++]=k;this.dataMin=o(void 0,Na(e));this.dataMax=o(void 0,Ba(e))},translate:function(){this.processedXData||this.processData();this.generatePoints();for(var a=this.options,b=a.stacking,c=this.xAxis,d=c.categories,
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{width:0})),c[h+"m"]=e=d.clipRect(-99,g?-c.plotLeft:-c.plotTop,99,g?c.chartWidth:c.chartHeight)),b.group.clip(a),b.markerGroup.clip(e),b.sharedClipKey=h;else{if(a=c[h])a.animate({width:c.plotSizeX},e),c[h+"m"].animate({width:c.plotSizeX+99},e);b.animate=null;b.animationTimeout=setTimeout(function(){b.afterAnimate()},e.duration)}},afterAnimate:function(){var a=this.chart,b=this.sharedClipKey,c=this.group;c&&this.options.clip!==!1&&(c.clip(a.clipRect),this.markerGroup.clip());setTimeout(function(){b&&
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a[b]&&(a[b]=a[b].destroy(),a[b+"m"]=a[b+"m"].destroy())},100)},drawPoints:function(){var a,b=this.points,c=this.chart,d,e,f,g,h,i,j,k,l=this.options.marker,m=this.pointAttr[""],n,q=this.markerGroup;if(l.enabled||this._hasPointMarkers)for(f=b.length;f--;)if(g=b[f],d=S(g.plotX),e=g.plotY,k=g.graphic,i=g.marker||{},a=l.enabled&&i.enabled===u||i.enabled,n=c.isInsidePlot(v(d),e,c.inverted),a&&e!==u&&!isNaN(e)&&g.y!==null)if(a=g.pointAttr[g.selected?"select":""]||m,h=a.r,i=o(i.symbol,this.symbol),j=i.indexOf("url")===
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0,k)k.attr({visibility:n?"inherit":"hidden"}).animate(s({x:d-h,y:e-h},k.symbolName?{width:2*h,height:2*h}:{}));else{if(n&&(h>0||j))g.graphic=c.renderer.symbol(i,d-h,e-h,2*h,2*h).attr(a).add(q)}else if(k)g.graphic=k.destroy()},convertAttribs:function(a,b,c,d){var e=this.pointAttrToOptions,f,g,h={},a=a||{},b=b||{},c=c||{},d=d||{};for(f in e)g=e[f],h[f]=o(a[g],b[f],c[f],d[f]);return h},getAttribs:function(){var a=this,b=a.options,c=Z[a.type].marker?b.marker:b,d=c.states,e=d.hover,f,g=a.color;f={stroke:g,
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||||
fill:g};var h=a.points||[],i,j=[],k,l=a.pointAttrToOptions;k=a.hasPointSpecificOptions;var m=b.negativeColor,n=c.lineColor,q=c.fillColor;i=b.turboThreshold;var o;b.marker?(e.radius=e.radius||c.radius+2,e.lineWidth=e.lineWidth||c.lineWidth+1):e.color=e.color||wa(e.color||g).brighten(e.brightness).get();j[""]=a.convertAttribs(c,f);p(["hover","select"],function(b){j[b]=a.convertAttribs(d[b],j[""])});a.pointAttr=j;g=h.length;if(!i||g<i||k)for(;g--;){i=h[g];if((c=i.options&&i.options.marker||i.options)&&
|
||||
c.enabled===!1)c.radius=0;if(i.negative&&m)i.color=i.fillColor=m;k=b.colorByPoint||i.color;if(i.options)for(o in l)r(c[l[o]])&&(k=!0);if(k){c=c||{};k=[];d=c.states||{};f=d.hover=d.hover||{};if(!b.marker)f.color=f.color||!i.options.color&&e.color||wa(i.color).brighten(f.brightness||e.brightness).get();f={color:i.color};if(!q)f.fillColor=i.color;if(!n)f.lineColor=i.color;k[""]=a.convertAttribs(s(f,c),j[""]);k.hover=a.convertAttribs(d.hover,j.hover,k[""]);k.select=a.convertAttribs(d.select,j.select,
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||||
k[""])}else k=j;i.pointAttr=k}},destroy:function(){var a=this,b=a.chart,c=/AppleWebKit\/533/.test(ua),d,e,f=a.data||[],g,h,i;I(a,"destroy");U(a);p(a.axisTypes||[],function(b){if(i=a[b])ia(i.series,a),i.isDirty=i.forceRedraw=!0});a.legendItem&&a.chart.legend.destroyItem(a);for(e=f.length;e--;)(g=f[e])&&g.destroy&&g.destroy();a.points=null;clearTimeout(a.animationTimeout);p("area,graph,dataLabelsGroup,group,markerGroup,tracker,graphNeg,areaNeg,posClip,negClip".split(","),function(b){a[b]&&(d=c&&b===
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||||
"group"?"hide":"destroy",a[b][d]())});if(b.hoverSeries===a)b.hoverSeries=null;ia(b.series,a);for(h in a)delete a[h]},getSegmentPath:function(a){var b=this,c=[],d=b.options.step;p(a,function(e,f){var g=e.plotX,h=e.plotY,i;b.getPointSpline?c.push.apply(c,b.getPointSpline(a,e,f)):(c.push(f?"L":"M"),d&&f&&(i=a[f-1],d==="right"?c.push(i.plotX,h):d==="center"?c.push((i.plotX+g)/2,i.plotY,(i.plotX+g)/2,h):c.push(g,i.plotY)),c.push(e.plotX,e.plotY))});return c},getGraphPath:function(){var a=this,b=[],c,d=
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||||
[];p(a.segments,function(e){c=a.getSegmentPath(e);e.length>1?b=b.concat(c):d.push(e[0])});a.singlePoints=d;return a.graphPath=b},drawGraph:function(){var a=this,b=this.options,c=[["graph",b.lineColor||this.color]],d=b.lineWidth,e=b.dashStyle,f=b.linecap!=="square",g=this.getGraphPath(),h=b.negativeColor;h&&c.push(["graphNeg",h]);p(c,function(c,h){var k=c[0],l=a[k];if(l)ab(l),l.animate({d:g});else if(d&&g.length)l={stroke:c[1],"stroke-width":d,fill:O,zIndex:1},e?l.dashstyle=e:f&&(l["stroke-linecap"]=
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||||
l["stroke-linejoin"]="round"),a[k]=a.chart.renderer.path(g).attr(l).add(a.group).shadow(!h&&b.shadow)})},clipNeg:function(){var a=this.options,b=this.chart,c=b.renderer,d=a.negativeColor||a.negativeFillColor,e,f=this.graph,g=this.area,h=this.posClip,i=this.negClip;e=b.chartWidth;var j=b.chartHeight,k=t(e,j),l=this.yAxis;if(d&&(f||g)){d=v(l.toPixels(a.threshold||0,!0));d<0&&(k-=d);a={x:0,y:0,width:k,height:d};k={x:0,y:d,width:k,height:k};if(b.inverted)a.height=k.y=b.plotWidth-d,c.isVML&&(a={x:b.plotWidth-
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||||
d-b.plotLeft,y:0,width:e,height:j},k={x:d+b.plotLeft-e,y:0,width:b.plotLeft+d,height:e});l.reversed?(b=k,e=a):(b=a,e=k);h?(h.animate(b),i.animate(e)):(this.posClip=h=c.clipRect(b),this.negClip=i=c.clipRect(e),f&&this.graphNeg&&(f.clip(h),this.graphNeg.clip(i)),g&&(g.clip(h),this.areaNeg.clip(i)))}},invertGroups:function(){function a(){var a={width:b.yAxis.len,height:b.xAxis.len};p(["group","markerGroup"],function(c){b[c]&&b[c].attr(a).invert()})}var b=this,c=b.chart;if(b.xAxis)C(c,"resize",a),C(b,
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"destroy",function(){U(c,"resize",a)}),a(),b.invertGroups=a},plotGroup:function(a,b,c,d,e){var f=this[a],g=!f;g&&(this[a]=f=this.chart.renderer.g(b).attr({visibility:c,zIndex:d||0.1}).add(e));f[g?"attr":"animate"](this.getPlotBox());return f},getPlotBox:function(){return{translateX:this.xAxis?this.xAxis.left:this.chart.plotLeft,translateY:this.yAxis?this.yAxis.top:this.chart.plotTop,scaleX:1,scaleY:1}},render:function(){var a=this.chart,b,c=this.options,d=c.animation&&!!this.animate&&a.renderer.isSVG,
|
||||
e=this.visible?"visible":"hidden",f=c.zIndex,g=this.hasRendered,h=a.seriesGroup;b=this.plotGroup("group","series",e,f,h);this.markerGroup=this.plotGroup("markerGroup","markers",e,f,h);d&&this.animate(!0);this.getAttribs();b.inverted=this.isCartesian?a.inverted:!1;this.drawGraph&&(this.drawGraph(),this.clipNeg());this.drawDataLabels&&this.drawDataLabels();this.visible&&this.drawPoints();this.drawTracker&&this.options.enableMouseTracking!==!1&&this.drawTracker();a.inverted&&this.invertGroups();c.clip!==
|
||||
!1&&!this.sharedClipKey&&!g&&b.clip(a.clipRect);d?this.animate():g||this.afterAnimate();this.isDirty=this.isDirtyData=!1;this.hasRendered=!0},redraw:function(){var a=this.chart,b=this.isDirtyData,c=this.group,d=this.xAxis,e=this.yAxis;c&&(a.inverted&&c.attr({width:a.plotWidth,height:a.plotHeight}),c.animate({translateX:o(d&&d.left,a.plotLeft),translateY:o(e&&e.top,a.plotTop)}));this.translate();this.setTooltipPoints(!0);this.render();b&&I(this,"updatedData")}};Hb.prototype={destroy:function(){Oa(this,
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||||
this.axis)},render:function(a){var b=this.options,c=b.format,c=c?Ia(c,this):b.formatter.call(this);this.label?this.label.attr({text:c,visibility:"hidden"}):this.label=this.axis.chart.renderer.text(c,0,0,b.useHTML).css(b.style).attr({align:this.textAlign,rotation:b.rotation,visibility:"hidden"}).add(a)},setOffset:function(a,b){var c=this.axis,d=c.chart,e=d.inverted,f=this.isNegative,g=c.translate(this.percent?100:this.total,0,0,0,1),c=c.translate(0),c=N(g-c),h=d.xAxis[0].translate(this.x)+a,i=d.plotHeight,
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||||
f={x:e?f?g:g-c:h,y:e?i-h-b:f?i-g-c:i-g,width:e?c:b,height:e?b:c};if(e=this.label)e.align(this.alignOptions,null,f),f=e.alignAttr,e[this.options.crop===!1||d.isInsidePlot(f.x,f.y)?"show":"hide"](!0)}};ka.prototype.buildStacks=function(){var a=this.series,b=o(this.options.reversedStacks,!0),c=a.length;if(!this.isXAxis){for(this.usePercentage=!1;c--;)a[b?c:a.length-c-1].setStackedPoints();if(this.usePercentage)for(c=0;c<a.length;c++)a[c].setPercentStacks()}};ka.prototype.renderStackTotals=function(){var a=
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||||
this.chart,b=a.renderer,c=this.stacks,d,e,f=this.stackTotalGroup;if(!f)this.stackTotalGroup=f=b.g("stack-labels").attr({visibility:"visible",zIndex:6}).add();f.translate(a.plotLeft,a.plotTop);for(d in c)for(e in a=c[d],a)a[e].render(f)};M.prototype.setStackedPoints=function(){if(this.options.stacking&&!(this.visible!==!0&&this.chart.options.chart.ignoreHiddenSeries!==!1)){var a=this.processedXData,b=this.processedYData,c=[],d=b.length,e=this.options,f=e.threshold,g=e.stack,e=e.stacking,h=this.stackKey,
|
||||
i="-"+h,j=this.negStacks,k=this.yAxis,l=k.stacks,m=k.oldStacks,n,q,o,p,r;for(o=0;o<d;o++){p=a[o];r=b[o];q=(n=j&&r<f)?i:h;l[q]||(l[q]={});if(!l[q][p])m[q]&&m[q][p]?(l[q][p]=m[q][p],l[q][p].total=null):l[q][p]=new Hb(k,k.options.stackLabels,n,p,g,e);q=l[q][p];q.points[this.index]=[q.cum||0];e==="percent"?(n=n?h:i,j&&l[n]&&l[n][p]?(n=l[n][p],q.total=n.total=t(n.total,q.total)+N(r)||0):q.total=aa(q.total+(N(r)||0))):q.total=aa(q.total+(r||0));q.cum=(q.cum||0)+(r||0);q.points[this.index].push(q.cum);c[o]=
|
||||
q.cum}if(e==="percent")k.usePercentage=!0;this.stackedYData=c;k.oldStacks={}}};M.prototype.setPercentStacks=function(){var a=this,b=a.stackKey,c=a.yAxis.stacks,d=a.processedXData;p([b,"-"+b],function(b){var e;for(var f=d.length,g,h;f--;)if(g=d[f],e=(h=c[b]&&c[b][g])&&h.points[a.index],g=e)h=h.total?100/h.total:0,g[0]=aa(g[0]*h),g[1]=aa(g[1]*h),a.stackedYData[f]=g[1]})};s(Ya.prototype,{addSeries:function(a,b,c){var d,e=this;a&&(b=o(b,!0),I(e,"addSeries",{options:a},function(){d=e.initSeries(a);e.isDirtyLegend=
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||||
!0;e.linkSeries();b&&e.redraw(c)}));return d},addAxis:function(a,b,c,d){var e=b?"xAxis":"yAxis",f=this.options;new ka(this,w(a,{index:this[e].length,isX:b}));f[e]=na(f[e]||{});f[e].push(a);o(c,!0)&&this.redraw(d)},showLoading:function(a){var b=this.options,c=this.loadingDiv,d=b.loading;if(!c)this.loadingDiv=c=V(Ja,{className:"highcharts-loading"},s(d.style,{zIndex:10,display:O}),this.container),this.loadingSpan=V("span",null,d.labelStyle,c);this.loadingSpan.innerHTML=a||b.lang.loading;if(!this.loadingShown)D(c,
|
||||
{opacity:0,display:"",left:this.plotLeft+"px",top:this.plotTop+"px",width:this.plotWidth+"px",height:this.plotHeight+"px"}),jb(c,{opacity:d.style.opacity},{duration:d.showDuration||0}),this.loadingShown=!0},hideLoading:function(){var a=this.options,b=this.loadingDiv;b&&jb(b,{opacity:0},{duration:a.loading.hideDuration||100,complete:function(){D(b,{display:O})}});this.loadingShown=!1}});s(Fa.prototype,{update:function(a,b,c){var d=this,e=d.series,f=d.graphic,g,h=e.data,i=e.chart,j=e.options,b=o(b,
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||||
!0);d.firePointEvent("update",{options:a},function(){d.applyOptions(a);if($(a)){e.getAttribs();if(f)a&&a.marker&&a.marker.symbol?d.graphic=f.destroy():f.attr(d.pointAttr[d.state||""]);if(a&&a.dataLabels&&d.dataLabel)d.dataLabel=d.dataLabel.destroy()}g=va(d,h);e.updateParallelArrays(d,g);j.data[g]=d.options;e.isDirty=e.isDirtyData=!0;if(!e.fixedBox&&e.hasCartesianSeries)i.isDirtyBox=!0;j.legendType==="point"&&i.legend.destroyItem(d);b&&i.redraw(c)})},remove:function(a,b){var c=this,d=c.series,e=d.points,
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f=d.chart,g,h=d.data;Qa(b,f);a=o(a,!0);c.firePointEvent("remove",null,function(){g=va(c,h);h.length===e.length&&e.splice(g,1);h.splice(g,1);d.options.data.splice(g,1);d.updateParallelArrays(c,"splice",g,1);c.destroy();d.isDirty=!0;d.isDirtyData=!0;a&&f.redraw()})}});s(M.prototype,{addPoint:function(a,b,c,d){var e=this.options,f=this.data,g=this.graph,h=this.area,i=this.chart,j=this.xAxis&&this.xAxis.names,k=g&&g.shift||0,l=e.data,m,n=this.xData;Qa(d,i);c&&p([g,h,this.graphNeg,this.areaNeg],function(a){if(a)a.shift=
|
||||
k+1});if(h)h.isArea=!0;b=o(b,!0);d={series:this};this.pointClass.prototype.applyOptions.apply(d,[a]);g=d.x;h=n.length;if(this.requireSorting&&g<n[h-1])for(m=!0;h&&n[h-1]>g;)h--;this.updateParallelArrays(d,"splice",h,0,0);this.updateParallelArrays(d,h);if(j)j[g]=d.name;l.splice(h,0,a);m&&(this.data.splice(h,0,null),this.processData());e.legendType==="point"&&this.generatePoints();c&&(f[0]&&f[0].remove?f[0].remove(!1):(f.shift(),this.updateParallelArrays(d,"shift"),l.shift()));this.isDirtyData=this.isDirty=
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!0;b&&(this.getAttribs(),i.redraw())},remove:function(a,b){var c=this,d=c.chart,a=o(a,!0);if(!c.isRemoving)c.isRemoving=!0,I(c,"remove",null,function(){c.destroy();d.isDirtyLegend=d.isDirtyBox=!0;d.linkSeries();a&&d.redraw(b)});c.isRemoving=!1},update:function(a,b){var c=this.chart,d=this.type,e=J[d].prototype,f,a=w(this.userOptions,{animation:!1,index:this.index,pointStart:this.xData[0]},{data:this.options.data},a);this.remove(!1);for(f in e)e.hasOwnProperty(f)&&(this[f]=u);s(this,J[a.type||d].prototype);
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this.init(c,a);o(b,!0)&&c.redraw(!1)}});s(ka.prototype,{update:function(a,b){var c=this.chart,a=c.options[this.coll][this.options.index]=w(this.userOptions,a);this.destroy(!0);this._addedPlotLB=this.userMin=this.userMax=u;this.init(c,s(a,{events:u}));c.isDirtyBox=!0;o(b,!0)&&c.redraw()},remove:function(a){for(var b=this.chart,c=this.coll,d=this.series,e=d.length;e--;)d[e]&&d[e].remove(!1);ia(b.axes,this);ia(b[c],this);b.options[c].splice(this.options.index,1);p(b[c],function(a,b){a.options.index=
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b});this.destroy();b.isDirtyBox=!0;o(a,!0)&&b.redraw()},setTitle:function(a,b){this.update({title:a},b)},setCategories:function(a,b){this.update({categories:a},b)}});ea=ja(M);J.line=ea;Z.area=w(R,{threshold:0});var ma=ja(M,{type:"area",getSegments:function(){var a=[],b=[],c=[],d=this.xAxis,e=this.yAxis,f=e.stacks[this.stackKey],g={},h,i,j=this.points,k=this.options.connectNulls,l,m,n;if(this.options.stacking&&!this.cropped){for(m=0;m<j.length;m++)g[j[m].x]=j[m];for(n in f)f[n].total!==null&&c.push(+n);
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||||
c.sort(function(a,b){return a-b});p(c,function(a){if(!k||g[a]&&g[a].y!==null)g[a]?b.push(g[a]):(h=d.translate(a),l=f[a].percent?f[a].total?f[a].cum*100/f[a].total:0:f[a].cum,i=e.toPixels(l,!0),b.push({y:null,plotX:h,clientX:h,plotY:i,yBottom:i,onMouseOver:Ea}))});b.length&&a.push(b)}else M.prototype.getSegments.call(this),a=this.segments;this.segments=a},getSegmentPath:function(a){var b=M.prototype.getSegmentPath.call(this,a),c=[].concat(b),d,e=this.options;d=b.length;var f=this.yAxis.getThreshold(e.threshold),
|
||||
g;d===3&&c.push("L",b[1],b[2]);if(e.stacking&&!this.closedStacks)for(d=a.length-1;d>=0;d--)g=o(a[d].yBottom,f),d<a.length-1&&e.step&&c.push(a[d+1].plotX,g),c.push(a[d].plotX,g);else this.closeSegment(c,a,f);this.areaPath=this.areaPath.concat(c);return b},closeSegment:function(a,b,c){a.push("L",b[b.length-1].plotX,c,"L",b[0].plotX,c)},drawGraph:function(){this.areaPath=[];M.prototype.drawGraph.apply(this);var a=this,b=this.areaPath,c=this.options,d=c.negativeColor,e=c.negativeFillColor,f=[["area",
|
||||
this.color,c.fillColor]];(d||e)&&f.push(["areaNeg",d,e]);p(f,function(d){var e=d[0],f=a[e];f?f.animate({d:b}):a[e]=a.chart.renderer.path(b).attr({fill:o(d[2],wa(d[1]).setOpacity(o(c.fillOpacity,0.75)).get()),zIndex:0}).add(a.group)})},drawLegendSymbol:F.drawRectangle});J.area=ma;Z.spline=w(R);ea=ja(M,{type:"spline",getPointSpline:function(a,b,c){var d=b.plotX,e=b.plotY,f=a[c-1],g=a[c+1],h,i,j,k;if(f&&g){a=f.plotY;j=g.plotX;var g=g.plotY,l;h=(1.5*d+f.plotX)/2.5;i=(1.5*e+a)/2.5;j=(1.5*d+j)/2.5;k=(1.5*
|
||||
e+g)/2.5;l=(k-i)*(j-d)/(j-h)+e-k;i+=l;k+=l;i>a&&i>e?(i=t(a,e),k=2*e-i):i<a&&i<e&&(i=E(a,e),k=2*e-i);k>g&&k>e?(k=t(g,e),i=2*e-k):k<g&&k<e&&(k=E(g,e),i=2*e-k);b.rightContX=j;b.rightContY=k}c?(b=["C",f.rightContX||f.plotX,f.rightContY||f.plotY,h||d,i||e,d,e],f.rightContX=f.rightContY=null):b=["M",d,e];return b}});J.spline=ea;Z.areaspline=w(Z.area);ma=ma.prototype;ea=ja(ea,{type:"areaspline",closedStacks:!0,getSegmentPath:ma.getSegmentPath,closeSegment:ma.closeSegment,drawGraph:ma.drawGraph,drawLegendSymbol:F.drawRectangle});
|
||||
J.areaspline=ea;Z.column=w(R,{borderColor:"#FFFFFF",borderWidth:1,borderRadius:0,groupPadding:0.2,marker:null,pointPadding:0.1,minPointLength:0,cropThreshold:50,pointRange:null,states:{hover:{brightness:0.1,shadow:!1},select:{color:"#C0C0C0",borderColor:"#000000",shadow:!1}},dataLabels:{align:null,verticalAlign:null,y:null},stickyTracking:!1,threshold:0});ea=ja(M,{type:"column",pointAttrToOptions:{stroke:"borderColor","stroke-width":"borderWidth",fill:"color",r:"borderRadius"},cropShoulder:0,trackerGroups:["group",
|
||||
"dataLabelsGroup"],negStacks:!0,init:function(){M.prototype.init.apply(this,arguments);var a=this,b=a.chart;b.hasRendered&&p(b.series,function(b){if(b.type===a.type)b.isDirty=!0})},getColumnMetrics:function(){var a=this,b=a.options,c=a.xAxis,d=a.yAxis,e=c.reversed,f,g={},h,i=0;b.grouping===!1?i=1:p(a.chart.series,function(b){var c=b.options,e=b.yAxis;if(b.type===a.type&&b.visible&&d.len===e.len&&d.pos===e.pos)c.stacking?(f=b.stackKey,g[f]===u&&(g[f]=i++),h=g[f]):c.grouping!==!1&&(h=i++),b.columnIndex=
|
||||
h});var c=E(N(c.transA)*(c.ordinalSlope||b.pointRange||c.closestPointRange||c.tickInterval||1),c.len),j=c*b.groupPadding,k=(c-2*j)/i,l=b.pointWidth,b=r(l)?(k-l)/2:k*b.pointPadding,l=o(l,k-2*b);return a.columnMetrics={width:l,offset:b+(j+((e?i-(a.columnIndex||0):a.columnIndex)||0)*k-c/2)*(e?-1:1)}},translate:function(){var a=this.chart,b=this.options,c=b.borderWidth,d=this.yAxis,e=this.translatedThreshold=d.getThreshold(b.threshold),f=o(b.minPointLength,5),b=this.getColumnMetrics(),g=b.width,h=this.barW=
|
||||
Ka(t(g,1+2*c)),i=this.pointXOffset=b.offset,j=-(c%2?0.5:0),k=c%2?0.5:1;a.renderer.isVML&&a.inverted&&(k+=1);M.prototype.translate.apply(this);p(this.points,function(a){var b=o(a.yBottom,e),c=E(t(-999-b,a.plotY),d.len+999+b),q=a.plotX+i,p=h,r=E(c,b),s,c=t(c,b)-r;N(c)<f&&f&&(c=f,r=v(N(r-e)>f?b-f:e-(d.translate(a.y,0,1,0,1)<=e?f:0)));a.barX=q;a.pointWidth=g;b=N(q)<0.5;p=v(q+p)+j;q=v(q)+j;p-=q;s=N(r)<0.5;c=v(r+c)+k;r=v(r)+k;c-=r;b&&(q+=1,p-=1);s&&(r-=1,c+=1);a.shapeType="rect";a.shapeArgs={x:q,y:r,width:p,
|
||||
height:c}})},getSymbol:Ea,drawLegendSymbol:F.drawRectangle,drawGraph:Ea,drawPoints:function(){var a=this,b=a.options,c=this.chart.renderer,d=b.animationLimit||250,e;p(a.points,function(f){var g=f.plotY,h=f.graphic;if(g!==u&&!isNaN(g)&&f.y!==null)e=f.shapeArgs,h?(ab(h),h[a.points.length<d?"animate":"attr"](w(e))):f.graphic=c[f.shapeType](e).attr(f.pointAttr[f.selected?"select":""]).add(a.group).shadow(b.shadow,null,b.stacking&&!b.borderRadius);else if(h)f.graphic=h.destroy()})},animate:function(a){var b=
|
||||
this.yAxis,c=this.options,d=this.chart.inverted,e={};if(X)a?(e.scaleY=0.001,a=E(b.pos+b.len,t(b.pos,b.toPixels(c.threshold))),d?e.translateX=a-b.len:e.translateY=a,this.group.attr(e)):(e.scaleY=1,e[d?"translateX":"translateY"]=b.pos,this.group.animate(e,this.options.animation),this.animate=null)},remove:function(){var a=this,b=a.chart;b.hasRendered&&p(b.series,function(b){if(b.type===a.type)b.isDirty=!0});M.prototype.remove.apply(a,arguments)}});J.column=ea;Z.bar=w(Z.column);ma=ja(ea,{type:"bar",
|
||||
inverted:!0});J.bar=ma;Z.scatter=w(R,{lineWidth:0,tooltip:{headerFormat:'<span style="font-size: 10px; color:{series.color}">{series.name}</span><br/>',pointFormat:"x: <b>{point.x}</b><br/>y: <b>{point.y}</b><br/>",followPointer:!0},stickyTracking:!1});ma=ja(M,{type:"scatter",sorted:!1,requireSorting:!1,noSharedTooltip:!0,trackerGroups:["markerGroup"],takeOrdinalPosition:!1,singularTooltips:!0,drawGraph:function(){this.options.lineWidth&&M.prototype.drawGraph.call(this)}});J.scatter=ma;Z.pie=w(R,
|
||||
{borderColor:"#FFFFFF",borderWidth:1,center:[null,null],clip:!1,colorByPoint:!0,dataLabels:{distance:30,enabled:!0,formatter:function(){return this.point.name}},ignoreHiddenPoint:!0,legendType:"point",marker:null,size:null,showInLegend:!1,slicedOffset:10,states:{hover:{brightness:0.1,shadow:!1}},stickyTracking:!1,tooltip:{followPointer:!0}});R={type:"pie",isCartesian:!1,pointClass:ja(Fa,{init:function(){Fa.prototype.init.apply(this,arguments);var a=this,b;if(a.y<0)a.y=null;s(a,{visible:a.visible!==
|
||||
!1,name:o(a.name,"Slice")});b=function(b){a.slice(b.type==="select")};C(a,"select",b);C(a,"unselect",b);return a},setVisible:function(a){var b=this,c=b.series,d=c.chart;b.visible=b.options.visible=a=a===u?!b.visible:a;c.options.data[va(b,c.data)]=b.options;p(["graphic","dataLabel","connector","shadowGroup"],function(c){if(b[c])b[c][a?"show":"hide"](!0)});b.legendItem&&d.legend.colorizeItem(b,a);if(!c.isDirty&&c.options.ignoreHiddenPoint)c.isDirty=!0,d.redraw()},slice:function(a,b,c){var d=this.series;
|
||||
Qa(c,d.chart);o(b,!0);this.sliced=this.options.sliced=a=r(a)?a:!this.sliced;d.options.data[va(this,d.data)]=this.options;a=a?this.slicedTranslation:{translateX:0,translateY:0};this.graphic.animate(a);this.shadowGroup&&this.shadowGroup.animate(a)}}),requireSorting:!1,noSharedTooltip:!0,trackerGroups:["group","dataLabelsGroup"],axisTypes:[],pointAttrToOptions:{stroke:"borderColor","stroke-width":"borderWidth",fill:"color"},singularTooltips:!0,getColor:Ea,animate:function(a){var b=this,c=b.points,d=
|
||||
b.startAngleRad;if(!a)p(c,function(a){var c=a.graphic,a=a.shapeArgs;c&&(c.attr({r:b.center[3]/2,start:d,end:d}),c.animate({r:a.r,start:a.start,end:a.end},b.options.animation))}),b.animate=null},setData:function(a,b,c,d){M.prototype.setData.call(this,a,!1,c,d);this.processData();this.generatePoints();o(b,!0)&&this.chart.redraw(c)},generatePoints:function(){var a,b=0,c,d,e,f=this.options.ignoreHiddenPoint;M.prototype.generatePoints.call(this);c=this.points;d=c.length;for(a=0;a<d;a++)e=c[a],b+=f&&!e.visible?
|
||||
0:e.y;this.total=b;for(a=0;a<d;a++)e=c[a],e.percentage=b>0?e.y/b*100:0,e.total=b},translate:function(a){this.generatePoints();var b=0,c=this.options,d=c.slicedOffset,e=d+c.borderWidth,f,g,h,i=c.startAngle||0,j=this.startAngleRad=la/180*(i-90),i=(this.endAngleRad=la/180*(o(c.endAngle,i+360)-90))-j,k=this.points,l=c.dataLabels.distance,c=c.ignoreHiddenPoint,m,n=k.length,p;if(!a)this.center=a=this.getCenter();this.getX=function(b,c){h=T.asin(E((b-a[1])/(a[2]/2+l),1));return a[0]+(c?-1:1)*W(h)*(a[2]/
|
||||
2+l)};for(m=0;m<n;m++){p=k[m];f=j+b*i;if(!c||p.visible)b+=p.percentage/100;g=j+b*i;p.shapeType="arc";p.shapeArgs={x:a[0],y:a[1],r:a[2]/2,innerR:a[3]/2,start:v(f*1E3)/1E3,end:v(g*1E3)/1E3};h=(g+f)/2;h>1.5*la?h-=2*la:h<-la/2&&(h+=2*la);p.slicedTranslation={translateX:v(W(h)*d),translateY:v(ba(h)*d)};f=W(h)*a[2]/2;g=ba(h)*a[2]/2;p.tooltipPos=[a[0]+f*0.7,a[1]+g*0.7];p.half=h<-la/2||h>la/2?1:0;p.angle=h;e=E(e,l/2);p.labelPos=[a[0]+f+W(h)*l,a[1]+g+ba(h)*l,a[0]+f+W(h)*e,a[1]+g+ba(h)*e,a[0]+f,a[1]+g,l<0?
|
||||
"center":p.half?"right":"left",h]}},drawGraph:null,drawPoints:function(){var a=this,b=a.chart.renderer,c,d,e=a.options.shadow,f,g;if(e&&!a.shadowGroup)a.shadowGroup=b.g("shadow").add(a.group);p(a.points,function(h){d=h.graphic;g=h.shapeArgs;f=h.shadowGroup;if(e&&!f)f=h.shadowGroup=b.g("shadow").add(a.shadowGroup);c=h.sliced?h.slicedTranslation:{translateX:0,translateY:0};f&&f.attr(c);d?d.animate(s(g,c)):h.graphic=d=b[h.shapeType](g).setRadialReference(a.center).attr(h.pointAttr[h.selected?"select":
|
||||
""]).attr({"stroke-linejoin":"round"}).attr(c).add(a.group).shadow(e,f);h.visible!==void 0&&h.setVisible(h.visible)})},sortByAngle:function(a,b){a.sort(function(a,d){return a.angle!==void 0&&(d.angle-a.angle)*b})},drawLegendSymbol:F.drawRectangle,getCenter:da.getCenter,getSymbol:Ea};R=ja(M,R);J.pie=R;M.prototype.drawDataLabels=function(){var a=this,b=a.options,c=b.cursor,d=b.dataLabels,b=a.points,e,f,g,h;if(d.enabled||a._hasPointLabels)a.dlProcessOptions&&a.dlProcessOptions(d),h=a.plotGroup("dataLabelsGroup",
|
||||
"data-labels",a.visible?"visible":"hidden",d.zIndex||6),f=d,p(b,function(b){var j,k=b.dataLabel,l,m,n=b.connector,p=!0;e=b.options&&b.options.dataLabels;j=o(e&&e.enabled,f.enabled);if(k&&!j)b.dataLabel=k.destroy();else if(j){d=w(f,e);j=d.rotation;l=b.getLabelConfig();g=d.format?Ia(d.format,l):d.formatter.call(l,d);d.style.color=o(d.color,d.style.color,a.color,"black");if(k)if(r(g))k.attr({text:g}),p=!1;else{if(b.dataLabel=k=k.destroy(),n)b.connector=n.destroy()}else if(r(g)){k={fill:d.backgroundColor,
|
||||
stroke:d.borderColor,"stroke-width":d.borderWidth,r:d.borderRadius||0,rotation:j,padding:d.padding,zIndex:1};for(m in k)k[m]===u&&delete k[m];k=b.dataLabel=a.chart.renderer[j?"text":"label"](g,0,-999,null,null,null,d.useHTML).attr(k).css(s(d.style,c&&{cursor:c})).add(h).shadow(d.shadow)}k&&a.alignDataLabel(b,k,d,null,p)}})};M.prototype.alignDataLabel=function(a,b,c,d,e){var f=this.chart,g=f.inverted,h=o(a.plotX,-999),i=o(a.plotY,-999),j=b.getBBox();if(a=this.visible&&(a.series.forceDL||f.isInsidePlot(h,
|
||||
v(i),g)||d&&f.isInsidePlot(h,g?d.x+1:d.y+d.height-1,g)))d=s({x:g?f.plotWidth-i:h,y:v(g?f.plotHeight-h:i),width:0,height:0},d),s(c,{width:j.width,height:j.height}),c.rotation?(g={align:c.align,x:d.x+c.x+d.width/2,y:d.y+c.y+d.height/2},b[e?"attr":"animate"](g)):(b.align(c,null,d),g=b.alignAttr,o(c.overflow,"justify")==="justify"?this.justifyDataLabel(b,c,g,j,d,e):o(c.crop,!0)&&(a=f.isInsidePlot(g.x,g.y)&&f.isInsidePlot(g.x+j.width,g.y+j.height)));if(!a)b.attr({y:-999}),b.placed=!1};M.prototype.justifyDataLabel=
|
||||
function(a,b,c,d,e,f){var g=this.chart,h=b.align,i=b.verticalAlign,j,k;j=c.x;if(j<0)h==="right"?b.align="left":b.x=-j,k=!0;j=c.x+d.width;if(j>g.plotWidth)h==="left"?b.align="right":b.x=g.plotWidth-j,k=!0;j=c.y;if(j<0)i==="bottom"?b.verticalAlign="top":b.y=-j,k=!0;j=c.y+d.height;if(j>g.plotHeight)i==="top"?b.verticalAlign="bottom":b.y=g.plotHeight-j,k=!0;if(k)a.placed=!f,a.align(b,null,e)};if(J.pie)J.pie.prototype.drawDataLabels=function(){var a=this,b=a.data,c,d=a.chart,e=a.options.dataLabels,f=o(e.connectorPadding,
|
||||
10),g=o(e.connectorWidth,1),h=d.plotWidth,d=d.plotHeight,i,j,k=o(e.softConnector,!0),l=e.distance,m=a.center,n=m[2]/2,q=m[1],r=l>0,s,u,w,x,y=[[],[]],z,B,E,H,A,D=[0,0,0,0],J=function(a,b){return b.y-a.y};if(a.visible&&(e.enabled||a._hasPointLabels)){M.prototype.drawDataLabels.apply(a);p(b,function(a){a.dataLabel&&a.visible&&y[a.half].push(a)});for(H=0;!x&&b[H];)x=b[H]&&b[H].dataLabel&&(b[H].dataLabel.getBBox().height||21),H++;for(H=2;H--;){var b=[],I=[],F=y[H],G=F.length,C;a.sortByAngle(F,H-0.5);if(l>
|
||||
0){for(A=q-n-l;A<=q+n+l;A+=x)b.push(A);u=b.length;if(G>u){c=[].concat(F);c.sort(J);for(A=G;A--;)c[A].rank=A;for(A=G;A--;)F[A].rank>=u&&F.splice(A,1);G=F.length}for(A=0;A<G;A++){c=F[A];w=c.labelPos;c=9999;var O,L;for(L=0;L<u;L++)O=N(b[L]-w[1]),O<c&&(c=O,C=L);if(C<A&&b[A]!==null)C=A;else for(u<G-A+C&&b[A]!==null&&(C=u-G+A);b[C]===null;)C++;I.push({i:C,y:b[C]});b[C]=null}I.sort(J)}for(A=0;A<G;A++){c=F[A];w=c.labelPos;s=c.dataLabel;E=c.visible===!1?"hidden":"visible";c=w[1];if(l>0){if(u=I.pop(),C=u.i,
|
||||
B=u.y,c>B&&b[C+1]!==null||c<B&&b[C-1]!==null)B=c}else B=c;z=e.justify?m[0]+(H?-1:1)*(n+l):a.getX(C===0||C===b.length-1?c:B,H);s._attr={visibility:E,align:w[6]};s._pos={x:z+e.x+({left:f,right:-f}[w[6]]||0),y:B+e.y-10};s.connX=z;s.connY=B;if(this.options.size===null)u=s.width,z-u<f?D[3]=t(v(u-z+f),D[3]):z+u>h-f&&(D[1]=t(v(z+u-h+f),D[1])),B-x/2<0?D[0]=t(v(-B+x/2),D[0]):B+x/2>d&&(D[2]=t(v(B+x/2-d),D[2]))}}if(Ba(D)===0||this.verifyDataLabelOverflow(D))this.placeDataLabels(),r&&g&&p(this.points,function(b){i=
|
||||
b.connector;w=b.labelPos;if((s=b.dataLabel)&&s._pos)E=s._attr.visibility,z=s.connX,B=s.connY,j=k?["M",z+(w[6]==="left"?5:-5),B,"C",z,B,2*w[2]-w[4],2*w[3]-w[5],w[2],w[3],"L",w[4],w[5]]:["M",z+(w[6]==="left"?5:-5),B,"L",w[2],w[3],"L",w[4],w[5]],i?(i.animate({d:j}),i.attr("visibility",E)):b.connector=i=a.chart.renderer.path(j).attr({"stroke-width":g,stroke:e.connectorColor||b.color||"#606060",visibility:E}).add(a.group);else if(i)b.connector=i.destroy()})}},J.pie.prototype.placeDataLabels=function(){p(this.points,
|
||||
function(a){var a=a.dataLabel,b;if(a)(b=a._pos)?(a.attr(a._attr),a[a.moved?"animate":"attr"](b),a.moved=!0):a&&a.attr({y:-999})})},J.pie.prototype.alignDataLabel=Ea,J.pie.prototype.verifyDataLabelOverflow=function(a){var b=this.center,c=this.options,d=c.center,e=c=c.minSize||80,f;d[0]!==null?e=t(b[2]-t(a[1],a[3]),c):(e=t(b[2]-a[1]-a[3],c),b[0]+=(a[3]-a[1])/2);d[1]!==null?e=t(E(e,b[2]-t(a[0],a[2])),c):(e=t(E(e,b[2]-a[0]-a[2]),c),b[1]+=(a[0]-a[2])/2);e<b[2]?(b[2]=e,this.translate(b),p(this.points,function(a){if(a.dataLabel)a.dataLabel._pos=
|
||||
null}),this.drawDataLabels&&this.drawDataLabels()):f=!0;return f};if(J.column)J.column.prototype.alignDataLabel=function(a,b,c,d,e){var f=this.chart,g=f.inverted,h=a.dlBox||a.shapeArgs,i=a.below||a.plotY>o(this.translatedThreshold,f.plotSizeY),j=o(c.inside,!!this.options.stacking);if(h&&(d=w(h),g&&(d={x:f.plotWidth-d.y-d.height,y:f.plotHeight-d.x-d.width,width:d.height,height:d.width}),!j))g?(d.x+=i?0:d.width,d.width=0):(d.y+=i?d.height:0,d.height=0);c.align=o(c.align,!g||j?"center":i?"right":"left");
|
||||
c.verticalAlign=o(c.verticalAlign,g||j?"middle":i?"top":"bottom");M.prototype.alignDataLabel.call(this,a,b,c,d,e)};R=Q.TrackerMixin={drawTrackerPoint:function(){var a=this,b=a.chart,c=b.pointer,d=a.options.cursor,e=d&&{cursor:d},f=function(c){var d=c.target,e;if(b.hoverSeries!==a)a.onMouseOver();for(;d&&!e;)e=d.point,d=d.parentNode;if(e!==u&&e!==b.hoverPoint)e.onMouseOver(c)};p(a.points,function(a){if(a.graphic)a.graphic.element.point=a;if(a.dataLabel)a.dataLabel.element.point=a});if(!a._hasTracking)p(a.trackerGroups,
|
||||
function(b){if(a[b]&&(a[b].addClass("highcharts-tracker").on("mouseover",f).on("mouseout",function(a){c.onTrackerMouseOut(a)}).css(e),$a))a[b].on("touchstart",f)}),a._hasTracking=!0},drawTrackerGraph:function(){var a=this,b=a.options,c=b.trackByArea,d=[].concat(c?a.areaPath:a.graphPath),e=d.length,f=a.chart,g=f.pointer,h=f.renderer,i=f.options.tooltip.snap,j=a.tracker,k=b.cursor,l=k&&{cursor:k},k=a.singlePoints,m,n=function(){if(f.hoverSeries!==a)a.onMouseOver()},o="rgba(192,192,192,"+(X?1.0E-4:0.002)+
|
||||
")";if(e&&!c)for(m=e+1;m--;)d[m]==="M"&&d.splice(m+1,0,d[m+1]-i,d[m+2],"L"),(m&&d[m]==="M"||m===e)&&d.splice(m,0,"L",d[m-2]+i,d[m-1]);for(m=0;m<k.length;m++)e=k[m],d.push("M",e.plotX-i,e.plotY,"L",e.plotX+i,e.plotY);j?j.attr({d:d}):(a.tracker=h.path(d).attr({"stroke-linejoin":"round",visibility:a.visible?"visible":"hidden",stroke:o,fill:c?o:O,"stroke-width":b.lineWidth+(c?0:2*i),zIndex:2}).add(a.group),p([a.tracker,a.markerGroup],function(a){a.addClass("highcharts-tracker").on("mouseover",n).on("mouseout",
|
||||
function(a){g.onTrackerMouseOut(a)}).css(l);if($a)a.on("touchstart",n)}))}};if(J.column)ea.prototype.drawTracker=R.drawTrackerPoint;if(J.pie)J.pie.prototype.drawTracker=R.drawTrackerPoint;if(J.scatter)ma.prototype.drawTracker=R.drawTrackerPoint;s(lb.prototype,{setItemEvents:function(a,b,c,d,e){var f=this;(c?b:a.legendGroup).on("mouseover",function(){a.setState("hover");b.css(f.options.itemHoverStyle)}).on("mouseout",function(){b.css(a.visible?d:e);a.setState()}).on("click",function(b){var c=function(){a.setVisible()},
|
||||
b={browserEvent:b};a.firePointEvent?a.firePointEvent("legendItemClick",b,c):I(a,"legendItemClick",b,c)})},createCheckboxForItem:function(a){a.checkbox=V("input",{type:"checkbox",checked:a.selected,defaultChecked:a.selected},this.options.itemCheckboxStyle,this.chart.container);C(a.checkbox,"click",function(b){I(a,"checkboxClick",{checked:b.target.checked},function(){a.select()})})}});L.legend.itemStyle.cursor="pointer";s(Ya.prototype,{showResetZoom:function(){var a=this,b=L.lang,c=a.options.chart.resetZoomButton,
|
||||
d=c.theme,e=d.states,f=c.relativeTo==="chart"?null:"plotBox";this.resetZoomButton=a.renderer.button(b.resetZoom,null,null,function(){a.zoomOut()},d,e&&e.hover).attr({align:c.position.align,title:b.resetZoomTitle}).add().align(c.position,!1,f)},zoomOut:function(){var a=this;I(a,"selection",{resetSelection:!0},function(){a.zoom()})},zoom:function(a){var b,c=this.pointer,d=!1,e;!a||a.resetSelection?p(this.axes,function(a){b=a.zoom()}):p(a.xAxis.concat(a.yAxis),function(a){var e=a.axis,h=e.isXAxis;if(c[h?
|
||||
"zoomX":"zoomY"]||c[h?"pinchX":"pinchY"])b=e.zoom(a.min,a.max),e.displayBtn&&(d=!0)});e=this.resetZoomButton;if(d&&!e)this.showResetZoom();else if(!d&&$(e))this.resetZoomButton=e.destroy();b&&this.redraw(o(this.options.chart.animation,a&&a.animation,this.pointCount<100))},pan:function(a,b){var c=this,d=c.hoverPoints,e;d&&p(d,function(a){a.setState()});p(b==="xy"?[1,0]:[1],function(b){var d=a[b?"chartX":"chartY"],h=c[b?"xAxis":"yAxis"][0],i=c[b?"mouseDownX":"mouseDownY"],j=(h.pointRange||0)/2,k=h.getExtremes(),
|
||||
l=h.toValue(i-d,!0)+j,i=h.toValue(i+c[b?"plotWidth":"plotHeight"]-d,!0)-j;h.series.length&&l>E(k.dataMin,k.min)&&i<t(k.dataMax,k.max)&&(h.setExtremes(l,i,!1,!1,{trigger:"pan"}),e=!0);c[b?"mouseDownX":"mouseDownY"]=d});e&&c.redraw(!1);D(c.container,{cursor:"move"})}});s(Fa.prototype,{select:function(a,b){var c=this,d=c.series,e=d.chart,a=o(a,!c.selected);c.firePointEvent(a?"select":"unselect",{accumulate:b},function(){c.selected=c.options.selected=a;d.options.data[va(c,d.data)]=c.options;c.setState(a&&
|
||||
"select");b||p(e.getSelectedPoints(),function(a){if(a.selected&&a!==c)a.selected=a.options.selected=!1,d.options.data[va(a,d.data)]=a.options,a.setState(""),a.firePointEvent("unselect")})})},onMouseOver:function(a){var b=this.series,c=b.chart,d=c.tooltip,e=c.hoverPoint;if(e&&e!==this)e.onMouseOut();this.firePointEvent("mouseOver");d&&(!d.shared||b.noSharedTooltip)&&d.refresh(this,a);this.setState("hover");c.hoverPoint=this},onMouseOut:function(){var a=this.series.chart,b=a.hoverPoints;if(!b||va(this,
|
||||
b)===-1)this.firePointEvent("mouseOut"),this.setState(),a.hoverPoint=null},firePointEvent:function(a,b,c){var d=this,e=this.series.options;(e.point.events[a]||d.options&&d.options.events&&d.options.events[a])&&this.importEvents();a==="click"&&e.allowPointSelect&&(c=function(a){d.select(null,a.ctrlKey||a.metaKey||a.shiftKey)});I(this,a,b,c)},importEvents:function(){if(!this.hasImportedEvents){var a=w(this.series.options.point,this.options).events,b;this.events=a;for(b in a)C(this,b,a[b]);this.hasImportedEvents=
|
||||
!0}},setState:function(a,b){var c=this.plotX,d=this.plotY,e=this.series,f=e.options.states,g=Z[e.type].marker&&e.options.marker,h=g&&!g.enabled,i=g&&g.states[a],j=i&&i.enabled===!1,k=e.stateMarkerGraphic,l=this.marker||{},m=e.chart,n=this.pointAttr,a=a||"",b=b&&k;if(!(a===this.state&&!b||this.selected&&a!=="select"||f[a]&&f[a].enabled===!1||a&&(j||h&&!i.enabled)||a&&l.states&&l.states[a]&&l.states[a].enabled===!1)){if(this.graphic)f=g&&this.graphic.symbolName&&n[a].r,this.graphic.attr(w(n[a],f?{x:c-
|
||||
f,y:d-f,width:2*f,height:2*f}:{}));else{if(a&&i)if(f=i.radius,l=l.symbol||e.symbol,k&&k.currentSymbol!==l&&(k=k.destroy()),k)k[b?"animate":"attr"]({x:c-f,y:d-f});else e.stateMarkerGraphic=k=m.renderer.symbol(l,c-f,d-f,2*f,2*f).attr(n[a]).add(e.markerGroup),k.currentSymbol=l;if(k)k[a&&m.isInsidePlot(c,d,m.inverted)?"show":"hide"]()}this.state=a}}});s(M.prototype,{onMouseOver:function(){var a=this.chart,b=a.hoverSeries;if(b&&b!==this)b.onMouseOut();this.options.events.mouseOver&&I(this,"mouseOver");
|
||||
this.setState("hover");a.hoverSeries=this},onMouseOut:function(){var a=this.options,b=this.chart,c=b.tooltip,d=b.hoverPoint;if(d)d.onMouseOut();this&&a.events.mouseOut&&I(this,"mouseOut");c&&!a.stickyTracking&&(!c.shared||this.noSharedTooltip)&&c.hide();this.setState();b.hoverSeries=null},setState:function(a){var b=this.options,c=this.graph,d=this.graphNeg,e=b.states,b=b.lineWidth,a=a||"";if(this.state!==a)this.state=a,e[a]&&e[a].enabled===!1||(a&&(b=e[a].lineWidth||b+1),c&&!c.dashstyle&&(a={"stroke-width":b},
|
||||
c.attr(a),d&&d.attr(a)))},setVisible:function(a,b){var c=this,d=c.chart,e=c.legendItem,f,g=d.options.chart.ignoreHiddenSeries,h=c.visible;f=(c.visible=a=c.userOptions.visible=a===u?!h:a)?"show":"hide";p(["group","dataLabelsGroup","markerGroup","tracker"],function(a){if(c[a])c[a][f]()});if(d.hoverSeries===c)c.onMouseOut();e&&d.legend.colorizeItem(c,a);c.isDirty=!0;c.options.stacking&&p(d.series,function(a){if(a.options.stacking&&a.visible)a.isDirty=!0});p(c.linkedSeries,function(b){b.setVisible(a,
|
||||
!1)});if(g)d.isDirtyBox=!0;b!==!1&&d.redraw();I(c,f)},setTooltipPoints:function(a){var b=[],c,d,e=this.xAxis,f=e&&e.getExtremes(),g=e?e.tooltipLen||e.len:this.chart.plotSizeX,h,i,j=[];if(!(this.options.enableMouseTracking===!1||this.singularTooltips)){if(a)this.tooltipPoints=null;p(this.segments||this.points,function(a){b=b.concat(a)});e&&e.reversed&&(b=b.reverse());this.orderTooltipPoints&&this.orderTooltipPoints(b);a=b.length;for(i=0;i<a;i++)if(e=b[i],c=e.x,c>=f.min&&c<=f.max){h=b[i+1];c=d===u?
|
||||
0:d+1;for(d=b[i+1]?E(t(0,S((e.clientX+(h?h.wrappedClientX||h.clientX:g))/2)),g):g;c>=0&&c<=d;)j[c++]=e}this.tooltipPoints=j}},show:function(){this.setVisible(!0)},hide:function(){this.setVisible(!1)},select:function(a){this.selected=a=a===u?!this.selected:a;if(this.checkbox)this.checkbox.checked=a;I(this,a?"select":"unselect")},drawTracker:R.drawTrackerGraph});s(Q,{Axis:ka,Chart:Ya,Color:wa,Point:Fa,Tick:Sa,Renderer:Za,Series:M,SVGElement:ta,SVGRenderer:pa,arrayMin:Na,arrayMax:Ba,charts:Y,dateFormat:bb,
|
||||
format:Ia,pathAnim:ub,getOptions:function(){return L},hasBidiBug:Ob,isTouchDevice:Jb,numberFormat:Ga,seriesTypes:J,setOptions:function(a){L=w(!0,L,a);Cb();return L},addEvent:C,removeEvent:U,createElement:V,discardElement:Pa,css:D,each:p,extend:s,map:Ua,merge:w,pick:o,splat:na,extendClass:ja,pInt:x,wrap:Ma,svg:X,canvas:ca,vml:!X&&!ca,product:"Highcharts",version:"3.0.10"})})();
|
||||
|
|
@ -0,0 +1,521 @@
|
|||
<!--
|
||||
自平衡莱洛三角形 RGB版
|
||||
HW:Ver 1.5
|
||||
FW:Ver 1.2
|
||||
-->
|
||||
<html lang="zh-cn">
|
||||
|
||||
<head>
|
||||
<title>自平衡莱洛三角形</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
|
||||
<meta http-equiv="X-UA-Compatible" content="ie=edge">
|
||||
<meta http-equiv="Cache-Control" content="max-age=7200" />
|
||||
<meta content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no" name="viewport">
|
||||
<style>
|
||||
/*input框*/
|
||||
input,
|
||||
button {
|
||||
border: none;
|
||||
outline: none;
|
||||
}
|
||||
|
||||
.tl-input {
|
||||
width: 100%;
|
||||
border: 1px solid #ccc;
|
||||
padding: 7px 0;
|
||||
background: #F4F4F7;
|
||||
text-align: center;
|
||||
border-radius: 3px;
|
||||
padding-left: 5px;
|
||||
-webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
|
||||
box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
|
||||
-webkit-transition: border-color ease-in-out .15s, -webkit-box-shadow ease-in-out .15s;
|
||||
-o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
|
||||
transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s
|
||||
}
|
||||
|
||||
.tl-input:focus {
|
||||
border-color: #66afe9;
|
||||
outline: 0;
|
||||
-webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6);
|
||||
box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6)
|
||||
}
|
||||
|
||||
.ant-btn {
|
||||
line-height: 1.499;
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
font-weight: 400;
|
||||
white-space: nowrap;
|
||||
text-align: center;
|
||||
background-image: none;
|
||||
border: 1px solid transparent;
|
||||
-webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
|
||||
box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
|
||||
cursor: pointer;
|
||||
-webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1);
|
||||
transition: all .3s cubic-bezier(.645, .045, .355, 1);
|
||||
-webkit-user-select: none;
|
||||
-moz-user-select: none;
|
||||
-ms-user-select: none;
|
||||
user-select: none;
|
||||
-ms-touch-action: manipulation;
|
||||
touch-action: manipulation;
|
||||
height: 32px;
|
||||
padding: 0 15px;
|
||||
font-size: 14px;
|
||||
border-radius: 4px;
|
||||
color: rgba(0, 0, 0, 0.65);
|
||||
background-color: #fff;
|
||||
border-color: #d9d9d9;
|
||||
}
|
||||
|
||||
.ant-btn-primary {
|
||||
color: #fff;
|
||||
background-color: #1890ff;
|
||||
border-color: #1890ff;
|
||||
text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
|
||||
-webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
}
|
||||
|
||||
.ant-btn-red {
|
||||
color: #fff;
|
||||
background-color: #FF5A44;
|
||||
border-color: #FF5A44;
|
||||
text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
|
||||
-webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
}
|
||||
|
||||
/* 这里不考虑浏览器的兼容性 */
|
||||
#control input {
|
||||
border: none;
|
||||
background-color: transparent;
|
||||
margin: 20px 0;
|
||||
outline: none;
|
||||
}
|
||||
|
||||
#control input[type="text"] {
|
||||
width: 100%;
|
||||
font-size: 25px;
|
||||
appearance: none;
|
||||
padding-bottom: 5px;
|
||||
border-bottom: 3px solid #ededed;
|
||||
color: #ededed;
|
||||
}
|
||||
|
||||
#control input[type="range"] {
|
||||
width: 100%;
|
||||
-webkit-appearance: none;
|
||||
/* background-color: silver; */
|
||||
height: 8px;
|
||||
border-radius: 4px;
|
||||
background: -webkit-linear-gradient(#ffa200, #ffa200) no-repeat white;
|
||||
background-size: 50% 100%;
|
||||
}
|
||||
|
||||
#control input[type="range"]::-webkit-slider-thumb {
|
||||
-webkit-appearance: none;
|
||||
background-color: #aaa;
|
||||
width: 8px;
|
||||
height: 20px;
|
||||
border-radius: 4px;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
#control input[type="range"]::-webkit-slider-thumb:hover {
|
||||
background: #666;
|
||||
}
|
||||
|
||||
#control #voltage {
|
||||
background-size: 0% 100%;
|
||||
}
|
||||
|
||||
#control #speed {
|
||||
background: linear-gradient(to right, #ffa200, white 0%, white);
|
||||
background-size: 100% 100%;
|
||||
}
|
||||
|
||||
#control input[type="button"] {
|
||||
padding: 5px;
|
||||
margin: 5px 0;
|
||||
background: linear-gradient(to bottom right, red 10%, white 90%);
|
||||
border: 0px;
|
||||
width: 100%;
|
||||
color: white;
|
||||
font-weight: white;
|
||||
}
|
||||
</style>
|
||||
<script type="text/javascript" src="jquery.js"></script>
|
||||
<script type="text/javascript" src="highcharts.js"></script>
|
||||
|
||||
<script type="text/javascript">
|
||||
var HighchartsData = new Array(8);
|
||||
$(function () {
|
||||
$(document).ready(function () {
|
||||
Highcharts.setOptions({ global: { useUTC: false } });
|
||||
var chart, time = new Date().getTime();
|
||||
$("#container").highcharts({
|
||||
chart: { type: "spline", animation: Highcharts.svg, marginRight: 10, events: { load: function () {
|
||||
var series = this.series;
|
||||
setInterval(function () {
|
||||
var x = new Date().getTime();
|
||||
for(i=0; i<HighchartsData.length;i++){
|
||||
series[i].addPoint([x, HighchartsData[i]], true, true);
|
||||
}
|
||||
}, 1000);
|
||||
}
|
||||
}
|
||||
},
|
||||
title: { text: "自平衡莱洛三角形" }, xAxis: { type: "datetime", tickPixelInterval: 100 }, yAxis: { title: { text: "Value" }, plotLines: [{ value: 0, width: 1, color: "#808080" }] },
|
||||
tooltip: { formatter: function () { return ( "<b>" + this.series.name + "</b><br/>" + Highcharts.dateFormat("%Y-%m-%d %H:%M:%S", this.x) + "<br/>" + Highcharts.numberFormat(this.y, 2) ); } },
|
||||
legend: { enabled: true },
|
||||
exporting: { enabled: false },
|
||||
plotOptions: { spline: { marker: { radius: 4, lineColor: "#666666", lineWidth: 1} } },
|
||||
series: [
|
||||
{name: "轴速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "电机电压",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "目标速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "摆角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "目标角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "pitch",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "kalAngleZ",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "回旋速率",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()}
|
||||
]
|
||||
});
|
||||
});
|
||||
});
|
||||
</script>
|
||||
<script>
|
||||
function loadXMLDoc(path,element)
|
||||
{
|
||||
var xmlhttp;
|
||||
if (window.XMLHttpRequest)
|
||||
{
|
||||
// IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
|
||||
xmlhttp=new XMLHttpRequest();
|
||||
}
|
||||
else
|
||||
{
|
||||
// IE6, IE5 浏览器执行代码
|
||||
xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
|
||||
}
|
||||
xmlhttp.onreadystatechange=function()
|
||||
{
|
||||
if (xmlhttp.readyState==4 && xmlhttp.status==200)
|
||||
{
|
||||
document.getElementById(element).innerHTML=xmlhttp.responseText;
|
||||
}
|
||||
}
|
||||
xmlhttp.open("GET",path,true);
|
||||
xmlhttp.send();
|
||||
}
|
||||
|
||||
function UpdateInfo()
|
||||
{
|
||||
var xmlhttp;
|
||||
if (window.XMLHttpRequest){ // IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
|
||||
xmlhttp=new XMLHttpRequest();
|
||||
} else { // IE6, IE5 浏览器执行代码
|
||||
xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
|
||||
}
|
||||
xmlhttp.onreadystatechange=function()
|
||||
{
|
||||
if (xmlhttp.readyState==4 && xmlhttp.status==200)
|
||||
{
|
||||
var arr=xmlhttp.responseText.split(",");
|
||||
document.getElementById('TimeDiv').innerHTML=arr[0];
|
||||
document.getElementById('CurrentMillis').innerHTML=arr[1];
|
||||
document.getElementById('log_control').value=arr[2];
|
||||
document.getElementById('debug_log_control').value=arr[3];
|
||||
document.getElementById('test_flag').value=arr[4];
|
||||
if(arr[4]==2){
|
||||
document.getElementById('tvv_btn').innerHTML='关闭速度测试';
|
||||
document.getElementById('tvq_btn').innerHTML='开启电压测试';
|
||||
}else if(arr[4]==1){
|
||||
document.getElementById('tvq_btn').innerHTML='关闭电压测试';
|
||||
document.getElementById('tvv_btn').innerHTML='开启速度测试';
|
||||
}else{
|
||||
document.getElementById('tvv_btn').innerHTML='开启速度测试';
|
||||
document.getElementById('tvq_btn').innerHTML='开启电压测试';
|
||||
}
|
||||
document.getElementById('BAT_VOLTAGE').innerHTML=arr[5];
|
||||
|
||||
document.getElementById('target_angle_ROM').innerHTML=arr[6];
|
||||
document.getElementById('swing_up_voltage').innerHTML=arr[7];
|
||||
document.getElementById('swing_up_angle').innerHTML=arr[8];
|
||||
document.getElementById('v_i_1').innerHTML=arr[9];
|
||||
document.getElementById('v_p_1').innerHTML=arr[10];
|
||||
document.getElementById('v_i_2').innerHTML=arr[11];
|
||||
document.getElementById('v_p_2').innerHTML=arr[12];
|
||||
|
||||
if(document.getElementById('target_angle_ROM2').value=="") document.getElementById('target_angle_ROM2').value=arr[6];
|
||||
if(document.getElementById('swing_up_voltage2').value=="") document.getElementById('swing_up_voltage2').value=arr[7];
|
||||
if(document.getElementById('swing_up_angle2').value=="") document.getElementById('swing_up_angle2').value=arr[8];
|
||||
if(document.getElementById('v_i_12').value=="") document.getElementById('v_i_12').value=arr[9];
|
||||
if(document.getElementById('v_p_12').value=="") document.getElementById('v_p_12').value=arr[10];
|
||||
if(document.getElementById('v_i_22').value=="") document.getElementById('v_i_22').value=arr[11];
|
||||
if(document.getElementById('v_p_22').value=="") document.getElementById('v_p_22').value=arr[12];
|
||||
|
||||
if(document.getElementById('log_control').value=="1" && arr[13]!=""){
|
||||
for(i=0; i<HighchartsData.length;i++){
|
||||
HighchartsData[i] = parseFloat(arr[i+13]);
|
||||
}
|
||||
document.getElementById('Shaft_Velocity').innerHTML =arr[13]+"<br>"+document.getElementById('Shaft_Velocity').innerHTML;
|
||||
document.getElementById('motor_voltage_q').innerHTML=arr[14]+"<br>"+document.getElementById('motor_voltage_q').innerHTML;
|
||||
document.getElementById('target_velocity').innerHTML=arr[15]+"<br>"+document.getElementById('target_velocity').innerHTML;
|
||||
document.getElementById('pendulum_angle').innerHTML=arr[16]+"<br>"+document.getElementById('pendulum_angle').innerHTML;
|
||||
document.getElementById('target_angle').innerHTML=arr[17]+"<br>"+document.getElementById('target_angle').innerHTML;
|
||||
document.getElementById('pitch').innerHTML=arr[18]+"<br>"+document.getElementById('pitch').innerHTML;
|
||||
document.getElementById('kalAngleZ').innerHTML=arr[19]+"<br>"+document.getElementById('kalAngleZ').innerHTML;
|
||||
document.getElementById('gyroZrate').innerHTML=arr[20]+"<br>"+document.getElementById('gyroZrate').innerHTML;
|
||||
}
|
||||
|
||||
if(document.getElementById('debug_log_control').value=="1"){
|
||||
document.getElementById('debug_log').style.display='block';
|
||||
document.getElementById('debug_log').value += arr[21];
|
||||
}
|
||||
}
|
||||
}
|
||||
xmlhttp.open("GET",'/update',true);
|
||||
xmlhttp.send();
|
||||
}
|
||||
|
||||
function MyAutoRun() {
|
||||
UpdateInfo();
|
||||
}
|
||||
setInterval("MyAutoRun()", 1000);
|
||||
|
||||
function clearLog() {
|
||||
document.getElementById("Shaft_Velocity").innerHTML = "";
|
||||
document.getElementById("motor_voltage_q").innerHTML = "";
|
||||
document.getElementById("target_velocity").innerHTML = "";
|
||||
document.getElementById("pendulum_angle").innerHTML = "";
|
||||
document.getElementById("target_angle").innerHTML = "";
|
||||
document.getElementById("pitch").innerHTML = "";
|
||||
document.getElementById("kalAngleZ").innerHTML = "";
|
||||
document.getElementById("gyroZrate").innerHTML = "";
|
||||
}
|
||||
function clearDebugLog() {
|
||||
document.getElementById("debug_log").value = "";
|
||||
}
|
||||
|
||||
function checkNum(obj) {
|
||||
if (isNaN(obj.value)) { //检查是否是非数字值
|
||||
obj.value = "";
|
||||
}
|
||||
if (obj != null) { //检查小数点后是否对于两位
|
||||
if (
|
||||
obj.value.toString().split(".").length > 1 &&
|
||||
obj.value.toString().split(".")[1].length > 2
|
||||
) { //alert("小数点后多于两位！");
|
||||
obj.value = Number(obj.value).toPrecision(2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
</script>
|
||||
</head>
|
||||
<body style="background-color:black;color:white">
|
||||
|
||||
<font size="6" onclick="(document.getElementById('debug_hidden').value%6==5)?(document.getElementById('debug_show').style.display='block'):document.getElementById('debug_hidden').value++;">自平衡莱洛三角形
|
||||
<input id="debug_hidden" hidden>
|
||||
<span id="TimeDiv" hidden>datetime</Span>
|
||||
</font>
|
||||
</div>
|
||||
<table border="0">
|
||||
<tr>
|
||||
<td height="50">已启动：<span id=CurrentMillis></span>
|
||||
电池电压：<span id="BAT_VOLTAGE" style="color:#de87b8;"></span> V
|
||||
<span id="OperationHit" style="color:#ffa200;"></span>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td height="50">
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=0','OperationHit')" class="ant-btn ant-btn-red">开灯</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=1','OperationHit')" class="ant-btn ant-btn-red">+</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=2','OperationHit')" class="ant-btn ant-btn-red">-</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=3','OperationHit')" class="ant-btn ant-btn-red">关灯</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=1&Index=99&Operation=0','OperationHit')" class="ant-btn ant-btn-red">电机启停</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=4','OperationHit')" class="ant-btn ant-btn-red">重启</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left">
|
||||
<table border="1" cellspacing="0" cellpadding="0">
|
||||
<tr>
|
||||
<td align="center"><span style="color:#398ad9;">期望角度TA</span></td>
|
||||
<td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td>
|
||||
<td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">速度环P1</span></td>
|
||||
<td align="center"><span style="color:#ff33ff;">速度环I1</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">速度环P2</span></td>
|
||||
<td align="center"><span style="color:#ff33ff;">速度环I2</span></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center"><span style="color:#ff5c5c;" id="target_angle_ROM"></span></td>
|
||||
<td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td>
|
||||
<td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td>
|
||||
<td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td>
|
||||
<td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_angle_ROM" id="target_angle_ROM2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)+0.5;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)-0.5;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=0&Operation='+document.getElementById('target_angle_ROM2').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=1&Operation='+document.getElementById('swing_up_voltage2').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=2&Operation='+document.getElementById('swing_up_angle2').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)+0.1).toPrecision(2);">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)-0.1).toPrecision(2);">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=3&Operation='+document.getElementById('v_p_12').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=4&Operation='+document.getElementById('v_i_12').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)+0.1).toPrecision(2);">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)-0.1).toPrecision(2);">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=5&Operation='+document.getElementById('v_p_22').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=6&Operation='+document.getElementById('v_i_22').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>
|
||||
<table border="0" cellspacing="0" cellpadding="0" ID="control" width="100%">
|
||||
<tr>
|
||||
<td height="50" width="50"><button type="button" class="ant-btn ant-btn-red" onclick="(this.innerHTML=='关闭速度测试'?(this.innerHTML='开启速度测试'):this.innerHTML='关闭速度测试');(document.getElementById('tvq_btn').innerHTML=='关闭电压测试'?(document.getElementById('tvq_btn').innerHTML='开启电压测试'):'');loadXMLDoc('/Control?Type=1&Index=88&Operation=0','OperationHit')" id="tvv_btn">开启速度测试</button></td>
|
||||
<td width="40" align="center"><span id="speedNum">0</span></td>
|
||||
<td><input type="range" id="speed" value="0" min="-100" max="100" step="1" onchange="changeV()"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td height="50" width="50"><button type="button" class="ant-btn ant-btn-red" onclick="(this.innerHTML=='关闭电压测试'?(this.innerHTML='开启电压测试'):this.innerHTML='关闭电压测试');(document.getElementById('tvv_btn').innerHTML=='关闭速度测试'?(document.getElementById('tvv_btn').innerHTML='开启速度测试'):'');loadXMLDoc('/Control?Type=1&Index=77&Operation=0','OperationHit')" id="tvq_btn">开启电压测试</button></td>
|
||||
<td width="40" align="center"><span id="voltageNum">0</span></td>
|
||||
<td>
|
||||
<input type="hidden" name="test_flag" id="test_flag">
|
||||
<input type="range" id="voltage" value="0" min="-12" max="12" step="1" onchange="changeV()">
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>
|
||||
<table border="0" cellspacing="0" cellpadding="0" ID="debug_show" width="100%" style="display:none">
|
||||
<tr>
|
||||
<td>
|
||||
<button type="button" onclick="document.getElementById('debug_log_control').value=1;loadXMLDoc('/Control?Type=0&Index=6&Operation=1','OperationHit');document.getElementById('debug_log').style.display='block';">开启Debug</button>
|
||||
<button type="button" onclick="document.getElementById('debug_log_control').value=0;loadXMLDoc('/Control?Type=0&Index=6&Operation=0','OperationHit');">关闭Debug</button>
|
||||
<button type="button" onclick="document.getElementById('debug_log').style.display='block';">显示记录</button>
|
||||
<button type="button" onclick="document.getElementById('debug_log').style.display='none';">隐藏记录</button>
|
||||
<button type="button" onclick="clearDebugLog()">清除记录</button>
|
||||
<input type="hidden" name="debug_log_control" id="debug_log_control">
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left"><textarea name="debug_log" rows="10" cols="80" id="debug_log" style="display:none"></textarea></td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td height="50">
|
||||
<button type="button" onclick="document.getElementById('log_control').value=1;loadXMLDoc('/Control?Type=0&Index=5&Operation=1','OperationHit')">开启记录</button>
|
||||
<button type="button" onclick="document.getElementById('log_control').value=0;loadXMLDoc('/Control?Type=0&Index=5&Operation=0','OperationHit')">停止记录</button>
|
||||
<button type="button" onclick="document.getElementById('loglist').style.display='block';">显示记录</button>
|
||||
<button type="button" onclick="document.getElementById('loglist').style.display='none';">隐藏记录</button>
|
||||
<button type="button" onclick="clearLog()">清除记录</button>
|
||||
<input type="hidden" name="log_control" id="log_control">
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left">
|
||||
<table border="1" cellspacing="0" cellpadding="0" ID="logchart" width="100%">
|
||||
<tr>
|
||||
<td align="center">
|
||||
<div id="container" style="width:700px;height:400px;margin:0 auto;"></div>
|
||||
<div style="text-align:center;clear:both;">
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left">
|
||||
<table border="1" cellspacing="0" cellpadding="0" ID="loglist" width="100%">
|
||||
<tr>
|
||||
<td align="center"><span style="color:#ff5c5c;">Shaft<br>Velocity</span></td>
|
||||
<td align="center"><span style="color:#398ad9;">motor<br>voltage q</span></td>
|
||||
<td align="center"><span style="color:#ff5c5c;">target<br>velocity</span></td>
|
||||
<td align="center"><span style="color:#5bec8d;">pendulum<br>angle</span></td>
|
||||
<td align="center"><span style="color:#fd42ac;">target<br>angle</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">pitch</span></td>
|
||||
<td align="center"><span style="color:#ff33ff;">kalAngleZ</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">gyroZrate</span></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center"><span style="color:#ff5c5c;" id="Shaft_Velocity"></span></td>
|
||||
<td align="center"><span style="color:#398ad9;" id="motor_voltage_q"></span></td>
|
||||
<td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td>
|
||||
<td align="center"><span style="color:#5bec8d;" id="pendulum_angle"></span></td>
|
||||
<td align="center"><span style="color:#fd42ac;" id="target_angle"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="pitch"></span></td>
|
||||
<td align="center"><span style="color:#ff33ff;" id="kalAngleZ"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="gyroZrate"></span></td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
<script>
|
||||
const voltage = document.getElementById('voltage');
|
||||
const speed = document.getElementById('speed');
|
||||
|
||||
function changeV() {
|
||||
voltageVal = parseFloat(voltage.value);
|
||||
spdVal = parseFloat(speed.value);
|
||||
const voltagePercent = Math.abs(parseFloat(voltageVal / 12, 2) * 50)
|
||||
const speedPercent = Math.abs(parseFloat((spdVal / 100), 2) * 100) * 1.5
|
||||
if (voltageVal < 0)
|
||||
voltage.style.background = `linear-gradient(to right, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
|
||||
else
|
||||
voltage.style.background = `linear-gradient(to left, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
|
||||
if (spdVal < 0)
|
||||
speed.style.background = `linear-gradient(to right, #ffa200, white ${speedPercent}%`
|
||||
else
|
||||
speed.style.background = `linear-gradient(to left, #ffa200, white ${speedPercent}%`
|
||||
document.getElementById('voltageNum').innerHTML = voltageVal;
|
||||
document.getElementById('speedNum').innerHTML = spdVal;
|
||||
if (document.getElementById('test_flag').value == '1') {
|
||||
loadXMLDoc('/Control?Type=1&Index=7&Operation=' + voltageVal, 'OperationHit');
|
||||
}
|
||||
if (document.getElementById('test_flag').value == '2') {
|
||||
loadXMLDoc('/Control?Type=1&Index=8&Operation=' + spdVal, 'OperationHit');
|
||||
}
|
||||
};
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,63 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
|
||||
const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
|
||||
return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
|
||||
}
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
Wire.write(data, length);
|
||||
uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cWrite failed: "));
|
||||
Serial.println(rcode);
|
||||
}
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
|
||||
uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
|
||||
uint32_t timeOutTimer;
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cRead failed: "));
|
||||
Serial.println(rcode);
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
|
||||
for (uint8_t i = 0; i < nbytes; i++) {
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
timeOutTimer = micros();
|
||||
while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
Serial.println(F("i2cRead timeout"));
|
||||
return 5; // This error value is not already taken by endTransmission
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0; // Success
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,28 @@
|
|||
#include "Command.h"
|
||||
|
||||
void Command::run(char* str){
|
||||
for(int i=0; i < call_count; i++){
|
||||
if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15"
|
||||
call_list[i](str+strlen(call_ids[i])); // get 15.15 input function
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
void Command::add(char* id, CommandCallback onCommand){
|
||||
call_list[call_count] = onCommand;
|
||||
call_ids[call_count] = id;
|
||||
call_count++;
|
||||
}
|
||||
void Command::scalar(float* value, char* user_cmd){
|
||||
*value = atof(user_cmd);
|
||||
}
|
||||
bool Command::isSentinel(char* ch,char* str)
|
||||
{
|
||||
char s[strlen(ch)+1];
|
||||
strncpy(s,str,strlen(ch));
|
||||
s[strlen(ch)] = '\0'; //strncpy need add end '\0'
|
||||
if(strcmp(ch, s) == 0)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
#include <Arduino.h>
|
||||
// callback function pointer definiton
|
||||
typedef void (* CommandCallback)(char*); //!< command callback function pointer
|
||||
class Command
|
||||
{
|
||||
public:
|
||||
void add(char* id , CommandCallback onCommand);
|
||||
void run(char* str);
|
||||
void scalar(float* value, char* user_cmd);
|
||||
bool isSentinel(char* ch,char* str);
|
||||
private:
|
||||
// Subscribed command callback variables
|
||||
CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
|
||||
char* call_ids[20]; //!< added callback commands
|
||||
int call_count;//!< number callbacks that are subscribed
|
||||
|
||||
};
|
||||
|
|
@ -0,0 +1,93 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
#include "Kalman.h"
|
||||
|
||||
Kalman::Kalman() {
|
||||
/* We will set the variables like so, these can also be tuned by the user */
|
||||
Q_angle = 0.001f;
|
||||
Q_bias = 0.003f;
|
||||
R_measure = 0.03f;
|
||||
|
||||
angle = 0.0f; // Reset the angle
|
||||
bias = 0.0f; // Reset bias
|
||||
|
||||
P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
|
||||
P[0][1] = 0.0f;
|
||||
P[1][0] = 0.0f;
|
||||
P[1][1] = 0.0f;
|
||||
};
|
||||
|
||||
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
|
||||
float Kalman::getAngle(float newAngle, float newRate, float dt) {
|
||||
// KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145
|
||||
// Modified by Kristian Lauszus
|
||||
// See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it
|
||||
|
||||
// Discrete Kalman filter time update equations - Time Update ("Predict")
|
||||
// Update xhat - Project the state ahead
|
||||
/* Step 1 */
|
||||
rate = newRate - bias;
|
||||
angle += dt * rate;
|
||||
|
||||
// Update estimation error covariance - Project the error covariance ahead
|
||||
/* Step 2 */
|
||||
P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle);
|
||||
P[0][1] -= dt * P[1][1];
|
||||
P[1][0] -= dt * P[1][1];
|
||||
P[1][1] += Q_bias * dt;
|
||||
|
||||
// Discrete Kalman filter measurement update equations - Measurement Update ("Correct")
|
||||
// Calculate Kalman gain - Compute the Kalman gain
|
||||
/* Step 4 */
|
||||
float S = P[0][0] + R_measure; // Estimate error
|
||||
/* Step 5 */
|
||||
float K[2]; // Kalman gain - This is a 2x1 vector
|
||||
K[0] = P[0][0] / S;
|
||||
K[1] = P[1][0] / S;
|
||||
|
||||
// Calculate angle and bias - Update estimate with measurement zk (newAngle)
|
||||
/* Step 3 */
|
||||
float y = newAngle - angle; // Angle difference
|
||||
/* Step 6 */
|
||||
angle += K[0] * y;
|
||||
bias += K[1] * y;
|
||||
|
||||
// Calculate estimation error covariance - Update the error covariance
|
||||
/* Step 7 */
|
||||
float P00_temp = P[0][0];
|
||||
float P01_temp = P[0][1];
|
||||
|
||||
P[0][0] -= K[0] * P00_temp;
|
||||
P[0][1] -= K[0] * P01_temp;
|
||||
P[1][0] -= K[1] * P00_temp;
|
||||
P[1][1] -= K[1] * P01_temp;
|
||||
|
||||
return angle;
|
||||
};
|
||||
|
||||
void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle
|
||||
float Kalman::getRate() { return this->rate; }; // Return the unbiased rate
|
||||
|
||||
/* These are used to tune the Kalman filter */
|
||||
void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; };
|
||||
void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; };
|
||||
void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; };
|
||||
|
||||
float Kalman::getQangle() { return this->Q_angle; };
|
||||
float Kalman::getQbias() { return this->Q_bias; };
|
||||
float Kalman::getRmeasure() { return this->R_measure; };
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
#ifndef _Kalman_h_
|
||||
#define _Kalman_h_
|
||||
|
||||
class Kalman {
|
||||
public:
|
||||
Kalman();
|
||||
|
||||
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
|
||||
float getAngle(float newAngle, float newRate, float dt);
|
||||
|
||||
void setAngle(float angle); // Used to set angle, this should be set as the starting angle
|
||||
float getRate(); // Return the unbiased rate
|
||||
|
||||
/* These are used to tune the Kalman filter */
|
||||
void setQangle(float Q_angle);
|
||||
/**
|
||||
* setQbias(float Q_bias)
|
||||
* Default value (0.003f) is in Kalman.cpp.
|
||||
* Raise this to follow input more closely,
|
||||
* lower this to smooth result of kalman filter.
|
||||
*/
|
||||
void setQbias(float Q_bias);
|
||||
void setRmeasure(float R_measure);
|
||||
|
||||
float getQangle();
|
||||
float getQbias();
|
||||
float getRmeasure();
|
||||
|
||||
private:
|
||||
/* Kalman filter variables */
|
||||
float Q_angle; // Process noise variance for the accelerometer
|
||||
float Q_bias; // Process noise variance for the gyro bias
|
||||
float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise
|
||||
|
||||
float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
|
||||
float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
|
||||
float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate
|
||||
|
||||
float P[2][2]; // Error covariance matrix - This is a 2x2 matrix
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,593 @@
|
|||
/*
|
||||
Highcharts JS v9.3.2 (2021-11-29)
|
||||
|
||||
(c) 2009-2021 Torstein Honsi
|
||||
|
||||
License: www.highcharts.com/license
|
||||
*/
|
||||
'use strict';(function(Z,M){"object"===typeof module&&module.exports?(M["default"]=M,module.exports=Z.document?M(Z):M):"function"===typeof define&&define.amd?define("highcharts/highcharts",function(){return M(Z)}):(Z.Highcharts&&Z.Highcharts.error(16,!0),Z.Highcharts=M(Z))})("undefined"!==typeof window?window:this,function(Z){function M(v,a,z,F){v.hasOwnProperty(a)||(v[a]=F.apply(null,z))}var a={};M(a,"Core/Globals.js",[],function(){var v="undefined"!==typeof Z?Z:"undefined"!==typeof window?window:
|
||||
{},a;(function(a){a.SVG_NS="http://www.w3.org/2000/svg";a.product="Highcharts";a.version="9.3.2";a.win=v;a.doc=a.win.document;a.svg=a.doc&&a.doc.createElementNS&&!!a.doc.createElementNS(a.SVG_NS,"svg").createSVGRect;a.userAgent=a.win.navigator&&a.win.navigator.userAgent||"";a.isChrome=-1!==a.userAgent.indexOf("Chrome");a.isFirefox=-1!==a.userAgent.indexOf("Firefox");a.isMS=/(edge|msie|trident)/i.test(a.userAgent)&&!a.win.opera;a.isSafari=!a.isChrome&&-1!==a.userAgent.indexOf("Safari");a.isTouchDevice=
|
||||
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b.replace("shortdashdotdot","3,1,1,1,1,1,").replace("shortdashdot","3,1,1,1").replace("shortdot","1,1,").replace("shortdash","3,1,").replace("longdash","8,3,").replace(/dot/g,"1,3,").replace("dash","4,3,").replace(/,$/,"").split(",");for(b=c.length;b--;)c[b]=""+I(c[b])*x(d,NaN);b=c.join(",").replace(/NaN/g,"none");this.element.setAttribute("stroke-dasharray",b)}};a.prototype.destroy=function(){var b=this,d=b.element||{},c=b.renderer,g=d.ownerSVGElement,m=c.isSVG&&"SPAN"===d.nodeName&&b.parentGroup||
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void 0;d.onclick=d.onmouseout=d.onmouseover=d.onmousemove=d.point=null;A(b);if(b.clipPath&&g){var e=b.clipPath;[].forEach.call(g.querySelectorAll("[clip-path],[CLIP-PATH]"),function(b){-1<b.getAttribute("clip-path").indexOf(e.element.id)&&b.removeAttribute("clip-path")});b.clipPath=e.destroy()}if(b.stops){for(g=0;g<b.stops.length;g++)b.stops[g].destroy();b.stops.length=0;b.stops=void 0}b.safeRemoveChild(d);for(c.styledMode||b.destroyShadows();m&&m.div&&0===m.div.childNodes.length;)d=m.parentGroup,
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b.safeRemoveChild(m.div),delete m.div,m=d;b.alignTo&&J(c.alignedObjects,b);D(b,function(d,c){b[c]&&b[c].parentGroup===b&&b[c].destroy&&b[c].destroy();delete b[c]})};a.prototype.destroyShadows=function(){(this.shadows||[]).forEach(function(b){this.safeRemoveChild(b)},this);this.shadows=void 0};a.prototype.destroyTextPath=function(b,d){var c=b.getElementsByTagName("text")[0];if(c){if(c.removeAttribute("dx"),c.removeAttribute("dy"),d.element.setAttribute("id",""),this.textPathWrapper&&c.getElementsByTagName("textPath").length){for(b=
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this.textPathWrapper.element.childNodes;b.length;)c.appendChild(b[0]);c.removeChild(this.textPathWrapper.element)}}else if(b.getAttribute("dx")||b.getAttribute("dy"))b.removeAttribute("dx"),b.removeAttribute("dy");this.textPathWrapper&&(this.textPathWrapper=this.textPathWrapper.destroy())};a.prototype.dSetter=function(b,d,c){l(b)&&("string"===typeof b[0]&&(b=this.renderer.pathToSegments(b)),this.pathArray=b,b=b.reduce(function(b,d,c){return d&&d.join?(c?b+" ":"")+d.join(" "):(d||"").toString()},""));
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/(NaN| {2}|^$)/.test(b)&&(b="M 0 0");this[d]!==b&&(c.setAttribute(d,b),this[d]=b)};a.prototype.fadeOut=function(b){var d=this;d.animate({opacity:0},{duration:x(b,150),complete:function(){d.attr({y:-9999}).hide()}})};a.prototype.fillSetter=function(b,d,c){"string"===typeof b?c.setAttribute(d,b):b&&this.complexColor(b,d,c)};a.prototype.getBBox=function(d,c){var g=this.renderer,m=this.element,e=this.styles,l=this.textStr,r=g.cache,h=g.cacheKeys,E=m.namespaceURI===this.SVG_NS;c=x(c,this.rotation,0);var p=
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g.styledMode?m&&a.prototype.getStyle.call(m,"font-size"):e&&e.fontSize,f;if(t(l)){var D=l.toString();-1===D.indexOf("<")&&(D=D.replace(/[0-9]/g,"0"));D+=["",c,p,this.textWidth,e&&e.textOverflow,e&&e.fontWeight].join()}D&&!d&&(f=r[D]);if(!f){if(E||g.forExport){try{var k=this.fakeTS&&function(b){var d=m.querySelector(".highcharts-text-outline");d&&B(d,{display:b})};b(k)&&k("none");f=m.getBBox?C({},m.getBBox()):{width:m.offsetWidth,height:m.offsetHeight};b(k)&&k("")}catch(X){""}if(!f||0>f.width)f={width:0,
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height:0}}else f=this.htmlGetBBox();g.isSVG&&(d=f.width,g=f.height,E&&(f.height=g={"11px,17":14,"13px,20":16}[(p||"")+","+Math.round(g)]||g),c&&(E=c*q,f.width=Math.abs(g*Math.sin(E))+Math.abs(d*Math.cos(E)),f.height=Math.abs(g*Math.cos(E))+Math.abs(d*Math.sin(E))));if(D&&(""===l||0<f.height)){for(;250<h.length;)delete r[h.shift()];r[D]||h.push(D);r[D]=f}}return f};a.prototype.getStyle=function(b){return h.getComputedStyle(this.element||this,"").getPropertyValue(b)};a.prototype.hasClass=function(b){return-1!==
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(""+this.attr("class")).split(" ").indexOf(b)};a.prototype.hide=function(b){b?this.attr({y:-9999}):this.attr({visibility:"hidden"});return this};a.prototype.htmlGetBBox=function(){return{height:0,width:0,x:0,y:0}};a.prototype.init=function(b,d){this.element="span"===d?p(d):n.createElementNS(this.SVG_NS,d);this.renderer=b;r(this,"afterInit")};a.prototype.invert=function(b){this.inverted=b;this.updateTransform();return this};a.prototype.on=function(b,d){var c=this.onEvents;if(c[b])c[b]();c[b]=f(this.element,
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b,d);return this};a.prototype.opacitySetter=function(b,d,c){this.opacity=b=Number(Number(b).toFixed(3));c.setAttribute(d,b)};a.prototype.removeClass=function(b){return this.attr("class",(""+this.attr("class")).replace(d(b)?new RegExp("(^| )"+b+"( |$)"):b," ").replace(/ +/g," ").trim())};a.prototype.removeTextOutline=function(){var b=this.element.querySelector("tspan.highcharts-text-outline");b&&this.safeRemoveChild(b)};a.prototype.safeRemoveChild=function(b){var d=b.parentNode;d&&d.removeChild(b)};
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a.prototype.setRadialReference=function(b){var d=this.element.gradient&&this.renderer.gradients[this.element.gradient];this.element.radialReference=b;d&&d.radAttr&&d.animate(this.renderer.getRadialAttr(b,d.radAttr));return this};a.prototype.setTextPath=function(b,d){var c=this.element,e=this.text?this.text.element:c,a={textAnchor:"text-anchor"},l=!1,r=this.textPathWrapper,x=!r;d=m(!0,{enabled:!0,attributes:{dy:-5,startOffset:"50%",textAnchor:"middle"}},d);var E=u.filterUserAttributes(d.attributes);
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if(b&&d&&d.enabled){r&&null===r.element.parentNode?(x=!0,r=r.destroy()):r&&this.removeTextOutline.call(r.parentGroup);this.options&&this.options.padding&&(E.dx=-this.options.padding);r||(this.textPathWrapper=r=this.renderer.createElement("textPath"),l=!0);var p=r.element;(d=b.element.getAttribute("id"))||b.element.setAttribute("id",d=S());if(x)for(e.setAttribute("y",0),g(E.dx)&&e.setAttribute("x",-E.dx),b=[].slice.call(e.childNodes),x=0;x<b.length;x++){var f=b[x];f.nodeType!==h.Node.TEXT_NODE&&"tspan"!==
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m.parentNode&&m.parentNode.insertBefore(h,m);g.push(h)}this.shadows=g}return this};a.prototype.show=function(b){return this.attr({visibility:b?"inherit":"visible"})};a.prototype.strokeSetter=function(b,d,c){this[d]=b;this.stroke&&this["stroke-width"]?(a.prototype.fillSetter.call(this,this.stroke,"stroke",c),c.setAttribute("stroke-width",this["stroke-width"]),this.hasStroke=!0):"stroke-width"===d&&0===b&&this.hasStroke?(c.removeAttribute("stroke"),this.hasStroke=!1):this.renderer.styledMode&&this["stroke-width"]&&
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(c.setAttribute("stroke-width",this["stroke-width"]),this.hasStroke=!0)};a.prototype.strokeWidth=function(){if(!this.renderer.styledMode)return this["stroke-width"]||0;var b=this.getStyle("stroke-width"),d=0;if(b.indexOf("px")===b.length-2)d=I(b);else if(""!==b){var g=n.createElementNS(c,"rect");w(g,{width:b,"stroke-width":0});this.element.parentNode.appendChild(g);d=g.getBBox().width;g.parentNode.removeChild(g)}return d};a.prototype.symbolAttr=function(b){var d=this;"x y r start end width height innerR anchorX anchorY clockwise".split(" ").forEach(function(c){d[c]=
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">")};a.prototype.toFront=function(){var b=this.element;b.parentNode.appendChild(b);return this};a.prototype.translate=function(b,d){return this.attr({translateX:b,translateY:d})};a.prototype.updateShadows=function(b,d,c){var g=this.shadows;if(g)for(var m=g.length;m--;)c.call(g[m],"height"===b?Math.max(d-(g[m].cutHeight||0),0):"d"===b?this.d:d,b,g[m])};a.prototype.updateTransform=function(){var b=this.scaleX,d=this.scaleY,c=this.inverted,g=this.rotation,m=this.matrix,e=this.element,a=this.translateX||
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0,l=this.translateY||0;c&&(a+=this.width,l+=this.height);a=["translate("+a+","+l+")"];t(m)&&a.push("matrix("+m.join(",")+")");c?a.push("rotate(90) scale(-1,1)"):g&&a.push("rotate("+g+" "+x(this.rotationOriginX,e.getAttribute("x"),0)+" "+x(this.rotationOriginY,e.getAttribute("y")||0)+")");(t(b)||t(d))&&a.push("scale("+x(b,1)+" "+x(d,1)+")");a.length&&e.setAttribute("transform",a.join(" "))};a.prototype.visibilitySetter=function(b,d,c){"inherit"===b?c.removeAttribute(d):this[d]!==b&&c.setAttribute(d,
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b);this[d]=b};a.prototype.xGetter=function(b){"circle"===this.element.nodeName&&("x"===b?b="cx":"y"===b&&(b="cy"));return this._defaultGetter(b)};a.prototype.zIndexSetter=function(b,d){var c=this.renderer,g=this.parentGroup,m=(g||c).element||c.box,e=this.element;c=m===c.box;var a=!1;var l=this.added;var E;t(b)?(e.setAttribute("data-z-index",b),b=+b,this[d]===b&&(l=!1)):t(this[d])&&e.removeAttribute("data-z-index");this[d]=b;if(l){(b=this.zIndex)&&g&&(g.handleZ=!0);d=m.childNodes;for(E=d.length-1;0<=
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E&&!a;E--){g=d[E];l=g.getAttribute("data-z-index");var r=!t(l);if(g!==e)if(0>b&&r&&!c&&!E)m.insertBefore(e,d[E]),a=!0;else if(I(l)<=b||r&&(!t(b)||0<=b))m.insertBefore(e,d[E+1]||null),a=!0}a||(m.insertBefore(e,d[c?3:0]||null),a=!0)}return a};return a}();a.prototype["stroke-widthSetter"]=a.prototype.strokeSetter;a.prototype.yGetter=a.prototype.xGetter;a.prototype.matrixSetter=a.prototype.rotationOriginXSetter=a.prototype.rotationOriginYSetter=a.prototype.rotationSetter=a.prototype.scaleXSetter=a.prototype.scaleYSetter=
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a.prototype.translateXSetter=a.prototype.translateYSetter=a.prototype.verticalAlignSetter=function(b,d){this[d]=b;this.doTransform=!0};"";return a});M(a,"Core/Renderer/RendererRegistry.js",[a["Core/Globals.js"]],function(a){var v;(function(v){v.rendererTypes={};var u;v.getRendererType=function(a){void 0===a&&(a=u);return v.rendererTypes[a]||v.rendererTypes[u]};v.registerRendererType=function(y,z,H){v.rendererTypes[y]=z;if(!u||H)u=y,a.Renderer=z}})(v||(v={}));return v});M(a,"Core/Renderer/SVG/SVGLabel.js",
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||||
[a["Core/Renderer/SVG/SVGElement.js"],a["Core/Utilities.js"]],function(a,u){var v=this&&this.__extends||function(){var a=function(k,e){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(c,e){c.__proto__=e}||function(c,e){for(var a in e)e.hasOwnProperty(a)&&(c[a]=e[a])};return a(k,e)};return function(k,e){function c(){this.constructor=k}a(k,e);k.prototype=null===e?Object.create(e):(c.prototype=e.prototype,new c)}}(),F=u.defined,y=u.extend,G=u.isNumber,H=u.merge,A=u.pick,q=u.removeEvent;
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||||
return function(n){function k(e,c,a,f,w,p,B,t,J,C){var r=n.call(this)||this;r.paddingLeftSetter=r.paddingSetter;r.paddingRightSetter=r.paddingSetter;r.init(e,"g");r.textStr=c;r.x=a;r.y=f;r.anchorX=p;r.anchorY=B;r.baseline=J;r.className=C;r.addClass("button"===C?"highcharts-no-tooltip":"highcharts-label");C&&r.addClass("highcharts-"+C);r.text=e.text(void 0,0,0,t).attr({zIndex:1});var l;"string"===typeof w&&((l=/^url\((.*?)\)$/.test(w))||r.renderer.symbols[w])&&(r.symbolKey=w);r.bBox=k.emptyBBox;r.padding=
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3;r.baselineOffset=0;r.needsBox=e.styledMode||l;r.deferredAttr={};r.alignFactor=0;return r}v(k,n);k.prototype.alignSetter=function(e){e={left:0,center:.5,right:1}[e];e!==this.alignFactor&&(this.alignFactor=e,this.bBox&&G(this.xSetting)&&this.attr({x:this.xSetting}))};k.prototype.anchorXSetter=function(e,c){this.anchorX=e;this.boxAttr(c,Math.round(e)-this.getCrispAdjust()-this.xSetting)};k.prototype.anchorYSetter=function(e,c){this.anchorY=e;this.boxAttr(c,e-this.ySetting)};k.prototype.boxAttr=function(e,
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c){this.box?this.box.attr(e,c):this.deferredAttr[e]=c};k.prototype.css=function(e){if(e){var c={};e=H(e);k.textProps.forEach(function(a){"undefined"!==typeof e[a]&&(c[a]=e[a],delete e[a])});this.text.css(c);var h="width"in c;"fontSize"in c||"fontWeight"in c?this.updateTextPadding():h&&this.updateBoxSize()}return a.prototype.css.call(this,e)};k.prototype.destroy=function(){q(this.element,"mouseenter");q(this.element,"mouseleave");this.text&&this.text.destroy();this.box&&(this.box=this.box.destroy());
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a.prototype.destroy.call(this)};k.prototype.fillSetter=function(e,c){e&&(this.needsBox=!0);this.fill=e;this.boxAttr(c,e)};k.prototype.getBBox=function(){this.textStr&&0===this.bBox.width&&0===this.bBox.height&&this.updateBoxSize();var e=this.padding,c=A(this.paddingLeft,e);return{width:this.width,height:this.height,x:this.bBox.x-c,y:this.bBox.y-e}};k.prototype.getCrispAdjust=function(){return this.renderer.styledMode&&this.box?this.box.strokeWidth()%2/2:(this["stroke-width"]?parseInt(this["stroke-width"],
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||||
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this.box&&this.box.shadow(e));return this};k.prototype.strokeSetter=function(e,c){this.stroke=e;this.boxAttr(c,e)};k.prototype["stroke-widthSetter"]=function(e,c){e&&(this.needsBox=!0);this["stroke-width"]=e;this.boxAttr(c,e)};k.prototype["text-alignSetter"]=function(e){this.textAlign=e};k.prototype.textSetter=function(e){"undefined"!==typeof e&&this.text.attr({text:e});this.updateTextPadding()};k.prototype.updateBoxSize=function(){var e=this.text.element.style,c={},a=this.padding,f=this.bBox=G(this.widthSetting)&&
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G(this.heightSetting)&&!this.textAlign||!F(this.text.textStr)?k.emptyBBox:this.text.getBBox();this.width=this.getPaddedWidth();this.height=(this.heightSetting||f.height||0)+2*a;e=this.renderer.fontMetrics(e&&e.fontSize,this.text);this.baselineOffset=a+Math.min((this.text.firstLineMetrics||e).b,f.height||Infinity);this.heightSetting&&(this.baselineOffset+=(this.heightSetting-e.h)/2);this.needsBox&&(this.box||(a=this.box=this.symbolKey?this.renderer.symbol(this.symbolKey):this.renderer.rect(),a.addClass(("button"===
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||||
this.className?"":"highcharts-label-box")+(this.className?" highcharts-"+this.className+"-box":"")),a.add(this)),a=this.getCrispAdjust(),c.x=a,c.y=(this.baseline?-this.baselineOffset:0)+a,c.width=Math.round(this.width),c.height=Math.round(this.height),this.box.attr(y(c,this.deferredAttr)),this.deferredAttr={})};k.prototype.updateTextPadding=function(){var a=this.text;this.updateBoxSize();var c=this.baseline?0:this.baselineOffset,h=A(this.paddingLeft,this.padding);F(this.widthSetting)&&this.bBox&&
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||||
("center"===this.textAlign||"right"===this.textAlign)&&(h+={center:.5,right:1}[this.textAlign]*(this.widthSetting-this.bBox.width));if(h!==a.x||c!==a.y)a.attr("x",h),a.hasBoxWidthChanged&&(this.bBox=a.getBBox(!0)),"undefined"!==typeof c&&a.attr("y",c);a.x=h;a.y=c};k.prototype.widthSetter=function(a){this.widthSetting=G(a)?a:void 0};k.prototype.getPaddedWidth=function(){var a=this.padding,c=A(this.paddingLeft,a);a=A(this.paddingRight,a);return(this.widthSetting||this.bBox.width||0)+c+a};k.prototype.xSetter=
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||||
function(a){this.x=a;this.alignFactor&&(a-=this.alignFactor*this.getPaddedWidth(),this["forceAnimate:x"]=!0);this.xSetting=Math.round(a);this.attr("translateX",this.xSetting)};k.prototype.ySetter=function(a){this.ySetting=this.y=Math.round(a);this.attr("translateY",this.ySetting)};k.emptyBBox={width:0,height:0,x:0,y:0};k.textProps="color direction fontFamily fontSize fontStyle fontWeight lineHeight textAlign textDecoration textOutline textOverflow width".split(" ");return k}(a)});M(a,"Core/Renderer/SVG/Symbols.js",
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function(){this.alignedObjects.forEach(function(b){return b.align()})};return L}();d(z.prototype,{Element:y,SVG_NS:p,escapes:{"&":"&","<":"<",">":">","'":"'",'"':"""},symbols:H,draw:w});F.registerRendererType("svg",z,!0);"";return z});M(a,"Core/Renderer/HTML/HTMLElement.js",[a["Core/Globals.js"],a["Core/Renderer/SVG/SVGElement.js"],a["Core/Utilities.js"]],function(a,u,z){var v=this&&this.__extends||function(){var a=function(c,e){a=Object.setPrototypeOf||{__proto__:[]}instanceof
|
||||
Array&&function(a,c){a.__proto__=c}||function(a,c){for(var e in c)c.hasOwnProperty(e)&&(a[e]=c[e])};return a(c,e)};return function(c,e){function p(){this.constructor=c}a(c,e);c.prototype=null===e?Object.create(e):(p.prototype=e.prototype,new p)}}(),y=a.isFirefox,G=a.isMS,H=a.isWebKit,A=a.win,q=z.css,n=z.defined,k=z.extend,e=z.pick,c=z.pInt;return function(a){function h(){return null!==a&&a.apply(this,arguments)||this}v(h,a);h.compose=function(a){if(-1===h.composedClasses.indexOf(a)){h.composedClasses.push(a);
|
||||
var c=h.prototype,e=a.prototype;e.getSpanCorrection=c.getSpanCorrection;e.htmlCss=c.htmlCss;e.htmlGetBBox=c.htmlGetBBox;e.htmlUpdateTransform=c.htmlUpdateTransform;e.setSpanRotation=c.setSpanRotation}return a};h.prototype.getSpanCorrection=function(a,c,e){this.xCorr=-a*e;this.yCorr=-c};h.prototype.htmlCss=function(a){var c="SPAN"===this.element.tagName&&a&&"width"in a,h=e(c&&a.width,void 0);if(c){delete a.width;this.textWidth=h;var f=!0}a&&"ellipsis"===a.textOverflow&&(a.whiteSpace="nowrap",a.overflow=
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||||
"hidden");this.styles=k(this.styles,a);q(this.element,a);f&&this.htmlUpdateTransform();return this};h.prototype.htmlGetBBox=function(){var a=this.element;return{x:a.offsetLeft,y:a.offsetTop,width:a.offsetWidth,height:a.offsetHeight}};h.prototype.htmlUpdateTransform=function(){if(this.added){var a=this.renderer,e=this.element,h=this.translateX||0,f=this.translateY||0,k=this.x||0,C=this.y||0,r=this.textAlign||"left",l={left:0,center:.5,right:1}[r],b=this.styles;b=b&&b.whiteSpace;q(e,{marginLeft:h,marginTop:f});
|
||||
!a.styledMode&&this.shadows&&this.shadows.forEach(function(b){q(b,{marginLeft:h+1,marginTop:f+1})});this.inverted&&[].forEach.call(e.childNodes,function(b){a.invertChild(b,e)});if("SPAN"===e.tagName){var g=this.rotation,d=this.textWidth&&c(this.textWidth),m=[g,r,e.innerHTML,this.textWidth,this.textAlign].join(),D=void 0;D=!1;if(d!==this.oldTextWidth){if(this.textPxLength)var x=this.textPxLength;else q(e,{width:"",whiteSpace:b||"nowrap"}),x=e.offsetWidth;(d>this.oldTextWidth||x>d)&&(/[ \-]/.test(e.textContent||
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||||
e.innerText)||"ellipsis"===e.style.textOverflow)&&(q(e,{width:x>d||g?d+"px":"auto",display:"block",whiteSpace:b||"normal"}),this.oldTextWidth=d,D=!0)}this.hasBoxWidthChanged=D;m!==this.cTT&&(D=a.fontMetrics(e.style.fontSize,e).b,!n(g)||g===(this.oldRotation||0)&&r===this.oldAlign||this.setSpanRotation(g,l,D),this.getSpanCorrection(!n(g)&&this.textPxLength||e.offsetWidth,D,l,g,r));q(e,{left:k+(this.xCorr||0)+"px",top:C+(this.yCorr||0)+"px"});this.cTT=m;this.oldRotation=g;this.oldAlign=r}}else this.alignOnAdd=
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||||
!0};h.prototype.setSpanRotation=function(a,c,e){var h={},p=G&&!/Edge/.test(A.navigator.userAgent)?"-ms-transform":H?"-webkit-transform":y?"MozTransform":A.opera?"-o-transform":void 0;p&&(h[p]=h.transform="rotate("+a+"deg)",h[p+(y?"Origin":"-origin")]=h.transformOrigin=100*c+"% "+e+"px",q(this.element,h))};h.composedClasses=[];return h}(u)});M(a,"Core/Renderer/HTML/HTMLRenderer.js",[a["Core/Renderer/HTML/AST.js"],a["Core/Renderer/SVG/SVGElement.js"],a["Core/Renderer/SVG/SVGRenderer.js"],a["Core/Utilities.js"]],
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||||
function(a,u,z,F){var v=this&&this.__extends||function(){var a=function(k,e){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,e){a.__proto__=e}||function(a,e){for(var c in e)e.hasOwnProperty(c)&&(a[c]=e[c])};return a(k,e)};return function(k,e){function c(){this.constructor=k}a(k,e);k.prototype=null===e?Object.create(e):(c.prototype=e.prototype,new c)}}(),G=F.attr,H=F.createElement,A=F.extend,q=F.pick;return function(n){function k(){return null!==n&&n.apply(this,arguments)||this}
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||||
v(k,n);k.compose=function(a){-1===k.composedClasses.indexOf(a)&&(k.composedClasses.push(a),a.prototype.html=k.prototype.html);return a};k.prototype.html=function(e,c,h){var f=this.createElement("span"),k=f.element,p=f.renderer,n=p.isSVG,t=function(a,c){["opacity","visibility"].forEach(function(e){a[e+"Setter"]=function(l,b,g){var d=a.div?a.div.style:c;u.prototype[e+"Setter"].call(this,l,b,g);d&&(d[b]=l)}});a.addedSetters=!0};f.textSetter=function(c){c!==this.textStr&&(delete this.bBox,delete this.oldTextWidth,
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||||
a.setElementHTML(this.element,q(c,"")),this.textStr=c,f.doTransform=!0)};n&&t(f,f.element.style);f.xSetter=f.ySetter=f.alignSetter=f.rotationSetter=function(a,c){"align"===c?f.alignValue=f.textAlign=a:f[c]=a;f.doTransform=!0};f.afterSetters=function(){this.doTransform&&(this.htmlUpdateTransform(),this.doTransform=!1)};f.attr({text:e,x:Math.round(c),y:Math.round(h)}).css({position:"absolute"});p.styledMode||f.css({fontFamily:this.style.fontFamily,fontSize:this.style.fontSize});k.style.whiteSpace="nowrap";
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f.css=f.htmlCss;n&&(f.add=function(a){var c=p.box.parentNode,e=[];if(this.parentGroup=a){var l=a.div;if(!l){for(;a;)e.push(a),a=a.parentGroup;e.reverse().forEach(function(b){function a(d,a){b[a]=d;"translateX"===a?r.left=d+"px":r.top=d+"px";b.doTransform=!0}var d=G(b.element,"class"),m=b.styles||{};l=b.div=b.div||H("div",d?{className:d}:void 0,{position:"absolute",left:(b.translateX||0)+"px",top:(b.translateY||0)+"px",display:b.display,opacity:b.opacity,cursor:m.cursor,pointerEvents:m.pointerEvents,
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visibility:b.visibility},l||c);var r=l.style;A(b,{classSetter:function(b){return function(d){this.element.setAttribute("class",d);b.className=d}}(l),on:function(){e[0].div&&f.on.apply({element:e[0].div,onEvents:b.onEvents},arguments);return b},translateXSetter:a,translateYSetter:a});b.addedSetters||t(b)})}}else l=c;l.appendChild(k);f.added=!0;f.alignOnAdd&&f.htmlUpdateTransform();return f});return f};k.composedClasses=[];return k}(z)});M(a,"Core/Axis/AxisDefaults.js",[],function(){var a;(function(a){a.defaultXAxisOptions=
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{alignTicks:!0,allowDecimals:void 0,panningEnabled:!0,zIndex:2,zoomEnabled:!0,dateTimeLabelFormats:{millisecond:{main:"%H:%M:%S.%L",range:!1},second:{main:"%H:%M:%S",range:!1},minute:{main:"%H:%M",range:!1},hour:{main:"%H:%M",range:!1},day:{main:"%e. %b"},week:{main:"%e. %b"},month:{main:"%b '%y"},year:{main:"%Y"}},endOnTick:!1,gridLineDashStyle:"Solid",gridZIndex:1,labels:{autoRotation:void 0,autoRotationLimit:80,distance:void 0,enabled:!0,indentation:10,overflow:"justify",padding:5,reserveSpace:void 0,
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||||
rotation:void 0,staggerLines:0,step:0,useHTML:!1,x:0,zIndex:7,style:{color:"#666666",cursor:"default",fontSize:"11px"}},maxPadding:.01,minorGridLineDashStyle:"Solid",minorTickLength:2,minorTickPosition:"outside",minPadding:.01,offset:void 0,opposite:!1,reversed:void 0,reversedStacks:!1,showEmpty:!0,showFirstLabel:!0,showLastLabel:!0,startOfWeek:1,startOnTick:!1,tickLength:10,tickPixelInterval:100,tickmarkPlacement:"between",tickPosition:"outside",title:{align:"middle",rotation:0,useHTML:!1,x:0,y:0,
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||||
style:{color:"#666666"}},type:"linear",uniqueNames:!0,visible:!0,minorGridLineColor:"#f2f2f2",minorGridLineWidth:1,minorTickColor:"#999999",lineColor:"#ccd6eb",lineWidth:1,gridLineColor:"#e6e6e6",gridLineWidth:void 0,tickColor:"#ccd6eb"};a.defaultYAxisOptions={reversedStacks:!0,endOnTick:!0,maxPadding:.05,minPadding:.05,tickPixelInterval:72,showLastLabel:!0,labels:{x:-8},startOnTick:!0,title:{rotation:270,text:"Values"},stackLabels:{animation:{},allowOverlap:!1,enabled:!1,crop:!0,overflow:"justify",
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||||
formatter:function(){var a=this.axis.chart.numberFormatter;return a(this.total,-1)},style:{color:"#000000",fontSize:"11px",fontWeight:"bold",textOutline:"1px contrast"}},gridLineWidth:1,lineWidth:0};a.defaultLeftAxisOptions={labels:{x:-15},title:{rotation:270}};a.defaultRightAxisOptions={labels:{x:15},title:{rotation:90}};a.defaultBottomAxisOptions={labels:{autoRotation:[-45],x:0},margin:15,title:{rotation:0}};a.defaultTopAxisOptions={labels:{autoRotation:[-45],x:0},margin:15,title:{rotation:0}}})(a||
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||||
(a={}));return a});M(a,"Core/Foundation.js",[a["Core/Utilities.js"]],function(a){var v=a.addEvent,z=a.isFunction,F=a.objectEach,y=a.removeEvent,G;(function(a){a.registerEventOptions=function(a,q){a.eventOptions=a.eventOptions||{};F(q.events,function(n,k){a.eventOptions[k]!==n&&(a.eventOptions[k]&&(y(a,k,a.eventOptions[k]),delete a.eventOptions[k]),z(n)&&(a.eventOptions[k]=n,v(a,k,n)))})}})(G||(G={}));return G});M(a,"Core/Axis/Tick.js",[a["Core/FormatUtilities.js"],a["Core/Globals.js"],a["Core/Utilities.js"]],
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||||
function(a,u,z){var v=u.deg2rad,y=z.clamp,G=z.correctFloat,H=z.defined,A=z.destroyObjectProperties,q=z.extend,n=z.fireEvent,k=z.isNumber,e=z.merge,c=z.objectEach,h=z.pick;u=function(){function f(a,c,e,h,f){this.isNewLabel=this.isNew=!0;this.axis=a;this.pos=c;this.type=e||"";this.parameters=f||{};this.tickmarkOffset=this.parameters.tickmarkOffset;this.options=this.parameters.options;n(this,"init");e||h||this.addLabel()}f.prototype.addLabel=function(){var c=this,e=c.axis,f=e.options,t=e.chart,J=e.categories,
|
||||
C=e.logarithmic,r=e.names,l=c.pos,b=h(c.options&&c.options.labels,f.labels),g=e.tickPositions,d=l===g[0],m=l===g[g.length-1],D=(!b.step||1===b.step)&&1===e.tickInterval;g=g.info;var x=c.label,I;J=this.parameters.category||(J?h(J[l],r[l],l):l);C&&k(J)&&(J=G(C.lin2log(J)));if(e.dateTime)if(g){var P=t.time.resolveDTLFormat(f.dateTimeLabelFormats[!f.grid&&g.higherRanks[l]||g.unitName]);var v=P.main}else k(J)&&(v=e.dateTime.getXDateFormat(J,f.dateTimeLabelFormats||{}));c.isFirst=d;c.isLast=m;var O={axis:e,
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||||
chart:t,dateTimeLabelFormat:v,isFirst:d,isLast:m,pos:l,tick:c,tickPositionInfo:g,value:J};n(this,"labelFormat",O);var u=function(d){return b.formatter?b.formatter.call(d,d):b.format?(d.text=e.defaultLabelFormatter.call(d),a.format(b.format,d,t)):e.defaultLabelFormatter.call(d,d)};f=u.call(O,O);var A=P&&P.list;c.shortenLabel=A?function(){for(I=0;I<A.length;I++)if(q(O,{dateTimeLabelFormat:A[I]}),x.attr({text:u.call(O,O)}),x.getBBox().width<e.getSlotWidth(c)-2*b.padding)return;x.attr({text:""})}:void 0;
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||||
D&&e._addedPlotLB&&c.moveLabel(f,b);H(x)||c.movedLabel?x&&x.textStr!==f&&!D&&(!x.textWidth||b.style.width||x.styles.width||x.css({width:null}),x.attr({text:f}),x.textPxLength=x.getBBox().width):(c.label=x=c.createLabel({x:0,y:0},f,b),c.rotation=0)};f.prototype.createLabel=function(a,c,h){var f=this.axis,p=f.chart;if(a=H(c)&&h.enabled?p.renderer.text(c,a.x,a.y,h.useHTML).add(f.labelGroup):null)p.styledMode||a.css(e(h.style)),a.textPxLength=a.getBBox().width;return a};f.prototype.destroy=function(){A(this,
|
||||
this.axis)};f.prototype.getPosition=function(a,c,e,h){var f=this.axis,p=f.chart,r=h&&p.oldChartHeight||p.chartHeight;a={x:a?G(f.translate(c+e,null,null,h)+f.transB):f.left+f.offset+(f.opposite?(h&&p.oldChartWidth||p.chartWidth)-f.right-f.left:0),y:a?r-f.bottom+f.offset-(f.opposite?f.height:0):G(r-f.translate(c+e,null,null,h)-f.transB)};a.y=y(a.y,-1E5,1E5);n(this,"afterGetPosition",{pos:a});return a};f.prototype.getLabelPosition=function(a,c,e,h,f,k,r,l){var b=this.axis,g=b.transA,d=b.isLinked&&b.linkedParent?
|
||||
b.linkedParent.reversed:b.reversed,m=b.staggerLines,D=b.tickRotCorr||{x:0,y:0},x=h||b.reserveSpaceDefault?0:-b.labelOffset*("center"===b.labelAlign?.5:1),p={},t=f.y;H(t)||(t=0===b.side?e.rotation?-8:-e.getBBox().height:2===b.side?D.y+8:Math.cos(e.rotation*v)*(D.y-e.getBBox(!1,0).height/2));a=a+f.x+x+D.x-(k&&h?k*g*(d?-1:1):0);c=c+t-(k&&!h?k*g*(d?1:-1):0);m&&(e=r/(l||1)%m,b.opposite&&(e=m-e-1),c+=b.labelOffset/m*e);p.x=a;p.y=Math.round(c);n(this,"afterGetLabelPosition",{pos:p,tickmarkOffset:k,index:r});
|
||||
return p};f.prototype.getLabelSize=function(){return this.label?this.label.getBBox()[this.axis.horiz?"height":"width"]:0};f.prototype.getMarkPath=function(a,c,e,h,f,k){return k.crispLine([["M",a,c],["L",a+(f?0:-e),c+(f?e:0)]],h)};f.prototype.handleOverflow=function(a){var c=this.axis,e=c.options.labels,f=a.x,k=c.chart.chartWidth,n=c.chart.spacing,r=h(c.labelLeft,Math.min(c.pos,n[3]));n=h(c.labelRight,Math.max(c.isRadial?0:c.pos+c.len,k-n[1]));var l=this.label,b=this.rotation,g={left:0,center:.5,right:1}[c.labelAlign||
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||||
l.attr("align")],d=l.getBBox().width,m=c.getSlotWidth(this),D={},x=m,I=1,w;if(b||"justify"!==e.overflow)0>b&&f-g*d<r?w=Math.round(f/Math.cos(b*v)-r):0<b&&f+g*d>n&&(w=Math.round((k-f)/Math.cos(b*v)));else if(k=f+(1-g)*d,f-g*d<r?x=a.x+x*(1-g)-r:k>n&&(x=n-a.x+x*g,I=-1),x=Math.min(m,x),x<m&&"center"===c.labelAlign&&(a.x+=I*(m-x-g*(m-Math.min(d,x)))),d>x||c.autoRotation&&(l.styles||{}).width)w=x;w&&(this.shortenLabel?this.shortenLabel():(D.width=Math.floor(w)+"px",(e.style||{}).textOverflow||(D.textOverflow=
|
||||
"ellipsis"),l.css(D)))};f.prototype.moveLabel=function(a,e){var h=this,f=h.label,k=h.axis,p=k.reversed,r=!1;f&&f.textStr===a?(h.movedLabel=f,r=!0,delete h.label):c(k.ticks,function(b){r||b.isNew||b===h||!b.label||b.label.textStr!==a||(h.movedLabel=b.label,r=!0,b.labelPos=h.movedLabel.xy,delete b.label)});if(!r&&(h.labelPos||f)){var l=h.labelPos||f.xy;f=k.horiz?p?0:k.width+k.left:l.x;k=k.horiz?l.y:p?k.width+k.left:0;h.movedLabel=h.createLabel({x:f,y:k},a,e);h.movedLabel&&h.movedLabel.attr({opacity:0})}};
|
||||
f.prototype.render=function(a,c,e){var f=this.axis,k=f.horiz,p=this.pos,r=h(this.tickmarkOffset,f.tickmarkOffset);p=this.getPosition(k,p,r,c);r=p.x;var l=p.y;f=k&&r===f.pos+f.len||!k&&l===f.pos?-1:1;k=h(e,this.label&&this.label.newOpacity,1);e=h(e,1);this.isActive=!0;this.renderGridLine(c,e,f);this.renderMark(p,e,f);this.renderLabel(p,c,k,a);this.isNew=!1;n(this,"afterRender")};f.prototype.renderGridLine=function(a,c,e){var f=this.axis,k=f.options,p={},r=this.pos,l=this.type,b=h(this.tickmarkOffset,
|
||||
f.tickmarkOffset),g=f.chart.renderer,d=this.gridLine,m=k.gridLineWidth,D=k.gridLineColor,x=k.gridLineDashStyle;"minor"===this.type&&(m=k.minorGridLineWidth,D=k.minorGridLineColor,x=k.minorGridLineDashStyle);d||(f.chart.styledMode||(p.stroke=D,p["stroke-width"]=m||0,p.dashstyle=x),l||(p.zIndex=1),a&&(c=0),this.gridLine=d=g.path().attr(p).addClass("highcharts-"+(l?l+"-":"")+"grid-line").add(f.gridGroup));if(d&&(e=f.getPlotLinePath({value:r+b,lineWidth:d.strokeWidth()*e,force:"pass",old:a})))d[a||this.isNew?
|
||||
"attr":"animate"]({d:e,opacity:c})};f.prototype.renderMark=function(a,c,e){var f=this.axis,k=f.options,p=f.chart.renderer,r=this.type,l=f.tickSize(r?r+"Tick":"tick"),b=a.x;a=a.y;var g=h(k["minor"!==r?"tickWidth":"minorTickWidth"],!r&&f.isXAxis?1:0);k=k["minor"!==r?"tickColor":"minorTickColor"];var d=this.mark,m=!d;l&&(f.opposite&&(l[0]=-l[0]),d||(this.mark=d=p.path().addClass("highcharts-"+(r?r+"-":"")+"tick").add(f.axisGroup),f.chart.styledMode||d.attr({stroke:k,"stroke-width":g})),d[m?"attr":"animate"]({d:this.getMarkPath(b,
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||||
a,l[0],d.strokeWidth()*e,f.horiz,p),opacity:c}))};f.prototype.renderLabel=function(a,c,e,f){var p=this.axis,n=p.horiz,r=p.options,l=this.label,b=r.labels,g=b.step;p=h(this.tickmarkOffset,p.tickmarkOffset);var d=a.x;a=a.y;var m=!0;l&&k(d)&&(l.xy=a=this.getLabelPosition(d,a,l,n,b,p,f,g),this.isFirst&&!this.isLast&&!r.showFirstLabel||this.isLast&&!this.isFirst&&!r.showLastLabel?m=!1:!n||b.step||b.rotation||c||0===e||this.handleOverflow(a),g&&f%g&&(m=!1),m&&k(a.y)?(a.opacity=e,l[this.isNewLabel?"attr":
|
||||
"animate"](a),this.isNewLabel=!1):(l.attr("y",-9999),this.isNewLabel=!0))};f.prototype.replaceMovedLabel=function(){var a=this.label,c=this.axis,e=c.reversed;if(a&&!this.isNew){var f=c.horiz?e?c.left:c.width+c.left:a.xy.x;e=c.horiz?a.xy.y:e?c.width+c.top:c.top;a.animate({x:f,y:e,opacity:0},void 0,a.destroy);delete this.label}c.isDirty=!0;this.label=this.movedLabel;delete this.movedLabel};return f}();"";return u});M(a,"Core/Axis/Axis.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/Axis/AxisDefaults.js"],
|
||||
a["Core/Color/Color.js"],a["Core/DefaultOptions.js"],a["Core/Foundation.js"],a["Core/Globals.js"],a["Core/Axis/Tick.js"],a["Core/Utilities.js"]],function(a,u,z,F,y,G,H,A){var q=a.animObject,n=F.defaultOptions,k=y.registerEventOptions,e=G.deg2rad,c=A.arrayMax,h=A.arrayMin,f=A.clamp,w=A.correctFloat,p=A.defined,B=A.destroyObjectProperties,t=A.erase,J=A.error,C=A.extend,r=A.fireEvent,l=A.getMagnitude,b=A.isArray,g=A.isNumber,d=A.isString,m=A.merge,D=A.normalizeTickInterval,x=A.objectEach,I=A.pick,P=
|
||||
A.relativeLength,v=A.removeEvent,O=A.splat,U=A.syncTimeout;a=function(){function a(b,d){this.zoomEnabled=this.width=this.visible=this.userOptions=this.translationSlope=this.transB=this.transA=this.top=this.ticks=this.tickRotCorr=this.tickPositions=this.tickmarkOffset=this.tickInterval=this.tickAmount=this.side=this.series=this.right=this.positiveValuesOnly=this.pos=this.pointRangePadding=this.pointRange=this.plotLinesAndBandsGroups=this.plotLinesAndBands=this.paddedTicks=this.overlap=this.options=
|
||||
this.offset=this.names=this.minPixelPadding=this.minorTicks=this.minorTickInterval=this.min=this.maxLabelLength=this.max=this.len=this.left=this.labelFormatter=this.labelEdge=this.isLinked=this.height=this.hasVisibleSeries=this.hasNames=this.eventOptions=this.coll=this.closestPointRange=this.chart=this.categories=this.bottom=this.alternateBands=void 0;this.init(b,d)}a.prototype.init=function(b,d){var a=d.isX;this.chart=b;this.horiz=b.inverted&&!this.isZAxis?!a:a;this.isXAxis=a;this.coll=this.coll||
|
||||
(a?"xAxis":"yAxis");r(this,"init",{userOptions:d});this.opposite=I(d.opposite,this.opposite);this.side=I(d.side,this.side,this.horiz?this.opposite?0:2:this.opposite?1:3);this.setOptions(d);var c=this.options,e=c.labels,m=c.type;this.userOptions=d;this.minPixelPadding=0;this.reversed=I(c.reversed,this.reversed);this.visible=c.visible;this.zoomEnabled=c.zoomEnabled;this.hasNames="category"===m||!0===c.categories;this.categories=c.categories||this.hasNames;this.names||(this.names=[],this.names.keys=
|
||||
{});this.plotLinesAndBandsGroups={};this.positiveValuesOnly=!!this.logarithmic;this.isLinked=p(c.linkedTo);this.ticks={};this.labelEdge=[];this.minorTicks={};this.plotLinesAndBands=[];this.alternateBands={};this.len=0;this.minRange=this.userMinRange=c.minRange||c.maxZoom;this.range=c.range;this.offset=c.offset||0;this.min=this.max=null;d=I(c.crosshair,O(b.options.tooltip.crosshairs)[a?0:1]);this.crosshair=!0===d?{}:d;-1===b.axes.indexOf(this)&&(a?b.axes.splice(b.xAxis.length,0,this):b.axes.push(this),
|
||||
b[this.coll].push(this));this.series=this.series||[];b.inverted&&!this.isZAxis&&a&&"undefined"===typeof this.reversed&&(this.reversed=!0);this.labelRotation=g(e.rotation)?e.rotation:void 0;k(this,c);r(this,"afterInit")};a.prototype.setOptions=function(b){this.options=m(u.defaultXAxisOptions,"yAxis"===this.coll&&u.defaultYAxisOptions,[u.defaultTopAxisOptions,u.defaultRightAxisOptions,u.defaultBottomAxisOptions,u.defaultLeftAxisOptions][this.side],m(n[this.coll],b));r(this,"afterSetOptions",{userOptions:b})};
|
||||
a.prototype.defaultLabelFormatter=function(b){var d=this.axis;b=this.chart.numberFormatter;var a=g(this.value)?this.value:NaN,c=d.chart.time,e=this.dateTimeLabelFormat,m=n.lang,l=m.numericSymbols;m=m.numericSymbolMagnitude||1E3;var f=d.logarithmic?Math.abs(a):d.tickInterval,h=l&&l.length;if(d.categories)var r=""+this.value;else if(e)r=c.dateFormat(e,a);else if(h&&1E3<=f)for(;h--&&"undefined"===typeof r;)d=Math.pow(m,h+1),f>=d&&0===10*a%d&&null!==l[h]&&0!==a&&(r=b(a/d,-1)+l[h]);"undefined"===typeof r&&
|
||||
(r=1E4<=Math.abs(a)?b(a,-1):b(a,-1,void 0,""));return r};a.prototype.getSeriesExtremes=function(){var b=this,d=b.chart,a;r(this,"getSeriesExtremes",null,function(){b.hasVisibleSeries=!1;b.dataMin=b.dataMax=b.threshold=null;b.softThreshold=!b.isXAxis;b.stacking&&b.stacking.buildStacks();b.series.forEach(function(c){if(c.visible||!d.options.chart.ignoreHiddenSeries){var e=c.options,m=e.threshold;b.hasVisibleSeries=!0;b.positiveValuesOnly&&0>=m&&(m=null);if(b.isXAxis){if(e=c.xData,e.length){e=b.logarithmic?
|
||||
e.filter(b.validatePositiveValue):e;a=c.getXExtremes(e);var l=a.min;var f=a.max;g(l)||l instanceof Date||(e=e.filter(g),a=c.getXExtremes(e),l=a.min,f=a.max);e.length&&(b.dataMin=Math.min(I(b.dataMin,l),l),b.dataMax=Math.max(I(b.dataMax,f),f))}}else if(c=c.applyExtremes(),g(c.dataMin)&&(l=c.dataMin,b.dataMin=Math.min(I(b.dataMin,l),l)),g(c.dataMax)&&(f=c.dataMax,b.dataMax=Math.max(I(b.dataMax,f),f)),p(m)&&(b.threshold=m),!e.softThreshold||b.positiveValuesOnly)b.softThreshold=!1}})});r(this,"afterGetSeriesExtremes")};
|
||||
a.prototype.translate=function(b,d,a,c,e,m){var l=this.linkedParent||this,f=c&&l.old?l.old.min:l.min,r=l.minPixelPadding;e=(l.isOrdinal||l.brokenAxis&&l.brokenAxis.hasBreaks||l.logarithmic&&e)&&l.lin2val;var h=1,k=0;c=c&&l.old?l.old.transA:l.transA;c||(c=l.transA);a&&(h*=-1,k=l.len);l.reversed&&(h*=-1,k-=h*(l.sector||l.len));d?(b=(b*h+k-r)/c+f,e&&(b=l.lin2val(b))):(e&&(b=l.val2lin(b)),b=g(f)?h*(b-f)*c+k+h*r+(g(m)?c*m:0):void 0);return b};a.prototype.toPixels=function(b,d){return this.translate(b,
|
||||
!1,!this.horiz,null,!0)+(d?0:this.pos)};a.prototype.toValue=function(b,d){return this.translate(b-(d?0:this.pos),!0,!this.horiz,null,!0)};a.prototype.getPlotLinePath=function(b){function d(b,d,a){if("pass"!==n&&b<d||b>a)n?b=f(b,d,a):B=!0;return b}var a=this,c=a.chart,e=a.left,m=a.top,l=b.old,h=b.value,k=b.lineWidth,x=l&&c.oldChartHeight||c.chartHeight,D=l&&c.oldChartWidth||c.chartWidth,L=a.transB,p=b.translatedValue,n=b.force,t,C,w,q,B;b={value:h,lineWidth:k,old:l,force:n,acrossPanes:b.acrossPanes,
|
||||
translatedValue:p};r(this,"getPlotLinePath",b,function(b){p=I(p,a.translate(h,null,null,l));p=f(p,-1E5,1E5);t=w=Math.round(p+L);C=q=Math.round(x-p-L);g(p)?a.horiz?(C=m,q=x-a.bottom,t=w=d(t,e,e+a.width)):(t=e,w=D-a.right,C=q=d(C,m,m+a.height)):(B=!0,n=!1);b.path=B&&!n?null:c.renderer.crispLine([["M",t,C],["L",w,q]],k||1)});return b.path};a.prototype.getLinearTickPositions=function(b,d,a){var c=w(Math.floor(d/b)*b);a=w(Math.ceil(a/b)*b);var e=[],g;w(c+b)===c&&(g=20);if(this.single)return[d];for(d=c;d<=
|
||||
a;){e.push(d);d=w(d+b,g);if(d===m)break;var m=d}return e};a.prototype.getMinorTickInterval=function(){var b=this.options;return!0===b.minorTicks?I(b.minorTickInterval,"auto"):!1===b.minorTicks?null:b.minorTickInterval};a.prototype.getMinorTickPositions=function(){var b=this.options,d=this.tickPositions,a=this.minorTickInterval,c=this.pointRangePadding||0,e=this.min-c;c=this.max+c;var g=c-e,m=[];if(g&&g/a<this.len/3){var l=this.logarithmic;if(l)this.paddedTicks.forEach(function(b,d,c){d&&m.push.apply(m,
|
||||
l.getLogTickPositions(a,c[d-1],c[d],!0))});else if(this.dateTime&&"auto"===this.getMinorTickInterval())m=m.concat(this.getTimeTicks(this.dateTime.normalizeTimeTickInterval(a),e,c,b.startOfWeek));else for(b=e+(d[0]-e)%a;b<=c&&b!==m[0];b+=a)m.push(b)}0!==m.length&&this.trimTicks(m);return m};a.prototype.adjustForMinRange=function(){var b=this.options,d=this.logarithmic,a=this.min,e=this.max,g=0,m,l,f,r;this.isXAxis&&"undefined"===typeof this.minRange&&!d&&(p(b.min)||p(b.max)||p(b.floor)||p(b.ceiling)?
|
||||
this.minRange=null:(this.series.forEach(function(b){f=b.xData;r=b.xIncrement?1:f.length-1;if(1<f.length)for(m=r;0<m;m--)if(l=f[m]-f[m-1],!g||l<g)g=l}),this.minRange=Math.min(5*g,this.dataMax-this.dataMin)));if(e-a<this.minRange){var k=this.dataMax-this.dataMin>=this.minRange;var x=this.minRange;var D=(x-e+a)/2;D=[a-D,I(b.min,a-D)];k&&(D[2]=this.logarithmic?this.logarithmic.log2lin(this.dataMin):this.dataMin);a=c(D);e=[a+x,I(b.max,a+x)];k&&(e[2]=d?d.log2lin(this.dataMax):this.dataMax);e=h(e);e-a<x&&
|
||||
(D[0]=e-x,D[1]=I(b.min,e-x),a=c(D))}this.min=a;this.max=e};a.prototype.getClosest=function(){var b;this.categories?b=1:this.series.forEach(function(d){var a=d.closestPointRange,c=d.visible||!d.chart.options.chart.ignoreHiddenSeries;!d.noSharedTooltip&&p(a)&&c&&(b=p(b)?Math.min(b,a):a)});return b};a.prototype.nameToX=function(d){var a=b(this.categories),c=a?this.categories:this.names,e=d.options.x;d.series.requireSorting=!1;p(e)||(e=this.options.uniqueNames?a?c.indexOf(d.name):I(c.keys[d.name],-1):
|
||||
d.series.autoIncrement());if(-1===e){if(!a)var g=c.length}else g=e;"undefined"!==typeof g&&(this.names[g]=d.name,this.names.keys[d.name]=g);return g};a.prototype.updateNames=function(){var b=this,d=this.names;0<d.length&&(Object.keys(d.keys).forEach(function(b){delete d.keys[b]}),d.length=0,this.minRange=this.userMinRange,(this.series||[]).forEach(function(d){d.xIncrement=null;if(!d.points||d.isDirtyData)b.max=Math.max(b.max,d.xData.length-1),d.processData(),d.generatePoints();d.data.forEach(function(a,
|
||||
c){if(a&&a.options&&"undefined"!==typeof a.name){var e=b.nameToX(a);"undefined"!==typeof e&&e!==a.x&&(a.x=e,d.xData[c]=e)}})}))};a.prototype.setAxisTranslation=function(){var b=this,a=b.max-b.min,c=b.linkedParent,e=!!b.categories,g=b.isXAxis,m=b.axisPointRange||0,l=0,f=0,h=b.transA;if(g||e||m){var k=b.getClosest();c?(l=c.minPointOffset,f=c.pointRangePadding):b.series.forEach(function(a){var c=e?1:g?I(a.options.pointRange,k,0):b.axisPointRange||0,h=a.options.pointPlacement;m=Math.max(m,c);if(!b.single||
|
||||
e)a=a.is("xrange")?!g:g,l=Math.max(l,a&&d(h)?0:c/2),f=Math.max(f,a&&"on"===h?0:c)});c=b.ordinal&&b.ordinal.slope&&k?b.ordinal.slope/k:1;b.minPointOffset=l*=c;b.pointRangePadding=f*=c;b.pointRange=Math.min(m,b.single&&e?1:a);g&&(b.closestPointRange=k)}b.translationSlope=b.transA=h=b.staticScale||b.len/(a+f||1);b.transB=b.horiz?b.left:b.bottom;b.minPixelPadding=h*l;r(this,"afterSetAxisTranslation")};a.prototype.minFromRange=function(){return this.max-this.range};a.prototype.setTickInterval=function(b){var d=
|
||||
this.chart,a=this.logarithmic,c=this.options,e=this.isXAxis,m=this.isLinked,f=c.tickPixelInterval,h=this.categories,k=this.softThreshold,x=c.maxPadding,L=c.minPadding,n=g(c.tickInterval)&&0<=c.tickInterval?c.tickInterval:void 0,t=g(this.threshold)?this.threshold:null;this.dateTime||h||m||this.getTickAmount();var C=I(this.userMin,c.min);var q=I(this.userMax,c.max);if(m){this.linkedParent=d[this.coll][c.linkedTo];var B=this.linkedParent.getExtremes();this.min=I(B.min,B.dataMin);this.max=I(B.max,B.dataMax);
|
||||
c.type!==this.linkedParent.options.type&&J(11,1,d)}else{if(k&&p(t))if(this.dataMin>=t)B=t,L=0;else if(this.dataMax<=t){var P=t;x=0}this.min=I(C,B,this.dataMin);this.max=I(q,P,this.dataMax)}a&&(this.positiveValuesOnly&&!b&&0>=Math.min(this.min,I(this.dataMin,this.min))&&J(10,1,d),this.min=w(a.log2lin(this.min),16),this.max=w(a.log2lin(this.max),16));this.range&&p(this.max)&&(this.userMin=this.min=C=Math.max(this.dataMin,this.minFromRange()),this.userMax=q=this.max,this.range=null);r(this,"foundExtremes");
|
||||
this.beforePadding&&this.beforePadding();this.adjustForMinRange();!(h||this.axisPointRange||this.stacking&&this.stacking.usePercentage||m)&&p(this.min)&&p(this.max)&&(d=this.max-this.min)&&(!p(C)&&L&&(this.min-=d*L),!p(q)&&x&&(this.max+=d*x));g(this.userMin)||(g(c.softMin)&&c.softMin<this.min&&(this.min=C=c.softMin),g(c.floor)&&(this.min=Math.max(this.min,c.floor)));g(this.userMax)||(g(c.softMax)&&c.softMax>this.max&&(this.max=q=c.softMax),g(c.ceiling)&&(this.max=Math.min(this.max,c.ceiling)));k&&
|
||||
p(this.dataMin)&&(t=t||0,!p(C)&&this.min<t&&this.dataMin>=t?this.min=this.options.minRange?Math.min(t,this.max-this.minRange):t:!p(q)&&this.max>t&&this.dataMax<=t&&(this.max=this.options.minRange?Math.max(t,this.min+this.minRange):t));g(this.min)&&g(this.max)&&!this.chart.polar&&this.min>this.max&&(p(this.options.min)?this.max=this.min:p(this.options.max)&&(this.min=this.max));this.tickInterval=this.min===this.max||"undefined"===typeof this.min||"undefined"===typeof this.max?1:m&&this.linkedParent&&
|
||||
!n&&f===this.linkedParent.options.tickPixelInterval?n=this.linkedParent.tickInterval:I(n,this.tickAmount?(this.max-this.min)/Math.max(this.tickAmount-1,1):void 0,h?1:(this.max-this.min)*f/Math.max(this.len,f));if(e&&!b){var v=this.min!==(this.old&&this.old.min)||this.max!==(this.old&&this.old.max);this.series.forEach(function(b){b.forceCrop=b.forceCropping&&b.forceCropping();b.processData(v)});r(this,"postProcessData",{hasExtemesChanged:v})}this.setAxisTranslation();r(this,"initialAxisTranslation");
|
||||
this.pointRange&&!n&&(this.tickInterval=Math.max(this.pointRange,this.tickInterval));b=I(c.minTickInterval,this.dateTime&&!this.series.some(function(b){return b.noSharedTooltip})?this.closestPointRange:0);!n&&this.tickInterval<b&&(this.tickInterval=b);this.dateTime||this.logarithmic||n||(this.tickInterval=D(this.tickInterval,void 0,l(this.tickInterval),I(c.allowDecimals,.5>this.tickInterval||void 0!==this.tickAmount),!!this.tickAmount));this.tickAmount||(this.tickInterval=this.unsquish());this.setTickPositions()};
|
||||
a.prototype.setTickPositions=function(){var b=this.options,d=b.tickPositions,a=this.getMinorTickInterval(),c=this.hasVerticalPanning(),e="colorAxis"===this.coll,g=(e||!c)&&b.startOnTick;c=(e||!c)&&b.endOnTick;e=b.tickPositioner;this.tickmarkOffset=this.categories&&"between"===b.tickmarkPlacement&&1===this.tickInterval?.5:0;this.minorTickInterval="auto"===a&&this.tickInterval?this.tickInterval/5:a;this.single=this.min===this.max&&p(this.min)&&!this.tickAmount&&(parseInt(this.min,10)===this.min||!1!==
|
||||
b.allowDecimals);this.tickPositions=a=d&&d.slice();!a&&(this.ordinal&&this.ordinal.positions||!((this.max-this.min)/this.tickInterval>Math.max(2*this.len,200))?a=this.dateTime?this.getTimeTicks(this.dateTime.normalizeTimeTickInterval(this.tickInterval,b.units),this.min,this.max,b.startOfWeek,this.ordinal&&this.ordinal.positions,this.closestPointRange,!0):this.logarithmic?this.logarithmic.getLogTickPositions(this.tickInterval,this.min,this.max):this.getLinearTickPositions(this.tickInterval,this.min,
|
||||
this.max):(a=[this.min,this.max],J(19,!1,this.chart)),a.length>this.len&&(a=[a[0],a.pop()],a[0]===a[1]&&(a.length=1)),this.tickPositions=a,e&&(e=e.apply(this,[this.min,this.max])))&&(this.tickPositions=a=e);this.paddedTicks=a.slice(0);this.trimTicks(a,g,c);this.isLinked||(this.single&&2>a.length&&!this.categories&&!this.series.some(function(b){return b.is("heatmap")&&"between"===b.options.pointPlacement})&&(this.min-=.5,this.max+=.5),d||e||this.adjustTickAmount());r(this,"afterSetTickPositions")};
|
||||
a.prototype.trimTicks=function(b,d,a){var c=b[0],e=b[b.length-1],g=!this.isOrdinal&&this.minPointOffset||0;r(this,"trimTicks");if(!this.isLinked){if(d&&-Infinity!==c)this.min=c;else for(;this.min-g>b[0];)b.shift();if(a)this.max=e;else for(;this.max+g<b[b.length-1];)b.pop();0===b.length&&p(c)&&!this.options.tickPositions&&b.push((e+c)/2)}};a.prototype.alignToOthers=function(){var b={},d=this.options,a;!1!==this.chart.options.chart.alignTicks&&d.alignTicks&&!1!==d.startOnTick&&!1!==d.endOnTick&&!this.logarithmic&&
|
||||
this.chart[this.coll].forEach(function(d){var c=d.options;c=[d.horiz?c.left:c.top,c.width,c.height,c.pane].join();d.series.length&&(b[c]?a=!0:b[c]=1)});return a};a.prototype.getTickAmount=function(){var b=this.options,d=b.tickPixelInterval,a=b.tickAmount;!p(b.tickInterval)&&!a&&this.len<d&&!this.isRadial&&!this.logarithmic&&b.startOnTick&&b.endOnTick&&(a=2);!a&&this.alignToOthers()&&(a=Math.ceil(this.len/d)+1);4>a&&(this.finalTickAmt=a,a=5);this.tickAmount=a};a.prototype.adjustTickAmount=function(){var b=
|
||||
this.options,d=this.tickInterval,a=this.tickPositions,c=this.tickAmount,e=this.finalTickAmt,m=a&&a.length,l=I(this.threshold,this.softThreshold?0:null);if(this.hasData()&&g(this.min)&&g(this.max)){if(m<c){for(;a.length<c;)a.length%2||this.min===l?a.push(w(a[a.length-1]+d)):a.unshift(w(a[0]-d));this.transA*=(m-1)/(c-1);this.min=b.startOnTick?a[0]:Math.min(this.min,a[0]);this.max=b.endOnTick?a[a.length-1]:Math.max(this.max,a[a.length-1])}else m>c&&(this.tickInterval*=2,this.setTickPositions());if(p(e)){for(d=
|
||||
b=a.length;d--;)(3===e&&1===d%2||2>=e&&0<d&&d<b-1)&&a.splice(d,1);this.finalTickAmt=void 0}}};a.prototype.setScale=function(){var b=!1,d=!1;this.series.forEach(function(a){b=b||a.isDirtyData||a.isDirty;d=d||a.xAxis&&a.xAxis.isDirty||!1});this.setAxisSize();var a=this.len!==(this.old&&this.old.len);a||b||d||this.isLinked||this.forceRedraw||this.userMin!==(this.old&&this.old.userMin)||this.userMax!==(this.old&&this.old.userMax)||this.alignToOthers()?(this.stacking&&this.stacking.resetStacks(),this.forceRedraw=
|
||||
!1,this.getSeriesExtremes(),this.setTickInterval(),this.isDirty||(this.isDirty=a||this.min!==(this.old&&this.old.min)||this.max!==(this.old&&this.old.max))):this.stacking&&this.stacking.cleanStacks();b&&this.panningState&&(this.panningState.isDirty=!0);r(this,"afterSetScale")};a.prototype.setExtremes=function(b,d,a,c,e){var g=this,m=g.chart;a=I(a,!0);g.series.forEach(function(b){delete b.kdTree});e=C(e,{min:b,max:d});r(g,"setExtremes",e,function(){g.userMin=b;g.userMax=d;g.eventArgs=e;a&&m.redraw(c)})};
|
||||
a.prototype.zoom=function(b,d){var a=this,c=this.dataMin,e=this.dataMax,g=this.options,m=Math.min(c,I(g.min,c)),l=Math.max(e,I(g.max,e));b={newMin:b,newMax:d};r(this,"zoom",b,function(b){var d=b.newMin,g=b.newMax;if(d!==a.min||g!==a.max)a.allowZoomOutside||(p(c)&&(d<m&&(d=m),d>l&&(d=l)),p(e)&&(g<m&&(g=m),g>l&&(g=l))),a.displayBtn="undefined"!==typeof d||"undefined"!==typeof g,a.setExtremes(d,g,!1,void 0,{trigger:"zoom"});b.zoomed=!0});return b.zoomed};a.prototype.setAxisSize=function(){var b=this.chart,
|
||||
d=this.options,a=d.offsets||[0,0,0,0],c=this.horiz,e=this.width=Math.round(P(I(d.width,b.plotWidth-a[3]+a[1]),b.plotWidth)),g=this.height=Math.round(P(I(d.height,b.plotHeight-a[0]+a[2]),b.plotHeight)),m=this.top=Math.round(P(I(d.top,b.plotTop+a[0]),b.plotHeight,b.plotTop));d=this.left=Math.round(P(I(d.left,b.plotLeft+a[3]),b.plotWidth,b.plotLeft));this.bottom=b.chartHeight-g-m;this.right=b.chartWidth-e-d;this.len=Math.max(c?e:g,0);this.pos=c?d:m};a.prototype.getExtremes=function(){var b=this.logarithmic;
|
||||
return{min:b?w(b.lin2log(this.min)):this.min,max:b?w(b.lin2log(this.max)):this.max,dataMin:this.dataMin,dataMax:this.dataMax,userMin:this.userMin,userMax:this.userMax}};a.prototype.getThreshold=function(b){var d=this.logarithmic,a=d?d.lin2log(this.min):this.min;d=d?d.lin2log(this.max):this.max;null===b||-Infinity===b?b=a:Infinity===b?b=d:a>b?b=a:d<b&&(b=d);return this.translate(b,0,1,0,1)};a.prototype.autoLabelAlign=function(b){var d=(I(b,0)-90*this.side+720)%360;b={align:"center"};r(this,"autoLabelAlign",
|
||||
b,function(b){15<d&&165>d?b.align="right":195<d&&345>d&&(b.align="left")});return b.align};a.prototype.tickSize=function(b){var d=this.options,a=I(d["tick"===b?"tickWidth":"minorTickWidth"],"tick"===b&&this.isXAxis&&!this.categories?1:0),c=d["tick"===b?"tickLength":"minorTickLength"];if(a&&c){"inside"===d[b+"Position"]&&(c=-c);var e=[c,a]}b={tickSize:e};r(this,"afterTickSize",b);return b.tickSize};a.prototype.labelMetrics=function(){var b=this.tickPositions&&this.tickPositions[0]||0;return this.chart.renderer.fontMetrics(this.options.labels.style.fontSize,
|
||||
this.ticks[b]&&this.ticks[b].label)};a.prototype.unsquish=function(){var b=this.options.labels,d=this.horiz,a=this.tickInterval,c=this.len/(((this.categories?1:0)+this.max-this.min)/a),m=b.rotation,l=this.labelMetrics(),f=Math.max(this.max-this.min,0),h=function(b){var d=b/(c||1);d=1<d?Math.ceil(d):1;d*a>f&&Infinity!==b&&Infinity!==c&&f&&(d=Math.ceil(f/a));return w(d*a)},r=a,k,x,D=Number.MAX_VALUE;if(d){if(!b.staggerLines&&!b.step)if(g(m))var p=[m];else c<b.autoRotationLimit&&(p=b.autoRotation);p&&
|
||||
p.forEach(function(b){if(b===m||b&&-90<=b&&90>=b){x=h(Math.abs(l.h/Math.sin(e*b)));var d=x+Math.abs(b/360);d<D&&(D=d,k=b,r=x)}})}else b.step||(r=h(l.h));this.autoRotation=p;this.labelRotation=I(k,g(m)?m:0);return r};a.prototype.getSlotWidth=function(b){var d=this.chart,a=this.horiz,c=this.options.labels,e=Math.max(this.tickPositions.length-(this.categories?0:1),1),m=d.margin[3];if(b&&g(b.slotWidth))return b.slotWidth;if(a&&2>c.step)return c.rotation?0:(this.staggerLines||1)*this.len/e;if(!a){b=c.style.width;
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if(void 0!==b)return parseInt(String(b),10);if(m)return m-d.spacing[3]}return.33*d.chartWidth};a.prototype.renderUnsquish=function(){var b=this.chart,a=b.renderer,c=this.tickPositions,e=this.ticks,g=this.options.labels,m=g.style,l=this.horiz,f=this.getSlotWidth(),h=Math.max(1,Math.round(f-2*g.padding)),r={},k=this.labelMetrics(),x=m.textOverflow,D=0;d(g.rotation)||(r.rotation=g.rotation||0);c.forEach(function(b){b=e[b];b.movedLabel&&b.replaceMovedLabel();b&&b.label&&b.label.textPxLength>D&&(D=b.label.textPxLength)});
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this.maxLabelLength=D;if(this.autoRotation)D>h&&D>k.h?r.rotation=this.labelRotation:this.labelRotation=0;else if(f){var p=h;if(!x){var n="clip";for(h=c.length;!l&&h--;){var I=c[h];if(I=e[I].label)I.styles&&"ellipsis"===I.styles.textOverflow?I.css({textOverflow:"clip"}):I.textPxLength>f&&I.css({width:f+"px"}),I.getBBox().height>this.len/c.length-(k.h-k.f)&&(I.specificTextOverflow="ellipsis")}}}r.rotation&&(p=D>.5*b.chartHeight?.33*b.chartHeight:D,x||(n="ellipsis"));if(this.labelAlign=g.align||this.autoLabelAlign(this.labelRotation))r.align=
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this.labelAlign;c.forEach(function(b){var d=(b=e[b])&&b.label,a=m.width,c={};d&&(d.attr(r),b.shortenLabel?b.shortenLabel():p&&!a&&"nowrap"!==m.whiteSpace&&(p<d.textPxLength||"SPAN"===d.element.tagName)?(c.width=p+"px",x||(c.textOverflow=d.specificTextOverflow||n),d.css(c)):d.styles&&d.styles.width&&!c.width&&!a&&d.css({width:null}),delete d.specificTextOverflow,b.rotation=r.rotation)},this);this.tickRotCorr=a.rotCorr(k.b,this.labelRotation||0,0!==this.side)};a.prototype.hasData=function(){return this.series.some(function(b){return b.hasData()})||
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this.options.showEmpty&&p(this.min)&&p(this.max)};a.prototype.addTitle=function(b){var d=this.chart.renderer,a=this.horiz,c=this.opposite,e=this.options.title,g=this.chart.styledMode,l;this.axisTitle||((l=e.textAlign)||(l=(a?{low:"left",middle:"center",high:"right"}:{low:c?"right":"left",middle:"center",high:c?"left":"right"})[e.align]),this.axisTitle=d.text(e.text||"",0,0,e.useHTML).attr({zIndex:7,rotation:e.rotation,align:l}).addClass("highcharts-axis-title"),g||this.axisTitle.css(m(e.style)),this.axisTitle.add(this.axisGroup),
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this.axisTitle.isNew=!0);g||e.style.width||this.isRadial||this.axisTitle.css({width:this.len+"px"});this.axisTitle[b?"show":"hide"](b)};a.prototype.generateTick=function(b){var d=this.ticks;d[b]?d[b].addLabel():d[b]=new H(this,b)};a.prototype.getOffset=function(){var b=this,d=this,a=d.chart,c=d.horiz,e=d.options,g=d.side,m=d.ticks,l=d.tickPositions,f=d.coll,h=d.axisParent,k=a.renderer,D=a.inverted&&!d.isZAxis?[1,0,3,2][g]:g,n=d.hasData(),t=e.title,C=e.labels,q=a.axisOffset;a=a.clipOffset;var w=[-1,
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1,1,-1][g],B=e.className,P,J=0,ja=0,ca=0;d.showAxis=P=n||e.showEmpty;d.staggerLines=d.horiz&&C.staggerLines||void 0;if(!d.axisGroup){var v=function(d,a,c){return k.g(d).attr({zIndex:c}).addClass("highcharts-"+f.toLowerCase()+a+" "+(b.isRadial?"highcharts-radial-axis"+a+" ":"")+(B||"")).add(h)};d.gridGroup=v("grid","-grid",e.gridZIndex);d.axisGroup=v("axis","",e.zIndex);d.labelGroup=v("axis-labels","-labels",C.zIndex)}n||d.isLinked?(l.forEach(function(b){d.generateTick(b)}),d.renderUnsquish(),d.reserveSpaceDefault=
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0===g||2===g||{1:"left",3:"right"}[g]===d.labelAlign,I(C.reserveSpace,"center"===d.labelAlign?!0:null,d.reserveSpaceDefault)&&l.forEach(function(b){ca=Math.max(m[b].getLabelSize(),ca)}),d.staggerLines&&(ca*=d.staggerLines),d.labelOffset=ca*(d.opposite?-1:1)):x(m,function(b,d){b.destroy();delete m[d]});if(t&&t.text&&!1!==t.enabled&&(d.addTitle(P),P&&!1!==t.reserveSpace)){d.titleOffset=J=d.axisTitle.getBBox()[c?"height":"width"];var O=t.offset;ja=p(O)?0:I(t.margin,c?5:10)}d.renderLine();d.offset=w*
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I(e.offset,q[g]?q[g]+(e.margin||0):0);d.tickRotCorr=d.tickRotCorr||{x:0,y:0};t=0===g?-d.labelMetrics().h:2===g?d.tickRotCorr.y:0;n=Math.abs(ca)+ja;ca&&(n=n-t+w*(c?I(C.y,d.tickRotCorr.y+8*w):C.x));d.axisTitleMargin=I(O,n);d.getMaxLabelDimensions&&(d.maxLabelDimensions=d.getMaxLabelDimensions(m,l));"colorAxis"!==f&&(c=this.tickSize("tick"),q[g]=Math.max(q[g],(d.axisTitleMargin||0)+J+w*d.offset,n,l&&l.length&&c?c[0]+w*d.offset:0),e=!d.axisLine||e.offset?0:2*Math.floor(d.axisLine.strokeWidth()/2),a[D]=
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Math.max(a[D],e));r(this,"afterGetOffset")};a.prototype.getLinePath=function(b){var d=this.chart,a=this.opposite,c=this.offset,e=this.horiz,g=this.left+(a?this.width:0)+c;c=d.chartHeight-this.bottom-(a?this.height:0)+c;a&&(b*=-1);return d.renderer.crispLine([["M",e?this.left:g,e?c:this.top],["L",e?d.chartWidth-this.right:g,e?c:d.chartHeight-this.bottom]],b)};a.prototype.renderLine=function(){this.axisLine||(this.axisLine=this.chart.renderer.path().addClass("highcharts-axis-line").add(this.axisGroup),
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||||
this.chart.styledMode||this.axisLine.attr({stroke:this.options.lineColor,"stroke-width":this.options.lineWidth,zIndex:7}))};a.prototype.getTitlePosition=function(){var b=this.horiz,d=this.left,a=this.top,c=this.len,e=this.options.title,g=b?d:a,m=this.opposite,l=this.offset,f=e.x,h=e.y,k=this.axisTitle,x=this.chart.renderer.fontMetrics(e.style.fontSize,k);k=Math.max(k.getBBox(null,0).height-x.h-1,0);c={low:g+(b?0:c),middle:g+c/2,high:g+(b?c:0)}[e.align];d=(b?a+this.height:d)+(b?1:-1)*(m?-1:1)*this.axisTitleMargin+
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[-k,k,x.f,-k][this.side];b={x:b?c+f:d+(m?this.width:0)+l+f,y:b?d+h-(m?this.height:0)+l:c+h};r(this,"afterGetTitlePosition",{titlePosition:b});return b};a.prototype.renderMinorTick=function(b,d){var a=this.minorTicks;a[b]||(a[b]=new H(this,b,"minor"));d&&a[b].isNew&&a[b].render(null,!0);a[b].render(null,!1,1)};a.prototype.renderTick=function(b,d,a){var c=this.ticks;if(!this.isLinked||b>=this.min&&b<=this.max||this.grid&&this.grid.isColumn)c[b]||(c[b]=new H(this,b)),a&&c[b].isNew&&c[b].render(d,!0,
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||||
-1),c[b].render(d)};a.prototype.render=function(){var b=this,d=b.chart,a=b.logarithmic,c=b.options,e=b.isLinked,m=b.tickPositions,l=b.axisTitle,f=b.ticks,h=b.minorTicks,k=b.alternateBands,D=c.stackLabels,p=c.alternateGridColor,n=b.tickmarkOffset,I=b.axisLine,t=b.showAxis,C=q(d.renderer.globalAnimation),w,B;b.labelEdge.length=0;b.overlap=!1;[f,h,k].forEach(function(b){x(b,function(b){b.isActive=!1})});if(b.hasData()||e){var P=b.chart.hasRendered&&b.old&&g(b.old.min);b.minorTickInterval&&!b.categories&&
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||||
b.getMinorTickPositions().forEach(function(d){b.renderMinorTick(d,P)});m.length&&(m.forEach(function(d,a){b.renderTick(d,a,P)}),n&&(0===b.min||b.single)&&(f[-1]||(f[-1]=new H(b,-1,null,!0)),f[-1].render(-1)));p&&m.forEach(function(c,e){B="undefined"!==typeof m[e+1]?m[e+1]+n:b.max-n;0===e%2&&c<b.max&&B<=b.max+(d.polar?-n:n)&&(k[c]||(k[c]=new G.PlotLineOrBand(b)),w=c+n,k[c].options={from:a?a.lin2log(w):w,to:a?a.lin2log(B):B,color:p,className:"highcharts-alternate-grid"},k[c].render(),k[c].isActive=
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||||
!0)});b._addedPlotLB||(b._addedPlotLB=!0,(c.plotLines||[]).concat(c.plotBands||[]).forEach(function(d){b.addPlotBandOrLine(d)}))}[f,h,k].forEach(function(b){var a=[],c=C.duration;x(b,function(b,d){b.isActive||(b.render(d,!1,0),b.isActive=!1,a.push(d))});U(function(){for(var d=a.length;d--;)b[a[d]]&&!b[a[d]].isActive&&(b[a[d]].destroy(),delete b[a[d]])},b!==k&&d.hasRendered&&c?c:0)});I&&(I[I.isPlaced?"animate":"attr"]({d:this.getLinePath(I.strokeWidth())}),I.isPlaced=!0,I[t?"show":"hide"](t));l&&t&&
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||||
(c=b.getTitlePosition(),g(c.y)?(l[l.isNew?"attr":"animate"](c),l.isNew=!1):(l.attr("y",-9999),l.isNew=!0));D&&D.enabled&&b.stacking&&b.stacking.renderStackTotals();b.old={len:b.len,max:b.max,min:b.min,transA:b.transA,userMax:b.userMax,userMin:b.userMin};b.isDirty=!1;r(this,"afterRender")};a.prototype.redraw=function(){this.visible&&(this.render(),this.plotLinesAndBands.forEach(function(b){b.render()}));this.series.forEach(function(b){b.isDirty=!0})};a.prototype.getKeepProps=function(){return this.keepProps||
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||||
a.keepProps};a.prototype.destroy=function(b){var d=this,a=d.plotLinesAndBands,c=this.eventOptions;r(this,"destroy",{keepEvents:b});b||v(d);[d.ticks,d.minorTicks,d.alternateBands].forEach(function(b){B(b)});if(a)for(b=a.length;b--;)a[b].destroy();"axisLine axisTitle axisGroup gridGroup labelGroup cross scrollbar".split(" ").forEach(function(b){d[b]&&(d[b]=d[b].destroy())});for(var e in d.plotLinesAndBandsGroups)d.plotLinesAndBandsGroups[e]=d.plotLinesAndBandsGroups[e].destroy();x(d,function(b,a){-1===
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d.getKeepProps().indexOf(a)&&delete d[a]});this.eventOptions=c};a.prototype.drawCrosshair=function(b,d){var a=this.crosshair,c=I(a&&a.snap,!0),e=this.chart,g,m=this.cross;r(this,"drawCrosshair",{e:b,point:d});b||(b=this.cross&&this.cross.e);if(a&&!1!==(p(d)||!c)){c?p(d)&&(g=I("colorAxis"!==this.coll?d.crosshairPos:null,this.isXAxis?d.plotX:this.len-d.plotY)):g=b&&(this.horiz?b.chartX-this.pos:this.len-b.chartY+this.pos);if(p(g)){var l={value:d&&(this.isXAxis?d.x:I(d.stackY,d.y)),translatedValue:g};
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||||
e.polar&&C(l,{isCrosshair:!0,chartX:b&&b.chartX,chartY:b&&b.chartY,point:d});l=this.getPlotLinePath(l)||null}if(!p(l)){this.hideCrosshair();return}c=this.categories&&!this.isRadial;m||(this.cross=m=e.renderer.path().addClass("highcharts-crosshair highcharts-crosshair-"+(c?"category ":"thin ")+(a.className||"")).attr({zIndex:I(a.zIndex,2)}).add(),e.styledMode||(m.attr({stroke:a.color||(c?z.parse("#ccd6eb").setOpacity(.25).get():"#cccccc"),"stroke-width":I(a.width,1)}).css({"pointer-events":"none"}),
|
||||
a.dashStyle&&m.attr({dashstyle:a.dashStyle})));m.show().attr({d:l});c&&!a.width&&m.attr({"stroke-width":this.transA});this.cross.e=b}else this.hideCrosshair();r(this,"afterDrawCrosshair",{e:b,point:d})};a.prototype.hideCrosshair=function(){this.cross&&this.cross.hide();r(this,"afterHideCrosshair")};a.prototype.hasVerticalPanning=function(){var b=this.chart.options.chart.panning;return!!(b&&b.enabled&&/y/.test(b.type))};a.prototype.validatePositiveValue=function(b){return g(b)&&0<b};a.prototype.update=
|
||||
function(b,d){var a=this.chart;b=m(this.userOptions,b);this.destroy(!0);this.init(a,b);a.isDirtyBox=!0;I(d,!0)&&a.redraw()};a.prototype.remove=function(b){for(var d=this.chart,a=this.coll,c=this.series,e=c.length;e--;)c[e]&&c[e].remove(!1);t(d.axes,this);t(d[a],this);d[a].forEach(function(b,d){b.options.index=b.userOptions.index=d});this.destroy();d.isDirtyBox=!0;I(b,!0)&&d.redraw()};a.prototype.setTitle=function(b,d){this.update({title:b},d)};a.prototype.setCategories=function(b,d){this.update({categories:b},
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||||
d)};a.defaultOptions=u.defaultXAxisOptions;a.keepProps="extKey hcEvents names series userMax userMin".split(" ");return a}();"";return a});M(a,"Core/Axis/DateTimeAxis.js",[a["Core/Utilities.js"]],function(a){var v=a.addEvent,z=a.getMagnitude,F=a.normalizeTickInterval,y=a.timeUnits,G;(function(a){function u(){return this.chart.time.getTimeTicks.apply(this.chart.time,arguments)}function q(a){"datetime"!==a.userOptions.type?this.dateTime=void 0:this.dateTime||(this.dateTime=new k(this))}var n=[];a.compose=
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||||
function(a){-1===n.indexOf(a)&&(n.push(a),a.keepProps.push("dateTime"),a.prototype.getTimeTicks=u,v(a,"init",q));return a};var k=function(){function a(a){this.axis=a}a.prototype.normalizeTimeTickInterval=function(a,e){var c=e||[["millisecond",[1,2,5,10,20,25,50,100,200,500]],["second",[1,2,5,10,15,30]],["minute",[1,2,5,10,15,30]],["hour",[1,2,3,4,6,8,12]],["day",[1,2]],["week",[1,2]],["month",[1,2,3,4,6]],["year",null]];e=c[c.length-1];var h=y[e[0]],k=e[1],n;for(n=0;n<c.length&&!(e=c[n],h=y[e[0]],
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||||
k=e[1],c[n+1]&&a<=(h*k[k.length-1]+y[c[n+1][0]])/2);n++);h===y.year&&a<5*h&&(k=[1,2,5]);a=F(a/h,k,"year"===e[0]?Math.max(z(a/h),1):1);return{unitRange:h,count:a,unitName:e[0]}};a.prototype.getXDateFormat=function(a,e){var c=this.axis;return c.closestPointRange?c.chart.time.getDateFormat(c.closestPointRange,a,c.options.startOfWeek,e)||e.year:e.day};return a}();a.Additions=k})(G||(G={}));return G});M(a,"Core/Axis/LogarithmicAxis.js",[a["Core/Utilities.js"]],function(a){var v=a.addEvent,z=a.getMagnitude,
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||||
F=a.normalizeTickInterval,y=a.pick,G;(function(a){function u(a){var c=this.logarithmic;"logarithmic"!==a.userOptions.type?this.logarithmic=void 0:c||(this.logarithmic=new k(this))}function q(){var a=this.logarithmic;a&&(this.lin2val=function(c){return a.lin2log(c)},this.val2lin=function(c){return a.log2lin(c)})}var n=[];a.compose=function(a){-1===n.indexOf(a)&&(n.push(a),a.keepProps.push("logarithmic"),v(a,"init",u),v(a,"afterInit",q));return a};var k=function(){function a(a){this.axis=a}a.prototype.getLogTickPositions=
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||||
function(a,e,f,k){var c=this.axis,h=c.len,n=c.options,q=[];k||(this.minorAutoInterval=void 0);if(.5<=a)a=Math.round(a),q=c.getLinearTickPositions(a,e,f);else if(.08<=a){var C=Math.floor(e),r,l=n=void 0;for(h=.3<a?[1,2,4]:.15<a?[1,2,4,6,8]:[1,2,3,4,5,6,7,8,9];C<f+1&&!l;C++){var b=h.length;for(r=0;r<b&&!l;r++){var g=this.log2lin(this.lin2log(C)*h[r]);g>e&&(!k||n<=f)&&"undefined"!==typeof n&&q.push(n);n>f&&(l=!0);n=g}}}else e=this.lin2log(e),f=this.lin2log(f),a=k?c.getMinorTickInterval():n.tickInterval,
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||||
a=y("auto"===a?null:a,this.minorAutoInterval,n.tickPixelInterval/(k?5:1)*(f-e)/((k?h/c.tickPositions.length:h)||1)),a=F(a,void 0,z(a)),q=c.getLinearTickPositions(a,e,f).map(this.log2lin),k||(this.minorAutoInterval=a/5);k||(c.tickInterval=a);return q};a.prototype.lin2log=function(a){return Math.pow(10,a)};a.prototype.log2lin=function(a){return Math.log(a)/Math.LN10};return a}();a.Additions=k})(G||(G={}));return G});M(a,"Core/Axis/PlotLineOrBand/PlotLineOrBandAxis.js",[a["Core/Utilities.js"]],function(a){var v=
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||||
a.erase,z=a.extend,F=a.isNumber,y;(function(a){var u=[],A;a.compose=function(a,k){A||(A=a);-1===u.indexOf(k)&&(u.push(k),z(k.prototype,q.prototype));return k};var q=function(){function a(){}a.prototype.getPlotBandPath=function(a,e,c){void 0===c&&(c=this.options);var h=this.getPlotLinePath({value:e,force:!0,acrossPanes:c.acrossPanes}),f=[],k=this.horiz;e=!F(this.min)||!F(this.max)||a<this.min&&e<this.min||a>this.max&&e>this.max;a=this.getPlotLinePath({value:a,force:!0,acrossPanes:c.acrossPanes});c=
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1;if(a&&h){if(e){var p=a.toString()===h.toString();c=0}for(e=0;e<a.length;e+=2){var n=a[e],t=a[e+1],q=h[e],C=h[e+1];"M"!==n[0]&&"L"!==n[0]||"M"!==t[0]&&"L"!==t[0]||"M"!==q[0]&&"L"!==q[0]||"M"!==C[0]&&"L"!==C[0]||(k&&q[1]===n[1]?(q[1]+=c,C[1]+=c):k||q[2]!==n[2]||(q[2]+=c,C[2]+=c),f.push(["M",n[1],n[2]],["L",t[1],t[2]],["L",C[1],C[2]],["L",q[1],q[2]],["Z"]));f.isFlat=p}}return f};a.prototype.addPlotBand=function(a){return this.addPlotBandOrLine(a,"plotBands")};a.prototype.addPlotLine=function(a){return this.addPlotBandOrLine(a,
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"plotLines")};a.prototype.addPlotBandOrLine=function(a,e){var c=this,h=this.userOptions,f=new A(this,a);this.visible&&(f=f.render());if(f){this._addedPlotLB||(this._addedPlotLB=!0,(h.plotLines||[]).concat(h.plotBands||[]).forEach(function(a){c.addPlotBandOrLine(a)}));if(e){var k=h[e]||[];k.push(a);h[e]=k}this.plotLinesAndBands.push(f)}return f};a.prototype.removePlotBandOrLine=function(a){var e=this.plotLinesAndBands,c=this.options,h=this.userOptions;if(e){for(var f=e.length;f--;)e[f].id===a&&e[f].destroy();
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[c.plotLines||[],h.plotLines||[],c.plotBands||[],h.plotBands||[]].forEach(function(c){for(f=c.length;f--;)(c[f]||{}).id===a&&v(c,c[f])})}};a.prototype.removePlotBand=function(a){this.removePlotBandOrLine(a)};a.prototype.removePlotLine=function(a){this.removePlotBandOrLine(a)};return a}()})(y||(y={}));return y});M(a,"Core/Axis/PlotLineOrBand/PlotLineOrBand.js",[a["Core/Axis/PlotLineOrBand/PlotLineOrBandAxis.js"],a["Core/Utilities.js"]],function(a,u){var v=u.arrayMax,F=u.arrayMin,y=u.defined,G=u.destroyObjectProperties,
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H=u.erase,A=u.fireEvent,q=u.merge,n=u.objectEach,k=u.pick;u=function(){function e(a,e){this.axis=a;e&&(this.options=e,this.id=e.id)}e.compose=function(c){return a.compose(e,c)};e.prototype.render=function(){A(this,"render");var a=this,e=a.axis,f=e.horiz,w=e.logarithmic,p=a.options,B=p.color,t=k(p.zIndex,0),v=p.events,C={},r=e.chart.renderer,l=p.label,b=a.label,g=p.to,d=p.from,m=p.value,D=a.svgElem,x=[],I=y(d)&&y(g);x=y(m);var P=!D,S={"class":"highcharts-plot-"+(I?"band ":"line ")+(p.className||"")},
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O=I?"bands":"lines";w&&(d=w.log2lin(d),g=w.log2lin(g),m=w.log2lin(m));e.chart.styledMode||(x?(S.stroke=B||"#999999",S["stroke-width"]=k(p.width,1),p.dashStyle&&(S.dashstyle=p.dashStyle)):I&&(S.fill=B||"#e6ebf5",p.borderWidth&&(S.stroke=p.borderColor,S["stroke-width"]=p.borderWidth)));C.zIndex=t;O+="-"+t;(w=e.plotLinesAndBandsGroups[O])||(e.plotLinesAndBandsGroups[O]=w=r.g("plot-"+O).attr(C).add());P&&(a.svgElem=D=r.path().attr(S).add(w));if(x)x=e.getPlotLinePath({value:m,lineWidth:D.strokeWidth(),
|
||||
acrossPanes:p.acrossPanes});else if(I)x=e.getPlotBandPath(d,g,p);else return;!a.eventsAdded&&v&&(n(v,function(b,d){D.on(d,function(b){v[d].apply(a,[b])})}),a.eventsAdded=!0);(P||!D.d)&&x&&x.length?D.attr({d:x}):D&&(x?(D.show(!0),D.animate({d:x})):D.d&&(D.hide(),b&&(a.label=b=b.destroy())));l&&(y(l.text)||y(l.formatter))&&x&&x.length&&0<e.width&&0<e.height&&!x.isFlat?(l=q({align:f&&I&&"center",x:f?!I&&4:10,verticalAlign:!f&&I&&"middle",y:f?I?16:10:I?6:-4,rotation:f&&!I&&90},l),this.renderLabel(l,x,
|
||||
I,t)):b&&b.hide();return a};e.prototype.renderLabel=function(a,e,f,k){var c=this.axis,h=c.chart.renderer,n=this.label;n||(this.label=n=h.text(this.getLabelText(a),0,0,a.useHTML).attr({align:a.textAlign||a.align,rotation:a.rotation,"class":"highcharts-plot-"+(f?"band":"line")+"-label "+(a.className||""),zIndex:k}).add(),c.chart.styledMode||n.css(q({textOverflow:"ellipsis"},a.style)));k=e.xBounds||[e[0][1],e[1][1],f?e[2][1]:e[0][1]];e=e.yBounds||[e[0][2],e[1][2],f?e[2][2]:e[0][2]];f=F(k);h=F(e);n.align(a,
|
||||
!1,{x:f,y:h,width:v(k)-f,height:v(e)-h});n.alignValue&&"left"!==n.alignValue||n.css({width:(90===n.rotation?c.height-(n.alignAttr.y-c.top):c.width-(n.alignAttr.x-c.left))+"px"});n.show(!0)};e.prototype.getLabelText=function(a){return y(a.formatter)?a.formatter.call(this):a.text};e.prototype.destroy=function(){H(this.axis.plotLinesAndBands,this);delete this.axis;G(this)};return e}();"";"";return u});M(a,"Core/Tooltip.js",[a["Core/FormatUtilities.js"],a["Core/Globals.js"],a["Core/Renderer/RendererUtilities.js"],
|
||||
a["Core/Renderer/RendererRegistry.js"],a["Core/Utilities.js"]],function(a,u,z,F,y){var v=a.format,H=u.doc,A=z.distribute,q=y.addEvent,n=y.clamp,k=y.css,e=y.defined,c=y.discardElement,h=y.extend,f=y.fireEvent,w=y.isArray,p=y.isNumber,B=y.isString,t=y.merge,J=y.pick,C=y.splat,r=y.syncTimeout;a=function(){function a(b,a){this.allowShared=!0;this.container=void 0;this.crosshairs=[];this.distance=0;this.isHidden=!0;this.isSticky=!1;this.now={};this.options={};this.outside=!1;this.chart=b;this.init(b,a)}
|
||||
a.prototype.applyFilter=function(){var b=this.chart;b.renderer.definition({tagName:"filter",attributes:{id:"drop-shadow-"+b.index,opacity:.5},children:[{tagName:"feGaussianBlur",attributes:{"in":"SourceAlpha",stdDeviation:1}},{tagName:"feOffset",attributes:{dx:1,dy:1}},{tagName:"feComponentTransfer",children:[{tagName:"feFuncA",attributes:{type:"linear",slope:.3}}]},{tagName:"feMerge",children:[{tagName:"feMergeNode"},{tagName:"feMergeNode",attributes:{"in":"SourceGraphic"}}]}]})};a.prototype.bodyFormatter=
|
||||
function(b){return b.map(function(b){var a=b.series.tooltipOptions;return(a[(b.point.formatPrefix||"point")+"Formatter"]||b.point.tooltipFormatter).call(b.point,a[(b.point.formatPrefix||"point")+"Format"]||"")})};a.prototype.cleanSplit=function(b){this.chart.series.forEach(function(a){var d=a&&a.tt;d&&(!d.isActive||b?a.tt=d.destroy():d.isActive=!1)})};a.prototype.defaultFormatter=function(b){var a=this.points||C(this);var d=[b.tooltipFooterHeaderFormatter(a[0])];d=d.concat(b.bodyFormatter(a));d.push(b.tooltipFooterHeaderFormatter(a[0],
|
||||
!0));return d};a.prototype.destroy=function(){this.label&&(this.label=this.label.destroy());this.split&&this.tt&&(this.cleanSplit(!0),this.tt=this.tt.destroy());this.renderer&&(this.renderer=this.renderer.destroy(),c(this.container));y.clearTimeout(this.hideTimer);y.clearTimeout(this.tooltipTimeout)};a.prototype.getAnchor=function(b,a){var d=this.chart,c=d.pointer,e=d.inverted,g=d.plotTop,l=d.plotLeft,f,r,h=0,k=0;b=C(b);this.followPointer&&a?("undefined"===typeof a.chartX&&(a=c.normalize(a)),c=[a.chartX-
|
||||
l,a.chartY-g]):b[0].tooltipPos?c=b[0].tooltipPos:(b.forEach(function(b){f=b.series.yAxis;r=b.series.xAxis;h+=b.plotX||0;k+=b.plotLow?(b.plotLow+(b.plotHigh||0))/2:b.plotY||0;r&&f&&(e?(h+=g+d.plotHeight-r.len-r.pos,k+=l+d.plotWidth-f.len-f.pos):(h+=r.pos-l,k+=f.pos-g))}),h/=b.length,k/=b.length,c=[e?d.plotWidth-k:h,e?d.plotHeight-h:k],this.shared&&1<b.length&&a&&(e?c[0]=a.chartX-l:c[1]=a.chartY-g));return c.map(Math.round)};a.prototype.getLabel=function(){var b=this,a=this.chart.styledMode,d=this.options,
|
||||
c=this.split&&this.allowShared,l="tooltip"+(e(d.className)?" "+d.className:""),f=d.style.pointerEvents||(!this.followPointer&&d.stickOnContact?"auto":"none"),r=function(){b.inContact=!0},h=function(a){var d=b.chart.hoverSeries;b.inContact=b.shouldStickOnContact()&&b.chart.pointer.inClass(a.relatedTarget,"highcharts-tooltip");if(!b.inContact&&d&&d.onMouseOut)d.onMouseOut()},p,n=this.chart.renderer;if(b.label){var t=!b.label.hasClass("highcharts-label");(c&&!t||!c&&t)&&b.destroy()}if(!this.label){if(this.outside){t=
|
||||
this.chart.options.chart.style;var C=F.getRendererType();this.container=p=u.doc.createElement("div");p.className="highcharts-tooltip-container";k(p,{position:"absolute",top:"1px",pointerEvents:f,zIndex:Math.max(this.options.style.zIndex||0,(t&&t.zIndex||0)+3)});q(p,"mouseenter",r);q(p,"mouseleave",h);u.doc.body.appendChild(p);this.renderer=n=new C(p,0,0,t,void 0,void 0,n.styledMode)}c?this.label=n.g(l):(this.label=n.label("",0,0,d.shape,void 0,void 0,d.useHTML,void 0,l).attr({padding:d.padding,r:d.borderRadius}),
|
||||
a||this.label.attr({fill:d.backgroundColor,"stroke-width":d.borderWidth}).css(d.style).css({pointerEvents:f}).shadow(d.shadow));a&&d.shadow&&(this.applyFilter(),this.label.attr({filter:"url(#drop-shadow-"+this.chart.index+")"}));if(b.outside&&!b.split){var B=this.label,w=B.xSetter,v=B.ySetter;B.xSetter=function(a){w.call(B,b.distance);p.style.left=a+"px"};B.ySetter=function(a){v.call(B,b.distance);p.style.top=a+"px"}}this.label.on("mouseenter",r).on("mouseleave",h).attr({zIndex:8}).add()}return this.label};
|
||||
a.prototype.getPosition=function(b,a,d){var c=this.chart,e=this.distance,g={},l=c.inverted&&d.h||0,f=this.outside,r=f?H.documentElement.clientWidth-2*e:c.chartWidth,h=f?Math.max(H.body.scrollHeight,H.documentElement.scrollHeight,H.body.offsetHeight,H.documentElement.offsetHeight,H.documentElement.clientHeight):c.chartHeight,k=c.pointer.getChartPosition(),p=function(g){var m="x"===g;return[g,m?r:h,m?b:a].concat(f?[m?b*k.scaleX:a*k.scaleY,m?k.left-e+(d.plotX+c.plotLeft)*k.scaleX:k.top-e+(d.plotY+c.plotTop)*
|
||||
k.scaleY,0,m?r:h]:[m?b:a,m?d.plotX+c.plotLeft:d.plotY+c.plotTop,m?c.plotLeft:c.plotTop,m?c.plotLeft+c.plotWidth:c.plotTop+c.plotHeight])},n=p("y"),t=p("x"),C;p=!!d.negative;!c.polar&&c.hoverSeries&&c.hoverSeries.yAxis&&c.hoverSeries.yAxis.reversed&&(p=!p);var q=!this.followPointer&&J(d.ttBelow,!c.inverted===p),B=function(b,a,d,c,m,r,h){var x=f?"y"===b?e*k.scaleY:e*k.scaleX:e,D=(d-c)/2,p=c<m-e,E=m+e+c<a,n=m-x-d+D;m=m+x-D;if(q&&E)g[b]=m;else if(!q&&p)g[b]=n;else if(p)g[b]=Math.min(h-c,0>n-l?n:n-l);
|
||||
else if(E)g[b]=Math.max(r,m+l+d>a?m:m+l);else return!1},w=function(b,a,d,c,m){var l;m<e||m>a-e?l=!1:g[b]=m<d/2?1:m>a-c/2?a-c-2:m-d/2;return l},E=function(b){var a=n;n=t;t=a;C=b},T=function(){!1!==B.apply(0,n)?!1!==w.apply(0,t)||C||(E(!0),T()):C?g.x=g.y=0:(E(!0),T())};(c.inverted||1<this.len)&&E();T();return g};a.prototype.hide=function(b){var a=this;y.clearTimeout(this.hideTimer);b=J(b,this.options.hideDelay);this.isHidden||(this.hideTimer=r(function(){a.getLabel().fadeOut(b?void 0:b);a.isHidden=
|
||||
!0},b))};a.prototype.init=function(b,a){this.chart=b;this.options=a;this.crosshairs=[];this.now={x:0,y:0};this.isHidden=!0;this.split=a.split&&!b.inverted&&!b.polar;this.shared=a.shared||this.split;this.outside=J(a.outside,!(!b.scrollablePixelsX&&!b.scrollablePixelsY))};a.prototype.shouldStickOnContact=function(){return!(this.followPointer||!this.options.stickOnContact)};a.prototype.isStickyOnContact=function(){return!(!this.shouldStickOnContact()||!this.inContact)};a.prototype.move=function(b,a,
|
||||
d,c){var e=this,g=e.now,m=!1!==e.options.animation&&!e.isHidden&&(1<Math.abs(b-g.x)||1<Math.abs(a-g.y)),l=e.followPointer||1<e.len;h(g,{x:m?(2*g.x+b)/3:b,y:m?(g.y+a)/2:a,anchorX:l?void 0:m?(2*g.anchorX+d)/3:d,anchorY:l?void 0:m?(g.anchorY+c)/2:c});e.getLabel().attr(g);e.drawTracker();m&&(y.clearTimeout(this.tooltipTimeout),this.tooltipTimeout=setTimeout(function(){e&&e.move(b,a,d,c)},32))};a.prototype.refresh=function(b,a){var d=this.chart,c=this.options,e=C(b),g=e[0],l=[],r=c.formatter||this.defaultFormatter,
|
||||
h=this.shared,k=d.styledMode,p={};if(c.enabled){y.clearTimeout(this.hideTimer);this.allowShared=!(!w(b)&&b.series&&b.series.noSharedTooltip);this.followPointer=!this.split&&g.series.tooltipOptions.followPointer;b=this.getAnchor(b,a);var n=b[0],t=b[1];h&&this.allowShared?(d.pointer.applyInactiveState(e),e.forEach(function(b){b.setState("hover");l.push(b.getLabelConfig())}),p={x:g.category,y:g.y},p.points=l):p=g.getLabelConfig();this.len=l.length;r=r.call(p,this);h=g.series;this.distance=J(h.tooltipOptions.distance,
|
||||
16);if(!1===r)this.hide();else{if(this.split&&this.allowShared)this.renderSplit(r,e);else{var q=n,B=t;a&&d.pointer.isDirectTouch&&(q=a.chartX-d.plotLeft,B=a.chartY-d.plotTop);if(d.polar||!1===h.options.clip||e.some(function(b){return b.series.shouldShowTooltip(q,B)}))a=this.getLabel(),c.style.width&&!k||a.css({width:this.chart.spacingBox.width+"px"}),a.attr({text:r&&r.join?r.join(""):r}),a.removeClass(/highcharts-color-[\d]+/g).addClass("highcharts-color-"+J(g.colorIndex,h.colorIndex)),k||a.attr({stroke:c.borderColor||
|
||||
g.color||h.color||"#666666"}),this.updatePosition({plotX:n,plotY:t,negative:g.negative,ttBelow:g.ttBelow,h:b[2]||0});else{this.hide();return}}this.isHidden&&this.label&&this.label.attr({opacity:1}).show();this.isHidden=!1}f(this,"refresh")}};a.prototype.renderSplit=function(b,a){function d(b,a,d,e,g){void 0===g&&(g=!0);d?(a=X?0:G,b=n(b-e/2,N.left,N.right-e-(c.outside?R:0))):(a-=z,b=g?b-e-y:b+y,b=n(b,g?b:N.left,N.right));return{x:b,y:a}}var c=this,e=c.chart,g=c.chart,l=g.chartWidth,f=g.chartHeight,
|
||||
r=g.plotHeight,k=g.plotLeft,p=g.plotTop,t=g.pointer,C=g.scrollablePixelsY;C=void 0===C?0:C;var q=g.scrollablePixelsX,w=g.scrollingContainer;w=void 0===w?{scrollLeft:0,scrollTop:0}:w;var v=w.scrollLeft;w=w.scrollTop;var u=g.styledMode,y=c.distance,E=c.options,T=c.options.positioner,N=c.outside&&"number"!==typeof q?H.documentElement.getBoundingClientRect():{left:v,right:v+l,top:w,bottom:w+f},V=c.getLabel(),W=this.renderer||e.renderer,X=!(!e.xAxis[0]||!e.xAxis[0].opposite);e=t.getChartPosition();var R=
|
||||
e.left;e=e.top;var z=p+w,aa=0,G=r-C;B(b)&&(b=[!1,b]);b=b.slice(0,a.length+1).reduce(function(b,e,g){if(!1!==e&&""!==e){g=a[g-1]||{isHeader:!0,plotX:a[0].plotX,plotY:r,series:{}};var m=g.isHeader,l=m?c:g.series;e=e.toString();var f=l.tt,h=g.isHeader;var x=g.series;var D="highcharts-color-"+J(g.colorIndex,x.colorIndex,"none");f||(f={padding:E.padding,r:E.borderRadius},u||(f.fill=E.backgroundColor,f["stroke-width"]=E.borderWidth),f=W.label("",0,0,E[h?"headerShape":"shape"],void 0,void 0,E.useHTML).addClass((h?
|
||||
"highcharts-tooltip-header ":"")+"highcharts-tooltip-box "+D).attr(f).add(V));f.isActive=!0;f.attr({text:e});u||f.css(E.style).shadow(E.shadow).attr({stroke:E.borderColor||g.color||x.color||"#333333"});l=l.tt=f;h=l.getBBox();e=h.width+l.strokeWidth();m&&(aa=h.height,G+=aa,X&&(z-=aa));x=g.plotX;x=void 0===x?0:x;D=g.plotY;D=void 0===D?0:D;f=g.series;if(g.isHeader){x=k+x;var t=p+r/2}else{var I=f.xAxis,C=f.yAxis;x=I.pos+n(x,-y,I.len+y);f.shouldShowTooltip(0,C.pos-p+D,{ignoreX:!0})&&(t=C.pos+D)}x=n(x,
|
||||
N.left-y,N.right+y);"number"===typeof t?(h=h.height+1,D=T?T.call(c,e,h,g):d(x,t,m,e),b.push({align:T?0:void 0,anchorX:x,anchorY:t,boxWidth:e,point:g,rank:J(D.rank,m?1:0),size:h,target:D.y,tt:l,x:D.x})):l.isActive=!1}return b},[]);!T&&b.some(function(b){var a=(c.outside?R:0)+b.anchorX;return a<N.left&&a+b.boxWidth<N.right?!0:a<R-N.left+b.boxWidth&&N.right-a>a})&&(b=b.map(function(b){var a=d(b.anchorX,b.anchorY,b.point.isHeader,b.boxWidth,!1);return h(b,{target:a.y,x:a.x})}));c.cleanSplit();A(b,G);
|
||||
var F=R,ba=R;b.forEach(function(b){var a=b.x,d=b.boxWidth;b=b.isHeader;b||(c.outside&&R+a<F&&(F=R+a),!b&&c.outside&&F+d>ba&&(ba=R+a))});b.forEach(function(b){var a=b.x,d=b.anchorX,e=b.pos,g=b.point.isHeader;e={visibility:"undefined"===typeof e?"hidden":"inherit",x:a,y:e+z,anchorX:d,anchorY:b.anchorY};if(c.outside&&a<d){var m=R-F;0<m&&(g||(e.x=a+m,e.anchorX=d+m),g&&(e.x=(ba-F)/2,e.anchorX=d+m))}b.tt.attr(e)});b=c.container;C=c.renderer;c.outside&&b&&C&&(g=V.getBBox(),C.setSize(g.width+g.x,g.height+
|
||||
g.y,!1),b.style.left=F+"px",b.style.top=e+"px")};a.prototype.drawTracker=function(){if(this.followPointer||!this.options.stickOnContact)this.tracker&&this.tracker.destroy();else{var b=this.chart,a=this.label,d=this.shared?b.hoverPoints:b.hoverPoint;if(a&&d){var c={x:0,y:0,width:0,height:0};d=this.getAnchor(d);var e=a.getBBox();d[0]+=b.plotLeft-a.translateX;d[1]+=b.plotTop-a.translateY;c.x=Math.min(0,d[0]);c.y=Math.min(0,d[1]);c.width=0>d[0]?Math.max(Math.abs(d[0]),e.width-d[0]):Math.max(Math.abs(d[0]),
|
||||
e.width);c.height=0>d[1]?Math.max(Math.abs(d[1]),e.height-Math.abs(d[1])):Math.max(Math.abs(d[1]),e.height);this.tracker?this.tracker.attr(c):(this.tracker=a.renderer.rect(c).addClass("highcharts-tracker").add(a),b.styledMode||this.tracker.attr({fill:"rgba(0,0,0,0)"}))}}};a.prototype.styledModeFormat=function(b){return b.replace('style="font-size: 10px"','class="highcharts-header"').replace(/style="color:{(point|series)\.color}"/g,'class="highcharts-color-{$1.colorIndex}"')};a.prototype.tooltipFooterHeaderFormatter=
|
||||
function(b,a){var d=b.series,c=d.tooltipOptions,e=d.xAxis,g=e&&e.dateTime;e={isFooter:a,labelConfig:b};var l=c.xDateFormat,r=c[a?"footerFormat":"headerFormat"];f(this,"headerFormatter",e,function(a){g&&!l&&p(b.key)&&(l=g.getXDateFormat(b.key,c.dateTimeLabelFormats));g&&l&&(b.point&&b.point.tooltipDateKeys||["key"]).forEach(function(b){r=r.replace("{point."+b+"}","{point."+b+":"+l+"}")});d.chart.styledMode&&(r=this.styledModeFormat(r));a.text=v(r,{point:b,series:d},this.chart)});return e.text};a.prototype.update=
|
||||
function(b){this.destroy();t(!0,this.chart.options.tooltip.userOptions,b);this.init(this.chart,t(!0,this.options,b))};a.prototype.updatePosition=function(b){var a=this.chart,d=this.options,c=a.pointer,e=this.getLabel();c=c.getChartPosition();var l=(d.positioner||this.getPosition).call(this,e.width,e.height,b),f=b.plotX+a.plotLeft;b=b.plotY+a.plotTop;if(this.outside){d=d.borderWidth+2*this.distance;this.renderer.setSize(e.width+d,e.height+d,!1);if(1!==c.scaleX||1!==c.scaleY)k(this.container,{transform:"scale("+
|
||||
c.scaleX+", "+c.scaleY+")"}),f*=c.scaleX,b*=c.scaleY;f+=c.left-l.x;b+=c.top-l.y}this.move(Math.round(l.x),Math.round(l.y||0),f,b)};return a}();"";return a});M(a,"Core/Series/Point.js",[a["Core/Renderer/HTML/AST.js"],a["Core/Animation/AnimationUtilities.js"],a["Core/DefaultOptions.js"],a["Core/FormatUtilities.js"],a["Core/Utilities.js"]],function(a,u,z,F,y){var v=u.animObject,H=z.defaultOptions,A=F.format,q=y.addEvent,n=y.defined,k=y.erase,e=y.extend,c=y.fireEvent,h=y.getNestedProperty,f=y.isArray,
|
||||
w=y.isFunction,p=y.isNumber,B=y.isObject,t=y.merge,J=y.objectEach,C=y.pick,r=y.syncTimeout,l=y.removeEvent,b=y.uniqueKey;u=function(){function g(){this.colorIndex=this.category=void 0;this.formatPrefix="point";this.id=void 0;this.isNull=!1;this.percentage=this.options=this.name=void 0;this.selected=!1;this.total=this.series=void 0;this.visible=!0;this.x=void 0}g.prototype.animateBeforeDestroy=function(){var b=this,a={x:b.startXPos,opacity:0},c=b.getGraphicalProps();c.singular.forEach(function(d){b[d]=
|
||||
b[d].animate("dataLabel"===d?{x:b[d].startXPos,y:b[d].startYPos,opacity:0}:a)});c.plural.forEach(function(a){b[a].forEach(function(a){a.element&&a.animate(e({x:b.startXPos},a.startYPos?{x:a.startXPos,y:a.startYPos}:{}))})})};g.prototype.applyOptions=function(b,a){var d=this.series,c=d.options.pointValKey||d.pointValKey;b=g.prototype.optionsToObject.call(this,b);e(this,b);this.options=this.options?e(this.options,b):b;b.group&&delete this.group;b.dataLabels&&delete this.dataLabels;c&&(this.y=g.prototype.getNestedProperty.call(this,
|
||||
c));this.formatPrefix=(this.isNull=C(this.isValid&&!this.isValid(),null===this.x||!p(this.y)))?"null":"point";this.selected&&(this.state="select");"name"in this&&"undefined"===typeof a&&d.xAxis&&d.xAxis.hasNames&&(this.x=d.xAxis.nameToX(this));"undefined"===typeof this.x&&d?this.x="undefined"===typeof a?d.autoIncrement():a:p(b.x)&&d.options.relativeXValue&&(this.x=d.autoIncrement(b.x));return this};g.prototype.destroy=function(){function b(){if(a.graphic||a.dataLabel||a.dataLabels)l(a),a.destroyElements();
|
||||
for(h in a)a[h]=null}var a=this,c=a.series,e=c.chart;c=c.options.dataSorting;var g=e.hoverPoints,f=v(a.series.chart.renderer.globalAnimation),h;a.legendItem&&e.legend.destroyItem(a);g&&(a.setState(),k(g,a),g.length||(e.hoverPoints=null));if(a===e.hoverPoint)a.onMouseOut();c&&c.enabled?(this.animateBeforeDestroy(),r(b,f.duration)):b();e.pointCount--};g.prototype.destroyElements=function(b){var a=this;b=a.getGraphicalProps(b);b.singular.forEach(function(b){a[b]=a[b].destroy()});b.plural.forEach(function(b){a[b].forEach(function(b){b.element&&
|
||||
b.destroy()});delete a[b]})};g.prototype.firePointEvent=function(b,a,e){var d=this,g=this.series.options;(g.point.events[b]||d.options&&d.options.events&&d.options.events[b])&&d.importEvents();"click"===b&&g.allowPointSelect&&(e=function(b){d.select&&d.select(null,b.ctrlKey||b.metaKey||b.shiftKey)});c(d,b,a,e)};g.prototype.getClassName=function(){return"highcharts-point"+(this.selected?" highcharts-point-select":"")+(this.negative?" highcharts-negative":"")+(this.isNull?" highcharts-null-point":"")+
|
||||
("undefined"!==typeof this.colorIndex?" highcharts-color-"+this.colorIndex:"")+(this.options.className?" "+this.options.className:"")+(this.zone&&this.zone.className?" "+this.zone.className.replace("highcharts-negative",""):"")};g.prototype.getGraphicalProps=function(b){var a=this,d=[],c={singular:[],plural:[]},e;b=b||{graphic:1,dataLabel:1};b.graphic&&d.push("graphic","upperGraphic","shadowGroup");b.dataLabel&&d.push("dataLabel","dataLabelUpper","connector");for(e=d.length;e--;){var g=d[e];a[g]&&
|
||||
c.singular.push(g)}["dataLabel","connector"].forEach(function(d){var e=d+"s";b[d]&&a[e]&&c.plural.push(e)});return c};g.prototype.getLabelConfig=function(){return{x:this.category,y:this.y,color:this.color,colorIndex:this.colorIndex,key:this.name||this.category,series:this.series,point:this,percentage:this.percentage,total:this.total||this.stackTotal}};g.prototype.getNestedProperty=function(b){if(b)return 0===b.indexOf("custom.")?h(b,this.options):this[b]};g.prototype.getZone=function(){var b=this.series,
|
||||
a=b.zones;b=b.zoneAxis||"y";var c,e=0;for(c=a[e];this[b]>=c.value;)c=a[++e];this.nonZonedColor||(this.nonZonedColor=this.color);this.color=c&&c.color&&!this.options.color?c.color:this.nonZonedColor;return c};g.prototype.hasNewShapeType=function(){return(this.graphic&&(this.graphic.symbolName||this.graphic.element.nodeName))!==this.shapeType};g.prototype.init=function(a,e,g){this.series=a;this.applyOptions(e,g);this.id=n(this.id)?this.id:b();this.resolveColor();a.chart.pointCount++;c(this,"afterInit");
|
||||
return this};g.prototype.optionsToObject=function(b){var a=this.series,d=a.options.keys,c=d||a.pointArrayMap||["y"],e=c.length,l={},r=0,h=0;if(p(b)||null===b)l[c[0]]=b;else if(f(b))for(!d&&b.length>e&&(a=typeof b[0],"string"===a?l.name=b[0]:"number"===a&&(l.x=b[0]),r++);h<e;)d&&"undefined"===typeof b[r]||(0<c[h].indexOf(".")?g.prototype.setNestedProperty(l,b[r],c[h]):l[c[h]]=b[r]),r++,h++;else"object"===typeof b&&(l=b,b.dataLabels&&(a._hasPointLabels=!0),b.marker&&(a._hasPointMarkers=!0));return l};
|
||||
g.prototype.resolveColor=function(){var b=this.series,a=b.chart.styledMode;var c=b.chart.options.chart.colorCount;delete this.nonZonedColor;if(b.options.colorByPoint){if(!a){c=b.options.colors||b.chart.options.colors;var e=c[b.colorCounter];c=c.length}a=b.colorCounter;b.colorCounter++;b.colorCounter===c&&(b.colorCounter=0)}else a||(e=b.color),a=b.colorIndex;this.colorIndex=C(this.options.colorIndex,a);this.color=C(this.options.color,e)};g.prototype.setNestedProperty=function(b,a,c){c.split(".").reduce(function(b,
|
||||
d,c,e){b[d]=e.length-1===c?a:B(b[d],!0)?b[d]:{};return b[d]},b);return b};g.prototype.tooltipFormatter=function(b){var a=this.series,d=a.tooltipOptions,c=C(d.valueDecimals,""),e=d.valuePrefix||"",g=d.valueSuffix||"";a.chart.styledMode&&(b=a.chart.tooltip.styledModeFormat(b));(a.pointArrayMap||["y"]).forEach(function(a){a="{point."+a;if(e||g)b=b.replace(RegExp(a+"}","g"),e+a+"}"+g);b=b.replace(RegExp(a+"}","g"),a+":,."+c+"f}")});return A(b,{point:this,series:this.series},a.chart)};g.prototype.update=
|
||||
function(b,a,c,e){function d(){g.applyOptions(b);var d=m&&g.hasDummyGraphic;d=null===g.y?!d:d;m&&d&&(g.graphic=m.destroy(),delete g.hasDummyGraphic);B(b,!0)&&(m&&m.element&&b&&b.marker&&"undefined"!==typeof b.marker.symbol&&(g.graphic=m.destroy()),b&&b.dataLabels&&g.dataLabel&&(g.dataLabel=g.dataLabel.destroy()),g.connector&&(g.connector=g.connector.destroy()));h=g.index;l.updateParallelArrays(g,h);r.data[h]=B(r.data[h],!0)||B(b,!0)?g.options:C(b,r.data[h]);l.isDirty=l.isDirtyData=!0;!l.fixedBox&&
|
||||
l.hasCartesianSeries&&(f.isDirtyBox=!0);"point"===r.legendType&&(f.isDirtyLegend=!0);a&&f.redraw(c)}var g=this,l=g.series,m=g.graphic,f=l.chart,r=l.options,h;a=C(a,!0);!1===e?d():g.firePointEvent("update",{options:b},d)};g.prototype.remove=function(b,a){this.series.removePoint(this.series.data.indexOf(this),b,a)};g.prototype.select=function(b,a){var d=this,c=d.series,e=c.chart;this.selectedStaging=b=C(b,!d.selected);d.firePointEvent(b?"select":"unselect",{accumulate:a},function(){d.selected=d.options.selected=
|
||||
b;c.options.data[c.data.indexOf(d)]=d.options;d.setState(b&&"select");a||e.getSelectedPoints().forEach(function(b){var a=b.series;b.selected&&b!==d&&(b.selected=b.options.selected=!1,a.options.data[a.data.indexOf(b)]=b.options,b.setState(e.hoverPoints&&a.options.inactiveOtherPoints?"inactive":""),b.firePointEvent("unselect"))})});delete this.selectedStaging};g.prototype.onMouseOver=function(b){var a=this.series.chart,d=a.pointer;b=b?d.normalize(b):d.getChartCoordinatesFromPoint(this,a.inverted);d.runPointActions(b,
|
||||
this)};g.prototype.onMouseOut=function(){var b=this.series.chart;this.firePointEvent("mouseOut");this.series.options.inactiveOtherPoints||(b.hoverPoints||[]).forEach(function(b){b.setState()});b.hoverPoints=b.hoverPoint=null};g.prototype.importEvents=function(){if(!this.hasImportedEvents){var b=this,a=t(b.series.options.point,b.options).events;b.events=a;J(a,function(a,d){w(a)&&q(b,d,a)});this.hasImportedEvents=!0}};g.prototype.setState=function(b,g){var d=this.series,l=this.state,m=d.options.states[b||
|
||||
"normal"]||{},f=H.plotOptions[d.type].marker&&d.options.marker,r=f&&!1===f.enabled,h=f&&f.states&&f.states[b||"normal"]||{},k=!1===h.enabled,n=this.marker||{},t=d.chart,q=f&&d.markerAttribs,w=d.halo,B,v=d.stateMarkerGraphic;b=b||"";if(!(b===this.state&&!g||this.selected&&"select"!==b||!1===m.enabled||b&&(k||r&&!1===h.enabled)||b&&n.states&&n.states[b]&&!1===n.states[b].enabled)){this.state=b;q&&(B=d.markerAttribs(this,b));if(this.graphic&&!this.hasDummyGraphic){l&&this.graphic.removeClass("highcharts-point-"+
|
||||
l);b&&this.graphic.addClass("highcharts-point-"+b);if(!t.styledMode){var J=d.pointAttribs(this,b);var E=C(t.options.chart.animation,m.animation);d.options.inactiveOtherPoints&&p(J.opacity)&&((this.dataLabels||[]).forEach(function(b){b&&b.animate({opacity:J.opacity},E)}),this.connector&&this.connector.animate({opacity:J.opacity},E));this.graphic.animate(J,E)}B&&this.graphic.animate(B,C(t.options.chart.animation,h.animation,f.animation));v&&v.hide()}else{if(b&&h){l=n.symbol||d.symbol;v&&v.currentSymbol!==
|
||||
l&&(v=v.destroy());if(B)if(v)v[g?"animate":"attr"]({x:B.x,y:B.y});else l&&(d.stateMarkerGraphic=v=t.renderer.symbol(l,B.x,B.y,B.width,B.height).add(d.markerGroup),v.currentSymbol=l);!t.styledMode&&v&&"inactive"!==this.state&&v.attr(d.pointAttribs(this,b))}v&&(v[b&&this.isInside?"show":"hide"](),v.element.point=this,v.addClass(this.getClassName(),!0))}m=m.halo;B=(v=this.graphic||v)&&v.visibility||"inherit";m&&m.size&&v&&"hidden"!==B&&!this.isCluster?(w||(d.halo=w=t.renderer.path().add(v.parentGroup)),
|
||||
w.show()[g?"animate":"attr"]({d:this.haloPath(m.size)}),w.attr({"class":"highcharts-halo highcharts-color-"+C(this.colorIndex,d.colorIndex)+(this.className?" "+this.className:""),visibility:B,zIndex:-1}),w.point=this,t.styledMode||w.attr(e({fill:this.color||d.color,"fill-opacity":m.opacity},a.filterUserAttributes(m.attributes||{})))):w&&w.point&&w.point.haloPath&&w.animate({d:w.point.haloPath(0)},null,w.hide);c(this,"afterSetState",{state:b})}};g.prototype.haloPath=function(b){return this.series.chart.renderer.symbols.circle(Math.floor(this.plotX)-
|
||||
b,this.plotY-b,2*b,2*b)};return g}();"";return u});M(a,"Core/Pointer.js",[a["Core/Color/Color.js"],a["Core/Globals.js"],a["Core/Tooltip.js"],a["Core/Utilities.js"]],function(a,u,z,F){var v=a.parse,G=u.charts,H=u.noop,A=F.addEvent,q=F.attr,n=F.css,k=F.defined,e=F.extend,c=F.find,h=F.fireEvent,f=F.isNumber,w=F.isObject,p=F.objectEach,B=F.offset,t=F.pick,J=F.splat;a=function(){function a(a,c){this.lastValidTouch={};this.pinchDown=[];this.runChartClick=!1;this.eventsToUnbind=[];this.chart=a;this.hasDragged=
|
||||
!1;this.options=c;this.init(a,c)}a.prototype.applyInactiveState=function(a){var c=[],b;(a||[]).forEach(function(a){b=a.series;c.push(b);b.linkedParent&&c.push(b.linkedParent);b.linkedSeries&&(c=c.concat(b.linkedSeries));b.navigatorSeries&&c.push(b.navigatorSeries)});this.chart.series.forEach(function(b){-1===c.indexOf(b)?b.setState("inactive",!0):b.options.inactiveOtherPoints&&b.setAllPointsToState("inactive")})};a.prototype.destroy=function(){var c=this;this.eventsToUnbind.forEach(function(a){return a()});
|
||||
this.eventsToUnbind=[];u.chartCount||(a.unbindDocumentMouseUp&&(a.unbindDocumentMouseUp=a.unbindDocumentMouseUp()),a.unbindDocumentTouchEnd&&(a.unbindDocumentTouchEnd=a.unbindDocumentTouchEnd()));clearInterval(c.tooltipTimeout);p(c,function(a,b){c[b]=void 0})};a.prototype.drag=function(a){var c=this.chart,b=c.options.chart,e=this.zoomHor,d=this.zoomVert,m=c.plotLeft,f=c.plotTop,h=c.plotWidth,r=c.plotHeight,k=this.mouseDownX||0,p=this.mouseDownY||0,n=w(b.panning)?b.panning&&b.panning.enabled:b.panning,
|
||||
t=b.panKey&&a[b.panKey+"Key"],q=a.chartX,B=a.chartY,C=this.selectionMarker;if(!C||!C.touch)if(q<m?q=m:q>m+h&&(q=m+h),B<f?B=f:B>f+r&&(B=f+r),this.hasDragged=Math.sqrt(Math.pow(k-q,2)+Math.pow(p-B,2)),10<this.hasDragged){var J=c.isInsidePlot(k-m,p-f,{visiblePlotOnly:!0});!c.hasCartesianSeries&&!c.mapView||!this.zoomX&&!this.zoomY||!J||t||C||(this.selectionMarker=C=c.renderer.rect(m,f,e?1:h,d?1:r,0).attr({"class":"highcharts-selection-marker",zIndex:7}).add(),c.styledMode||C.attr({fill:b.selectionMarkerFill||
|
||||
v("#335cad").setOpacity(.25).get()}));C&&e&&(e=q-k,C.attr({width:Math.abs(e),x:(0<e?0:e)+k}));C&&d&&(e=B-p,C.attr({height:Math.abs(e),y:(0<e?0:e)+p}));J&&!C&&n&&c.pan(a,b.panning)}};a.prototype.dragStart=function(a){var c=this.chart;c.mouseIsDown=a.type;c.cancelClick=!1;c.mouseDownX=this.mouseDownX=a.chartX;c.mouseDownY=this.mouseDownY=a.chartY};a.prototype.drop=function(a){var c=this,b=this.chart,g=this.hasPinched;if(this.selectionMarker){var d=this.selectionMarker,m=d.attr?d.attr("x"):d.x,r=d.attr?
|
||||
d.attr("y"):d.y,p=d.attr?d.attr("width"):d.width,t=d.attr?d.attr("height"):d.height,q={originalEvent:a,xAxis:[],yAxis:[],x:m,y:r,width:p,height:t},B=!!b.mapView;if(this.hasDragged||g)b.axes.forEach(function(b){if(b.zoomEnabled&&k(b.min)&&(g||c[{xAxis:"zoomX",yAxis:"zoomY"}[b.coll]])&&f(m)&&f(r)){var d=b.horiz,e="touchend"===a.type?b.minPixelPadding:0,l=b.toValue((d?m:r)+e);d=b.toValue((d?m+p:r+t)-e);q[b.coll].push({axis:b,min:Math.min(l,d),max:Math.max(l,d)});B=!0}}),B&&h(b,"selection",q,function(a){b.zoom(e(a,
|
||||
g?{animation:!1}:null))});f(b.index)&&(this.selectionMarker=this.selectionMarker.destroy());g&&this.scaleGroups()}b&&f(b.index)&&(n(b.container,{cursor:b._cursor}),b.cancelClick=10<this.hasDragged,b.mouseIsDown=this.hasDragged=this.hasPinched=!1,this.pinchDown=[])};a.prototype.findNearestKDPoint=function(a,c,b){var e=this.chart,d=e.hoverPoint;e=e.tooltip;if(d&&e&&e.isStickyOnContact())return d;var l;a.forEach(function(a){var d=!(a.noSharedTooltip&&c)&&0>a.options.findNearestPointBy.indexOf("y");a=
|
||||
a.searchPoint(b,d);if((d=w(a,!0)&&a.series)&&!(d=!w(l,!0))){d=l.distX-a.distX;var e=l.dist-a.dist,g=(a.series.group&&a.series.group.zIndex)-(l.series.group&&l.series.group.zIndex);d=0<(0!==d&&c?d:0!==e?e:0!==g?g:l.series.index>a.series.index?-1:1)}d&&(l=a)});return l};a.prototype.getChartCoordinatesFromPoint=function(a,c){var b=a.series,e=b.xAxis;b=b.yAxis;var d=a.shapeArgs;if(e&&b){var l=t(a.clientX,a.plotX),h=a.plotY||0;a.isNode&&d&&f(d.x)&&f(d.y)&&(l=d.x,h=d.y);return c?{chartX:b.len+b.pos-h,chartY:e.len+
|
||||
e.pos-l}:{chartX:l+e.pos,chartY:h+b.pos}}if(d&&d.x&&d.y)return{chartX:d.x,chartY:d.y}};a.prototype.getChartPosition=function(){if(this.chartPosition)return this.chartPosition;var a=this.chart.container,c=B(a);this.chartPosition={left:c.left,top:c.top,scaleX:1,scaleY:1};var b=a.offsetWidth;a=a.offsetHeight;2<b&&2<a&&(this.chartPosition.scaleX=c.width/b,this.chartPosition.scaleY=c.height/a);return this.chartPosition};a.prototype.getCoordinates=function(a){var c={xAxis:[],yAxis:[]};this.chart.axes.forEach(function(b){c[b.isXAxis?
|
||||
"xAxis":"yAxis"].push({axis:b,value:b.toValue(a[b.horiz?"chartX":"chartY"])})});return c};a.prototype.getHoverData=function(a,e,b,g,d,m){var l=[];g=!(!g||!a);var f={chartX:m?m.chartX:void 0,chartY:m?m.chartY:void 0,shared:d};h(this,"beforeGetHoverData",f);var r=e&&!e.stickyTracking?[e]:b.filter(function(b){return f.filter?f.filter(b):b.visible&&!(!d&&b.directTouch)&&t(b.options.enableMouseTracking,!0)&&b.stickyTracking});var k=g||!m?a:this.findNearestKDPoint(r,d,m);e=k&&k.series;k&&(d&&!e.noSharedTooltip?
|
||||
(r=b.filter(function(b){return f.filter?f.filter(b):b.visible&&!(!d&&b.directTouch)&&t(b.options.enableMouseTracking,!0)&&!b.noSharedTooltip}),r.forEach(function(b){var a=c(b.points,function(b){return b.x===k.x&&!b.isNull});w(a)&&(b.chart.isBoosting&&(a=b.getPoint(a)),l.push(a))})):l.push(k));f={hoverPoint:k};h(this,"afterGetHoverData",f);return{hoverPoint:f.hoverPoint,hoverSeries:e,hoverPoints:l}};a.prototype.getPointFromEvent=function(a){a=a.target;for(var c;a&&!c;)c=a.point,a=a.parentNode;return c};
|
||||
a.prototype.onTrackerMouseOut=function(a){a=a.relatedTarget||a.toElement;var c=this.chart.hoverSeries;this.isDirectTouch=!1;if(!(!c||!a||c.stickyTracking||this.inClass(a,"highcharts-tooltip")||this.inClass(a,"highcharts-series-"+c.index)&&this.inClass(a,"highcharts-tracker")))c.onMouseOut()};a.prototype.inClass=function(a,c){for(var b;a;){if(b=q(a,"class")){if(-1!==b.indexOf(c))return!0;if(-1!==b.indexOf("highcharts-container"))return!1}a=a.parentNode}};a.prototype.init=function(a,c){this.options=
|
||||
c;this.chart=a;this.runChartClick=!(!c.chart.events||!c.chart.events.click);this.pinchDown=[];this.lastValidTouch={};z&&(a.tooltip=new z(a,c.tooltip),this.followTouchMove=t(c.tooltip.followTouchMove,!0));this.setDOMEvents()};a.prototype.normalize=function(a,c){var b=a.touches,g=b?b.length?b.item(0):t(b.changedTouches,a.changedTouches)[0]:a;c||(c=this.getChartPosition());b=g.pageX-c.left;g=g.pageY-c.top;b/=c.scaleX;g/=c.scaleY;return e(a,{chartX:Math.round(b),chartY:Math.round(g)})};a.prototype.onContainerClick=
|
||||
function(a){var c=this.chart,b=c.hoverPoint;a=this.normalize(a);var g=c.plotLeft,d=c.plotTop;c.cancelClick||(b&&this.inClass(a.target,"highcharts-tracker")?(h(b.series,"click",e(a,{point:b})),c.hoverPoint&&b.firePointEvent("click",a)):(e(a,this.getCoordinates(a)),c.isInsidePlot(a.chartX-g,a.chartY-d,{visiblePlotOnly:!0})&&h(c,"click",a)))};a.prototype.onContainerMouseDown=function(a){var c=1===((a.buttons||a.button)&1);a=this.normalize(a);if(u.isFirefox&&0!==a.button)this.onContainerMouseMove(a);
|
||||
if("undefined"===typeof a.button||c)this.zoomOption(a),c&&a.preventDefault&&a.preventDefault(),this.dragStart(a)};a.prototype.onContainerMouseLeave=function(c){var e=G[t(a.hoverChartIndex,-1)],b=this.chart.tooltip;b&&b.shouldStickOnContact()&&this.inClass(c.relatedTarget,"highcharts-tooltip-container")||(c=this.normalize(c),e&&(c.relatedTarget||c.toElement)&&(e.pointer.reset(),e.pointer.chartPosition=void 0),b&&!b.isHidden&&this.reset())};a.prototype.onContainerMouseEnter=function(a){delete this.chartPosition};
|
||||
a.prototype.onContainerMouseMove=function(a){var c=this.chart;a=this.normalize(a);this.setHoverChartIndex();a.preventDefault||(a.returnValue=!1);("mousedown"===c.mouseIsDown||this.touchSelect(a))&&this.drag(a);c.openMenu||!this.inClass(a.target,"highcharts-tracker")&&!c.isInsidePlot(a.chartX-c.plotLeft,a.chartY-c.plotTop,{visiblePlotOnly:!0})||(this.inClass(a.target,"highcharts-no-tooltip")?this.reset(!1,0):this.runPointActions(a))};a.prototype.onDocumentTouchEnd=function(c){var e=G[t(a.hoverChartIndex,
|
||||
-1)];e&&e.pointer.drop(c)};a.prototype.onContainerTouchMove=function(a){if(this.touchSelect(a))this.onContainerMouseMove(a);else this.touch(a)};a.prototype.onContainerTouchStart=function(a){if(this.touchSelect(a))this.onContainerMouseDown(a);else this.zoomOption(a),this.touch(a,!0)};a.prototype.onDocumentMouseMove=function(a){var c=this.chart,b=this.chartPosition;a=this.normalize(a,b);var e=c.tooltip;!b||e&&e.isStickyOnContact()||c.isInsidePlot(a.chartX-c.plotLeft,a.chartY-c.plotTop,{visiblePlotOnly:!0})||
|
||||
this.inClass(a.target,"highcharts-tracker")||this.reset()};a.prototype.onDocumentMouseUp=function(c){var e=G[t(a.hoverChartIndex,-1)];e&&e.pointer.drop(c)};a.prototype.pinch=function(a){var c=this,b=c.chart,g=c.pinchDown,d=a.touches||[],m=d.length,f=c.lastValidTouch,k=c.hasZoom,p={},r=1===m&&(c.inClass(a.target,"highcharts-tracker")&&b.runTrackerClick||c.runChartClick),n={},q=c.selectionMarker;1<m?c.initiated=!0:1===m&&this.followTouchMove&&(c.initiated=!1);k&&c.initiated&&!r&&!1!==a.cancelable&&
|
||||
a.preventDefault();[].map.call(d,function(b){return c.normalize(b)});"touchstart"===a.type?([].forEach.call(d,function(b,a){g[a]={chartX:b.chartX,chartY:b.chartY}}),f.x=[g[0].chartX,g[1]&&g[1].chartX],f.y=[g[0].chartY,g[1]&&g[1].chartY],b.axes.forEach(function(a){if(a.zoomEnabled){var d=b.bounds[a.horiz?"h":"v"],c=a.minPixelPadding,e=a.toPixels(Math.min(t(a.options.min,a.dataMin),a.dataMin)),g=a.toPixels(Math.max(t(a.options.max,a.dataMax),a.dataMax)),m=Math.max(e,g);d.min=Math.min(a.pos,Math.min(e,
|
||||
g)-c);d.max=Math.max(a.pos+a.len,m+c)}}),c.res=!0):c.followTouchMove&&1===m?this.runPointActions(c.normalize(a)):g.length&&(h(b,"touchpan",{originalEvent:a},function(){q||(c.selectionMarker=q=e({destroy:H,touch:!0},b.plotBox));c.pinchTranslate(g,d,p,q,n,f);c.hasPinched=k;c.scaleGroups(p,n)}),c.res&&(c.res=!1,this.reset(!1,0)))};a.prototype.pinchTranslate=function(a,c,b,e,d,m){this.zoomHor&&this.pinchTranslateDirection(!0,a,c,b,e,d,m);this.zoomVert&&this.pinchTranslateDirection(!1,a,c,b,e,d,m)};a.prototype.pinchTranslateDirection=
|
||||
function(a,c,b,e,d,m,f,h){var g=this.chart,l=a?"x":"y",k=a?"X":"Y",p="chart"+k,r=a?"width":"height",n=g["plot"+(a?"Left":"Top")],t=g.inverted,x=g.bounds[a?"h":"v"],q=1===c.length,D=c[0][p],B=!q&&c[1][p];c=function(){"number"===typeof v&&20<Math.abs(D-B)&&(C=h||Math.abs(N-v)/Math.abs(D-B));E=(n-N)/C+D;w=g["plot"+(a?"Width":"Height")]/C};var w,E,C=h||1,N=b[0][p],v=!q&&b[1][p];c();b=E;if(b<x.min){b=x.min;var J=!0}else b+w>x.max&&(b=x.max-w,J=!0);J?(N-=.8*(N-f[l][0]),"number"===typeof v&&(v-=.8*(v-f[l][1])),
|
||||
c()):f[l]=[N,v];t||(m[l]=E-n,m[r]=w);m=t?1/C:C;d[r]=w;d[l]=b;e[t?a?"scaleY":"scaleX":"scale"+k]=C;e["translate"+k]=m*n+(N-m*D)};a.prototype.reset=function(a,c){var b=this.chart,e=b.hoverSeries,d=b.hoverPoint,m=b.hoverPoints,f=b.tooltip,l=f&&f.shared?m:d;a&&l&&J(l).forEach(function(b){b.series.isCartesian&&"undefined"===typeof b.plotX&&(a=!1)});if(a)f&&l&&J(l).length&&(f.refresh(l),f.shared&&m?m.forEach(function(b){b.setState(b.state,!0);b.series.isCartesian&&(b.series.xAxis.crosshair&&b.series.xAxis.drawCrosshair(null,
|
||||
b),b.series.yAxis.crosshair&&b.series.yAxis.drawCrosshair(null,b))}):d&&(d.setState(d.state,!0),b.axes.forEach(function(b){b.crosshair&&d.series[b.coll]===b&&b.drawCrosshair(null,d)})));else{if(d)d.onMouseOut();m&&m.forEach(function(b){b.setState()});if(e)e.onMouseOut();f&&f.hide(c);this.unDocMouseMove&&(this.unDocMouseMove=this.unDocMouseMove());b.axes.forEach(function(b){b.hideCrosshair()});this.hoverX=b.hoverPoints=b.hoverPoint=null}};a.prototype.runPointActions=function(e,f){var b=this.chart,
|
||||
g=b.tooltip&&b.tooltip.options.enabled?b.tooltip:void 0,d=g?g.shared:!1,m=f||b.hoverPoint,l=m&&m.series||b.hoverSeries;f=this.getHoverData(m,l,b.series,(!e||"touchmove"!==e.type)&&(!!f||l&&l.directTouch&&this.isDirectTouch),d,e);m=f.hoverPoint;l=f.hoverSeries;var h=f.hoverPoints;f=l&&l.tooltipOptions.followPointer&&!l.tooltipOptions.split;d=d&&l&&!l.noSharedTooltip;if(m&&(m!==b.hoverPoint||g&&g.isHidden)){(b.hoverPoints||[]).forEach(function(b){-1===h.indexOf(b)&&b.setState()});if(b.hoverSeries!==
|
||||
l)l.onMouseOver();this.applyInactiveState(h);(h||[]).forEach(function(b){b.setState("hover")});b.hoverPoint&&b.hoverPoint.firePointEvent("mouseOut");if(!m.series)return;b.hoverPoints=h;b.hoverPoint=m;m.firePointEvent("mouseOver");g&&g.refresh(d?h:m,e)}else f&&g&&!g.isHidden&&(m=g.getAnchor([{}],e),b.isInsidePlot(m[0],m[1],{visiblePlotOnly:!0})&&g.updatePosition({plotX:m[0],plotY:m[1]}));this.unDocMouseMove||(this.unDocMouseMove=A(b.container.ownerDocument,"mousemove",function(b){var d=G[a.hoverChartIndex];
|
||||
if(d)d.pointer.onDocumentMouseMove(b)}),this.eventsToUnbind.push(this.unDocMouseMove));b.axes.forEach(function(a){var d=t((a.crosshair||{}).snap,!0),g;d&&((g=b.hoverPoint)&&g.series[a.coll]===a||(g=c(h,function(b){return b.series[a.coll]===a})));g||!d?a.drawCrosshair(e,g):a.hideCrosshair()})};a.prototype.scaleGroups=function(a,c){var b=this.chart;b.series.forEach(function(e){var d=a||e.getPlotBox();e.group&&(e.xAxis&&e.xAxis.zoomEnabled||b.mapView)&&(e.group.attr(d),e.markerGroup&&(e.markerGroup.attr(d),
|
||||
e.markerGroup.clip(c?b.clipRect:null)),e.dataLabelsGroup&&e.dataLabelsGroup.attr(d))});b.clipRect.attr(c||b.clipBox)};a.prototype.setDOMEvents=function(){var c=this,e=this.chart.container,b=e.ownerDocument;e.onmousedown=this.onContainerMouseDown.bind(this);e.onmousemove=this.onContainerMouseMove.bind(this);e.onclick=this.onContainerClick.bind(this);this.eventsToUnbind.push(A(e,"mouseenter",this.onContainerMouseEnter.bind(this)));this.eventsToUnbind.push(A(e,"mouseleave",this.onContainerMouseLeave.bind(this)));
|
||||
a.unbindDocumentMouseUp||(a.unbindDocumentMouseUp=A(b,"mouseup",this.onDocumentMouseUp.bind(this)));for(var g=this.chart.renderTo.parentElement;g&&"BODY"!==g.tagName;)this.eventsToUnbind.push(A(g,"scroll",function(){delete c.chartPosition})),g=g.parentElement;u.hasTouch&&(this.eventsToUnbind.push(A(e,"touchstart",this.onContainerTouchStart.bind(this),{passive:!1})),this.eventsToUnbind.push(A(e,"touchmove",this.onContainerTouchMove.bind(this),{passive:!1})),a.unbindDocumentTouchEnd||(a.unbindDocumentTouchEnd=
|
||||
A(b,"touchend",this.onDocumentTouchEnd.bind(this),{passive:!1})))};a.prototype.setHoverChartIndex=function(){var c=this.chart,e=u.charts[t(a.hoverChartIndex,-1)];if(e&&e!==c)e.pointer.onContainerMouseLeave({relatedTarget:!0});e&&e.mouseIsDown||(a.hoverChartIndex=c.index)};a.prototype.touch=function(a,c){var b=this.chart,e;this.setHoverChartIndex();if(1===a.touches.length)if(a=this.normalize(a),(e=b.isInsidePlot(a.chartX-b.plotLeft,a.chartY-b.plotTop,{visiblePlotOnly:!0}))&&!b.openMenu){c&&this.runPointActions(a);
|
||||
if("touchmove"===a.type){c=this.pinchDown;var d=c[0]?4<=Math.sqrt(Math.pow(c[0].chartX-a.chartX,2)+Math.pow(c[0].chartY-a.chartY,2)):!1}t(d,!0)&&this.pinch(a)}else c&&this.reset();else 2===a.touches.length&&this.pinch(a)};a.prototype.touchSelect=function(a){return!(!this.chart.options.chart.zoomBySingleTouch||!a.touches||1!==a.touches.length)};a.prototype.zoomOption=function(a){var c=this.chart,b=c.options.chart;c=c.inverted;var e=b.zoomType||"";/touch/.test(a.type)&&(e=t(b.pinchType,e));this.zoomX=
|
||||
a=/x/.test(e);this.zoomY=b=/y/.test(e);this.zoomHor=a&&!c||b&&c;this.zoomVert=b&&!c||a&&c;this.hasZoom=a||b};return a}();"";return a});M(a,"Core/MSPointer.js",[a["Core/Globals.js"],a["Core/Pointer.js"],a["Core/Utilities.js"]],function(a,u,z){function v(){var a=[];a.item=function(a){return this[a]};c(f,function(c){a.push({pageX:c.pageX,pageY:c.pageY,target:c.target})});return a}function y(a,c,e,f){var h=H[u.hoverChartIndex||NaN];"touch"!==a.pointerType&&a.pointerType!==a.MSPOINTER_TYPE_TOUCH||!h||
|
||||
(h=h.pointer,f(a),h[c]({type:e,target:a.currentTarget,preventDefault:q,touches:v()}))}var G=this&&this.__extends||function(){var a=function(c,e){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,c){a.__proto__=c}||function(a,c){for(var e in c)c.hasOwnProperty(e)&&(a[e]=c[e])};return a(c,e)};return function(c,e){function f(){this.constructor=c}a(c,e);c.prototype=null===e?Object.create(e):(f.prototype=e.prototype,new f)}}(),H=a.charts,A=a.doc,q=a.noop,n=a.win,k=z.addEvent,e=z.css,
|
||||
c=z.objectEach,h=z.removeEvent,f={},w=!!n.PointerEvent;return function(c){function p(){return null!==c&&c.apply(this,arguments)||this}G(p,c);p.isRequired=function(){return!(a.hasTouch||!n.PointerEvent&&!n.MSPointerEvent)};p.prototype.batchMSEvents=function(a){a(this.chart.container,w?"pointerdown":"MSPointerDown",this.onContainerPointerDown);a(this.chart.container,w?"pointermove":"MSPointerMove",this.onContainerPointerMove);a(A,w?"pointerup":"MSPointerUp",this.onDocumentPointerUp)};p.prototype.destroy=
|
||||
function(){this.batchMSEvents(h);c.prototype.destroy.call(this)};p.prototype.init=function(a,f){c.prototype.init.call(this,a,f);this.hasZoom&&e(a.container,{"-ms-touch-action":"none","touch-action":"none"})};p.prototype.onContainerPointerDown=function(a){y(a,"onContainerTouchStart","touchstart",function(a){f[a.pointerId]={pageX:a.pageX,pageY:a.pageY,target:a.currentTarget}})};p.prototype.onContainerPointerMove=function(a){y(a,"onContainerTouchMove","touchmove",function(a){f[a.pointerId]={pageX:a.pageX,
|
||||
pageY:a.pageY};f[a.pointerId].target||(f[a.pointerId].target=a.currentTarget)})};p.prototype.onDocumentPointerUp=function(a){y(a,"onDocumentTouchEnd","touchend",function(a){delete f[a.pointerId]})};p.prototype.setDOMEvents=function(){c.prototype.setDOMEvents.call(this);(this.hasZoom||this.followTouchMove)&&this.batchMSEvents(k)};return p}(u)});M(a,"Core/Legend/Legend.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/FormatUtilities.js"],a["Core/Globals.js"],a["Core/Series/Point.js"],a["Core/Renderer/RendererUtilities.js"],
|
||||
a["Core/Utilities.js"]],function(a,u,z,F,y,G){var v=a.animObject,A=a.setAnimation,q=u.format;a=z.isFirefox;var n=z.marginNames;z=z.win;var k=y.distribute,e=G.addEvent,c=G.createElement,h=G.css,f=G.defined,w=G.discardElement,p=G.find,B=G.fireEvent,t=G.isNumber,J=G.merge,C=G.pick,r=G.relativeLength,l=G.stableSort,b=G.syncTimeout;y=G.wrap;G=function(){function a(b,a){this.allItems=[];this.contentGroup=this.box=void 0;this.display=!1;this.group=void 0;this.offsetWidth=this.maxLegendWidth=this.maxItemWidth=
|
||||
this.legendWidth=this.legendHeight=this.lastLineHeight=this.lastItemY=this.itemY=this.itemX=this.itemMarginTop=this.itemMarginBottom=this.itemHeight=this.initialItemY=0;this.options={};this.padding=0;this.pages=[];this.proximate=!1;this.scrollGroup=void 0;this.widthOption=this.totalItemWidth=this.titleHeight=this.symbolWidth=this.symbolHeight=0;this.chart=b;this.init(b,a)}a.prototype.init=function(b,a){this.chart=b;this.setOptions(a);a.enabled&&(this.render(),e(this.chart,"endResize",function(){this.legend.positionCheckboxes()}),
|
||||
this.proximate?this.unchartrender=e(this.chart,"render",function(){this.legend.proximatePositions();this.legend.positionItems()}):this.unchartrender&&this.unchartrender())};a.prototype.setOptions=function(b){var a=C(b.padding,8);this.options=b;this.chart.styledMode||(this.itemStyle=b.itemStyle,this.itemHiddenStyle=J(this.itemStyle,b.itemHiddenStyle));this.itemMarginTop=b.itemMarginTop||0;this.itemMarginBottom=b.itemMarginBottom||0;this.padding=a;this.initialItemY=a-5;this.symbolWidth=C(b.symbolWidth,
|
||||
16);this.pages=[];this.proximate="proximate"===b.layout&&!this.chart.inverted;this.baseline=void 0};a.prototype.update=function(b,a){var c=this.chart;this.setOptions(J(!0,this.options,b));this.destroy();c.isDirtyLegend=c.isDirtyBox=!0;C(a,!0)&&c.redraw();B(this,"afterUpdate")};a.prototype.colorizeItem=function(b,a){b.legendGroup[a?"removeClass":"addClass"]("highcharts-legend-item-hidden");if(!this.chart.styledMode){var c=this.options,d=b.legendItem,e=b.legendLine,g=b.legendSymbol,f=this.itemHiddenStyle.color;
|
||||
c=a?c.itemStyle.color:f;var m=a?b.color||f:f,h=b.options&&b.options.marker,l={fill:m};d&&d.css({fill:c,color:c});e&&e.attr({stroke:m});g&&(h&&g.isMarker&&(l=b.pointAttribs(),a||(l.stroke=l.fill=f)),g.attr(l))}B(this,"afterColorizeItem",{item:b,visible:a})};a.prototype.positionItems=function(){this.allItems.forEach(this.positionItem,this);this.chart.isResizing||this.positionCheckboxes()};a.prototype.positionItem=function(b){var a=this,c=this.options,d=c.symbolPadding,e=!c.rtl,g=b._legendItemPos;c=
|
||||
g[0];g=g[1];var h=b.checkbox,l=b.legendGroup;l&&l.element&&(d={translateX:e?c:this.legendWidth-c-2*d-4,translateY:g},e=function(){B(a,"afterPositionItem",{item:b})},f(l.translateY)?l.animate(d,void 0,e):(l.attr(d),e()));h&&(h.x=c,h.y=g)};a.prototype.destroyItem=function(b){var a=b.checkbox;["legendItem","legendLine","legendSymbol","legendGroup"].forEach(function(a){b[a]&&(b[a]=b[a].destroy())});a&&w(b.checkbox)};a.prototype.destroy=function(){function b(b){this[b]&&(this[b]=this[b].destroy())}this.getAllItems().forEach(function(a){["legendItem",
|
||||
"legendGroup"].forEach(b,a)});"clipRect up down pager nav box title group".split(" ").forEach(b,this);this.display=null};a.prototype.positionCheckboxes=function(){var b=this.group&&this.group.alignAttr,a=this.clipHeight||this.legendHeight,c=this.titleHeight;if(b){var e=b.translateY;this.allItems.forEach(function(d){var g=d.checkbox;if(g){var f=e+c+g.y+(this.scrollOffset||0)+3;h(g,{left:b.translateX+d.checkboxOffset+g.x-20+"px",top:f+"px",display:this.proximate||f>e-6&&f<e+a-6?"":"none"})}},this)}};
|
||||
a.prototype.renderTitle=function(){var b=this.options,a=this.padding,c=b.title,e=0;c.text&&(this.title||(this.title=this.chart.renderer.label(c.text,a-3,a-4,null,null,null,b.useHTML,null,"legend-title").attr({zIndex:1}),this.chart.styledMode||this.title.css(c.style),this.title.add(this.group)),c.width||this.title.css({width:this.maxLegendWidth+"px"}),b=this.title.getBBox(),e=b.height,this.offsetWidth=b.width,this.contentGroup.attr({translateY:e}));this.titleHeight=e};a.prototype.setText=function(b){var a=
|
||||
this.options;b.legendItem.attr({text:a.labelFormat?q(a.labelFormat,b,this.chart):a.labelFormatter.call(b)})};a.prototype.renderItem=function(b){var a=this.chart,c=a.renderer,d=this.options,e=this.symbolWidth,g=d.symbolPadding||0,f=this.itemStyle,h=this.itemHiddenStyle,l="horizontal"===d.layout?C(d.itemDistance,20):0,k=!d.rtl,p=!b.series,n=!p&&b.series.drawLegendSymbol?b.series:b,r=n.options,t=this.createCheckboxForItem&&r&&r.showCheckbox,q=d.useHTML,w=b.options.className,E=b.legendItem;r=e+g+l+(t?
|
||||
20:0);E||(b.legendGroup=c.g("legend-item").addClass("highcharts-"+n.type+"-series highcharts-color-"+b.colorIndex+(w?" "+w:"")+(p?" highcharts-series-"+b.index:"")).attr({zIndex:1}).add(this.scrollGroup),b.legendItem=E=c.text("",k?e+g:-g,this.baseline||0,q),a.styledMode||E.css(J(b.visible?f:h)),E.attr({align:k?"left":"right",zIndex:2}).add(b.legendGroup),this.baseline||(this.fontMetrics=c.fontMetrics(a.styledMode?12:f.fontSize,E),this.baseline=this.fontMetrics.f+3+this.itemMarginTop,E.attr("y",this.baseline),
|
||||
this.symbolHeight=d.symbolHeight||this.fontMetrics.f,d.squareSymbol&&(this.symbolWidth=C(d.symbolWidth,Math.max(this.symbolHeight,16)),r=this.symbolWidth+g+l+(t?20:0),k&&E.attr("x",this.symbolWidth+g))),n.drawLegendSymbol(this,b),this.setItemEvents&&this.setItemEvents(b,E,q));t&&!b.checkbox&&this.createCheckboxForItem&&this.createCheckboxForItem(b);this.colorizeItem(b,b.visible);!a.styledMode&&f.width||E.css({width:(d.itemWidth||this.widthOption||a.spacingBox.width)-r+"px"});this.setText(b);a=E.getBBox();
|
||||
c=this.fontMetrics&&this.fontMetrics.h||0;b.itemWidth=b.checkboxOffset=d.itemWidth||b.legendItemWidth||a.width+r;this.maxItemWidth=Math.max(this.maxItemWidth,b.itemWidth);this.totalItemWidth+=b.itemWidth;this.itemHeight=b.itemHeight=Math.round(b.legendItemHeight||(a.height>1.5*c?a.height:c))};a.prototype.layoutItem=function(b){var a=this.options,c=this.padding,d="horizontal"===a.layout,e=b.itemHeight,g=this.itemMarginBottom,f=this.itemMarginTop,h=d?C(a.itemDistance,20):0,l=this.maxLegendWidth;a=a.alignColumns&&
|
||||
this.totalItemWidth>l?this.maxItemWidth:b.itemWidth;d&&this.itemX-c+a>l&&(this.itemX=c,this.lastLineHeight&&(this.itemY+=f+this.lastLineHeight+g),this.lastLineHeight=0);this.lastItemY=f+this.itemY+g;this.lastLineHeight=Math.max(e,this.lastLineHeight);b._legendItemPos=[this.itemX,this.itemY];d?this.itemX+=a:(this.itemY+=f+e+g,this.lastLineHeight=e);this.offsetWidth=this.widthOption||Math.max((d?this.itemX-c-(b.checkbox?0:h):a)+c,this.offsetWidth)};a.prototype.getAllItems=function(){var b=[];this.chart.series.forEach(function(a){var c=
|
||||
a&&a.options;a&&C(c.showInLegend,f(c.linkedTo)?!1:void 0,!0)&&(b=b.concat(a.legendItems||("point"===c.legendType?a.data:a)))});B(this,"afterGetAllItems",{allItems:b});return b};a.prototype.getAlignment=function(){var b=this.options;return this.proximate?b.align.charAt(0)+"tv":b.floating?"":b.align.charAt(0)+b.verticalAlign.charAt(0)+b.layout.charAt(0)};a.prototype.adjustMargins=function(b,a){var c=this.chart,d=this.options,e=this.getAlignment();e&&[/(lth|ct|rth)/,/(rtv|rm|rbv)/,/(rbh|cb|lbh)/,/(lbv|lm|ltv)/].forEach(function(g,
|
||||
h){g.test(e)&&!f(b[h])&&(c[n[h]]=Math.max(c[n[h]],c.legend[(h+1)%2?"legendHeight":"legendWidth"]+[1,-1,-1,1][h]*d[h%2?"x":"y"]+C(d.margin,12)+a[h]+(c.titleOffset[h]||0)))})};a.prototype.proximatePositions=function(){var b=this.chart,a=[],c="left"===this.options.align;this.allItems.forEach(function(d){var e;var g=c;if(d.yAxis){d.xAxis.options.reversed&&(g=!g);d.points&&(e=p(g?d.points:d.points.slice(0).reverse(),function(b){return t(b.plotY)}));g=this.itemMarginTop+d.legendItem.getBBox().height+this.itemMarginBottom;
|
||||
var f=d.yAxis.top-b.plotTop;d.visible?(e=e?e.plotY:d.yAxis.height,e+=f-.3*g):e=f+d.yAxis.height;a.push({target:e,size:g,item:d})}},this);k(a,b.plotHeight).forEach(function(a){a.item._legendItemPos&&(a.item._legendItemPos[1]=b.plotTop-b.spacing[0]+a.pos)})};a.prototype.render=function(){var b=this.chart,a=b.renderer,c=this.options,e=this.padding,g=this.getAllItems(),f=this.group,h=this.box;this.itemX=e;this.itemY=this.initialItemY;this.lastItemY=this.offsetWidth=0;this.widthOption=r(c.width,b.spacingBox.width-
|
||||
e);var k=b.spacingBox.width-2*e-c.x;-1<["rm","lm"].indexOf(this.getAlignment().substring(0,2))&&(k/=2);this.maxLegendWidth=this.widthOption||k;f||(this.group=f=a.g("legend").addClass(c.className||"").attr({zIndex:7}).add(),this.contentGroup=a.g().attr({zIndex:1}).add(f),this.scrollGroup=a.g().add(this.contentGroup));this.renderTitle();l(g,function(b,a){return(b.options&&b.options.legendIndex||0)-(a.options&&a.options.legendIndex||0)});c.reversed&&g.reverse();this.allItems=g;this.display=k=!!g.length;
|
||||
this.itemHeight=this.totalItemWidth=this.maxItemWidth=this.lastLineHeight=0;g.forEach(this.renderItem,this);g.forEach(this.layoutItem,this);g=(this.widthOption||this.offsetWidth)+e;var p=this.lastItemY+this.lastLineHeight+this.titleHeight;p=this.handleOverflow(p);p+=e;h||(this.box=h=a.rect().addClass("highcharts-legend-box").attr({r:c.borderRadius}).add(f),h.isNew=!0);b.styledMode||h.attr({stroke:c.borderColor,"stroke-width":c.borderWidth||0,fill:c.backgroundColor||"none"}).shadow(c.shadow);0<g&&
|
||||
0<p&&(h[h.isNew?"attr":"animate"](h.crisp.call({},{x:0,y:0,width:g,height:p},h.strokeWidth())),h.isNew=!1);h[k?"show":"hide"]();b.styledMode&&"none"===f.getStyle("display")&&(g=p=0);this.legendWidth=g;this.legendHeight=p;k&&this.align();this.proximate||this.positionItems();B(this,"afterRender")};a.prototype.align=function(b){void 0===b&&(b=this.chart.spacingBox);var a=this.chart,c=this.options,d=b.y;/(lth|ct|rth)/.test(this.getAlignment())&&0<a.titleOffset[0]?d+=a.titleOffset[0]:/(lbh|cb|rbh)/.test(this.getAlignment())&&
|
||||
0<a.titleOffset[2]&&(d-=a.titleOffset[2]);d!==b.y&&(b=J(b,{y:d}));this.group.align(J(c,{width:this.legendWidth,height:this.legendHeight,verticalAlign:this.proximate?"top":c.verticalAlign}),!0,b)};a.prototype.handleOverflow=function(b){var a=this,c=this.chart,d=c.renderer,e=this.options,g=e.y,f="top"===e.verticalAlign,h=this.padding,l=e.maxHeight,k=e.navigation,p=C(k.animation,!0),n=k.arrowSize||12,r=this.pages,t=this.allItems,q=function(b){"number"===typeof b?v.attr({height:b}):v&&(a.clipRect=v.destroy(),
|
||||
a.contentGroup.clip());a.contentGroup.div&&(a.contentGroup.div.style.clip=b?"rect("+h+"px,9999px,"+(h+b)+"px,0)":"auto")},w=function(b){a[b]=d.circle(0,0,1.3*n).translate(n/2,n/2).add(N);c.styledMode||a[b].attr("fill","rgba(0,0,0,0.0001)");return a[b]},E,B;g=c.spacingBox.height+(f?-g:g)-h;var N=this.nav,v=this.clipRect;"horizontal"!==e.layout||"middle"===e.verticalAlign||e.floating||(g/=2);l&&(g=Math.min(g,l));r.length=0;b&&0<g&&b>g&&!1!==k.enabled?(this.clipHeight=E=Math.max(g-20-this.titleHeight-
|
||||
h,0),this.currentPage=C(this.currentPage,1),this.fullHeight=b,t.forEach(function(b,a){var c=b._legendItemPos[1],d=Math.round(b.legendItem.getBBox().height),e=r.length;if(!e||c-r[e-1]>E&&(B||c)!==r[e-1])r.push(B||c),e++;b.pageIx=e-1;B&&(t[a-1].pageIx=e-1);a===t.length-1&&c+d-r[e-1]>E&&d<=E&&(r.push(c),b.pageIx=e);c!==B&&(B=c)}),v||(v=a.clipRect=d.clipRect(0,h,9999,0),a.contentGroup.clip(v)),q(E),N||(this.nav=N=d.g().attr({zIndex:1}).add(this.group),this.up=d.symbol("triangle",0,0,n,n).add(N),w("upTracker").on("click",
|
||||
function(){a.scroll(-1,p)}),this.pager=d.text("",15,10).addClass("highcharts-legend-navigation"),c.styledMode||this.pager.css(k.style),this.pager.add(N),this.down=d.symbol("triangle-down",0,0,n,n).add(N),w("downTracker").on("click",function(){a.scroll(1,p)})),a.scroll(0),b=g):N&&(q(),this.nav=N.destroy(),this.scrollGroup.attr({translateY:1}),this.clipHeight=0);return b};a.prototype.scroll=function(a,c){var d=this,e=this.chart,g=this.pages,f=g.length,h=this.clipHeight,l=this.options.navigation,m=this.pager,
|
||||
k=this.padding,p=this.currentPage+a;p>f&&(p=f);0<p&&("undefined"!==typeof c&&A(c,e),this.nav.attr({translateX:k,translateY:h+this.padding+7+this.titleHeight,visibility:"visible"}),[this.up,this.upTracker].forEach(function(b){b.attr({"class":1===p?"highcharts-legend-nav-inactive":"highcharts-legend-nav-active"})}),m.attr({text:p+"/"+f}),[this.down,this.downTracker].forEach(function(b){b.attr({x:18+this.pager.getBBox().width,"class":p===f?"highcharts-legend-nav-inactive":"highcharts-legend-nav-active"})},
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||||
this),e.styledMode||(this.up.attr({fill:1===p?l.inactiveColor:l.activeColor}),this.upTracker.css({cursor:1===p?"default":"pointer"}),this.down.attr({fill:p===f?l.inactiveColor:l.activeColor}),this.downTracker.css({cursor:p===f?"default":"pointer"})),this.scrollOffset=-g[p-1]+this.initialItemY,this.scrollGroup.animate({translateY:this.scrollOffset}),this.currentPage=p,this.positionCheckboxes(),a=v(C(c,e.renderer.globalAnimation,!0)),b(function(){B(d,"afterScroll",{currentPage:p})},a.duration))};a.prototype.setItemEvents=
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function(b,a,c){var d=this,e=d.chart.renderer.boxWrapper,g=b instanceof F,f="highcharts-legend-"+(g?"point":"series")+"-active",h=d.chart.styledMode,l=function(a){d.allItems.forEach(function(c){b!==c&&[c].concat(c.linkedSeries||[]).forEach(function(b){b.setState(a,!g)})})};(c?[a,b.legendSymbol]:[b.legendGroup]).forEach(function(c){if(c)c.on("mouseover",function(){b.visible&&l("inactive");b.setState("hover");b.visible&&e.addClass(f);h||a.css(d.options.itemHoverStyle)}).on("mouseout",function(){d.chart.styledMode||
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a.css(J(b.visible?d.itemStyle:d.itemHiddenStyle));l("");e.removeClass(f);b.setState()}).on("click",function(a){var c=function(){b.setVisible&&b.setVisible();l(b.visible?"inactive":"")};e.removeClass(f);a={browserEvent:a};b.firePointEvent?b.firePointEvent("legendItemClick",a,c):B(b,"legendItemClick",a,c)})})};a.prototype.createCheckboxForItem=function(b){b.checkbox=c("input",{type:"checkbox",className:"highcharts-legend-checkbox",checked:b.selected,defaultChecked:b.selected},this.options.itemCheckboxStyle,
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this.chart.container);e(b.checkbox,"click",function(a){B(b.series||b,"checkboxClick",{checked:a.target.checked,item:b},function(){b.select()})})};return a}();(/Trident\/7\.0/.test(z.navigator&&z.navigator.userAgent)||a)&&y(G.prototype,"positionItem",function(b,a){var c=this,d=function(){a._legendItemPos&&b.call(c,a)};d();c.bubbleLegend||setTimeout(d)});"";return G});M(a,"Core/Series/SeriesRegistry.js",[a["Core/Globals.js"],a["Core/DefaultOptions.js"],a["Core/Series/Point.js"],a["Core/Utilities.js"]],
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function(a,u,z,F){var v=u.defaultOptions,G=F.error,H=F.extendClass,A=F.merge,q;(function(n){function k(a,c){var e=v.plotOptions||{},f=c.defaultOptions;c.prototype.pointClass||(c.prototype.pointClass=z);c.prototype.type=a;f&&(e[a]=f);n.seriesTypes[a]=c}n.seriesTypes=a.seriesTypes;n.getSeries=function(a,c){void 0===c&&(c={});var e=a.options.chart;e=c.type||e.type||e.defaultSeriesType||"";var f=n.seriesTypes[e];n||G(17,!0,a,{missingModuleFor:e});e=new f;"function"===typeof e.init&&e.init(a,c);return e};
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n.registerSeriesType=k;n.seriesType=function(a,c,h,f,q){var e=v.plotOptions||{};c=c||"";e[a]=A(e[c],h);k(a,H(n.seriesTypes[c]||function(){},f));n.seriesTypes[a].prototype.type=a;q&&(n.seriesTypes[a].prototype.pointClass=H(z,q));return n.seriesTypes[a]}})(q||(q={}));return q});M(a,"Core/Chart/Chart.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/Axis/Axis.js"],a["Core/FormatUtilities.js"],a["Core/Foundation.js"],a["Core/Globals.js"],a["Core/Legend/Legend.js"],a["Core/MSPointer.js"],a["Core/DefaultOptions.js"],
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a["Core/Pointer.js"],a["Core/Renderer/RendererRegistry.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Renderer/SVG/SVGRenderer.js"],a["Core/Time.js"],a["Core/Utilities.js"],a["Core/Renderer/HTML/AST.js"]],function(a,u,z,F,y,G,H,A,q,n,k,e,c,h,f){var w=a.animate,p=a.animObject,B=a.setAnimation,t=z.numberFormat,v=F.registerEventOptions,C=y.charts,r=y.doc,l=y.marginNames,b=y.svg,g=y.win,d=A.defaultOptions,m=A.defaultTime,D=k.seriesTypes,x=h.addEvent,I=h.attr,P=h.cleanRecursively,S=h.createElement,O=
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h.css,U=h.defined,Y=h.discardElement,L=h.erase,K=h.error,M=h.extend,da=h.find,Q=h.fireEvent,ea=h.getStyle,E=h.isArray,T=h.isNumber,N=h.isObject,V=h.isString,W=h.merge,X=h.objectEach,R=h.pick,fa=h.pInt,aa=h.relativeLength,ia=h.removeEvent,ha=h.splat,ba=h.syncTimeout,ka=h.uniqueKey;a=function(){function a(b,a,c){this.series=this.renderTo=this.renderer=this.pointer=this.pointCount=this.plotWidth=this.plotTop=this.plotLeft=this.plotHeight=this.plotBox=this.options=this.numberFormatter=this.margin=this.legend=
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||||
this.labelCollectors=this.isResizing=this.index=this.eventOptions=this.container=this.colorCounter=this.clipBox=this.chartWidth=this.chartHeight=this.bounds=this.axisOffset=this.axes=void 0;this.sharedClips={};this.yAxis=this.xAxis=this.userOptions=this.titleOffset=this.time=this.symbolCounter=this.spacingBox=this.spacing=void 0;this.getArgs(b,a,c)}a.chart=function(b,c,d){return new a(b,c,d)};a.prototype.getArgs=function(b,a,c){V(b)||b.nodeName?(this.renderTo=b,this.init(a,c)):this.init(b,a)};a.prototype.init=
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function(b,a){var e=b.plotOptions||{};Q(this,"init",{args:arguments},function(){var g=W(d,b),f=g.chart;X(g.plotOptions,function(b,a){N(b)&&(b.tooltip=e[a]&&W(e[a].tooltip)||void 0)});g.tooltip.userOptions=b.chart&&b.chart.forExport&&b.tooltip.userOptions||b.tooltip;this.userOptions=b;this.margin=[];this.spacing=[];this.bounds={h:{},v:{}};this.labelCollectors=[];this.callback=a;this.isResizing=0;this.options=g;this.axes=[];this.series=[];this.time=b.time&&Object.keys(b.time).length?new c(b.time):y.time;
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this.numberFormatter=f.numberFormatter||t;this.styledMode=f.styledMode;this.hasCartesianSeries=f.showAxes;this.index=C.length;C.push(this);y.chartCount++;v(this,f);this.xAxis=[];this.yAxis=[];this.pointCount=this.colorCounter=this.symbolCounter=0;Q(this,"afterInit");this.firstRender()})};a.prototype.initSeries=function(b){var a=this.options.chart;a=b.type||a.type||a.defaultSeriesType;var c=D[a];c||K(17,!0,this,{missingModuleFor:a});a=new c;"function"===typeof a.init&&a.init(this,b);return a};a.prototype.setSeriesData=
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function(){this.getSeriesOrderByLinks().forEach(function(b){b.points||b.data||!b.enabledDataSorting||b.setData(b.options.data,!1)})};a.prototype.getSeriesOrderByLinks=function(){return this.series.concat().sort(function(b,a){return b.linkedSeries.length||a.linkedSeries.length?a.linkedSeries.length-b.linkedSeries.length:0})};a.prototype.orderSeries=function(b){var a=this.series;b=b||0;for(var c=a.length;b<c;++b)a[b]&&(a[b].index=b,a[b].name=a[b].getName())};a.prototype.isInsidePlot=function(b,a,c){void 0===
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c&&(c={});var d=this.inverted,e=this.plotBox,g=this.plotLeft,f=this.plotTop,h=this.scrollablePlotBox,l=0;var k=0;c.visiblePlotOnly&&this.scrollingContainer&&(k=this.scrollingContainer,l=k.scrollLeft,k=k.scrollTop);var m=c.series;e=c.visiblePlotOnly&&h||e;h=c.inverted?a:b;a=c.inverted?b:a;b={x:h,y:a,isInsidePlot:!0};if(!c.ignoreX){var p=m&&(d?m.yAxis:m.xAxis)||{pos:g,len:Infinity};h=c.paneCoordinates?p.pos+h:g+h;h>=Math.max(l+g,p.pos)&&h<=Math.min(l+g+e.width,p.pos+p.len)||(b.isInsidePlot=!1)}!c.ignoreY&&
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b.isInsidePlot&&(d=m&&(d?m.xAxis:m.yAxis)||{pos:f,len:Infinity},c=c.paneCoordinates?d.pos+a:f+a,c>=Math.max(k+f,d.pos)&&c<=Math.min(k+f+e.height,d.pos+d.len)||(b.isInsidePlot=!1));Q(this,"afterIsInsidePlot",b);return b.isInsidePlot};a.prototype.redraw=function(b){Q(this,"beforeRedraw");var a=this.hasCartesianSeries?this.axes:this.colorAxis||[],c=this.series,d=this.pointer,e=this.legend,g=this.userOptions.legend,f=this.renderer,h=f.isHidden(),l=[],k=this.isDirtyBox,m=this.isDirtyLegend;this.setResponsive&&
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this.setResponsive(!1);B(this.hasRendered?b:!1,this);h&&this.temporaryDisplay();this.layOutTitles();for(b=c.length;b--;){var p=c[b];if(p.options.stacking||p.options.centerInCategory){var n=!0;if(p.isDirty){var E=!0;break}}}if(E)for(b=c.length;b--;)p=c[b],p.options.stacking&&(p.isDirty=!0);c.forEach(function(b){b.isDirty&&("point"===b.options.legendType?("function"===typeof b.updateTotals&&b.updateTotals(),m=!0):g&&(g.labelFormatter||g.labelFormat)&&(m=!0));b.isDirtyData&&Q(b,"updatedData")});m&&e&&
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e.options.enabled&&(e.render(),this.isDirtyLegend=!1);n&&this.getStacks();a.forEach(function(b){b.updateNames();b.setScale()});this.getMargins();a.forEach(function(b){b.isDirty&&(k=!0)});a.forEach(function(b){var a=b.min+","+b.max;b.extKey!==a&&(b.extKey=a,l.push(function(){Q(b,"afterSetExtremes",M(b.eventArgs,b.getExtremes()));delete b.eventArgs}));(k||n)&&b.redraw()});k&&this.drawChartBox();Q(this,"predraw");c.forEach(function(b){(k||b.isDirty)&&b.visible&&b.redraw();b.isDirtyData=!1});d&&d.reset(!0);
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f.draw();Q(this,"redraw");Q(this,"render");h&&this.temporaryDisplay(!0);l.forEach(function(b){b.call()})};a.prototype.get=function(b){function a(a){return a.id===b||a.options&&a.options.id===b}for(var c=this.series,d=da(this.axes,a)||da(this.series,a),e=0;!d&&e<c.length;e++)d=da(c[e].points||[],a);return d};a.prototype.getAxes=function(){var b=this,a=this.options,c=a.xAxis=ha(a.xAxis||{});a=a.yAxis=ha(a.yAxis||{});Q(this,"getAxes");c.forEach(function(b,a){b.index=a;b.isX=!0});a.forEach(function(b,
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a){b.index=a});c.concat(a).forEach(function(a){new u(b,a)});Q(this,"afterGetAxes")};a.prototype.getSelectedPoints=function(){return this.series.reduce(function(b,a){a.getPointsCollection().forEach(function(a){R(a.selectedStaging,a.selected)&&b.push(a)});return b},[])};a.prototype.getSelectedSeries=function(){return this.series.filter(function(b){return b.selected})};a.prototype.setTitle=function(b,a,c){this.applyDescription("title",b);this.applyDescription("subtitle",a);this.applyDescription("caption",
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void 0);this.layOutTitles(c)};a.prototype.applyDescription=function(b,a){var c=this,d="title"===b?{color:"#333333",fontSize:this.options.isStock?"16px":"18px"}:{color:"#666666"};d=this.options[b]=W(!this.styledMode&&{style:d},this.options[b],a);var e=this[b];e&&a&&(this[b]=e=e.destroy());d&&!e&&(e=this.renderer.text(d.text,0,0,d.useHTML).attr({align:d.align,"class":"highcharts-"+b,zIndex:d.zIndex||4}).add(),e.update=function(a){c[{title:"setTitle",subtitle:"setSubtitle",caption:"setCaption"}[b]](a)},
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this.styledMode||e.css(d.style),this[b]=e)};a.prototype.layOutTitles=function(b){var a=[0,0,0],c=this.renderer,d=this.spacingBox;["title","subtitle","caption"].forEach(function(b){var e=this[b],g=this.options[b],f=g.verticalAlign||"top";b="title"===b?"top"===f?-3:0:"top"===f?a[0]+2:0;var h;if(e){this.styledMode||(h=g.style&&g.style.fontSize);h=c.fontMetrics(h,e).b;e.css({width:(g.width||d.width+(g.widthAdjust||0))+"px"});var l=Math.round(e.getBBox(g.useHTML).height);e.align(M({y:"bottom"===f?h:b+
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h,height:l},g),!1,"spacingBox");g.floating||("top"===f?a[0]=Math.ceil(a[0]+l):"bottom"===f&&(a[2]=Math.ceil(a[2]+l)))}},this);a[0]&&"top"===(this.options.title.verticalAlign||"top")&&(a[0]+=this.options.title.margin);a[2]&&"bottom"===this.options.caption.verticalAlign&&(a[2]+=this.options.caption.margin);var e=!this.titleOffset||this.titleOffset.join(",")!==a.join(",");this.titleOffset=a;Q(this,"afterLayOutTitles");!this.isDirtyBox&&e&&(this.isDirtyBox=this.isDirtyLegend=e,this.hasRendered&&R(b,!0)&&
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this.isDirtyBox&&this.redraw())};a.prototype.getChartSize=function(){var b=this.options.chart,a=b.width;b=b.height;var c=this.renderTo;U(a)||(this.containerWidth=ea(c,"width"));U(b)||(this.containerHeight=ea(c,"height"));this.chartWidth=Math.max(0,a||this.containerWidth||600);this.chartHeight=Math.max(0,aa(b,this.chartWidth)||(1<this.containerHeight?this.containerHeight:400))};a.prototype.temporaryDisplay=function(b){var a=this.renderTo;if(b)for(;a&&a.style;)a.hcOrigStyle&&(O(a,a.hcOrigStyle),delete a.hcOrigStyle),
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a.hcOrigDetached&&(r.body.removeChild(a),a.hcOrigDetached=!1),a=a.parentNode;else for(;a&&a.style;){r.body.contains(a)||a.parentNode||(a.hcOrigDetached=!0,r.body.appendChild(a));if("none"===ea(a,"display",!1)||a.hcOricDetached)a.hcOrigStyle={display:a.style.display,height:a.style.height,overflow:a.style.overflow},b={display:"block",overflow:"hidden"},a!==this.renderTo&&(b.height=0),O(a,b),a.offsetWidth||a.style.setProperty("display","block","important");a=a.parentNode;if(a===r.body)break}};a.prototype.setClassName=
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function(b){this.container.className="highcharts-container "+(b||"")};a.prototype.getContainer=function(){var a=this.options,c=a.chart,d=ka(),g,h=this.renderTo;h||(this.renderTo=h=c.renderTo);V(h)&&(this.renderTo=h=r.getElementById(h));h||K(13,!0,this);var l=fa(I(h,"data-highcharts-chart"));T(l)&&C[l]&&C[l].hasRendered&&C[l].destroy();I(h,"data-highcharts-chart",this.index);h.innerHTML=f.emptyHTML;c.skipClone||h.offsetWidth||this.temporaryDisplay();this.getChartSize();l=this.chartWidth;var k=this.chartHeight;
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O(h,{overflow:"hidden"});this.styledMode||(g=M({position:"relative",overflow:"hidden",width:l+"px",height:k+"px",textAlign:"left",lineHeight:"normal",zIndex:0,"-webkit-tap-highlight-color":"rgba(0,0,0,0)",userSelect:"none","touch-action":"manipulation",outline:"none"},c.style||{}));this.container=d=S("div",{id:d},g,h);this._cursor=d.style.cursor;this.renderer=new (c.renderer||!b?n.getRendererType(c.renderer):e)(d,l,k,void 0,c.forExport,a.exporting&&a.exporting.allowHTML,this.styledMode);B(void 0,
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this);this.setClassName(c.className);if(this.styledMode)for(var m in a.defs)this.renderer.definition(a.defs[m]);else this.renderer.setStyle(c.style);this.renderer.chartIndex=this.index;Q(this,"afterGetContainer")};a.prototype.getMargins=function(b){var a=this.spacing,c=this.margin,d=this.titleOffset;this.resetMargins();d[0]&&!U(c[0])&&(this.plotTop=Math.max(this.plotTop,d[0]+a[0]));d[2]&&!U(c[2])&&(this.marginBottom=Math.max(this.marginBottom,d[2]+a[2]));this.legend&&this.legend.display&&this.legend.adjustMargins(c,
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||||
a);Q(this,"getMargins");b||this.getAxisMargins()};a.prototype.getAxisMargins=function(){var b=this,a=b.axisOffset=[0,0,0,0],c=b.colorAxis,d=b.margin,e=function(b){b.forEach(function(b){b.visible&&b.getOffset()})};b.hasCartesianSeries?e(b.axes):c&&c.length&&e(c);l.forEach(function(c,e){U(d[e])||(b[c]+=a[e])});b.setChartSize()};a.prototype.reflow=function(b){var a=this,c=a.options.chart,d=a.renderTo,e=U(c.width)&&U(c.height),f=c.width||ea(d,"width");c=c.height||ea(d,"height");d=b?b.target:g;delete a.pointer.chartPosition;
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||||
if(!e&&!a.isPrinting&&f&&c&&(d===g||d===r)){if(f!==a.containerWidth||c!==a.containerHeight)h.clearTimeout(a.reflowTimeout),a.reflowTimeout=ba(function(){a.container&&a.setSize(void 0,void 0,!1)},b?100:0);a.containerWidth=f;a.containerHeight=c}};a.prototype.setReflow=function(b){var a=this;!1===b||this.unbindReflow?!1===b&&this.unbindReflow&&(this.unbindReflow=this.unbindReflow()):(this.unbindReflow=x(g,"resize",function(b){a.options&&a.reflow(b)}),x(this,"destroy",this.unbindReflow))};a.prototype.setSize=
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||||
function(b,a,c){var d=this,e=d.renderer;d.isResizing+=1;B(c,d);c=e.globalAnimation;d.oldChartHeight=d.chartHeight;d.oldChartWidth=d.chartWidth;"undefined"!==typeof b&&(d.options.chart.width=b);"undefined"!==typeof a&&(d.options.chart.height=a);d.getChartSize();d.styledMode||(c?w:O)(d.container,{width:d.chartWidth+"px",height:d.chartHeight+"px"},c);d.setChartSize(!0);e.setSize(d.chartWidth,d.chartHeight,c);d.axes.forEach(function(b){b.isDirty=!0;b.setScale()});d.isDirtyLegend=!0;d.isDirtyBox=!0;d.layOutTitles();
|
||||
d.getMargins();d.redraw(c);d.oldChartHeight=null;Q(d,"resize");ba(function(){d&&Q(d,"endResize",null,function(){--d.isResizing})},p(c).duration)};a.prototype.setChartSize=function(b){var a=this.inverted,c=this.renderer,d=this.chartWidth,e=this.chartHeight,g=this.options.chart,f=this.spacing,h=this.clipOffset,l,k,m,p;this.plotLeft=l=Math.round(this.plotLeft);this.plotTop=k=Math.round(this.plotTop);this.plotWidth=m=Math.max(0,Math.round(d-l-this.marginRight));this.plotHeight=p=Math.max(0,Math.round(e-
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||||
k-this.marginBottom));this.plotSizeX=a?p:m;this.plotSizeY=a?m:p;this.plotBorderWidth=g.plotBorderWidth||0;this.spacingBox=c.spacingBox={x:f[3],y:f[0],width:d-f[3]-f[1],height:e-f[0]-f[2]};this.plotBox=c.plotBox={x:l,y:k,width:m,height:p};a=2*Math.floor(this.plotBorderWidth/2);d=Math.ceil(Math.max(a,h[3])/2);e=Math.ceil(Math.max(a,h[0])/2);this.clipBox={x:d,y:e,width:Math.floor(this.plotSizeX-Math.max(a,h[1])/2-d),height:Math.max(0,Math.floor(this.plotSizeY-Math.max(a,h[2])/2-e))};b||(this.axes.forEach(function(b){b.setAxisSize();
|
||||
b.setAxisTranslation()}),c.alignElements());Q(this,"afterSetChartSize",{skipAxes:b})};a.prototype.resetMargins=function(){Q(this,"resetMargins");var b=this,a=b.options.chart;["margin","spacing"].forEach(function(c){var d=a[c],e=N(d)?d:[d,d,d,d];["Top","Right","Bottom","Left"].forEach(function(d,g){b[c][g]=R(a[c+d],e[g])})});l.forEach(function(a,c){b[a]=R(b.margin[c],b.spacing[c])});b.axisOffset=[0,0,0,0];b.clipOffset=[0,0,0,0]};a.prototype.drawChartBox=function(){var b=this.options.chart,a=this.renderer,
|
||||
c=this.chartWidth,d=this.chartHeight,e=this.styledMode,g=this.plotBGImage,f=b.backgroundColor,h=b.plotBackgroundColor,l=b.plotBackgroundImage,k=this.plotLeft,m=this.plotTop,p=this.plotWidth,n=this.plotHeight,E=this.plotBox,r=this.clipRect,t=this.clipBox,q=this.chartBackground,N=this.plotBackground,w=this.plotBorder,B,C="animate";q||(this.chartBackground=q=a.rect().addClass("highcharts-background").add(),C="attr");if(e)var x=B=q.strokeWidth();else{x=b.borderWidth||0;B=x+(b.shadow?8:0);f={fill:f||"none"};
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||||
if(x||q["stroke-width"])f.stroke=b.borderColor,f["stroke-width"]=x;q.attr(f).shadow(b.shadow)}q[C]({x:B/2,y:B/2,width:c-B-x%2,height:d-B-x%2,r:b.borderRadius});C="animate";N||(C="attr",this.plotBackground=N=a.rect().addClass("highcharts-plot-background").add());N[C](E);e||(N.attr({fill:h||"none"}).shadow(b.plotShadow),l&&(g?(l!==g.attr("href")&&g.attr("href",l),g.animate(E)):this.plotBGImage=a.image(l,k,m,p,n).add()));r?r.animate({width:t.width,height:t.height}):this.clipRect=a.clipRect(t);C="animate";
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||||
w||(C="attr",this.plotBorder=w=a.rect().addClass("highcharts-plot-border").attr({zIndex:1}).add());e||w.attr({stroke:b.plotBorderColor,"stroke-width":b.plotBorderWidth||0,fill:"none"});w[C](w.crisp({x:k,y:m,width:p,height:n},-w.strokeWidth()));this.isDirtyBox=!1;Q(this,"afterDrawChartBox")};a.prototype.propFromSeries=function(){var b=this,a=b.options.chart,c=b.options.series,d,e,g;["inverted","angular","polar"].forEach(function(f){e=D[a.type||a.defaultSeriesType];g=a[f]||e&&e.prototype[f];for(d=c&&
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||||
c.length;!g&&d--;)(e=D[c[d].type])&&e.prototype[f]&&(g=!0);b[f]=g})};a.prototype.linkSeries=function(){var b=this,a=b.series;a.forEach(function(b){b.linkedSeries.length=0});a.forEach(function(a){var c=a.options.linkedTo;V(c)&&(c=":previous"===c?b.series[a.index-1]:b.get(c))&&c.linkedParent!==a&&(c.linkedSeries.push(a),a.linkedParent=c,c.enabledDataSorting&&a.setDataSortingOptions(),a.visible=R(a.options.visible,c.options.visible,a.visible))});Q(this,"afterLinkSeries")};a.prototype.renderSeries=function(){this.series.forEach(function(b){b.translate();
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b.render()})};a.prototype.renderLabels=function(){var b=this,a=b.options.labels;a.items&&a.items.forEach(function(c){var d=M(a.style,c.style),e=fa(d.left)+b.plotLeft,g=fa(d.top)+b.plotTop+12;delete d.left;delete d.top;b.renderer.text(c.html,e,g).attr({zIndex:2}).css(d).add()})};a.prototype.render=function(){var b=this.axes,a=this.colorAxis,c=this.renderer,d=this.options,e=function(b){b.forEach(function(b){b.visible&&b.render()})},g=0;this.setTitle();this.legend=new G(this,d.legend);this.getStacks&&
|
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this.getStacks();this.getMargins(!0);this.setChartSize();d=this.plotWidth;b.some(function(b){if(b.horiz&&b.visible&&b.options.labels.enabled&&b.series.length)return g=21,!0});var f=this.plotHeight=Math.max(this.plotHeight-g,0);b.forEach(function(b){b.setScale()});this.getAxisMargins();var h=1.1<d/this.plotWidth,l=1.05<f/this.plotHeight;if(h||l)b.forEach(function(b){(b.horiz&&h||!b.horiz&&l)&&b.setTickInterval(!0)}),this.getMargins();this.drawChartBox();this.hasCartesianSeries?e(b):a&&a.length&&e(a);
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this.seriesGroup||(this.seriesGroup=c.g("series-group").attr({zIndex:3}).add());this.renderSeries();this.renderLabels();this.addCredits();this.setResponsive&&this.setResponsive();this.hasRendered=!0};a.prototype.addCredits=function(b){var a=this,c=W(!0,this.options.credits,b);c.enabled&&!this.credits&&(this.credits=this.renderer.text(c.text+(this.mapCredits||""),0,0).addClass("highcharts-credits").on("click",function(){c.href&&(g.location.href=c.href)}).attr({align:c.position.align,zIndex:8}),a.styledMode||
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this.credits.css(c.style),this.credits.add().align(c.position),this.credits.update=function(b){a.credits=a.credits.destroy();a.addCredits(b)})};a.prototype.destroy=function(){var b=this,a=b.axes,c=b.series,d=b.container,e=d&&d.parentNode,g;Q(b,"destroy");b.renderer.forExport?L(C,b):C[b.index]=void 0;y.chartCount--;b.renderTo.removeAttribute("data-highcharts-chart");ia(b);for(g=a.length;g--;)a[g]=a[g].destroy();this.scroller&&this.scroller.destroy&&this.scroller.destroy();for(g=c.length;g--;)c[g]=
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c[g].destroy();"title subtitle chartBackground plotBackground plotBGImage plotBorder seriesGroup clipRect credits pointer rangeSelector legend resetZoomButton tooltip renderer".split(" ").forEach(function(a){var c=b[a];c&&c.destroy&&(b[a]=c.destroy())});d&&(d.innerHTML=f.emptyHTML,ia(d),e&&Y(d));X(b,function(a,c){delete b[c]})};a.prototype.firstRender=function(){var b=this,a=b.options;if(!b.isReadyToRender||b.isReadyToRender()){b.getContainer();b.resetMargins();b.setChartSize();b.propFromSeries();
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b.getAxes();(E(a.series)?a.series:[]).forEach(function(a){b.initSeries(a)});b.linkSeries();b.setSeriesData();Q(b,"beforeRender");q&&(H.isRequired()?b.pointer=new H(b,a):b.pointer=new q(b,a));b.render();b.pointer.getChartPosition();if(!b.renderer.imgCount&&!b.hasLoaded)b.onload();b.temporaryDisplay(!0)}};a.prototype.onload=function(){this.callbacks.concat([this.callback]).forEach(function(b){b&&"undefined"!==typeof this.index&&b.apply(this,[this])},this);Q(this,"load");Q(this,"render");U(this.index)&&
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this.setReflow(this.options.chart.reflow);this.hasLoaded=!0};a.prototype.addSeries=function(b,a,c){var d=this,e;b&&(a=R(a,!0),Q(d,"addSeries",{options:b},function(){e=d.initSeries(b);d.isDirtyLegend=!0;d.linkSeries();e.enabledDataSorting&&e.setData(b.data,!1);Q(d,"afterAddSeries",{series:e});a&&d.redraw(c)}));return e};a.prototype.addAxis=function(b,a,c,d){return this.createAxis(a?"xAxis":"yAxis",{axis:b,redraw:c,animation:d})};a.prototype.addColorAxis=function(b,a,c){return this.createAxis("colorAxis",
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{axis:b,redraw:a,animation:c})};a.prototype.createAxis=function(b,a){b=new u(this,W(a.axis,{index:this[b].length,isX:"xAxis"===b}));R(a.redraw,!0)&&this.redraw(a.animation);return b};a.prototype.showLoading=function(b){var a=this,c=a.options,d=c.loading,e=function(){g&&O(g,{left:a.plotLeft+"px",top:a.plotTop+"px",width:a.plotWidth+"px",height:a.plotHeight+"px"})},g=a.loadingDiv,h=a.loadingSpan;g||(a.loadingDiv=g=S("div",{className:"highcharts-loading highcharts-loading-hidden"},null,a.container));
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h||(a.loadingSpan=h=S("span",{className:"highcharts-loading-inner"},null,g),x(a,"redraw",e));g.className="highcharts-loading";f.setElementHTML(h,R(b,c.lang.loading,""));a.styledMode||(O(g,M(d.style,{zIndex:10})),O(h,d.labelStyle),a.loadingShown||(O(g,{opacity:0,display:""}),w(g,{opacity:d.style.opacity||.5},{duration:d.showDuration||0})));a.loadingShown=!0;e()};a.prototype.hideLoading=function(){var b=this.options,a=this.loadingDiv;a&&(a.className="highcharts-loading highcharts-loading-hidden",this.styledMode||
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w(a,{opacity:0},{duration:b.loading.hideDuration||100,complete:function(){O(a,{display:"none"})}}));this.loadingShown=!1};a.prototype.update=function(b,a,d,e){var g=this,f={credits:"addCredits",title:"setTitle",subtitle:"setSubtitle",caption:"setCaption"},h=b.isResponsiveOptions,l=[],k,p;Q(g,"update",{options:b});h||g.setResponsive(!1,!0);b=P(b,g.options);g.userOptions=W(g.userOptions,b);var n=b.chart;if(n){W(!0,g.options.chart,n);"className"in n&&g.setClassName(n.className);"reflow"in n&&g.setReflow(n.reflow);
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if("inverted"in n||"polar"in n||"type"in n){g.propFromSeries();var E=!0}"alignTicks"in n&&(E=!0);"events"in n&&v(this,n);X(n,function(b,a){-1!==g.propsRequireUpdateSeries.indexOf("chart."+a)&&(k=!0);-1!==g.propsRequireDirtyBox.indexOf(a)&&(g.isDirtyBox=!0);-1!==g.propsRequireReflow.indexOf(a)&&(h?g.isDirtyBox=!0:p=!0)});!g.styledMode&&n.style&&g.renderer.setStyle(g.options.chart.style||{})}!g.styledMode&&b.colors&&(this.options.colors=b.colors);b.time&&(this.time===m&&(this.time=new c(b.time)),W(!0,
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||||
g.options.time,b.time));X(b,function(a,c){if(g[c]&&"function"===typeof g[c].update)g[c].update(a,!1);else if("function"===typeof g[f[c]])g[f[c]](a);else"colors"!==c&&-1===g.collectionsWithUpdate.indexOf(c)&&W(!0,g.options[c],b[c]);"chart"!==c&&-1!==g.propsRequireUpdateSeries.indexOf(c)&&(k=!0)});this.collectionsWithUpdate.forEach(function(a){if(b[a]){var c=[];g[a].forEach(function(b,a){b.options.isInternal||c.push(R(b.options.index,a))});ha(b[a]).forEach(function(b,e){var f=U(b.id),h;f&&(h=g.get(b.id));
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||||
!h&&g[a]&&(h=g[a][c?c[e]:e])&&f&&U(h.options.id)&&(h=void 0);h&&h.coll===a&&(h.update(b,!1),d&&(h.touched=!0));!h&&d&&g.collectionsWithInit[a]&&(g.collectionsWithInit[a][0].apply(g,[b].concat(g.collectionsWithInit[a][1]||[]).concat([!1])).touched=!0)});d&&g[a].forEach(function(b){b.touched||b.options.isInternal?delete b.touched:l.push(b)})}});l.forEach(function(b){b.chart&&b.remove&&b.remove(!1)});E&&g.axes.forEach(function(b){b.update({},!1)});k&&g.getSeriesOrderByLinks().forEach(function(b){b.chart&&
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b.update({},!1)},this);E=n&&n.width;n=n&&(V(n.height)?aa(n.height,E||g.chartWidth):n.height);p||T(E)&&E!==g.chartWidth||T(n)&&n!==g.chartHeight?g.setSize(E,n,e):R(a,!0)&&g.redraw(e);Q(g,"afterUpdate",{options:b,redraw:a,animation:e})};a.prototype.setSubtitle=function(b,a){this.applyDescription("subtitle",b);this.layOutTitles(a)};a.prototype.setCaption=function(b,a){this.applyDescription("caption",b);this.layOutTitles(a)};a.prototype.showResetZoom=function(){function b(){a.zoomOut()}var a=this,c=d.lang,
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||||
e=a.options.chart.resetZoomButton,g=e.theme,f=g.states,h="chart"===e.relativeTo||"spacingBox"===e.relativeTo?null:"scrollablePlotBox";Q(this,"beforeShowResetZoom",null,function(){a.resetZoomButton=a.renderer.button(c.resetZoom,null,null,b,g,f&&f.hover).attr({align:e.position.align,title:c.resetZoomTitle}).addClass("highcharts-reset-zoom").add().align(e.position,!1,h)});Q(this,"afterShowResetZoom")};a.prototype.zoomOut=function(){Q(this,"selection",{resetSelection:!0},this.zoom)};a.prototype.zoom=
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||||
function(b){var a=this,c=a.pointer,d=a.inverted?c.mouseDownX:c.mouseDownY,e=!1,g;!b||b.resetSelection?(a.axes.forEach(function(b){g=b.zoom()}),c.initiated=!1):b.xAxis.concat(b.yAxis).forEach(function(b){var f=b.axis,h=a.inverted?f.left:f.top,l=a.inverted?h+f.width:h+f.height,k=f.isXAxis,m=!1;if(!k&&d>=h&&d<=l||k||!U(d))m=!0;c[k?"zoomX":"zoomY"]&&m&&(g=f.zoom(b.min,b.max),f.displayBtn&&(e=!0))});var f=a.resetZoomButton;e&&!f?a.showResetZoom():!e&&N(f)&&(a.resetZoomButton=f.destroy());g&&a.redraw(R(a.options.chart.animation,
|
||||
b&&b.animation,100>a.pointCount))};a.prototype.pan=function(b,a){var c=this,d=c.hoverPoints;a="object"===typeof a?a:{enabled:a,type:"x"};var e=c.options.chart,g=c.options.mapNavigation&&c.options.mapNavigation.enabled;e&&e.panning&&(e.panning=a);var f=a.type,h;Q(this,"pan",{originalEvent:b},function(){d&&d.forEach(function(b){b.setState()});var a=c.xAxis;"xy"===f?a=a.concat(c.yAxis):"y"===f&&(a=c.yAxis);var e={};a.forEach(function(a){if(a.options.panningEnabled&&!a.options.isInternal){var d=a.horiz,
|
||||
l=b[d?"chartX":"chartY"];d=d?"mouseDownX":"mouseDownY";var k=c[d],m=a.minPointOffset||0,p=a.reversed&&!c.inverted||!a.reversed&&c.inverted?-1:1,n=a.getExtremes(),E=a.toValue(k-l,!0)+m*p,r=a.toValue(k+a.len-l,!0)-(m*p||a.isXAxis&&a.pointRangePadding||0),t=r<E;p=a.hasVerticalPanning();k=t?r:E;E=t?E:r;var q=a.panningState;!p||a.isXAxis||q&&!q.isDirty||a.series.forEach(function(b){var a=b.getProcessedData(!0);a=b.getExtremes(a.yData,!0);q||(q={startMin:Number.MAX_VALUE,startMax:-Number.MAX_VALUE});T(a.dataMin)&&
|
||||
T(a.dataMax)&&(q.startMin=Math.min(R(b.options.threshold,Infinity),a.dataMin,q.startMin),q.startMax=Math.max(R(b.options.threshold,-Infinity),a.dataMax,q.startMax))});p=Math.min(R(q&&q.startMin,n.dataMin),m?n.min:a.toValue(a.toPixels(n.min)-a.minPixelPadding));r=Math.max(R(q&&q.startMax,n.dataMax),m?n.max:a.toValue(a.toPixels(n.max)+a.minPixelPadding));a.panningState=q;a.isOrdinal||(m=p-k,0<m&&(E+=m,k=p),m=E-r,0<m&&(E=r,k-=m),a.series.length&&k!==n.min&&E!==n.max&&k>=p&&E<=r&&(a.setExtremes(k,E,!1,
|
||||
!1,{trigger:"pan"}),c.resetZoomButton||g||k===p||E===r||!f.match("y")||(c.showResetZoom(),a.displayBtn=!1),h=!0),e[d]=l)}});X(e,function(b,a){c[a]=b});h&&c.redraw(!1);O(c.container,{cursor:"move"})})};return a}();M(a.prototype,{callbacks:[],collectionsWithInit:{xAxis:[a.prototype.addAxis,[!0]],yAxis:[a.prototype.addAxis,[!1]],series:[a.prototype.addSeries]},collectionsWithUpdate:["xAxis","yAxis","series"],propsRequireDirtyBox:"backgroundColor borderColor borderWidth borderRadius plotBackgroundColor plotBackgroundImage plotBorderColor plotBorderWidth plotShadow shadow".split(" "),
|
||||
propsRequireReflow:"margin marginTop marginRight marginBottom marginLeft spacing spacingTop spacingRight spacingBottom spacingLeft".split(" "),propsRequireUpdateSeries:"chart.inverted chart.polar chart.ignoreHiddenSeries chart.type colors plotOptions time tooltip".split(" ")});"";return a});M(a,"Core/Legend/LegendSymbol.js",[a["Core/Utilities.js"]],function(a){var v=a.merge,z=a.pick,F;(function(a){a.drawLineMarker=function(a){var u=this.options,A=a.symbolWidth,q=a.symbolHeight,n=q/2,k=this.chart.renderer,
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||||
e=this.legendGroup;a=a.baseline-Math.round(.3*a.fontMetrics.b);var c={},h=u.marker;this.chart.styledMode||(c={"stroke-width":u.lineWidth||0},u.dashStyle&&(c.dashstyle=u.dashStyle));this.legendLine=k.path([["M",0,a],["L",A,a]]).addClass("highcharts-graph").attr(c).add(e);h&&!1!==h.enabled&&A&&(u=Math.min(z(h.radius,n),n),0===this.symbol.indexOf("url")&&(h=v(h,{width:q,height:q}),u=0),this.legendSymbol=A=k.symbol(this.symbol,A/2-u,a-u,2*u,2*u,h).addClass("highcharts-point").add(e),A.isMarker=!0)};a.drawRectangle=
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||||
function(a,v){var u=a.symbolHeight,q=a.options.squareSymbol;v.legendSymbol=this.chart.renderer.rect(q?(a.symbolWidth-u)/2:0,a.baseline-u+1,q?u:a.symbolWidth,u,z(a.options.symbolRadius,u/2)).addClass("highcharts-point").attr({zIndex:3}).add(v.legendGroup)}})(F||(F={}));return F});M(a,"Core/Series/SeriesDefaults.js",[],function(){return{lineWidth:2,allowPointSelect:!1,crisp:!0,showCheckbox:!1,animation:{duration:1E3},events:{},marker:{enabledThreshold:2,lineColor:"#ffffff",lineWidth:0,radius:4,states:{normal:{animation:!0},
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||||
hover:{animation:{duration:50},enabled:!0,radiusPlus:2,lineWidthPlus:1},select:{fillColor:"#cccccc",lineColor:"#000000",lineWidth:2}}},point:{events:{}},dataLabels:{animation:{},align:"center",defer:!0,formatter:function(){var a=this.series.chart.numberFormatter;return"number"!==typeof this.y?"":a(this.y,-1)},padding:5,style:{fontSize:"11px",fontWeight:"bold",color:"contrast",textOutline:"1px contrast"},verticalAlign:"bottom",x:0,y:0},cropThreshold:300,opacity:1,pointRange:0,softThreshold:!0,states:{normal:{animation:!0},
|
||||
hover:{animation:{duration:50},lineWidthPlus:1,marker:{},halo:{size:10,opacity:.25}},select:{animation:{duration:0}},inactive:{animation:{duration:50},opacity:.2}},stickyTracking:!0,turboThreshold:1E3,findNearestPointBy:"x"}});M(a,"Core/Series/Series.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/DefaultOptions.js"],a["Core/Foundation.js"],a["Core/Globals.js"],a["Core/Legend/LegendSymbol.js"],a["Core/Series/Point.js"],a["Core/Series/SeriesDefaults.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Renderer/SVG/SVGElement.js"],
|
||||
a["Core/Utilities.js"]],function(a,u,z,F,y,G,H,A,q,n){var k=a.animObject,e=a.setAnimation,c=u.defaultOptions,h=z.registerEventOptions,f=F.hasTouch,w=F.svg,p=F.win,B=A.seriesTypes,t=n.addEvent,v=n.arrayMax,C=n.arrayMin,r=n.clamp,l=n.cleanRecursively,b=n.correctFloat,g=n.defined,d=n.erase,m=n.error,D=n.extend,x=n.find,I=n.fireEvent,P=n.getNestedProperty,S=n.isArray,O=n.isNumber,U=n.isString,Y=n.merge,L=n.objectEach,K=n.pick,M=n.removeEvent,da=n.splat,Q=n.syncTimeout;a=function(){function a(){this.zones=
|
||||
this.yAxis=this.xAxis=this.userOptions=this.tooltipOptions=this.processedYData=this.processedXData=this.points=this.options=this.linkedSeries=this.index=this.eventsToUnbind=this.eventOptions=this.data=this.chart=this._i=void 0}a.prototype.init=function(a,b){I(this,"init",{options:b});var c=this,d=a.series;this.eventsToUnbind=[];c.chart=a;c.options=c.setOptions(b);b=c.options;c.linkedSeries=[];c.bindAxes();D(c,{name:b.name,state:"",visible:!1!==b.visible,selected:!0===b.selected});h(this,b);var e=
|
||||
b.events;if(e&&e.click||b.point&&b.point.events&&b.point.events.click||b.allowPointSelect)a.runTrackerClick=!0;c.getColor();c.getSymbol();c.parallelArrays.forEach(function(a){c[a+"Data"]||(c[a+"Data"]=[])});c.isCartesian&&(a.hasCartesianSeries=!0);var g;d.length&&(g=d[d.length-1]);c._i=K(g&&g._i,-1)+1;c.opacity=c.options.opacity;a.orderSeries(this.insert(d));b.dataSorting&&b.dataSorting.enabled?c.setDataSortingOptions():c.points||c.data||c.setData(b.data,!1);I(this,"afterInit")};a.prototype.is=function(a){return B[a]&&
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||||
this instanceof B[a]};a.prototype.insert=function(a){var b=this.options.index,c;if(O(b)){for(c=a.length;c--;)if(b>=K(a[c].options.index,a[c]._i)){a.splice(c+1,0,this);break}-1===c&&a.unshift(this);c+=1}else a.push(this);return K(c,a.length-1)};a.prototype.bindAxes=function(){var a=this,b=a.options,c=a.chart,d;I(this,"bindAxes",null,function(){(a.axisTypes||[]).forEach(function(e){var g=0;c[e].forEach(function(c){d=c.options;if(b[e]===g&&!d.isInternal||"undefined"!==typeof b[e]&&b[e]===d.id||"undefined"===
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||||
typeof b[e]&&0===d.index)a.insert(c.series),a[e]=c,c.isDirty=!0;d.isInternal||g++});a[e]||a.optionalAxis===e||m(18,!0,c)})});I(this,"afterBindAxes")};a.prototype.updateParallelArrays=function(a,b){var c=a.series,d=arguments,e=O(b)?function(d){var e="y"===d&&c.toYData?c.toYData(a):a[d];c[d+"Data"][b]=e}:function(a){Array.prototype[b].apply(c[a+"Data"],Array.prototype.slice.call(d,2))};c.parallelArrays.forEach(e)};a.prototype.hasData=function(){return this.visible&&"undefined"!==typeof this.dataMax&&
|
||||
"undefined"!==typeof this.dataMin||this.visible&&this.yData&&0<this.yData.length};a.prototype.autoIncrement=function(a){var b=this.options,c=b.pointIntervalUnit,d=b.relativeXValue,e=this.chart.time,g=this.xIncrement,f;g=K(g,b.pointStart,0);this.pointInterval=f=K(this.pointInterval,b.pointInterval,1);d&&O(a)&&(f*=a);c&&(b=new e.Date(g),"day"===c?e.set("Date",b,e.get("Date",b)+f):"month"===c?e.set("Month",b,e.get("Month",b)+f):"year"===c&&e.set("FullYear",b,e.get("FullYear",b)+f),f=b.getTime()-g);if(d&&
|
||||
O(a))return g+f;this.xIncrement=g+f;return g};a.prototype.setDataSortingOptions=function(){var a=this.options;D(this,{requireSorting:!1,sorted:!1,enabledDataSorting:!0,allowDG:!1});g(a.pointRange)||(a.pointRange=1)};a.prototype.setOptions=function(a){var b=this.chart,d=b.options,e=d.plotOptions,f=b.userOptions||{};a=Y(a);b=b.styledMode;var h={plotOptions:e,userOptions:a};I(this,"setOptions",h);var l=h.plotOptions[this.type],k=f.plotOptions||{};this.userOptions=h.userOptions;f=Y(l,e.series,f.plotOptions&&
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||||
f.plotOptions[this.type],a);this.tooltipOptions=Y(c.tooltip,c.plotOptions.series&&c.plotOptions.series.tooltip,c.plotOptions[this.type].tooltip,d.tooltip.userOptions,e.series&&e.series.tooltip,e[this.type].tooltip,a.tooltip);this.stickyTracking=K(a.stickyTracking,k[this.type]&&k[this.type].stickyTracking,k.series&&k.series.stickyTracking,this.tooltipOptions.shared&&!this.noSharedTooltip?!0:f.stickyTracking);null===l.marker&&delete f.marker;this.zoneAxis=f.zoneAxis;e=this.zones=(f.zones||[]).slice();
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||||
!f.negativeColor&&!f.negativeFillColor||f.zones||(d={value:f[this.zoneAxis+"Threshold"]||f.threshold||0,className:"highcharts-negative"},b||(d.color=f.negativeColor,d.fillColor=f.negativeFillColor),e.push(d));e.length&&g(e[e.length-1].value)&&e.push(b?{}:{color:this.color,fillColor:this.fillColor});I(this,"afterSetOptions",{options:f});return f};a.prototype.getName=function(){return K(this.options.name,"Series "+(this.index+1))};a.prototype.getCyclic=function(a,b,c){var d=this.chart,e=this.userOptions,
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||||
f=a+"Index",h=a+"Counter",l=c?c.length:K(d.options.chart[a+"Count"],d[a+"Count"]);if(!b){var k=K(e[f],e["_"+f]);g(k)||(d.series.length||(d[h]=0),e["_"+f]=k=d[h]%l,d[h]+=1);c&&(b=c[k])}"undefined"!==typeof k&&(this[f]=k);this[a]=b};a.prototype.getColor=function(){this.chart.styledMode?this.getCyclic("color"):this.options.colorByPoint?this.color="#cccccc":this.getCyclic("color",this.options.color||c.plotOptions[this.type].color,this.chart.options.colors)};a.prototype.getPointsCollection=function(){return(this.hasGroupedData?
|
||||
this.points:this.data)||[]};a.prototype.getSymbol=function(){this.getCyclic("symbol",this.options.marker.symbol,this.chart.options.symbols)};a.prototype.findPointIndex=function(a,b){var c=a.id,d=a.x,e=this.points,g=this.options.dataSorting,f,h;if(c)g=this.chart.get(c),g instanceof G&&(f=g);else if(this.linkedParent||this.enabledDataSorting||this.options.relativeXValue)if(f=function(b){return!b.touched&&b.index===a.index},g&&g.matchByName?f=function(b){return!b.touched&&b.name===a.name}:this.options.relativeXValue&&
|
||||
(f=function(b){return!b.touched&&b.options.x===a.x}),f=x(e,f),!f)return;if(f){var l=f&&f.index;"undefined"!==typeof l&&(h=!0)}"undefined"===typeof l&&O(d)&&(l=this.xData.indexOf(d,b));-1!==l&&"undefined"!==typeof l&&this.cropped&&(l=l>=this.cropStart?l-this.cropStart:l);!h&&O(l)&&e[l]&&e[l].touched&&(l=void 0);return l};a.prototype.updateData=function(a,b){var c=this.options,d=c.dataSorting,e=this.points,f=[],h=this.requireSorting,l=a.length===e.length,k,m,p,n=!0;this.xIncrement=null;a.forEach(function(a,
|
||||
b){var m=g(a)&&this.pointClass.prototype.optionsToObject.call({series:this},a)||{},n=m.x;if(m.id||O(n)){if(m=this.findPointIndex(m,p),-1===m||"undefined"===typeof m?f.push(a):e[m]&&a!==c.data[m]?(e[m].update(a,!1,null,!1),e[m].touched=!0,h&&(p=m+1)):e[m]&&(e[m].touched=!0),!l||b!==m||d&&d.enabled||this.hasDerivedData)k=!0}else f.push(a)},this);if(k)for(a=e.length;a--;)(m=e[a])&&!m.touched&&m.remove&&m.remove(!1,b);else!l||d&&d.enabled?n=!1:(a.forEach(function(a,b){a!==e[b].y&&e[b].update&&e[b].update(a,
|
||||
!1,null,!1)}),f.length=0);e.forEach(function(a){a&&(a.touched=!1)});if(!n)return!1;f.forEach(function(a){this.addPoint(a,!1,null,null,!1)},this);null===this.xIncrement&&this.xData&&this.xData.length&&(this.xIncrement=v(this.xData),this.autoIncrement());return!0};a.prototype.setData=function(a,b,c,d){var e=this,g=e.points,f=g&&g.length||0,h=e.options,l=e.chart,k=h.dataSorting,p=e.xAxis,n=h.turboThreshold,r=this.xData,E=this.yData,t=e.pointArrayMap;t=t&&t.length;var q=h.keys,w,B=0,C=1,x=null;a=a||[];
|
||||
var v=a.length;b=K(b,!0);k&&k.enabled&&(a=this.sortData(a));!1!==d&&v&&f&&!e.cropped&&!e.hasGroupedData&&e.visible&&!e.isSeriesBoosting&&(w=this.updateData(a,c));if(!w){e.xIncrement=null;e.colorCounter=0;this.parallelArrays.forEach(function(a){e[a+"Data"].length=0});if(n&&v>n)if(x=e.getFirstValidPoint(a),O(x))for(c=0;c<v;c++)r[c]=this.autoIncrement(),E[c]=a[c];else if(S(x))if(t)if(x.length===t)for(c=0;c<v;c++)r[c]=this.autoIncrement(),E[c]=a[c];else for(c=0;c<v;c++)d=a[c],r[c]=d[0],E[c]=d.slice(1,
|
||||
t+1);else if(q&&(B=q.indexOf("x"),C=q.indexOf("y"),B=0<=B?B:0,C=0<=C?C:1),1===x.length&&(C=0),B===C)for(c=0;c<v;c++)r[c]=this.autoIncrement(),E[c]=a[c][C];else for(c=0;c<v;c++)d=a[c],r[c]=d[B],E[c]=d[C];else m(12,!1,l);else for(c=0;c<v;c++)"undefined"!==typeof a[c]&&(d={series:e},e.pointClass.prototype.applyOptions.apply(d,[a[c]]),e.updateParallelArrays(d,c));E&&U(E[0])&&m(14,!0,l);e.data=[];e.options.data=e.userOptions.data=a;for(c=f;c--;)g[c]&&g[c].destroy&&g[c].destroy();p&&(p.minRange=p.userMinRange);
|
||||
e.isDirty=l.isDirtyBox=!0;e.isDirtyData=!!g;c=!1}"point"===h.legendType&&(this.processData(),this.generatePoints());b&&l.redraw(c)};a.prototype.sortData=function(a){var b=this,c=b.options.dataSorting.sortKey||"y",d=function(a,b){return g(b)&&a.pointClass.prototype.optionsToObject.call({series:a},b)||{}};a.forEach(function(c,e){a[e]=d(b,c);a[e].index=e},this);a.concat().sort(function(a,b){a=P(c,a);b=P(c,b);return b<a?-1:b>a?1:0}).forEach(function(a,b){a.x=b},this);b.linkedSeries&&b.linkedSeries.forEach(function(b){var c=
|
||||
b.options,e=c.data;c.dataSorting&&c.dataSorting.enabled||!e||(e.forEach(function(c,g){e[g]=d(b,c);a[g]&&(e[g].x=a[g].x,e[g].index=g)}),b.setData(e,!1))});return a};a.prototype.getProcessedData=function(a){var b=this.xAxis,c=this.options,d=c.cropThreshold,e=a||this.getExtremesFromAll||c.getExtremesFromAll,g=this.isCartesian;a=b&&b.val2lin;c=!(!b||!b.logarithmic);var f=0,h=this.xData,l=this.yData,k=this.requireSorting;var p=!1;var n=h.length;if(b){p=b.getExtremes();var r=p.min;var E=p.max;p=b.categories&&
|
||||
!b.names.length}if(g&&this.sorted&&!e&&(!d||n>d||this.forceCrop))if(h[n-1]<r||h[0]>E)h=[],l=[];else if(this.yData&&(h[0]<r||h[n-1]>E)){var t=this.cropData(this.xData,this.yData,r,E);h=t.xData;l=t.yData;f=t.start;t=!0}for(d=h.length||1;--d;)if(b=c?a(h[d])-a(h[d-1]):h[d]-h[d-1],0<b&&("undefined"===typeof q||b<q))var q=b;else 0>b&&k&&!p&&(m(15,!1,this.chart),k=!1);return{xData:h,yData:l,cropped:t,cropStart:f,closestPointRange:q}};a.prototype.processData=function(a){var b=this.xAxis;if(this.isCartesian&&
|
||||
!this.isDirty&&!b.isDirty&&!this.yAxis.isDirty&&!a)return!1;a=this.getProcessedData();this.cropped=a.cropped;this.cropStart=a.cropStart;this.processedXData=a.xData;this.processedYData=a.yData;this.closestPointRange=this.basePointRange=a.closestPointRange;I(this,"afterProcessData")};a.prototype.cropData=function(a,b,c,d,e){var g=a.length,f,h=0,l=g;e=K(e,this.cropShoulder);for(f=0;f<g;f++)if(a[f]>=c){h=Math.max(0,f-e);break}for(c=f;c<g;c++)if(a[c]>d){l=c+e;break}return{xData:a.slice(h,l),yData:b.slice(h,
|
||||
l),start:h,end:l}};a.prototype.generatePoints=function(){var a=this.options,b=a.data,c=this.processedXData,d=this.processedYData,e=this.pointClass,g=c.length,f=this.cropStart||0,h=this.hasGroupedData,l=a.keys,k=[];a=a.dataGrouping&&a.dataGrouping.groupAll?f:0;var m,p,n=this.data;if(!n&&!h){var r=[];r.length=b.length;n=this.data=r}l&&h&&(this.options.keys=!1);for(p=0;p<g;p++){r=f+p;if(h){var t=(new e).init(this,[c[p]].concat(da(d[p])));t.dataGroup=this.groupMap[a+p];t.dataGroup.options&&(t.options=
|
||||
t.dataGroup.options,D(t,t.dataGroup.options),delete t.dataLabels)}else(t=n[r])||"undefined"===typeof b[r]||(n[r]=t=(new e).init(this,b[r],c[p]));t&&(t.index=h?a+p:r,k[p]=t)}this.options.keys=l;if(n&&(g!==(m=n.length)||h))for(p=0;p<m;p++)p!==f||h||(p+=g),n[p]&&(n[p].destroyElements(),n[p].plotX=void 0);this.data=n;this.points=k;I(this,"afterGeneratePoints")};a.prototype.getXExtremes=function(a){return{min:C(a),max:v(a)}};a.prototype.getExtremes=function(a,b){var c=this.xAxis,d=this.yAxis,e=this.processedXData||
|
||||
this.xData,g=[],f=this.requireSorting?this.cropShoulder:0;d=d?d.positiveValuesOnly:!1;var h,l=0,k=0,m=0;a=a||this.stackedYData||this.processedYData||[];var p=a.length;if(c){var n=c.getExtremes();l=n.min;k=n.max}for(h=0;h<p;h++){var r=e[h];n=a[h];var t=(O(n)||S(n))&&(n.length||0<n||!d);r=b||this.getExtremesFromAll||this.options.getExtremesFromAll||this.cropped||!c||(e[h+f]||r)>=l&&(e[h-f]||r)<=k;if(t&&r)if(t=n.length)for(;t--;)O(n[t])&&(g[m++]=n[t]);else g[m++]=n}a={activeYData:g,dataMin:C(g),dataMax:v(g)};
|
||||
I(this,"afterGetExtremes",{dataExtremes:a});return a};a.prototype.applyExtremes=function(){var a=this.getExtremes();this.dataMin=a.dataMin;this.dataMax=a.dataMax;return a};a.prototype.getFirstValidPoint=function(a){for(var b=a.length,c=0,d=null;null===d&&c<b;)d=a[c],c++;return d};a.prototype.translate=function(){this.processedXData||this.processData();this.generatePoints();var a=this.options,c=a.stacking,d=this.xAxis,e=d.categories,f=this.enabledDataSorting,h=this.yAxis,l=this.points,k=l.length,m=
|
||||
this.pointPlacementToXValue(),p=!!m,n=a.threshold,t=a.startFromThreshold?n:0,q=this.zoneAxis||"y",w,B,C=Number.MAX_VALUE;for(w=0;w<k;w++){var x=l[w],v=x.x,u=void 0,D=void 0,J=x.y,A=x.low,y=c&&h.stacking&&h.stacking.stacks[(this.negStacks&&J<(t?0:n)?"-":"")+this.stackKey];if(h.positiveValuesOnly&&!h.validatePositiveValue(J)||d.positiveValuesOnly&&!d.validatePositiveValue(v))x.isNull=!0;x.plotX=B=b(r(d.translate(v,0,0,0,1,m,"flags"===this.type),-1E5,1E5));if(c&&this.visible&&y&&y[v]){var z=this.getStackIndicator(z,
|
||||
v,this.index);x.isNull||(u=y[v],D=u.points[z.key])}S(D)&&(A=D[0],J=D[1],A===t&&z.key===y[v].base&&(A=K(O(n)&&n,h.min)),h.positiveValuesOnly&&0>=A&&(A=null),x.total=x.stackTotal=u.total,x.percentage=u.total&&x.y/u.total*100,x.stackY=J,this.irregularWidths||u.setOffset(this.pointXOffset||0,this.barW||0));x.yBottom=g(A)?r(h.translate(A,0,1,0,1),-1E5,1E5):null;this.dataModify&&(J=this.dataModify.modifyValue(J,w));x.plotY=void 0;O(J)&&(u=h.translate(J,!1,!0,!1,!0),"undefined"!==typeof u&&(x.plotY=r(u,
|
||||
-1E5,1E5)));x.isInside=this.isPointInside(x);x.clientX=p?b(d.translate(v,0,0,0,1,m)):B;x.negative=x[q]<(a[q+"Threshold"]||n||0);x.category=e&&"undefined"!==typeof e[x.x]?e[x.x]:x.x;if(!x.isNull&&!1!==x.visible){"undefined"!==typeof F&&(C=Math.min(C,Math.abs(B-F)));var F=B}x.zone=this.zones.length?x.getZone():void 0;!x.graphic&&this.group&&f&&(x.isNew=!0)}this.closestPointRangePx=C;I(this,"afterTranslate")};a.prototype.getValidPoints=function(a,b,c){var d=this.chart;return(a||this.points||[]).filter(function(a){return b&&
|
||||
!d.isInsidePlot(a.plotX,a.plotY,{inverted:d.inverted})?!1:!1!==a.visible&&(c||!a.isNull)})};a.prototype.getClipBox=function(){var a=this.chart,b=this.xAxis,c=this.yAxis,d=Y(a.clipBox);b&&b.len!==a.plotSizeX&&(d.width=b.len);c&&c.len!==a.plotSizeY&&(d.height=c.len);return d};a.prototype.getSharedClipKey=function(){return this.sharedClipKey=(this.options.xAxis||0)+","+(this.options.yAxis||0)};a.prototype.setClip=function(){var a=this.chart,b=this.group,c=this.markerGroup,d=a.sharedClips;a=a.renderer;
|
||||
var e=this.getClipBox(),g=this.getSharedClipKey(),f=d[g];f?f.animate(e):d[g]=f=a.clipRect(e);b&&b.clip(!1===this.options.clip?void 0:f);c&&c.clip()};a.prototype.animate=function(a){var b=this.chart,c=this.group,d=this.markerGroup,e=b.inverted,g=k(this.options.animation),f=[this.getSharedClipKey(),g.duration,g.easing,g.defer].join(),h=b.sharedClips[f],l=b.sharedClips[f+"m"];if(a&&c)g=this.getClipBox(),h?h.attr("height",g.height):(g.width=0,e&&(g.x=b.plotHeight),h=b.renderer.clipRect(g),b.sharedClips[f]=
|
||||
h,l=b.renderer.clipRect({x:e?(b.plotSizeX||0)+99:-99,y:e?-b.plotLeft:-b.plotTop,width:99,height:e?b.chartWidth:b.chartHeight}),b.sharedClips[f+"m"]=l),c.clip(h),d&&d.clip(l);else if(h&&!h.hasClass("highcharts-animating")){b=this.getClipBox();var m=g.step;d&&d.element.childNodes.length&&(g.step=function(a,b){m&&m.apply(b,arguments);l&&l.element&&l.attr(b.prop,"width"===b.prop?a+99:a)});h.addClass("highcharts-animating").animate(b,g)}};a.prototype.afterAnimate=function(){var a=this;this.setClip();L(this.chart.sharedClips,
|
||||
function(b,c,d){b&&!a.chart.container.querySelector('[clip-path="url(#'+b.id+')"]')&&(b.destroy(),delete d[c])});this.finishedAnimating=!0;I(this,"afterAnimate")};a.prototype.drawPoints=function(){var a=this.points,b=this.chart,c=this.options.marker,d=this[this.specialGroup]||this.markerGroup,e=this.xAxis,g=K(c.enabled,!e||e.isRadial?!0:null,this.closestPointRangePx>=c.enabledThreshold*c.radius),f,h;if(!1!==c.enabled||this._hasPointMarkers)for(f=0;f<a.length;f++){var l=a[f];var k=(h=l.graphic)?"animate":
|
||||
"attr";var m=l.marker||{};var p=!!l.marker;if((g&&"undefined"===typeof m.enabled||m.enabled)&&!l.isNull&&!1!==l.visible){var n=K(m.symbol,this.symbol,"rect");var r=this.markerAttribs(l,l.selected&&"select");this.enabledDataSorting&&(l.startXPos=e.reversed?-(r.width||0):e.width);var t=!1!==l.isInside;h?h[t?"show":"hide"](t).animate(r):t&&(0<(r.width||0)||l.hasImage)&&(l.graphic=h=b.renderer.symbol(n,r.x,r.y,r.width,r.height,p?m:c).add(d),this.enabledDataSorting&&b.hasRendered&&(h.attr({x:l.startXPos}),
|
||||
k="animate"));h&&"animate"===k&&h[t?"show":"hide"](t).animate(r);if(h&&!b.styledMode)h[k](this.pointAttribs(l,l.selected&&"select"));h&&h.addClass(l.getClassName(),!0)}else h&&(l.graphic=h.destroy())}};a.prototype.markerAttribs=function(a,b){var c=this.options,d=c.marker,e=a.marker||{},g=e.symbol||d.symbol,f=K(e.radius,d.radius);b&&(d=d.states[b],b=e.states&&e.states[b],f=K(b&&b.radius,d&&d.radius,f+(d&&d.radiusPlus||0)));a.hasImage=g&&0===g.indexOf("url");a.hasImage&&(f=0);a={x:c.crisp?Math.floor(a.plotX-
|
||||
f):a.plotX-f,y:a.plotY-f};f&&(a.width=a.height=2*f);return a};a.prototype.pointAttribs=function(a,b){var c=this.options.marker,d=a&&a.options,e=d&&d.marker||{},g=d&&d.color,f=a&&a.color,h=a&&a.zone&&a.zone.color,l=this.color;a=K(e.lineWidth,c.lineWidth);d=1;l=g||h||f||l;g=e.fillColor||c.fillColor||l;f=e.lineColor||c.lineColor||l;b=b||"normal";c=c.states[b]||{};b=e.states&&e.states[b]||{};a=K(b.lineWidth,c.lineWidth,a+K(b.lineWidthPlus,c.lineWidthPlus,0));g=b.fillColor||c.fillColor||g;f=b.lineColor||
|
||||
c.lineColor||f;d=K(b.opacity,c.opacity,d);return{stroke:f,"stroke-width":a,fill:g,opacity:d}};a.prototype.destroy=function(a){var b=this,c=b.chart,e=/AppleWebKit\/533/.test(p.navigator.userAgent),g=b.data||[],f,h,l,k;I(b,"destroy");this.removeEvents(a);(b.axisTypes||[]).forEach(function(a){(k=b[a])&&k.series&&(d(k.series,b),k.isDirty=k.forceRedraw=!0)});b.legendItem&&b.chart.legend.destroyItem(b);for(h=g.length;h--;)(l=g[h])&&l.destroy&&l.destroy();b.clips&&b.clips.forEach(function(a){return a.destroy()});
|
||||
n.clearTimeout(b.animationTimeout);L(b,function(a,b){a instanceof q&&!a.survive&&(f=e&&"group"===b?"hide":"destroy",a[f]())});c.hoverSeries===b&&(c.hoverSeries=void 0);d(c.series,b);c.orderSeries();L(b,function(c,d){a&&"hcEvents"===d||delete b[d]})};a.prototype.applyZones=function(){var a=this,b=this.chart,c=b.renderer,d=this.zones,e=this.clips||[],g=this.graph,f=this.area,h=Math.max(b.chartWidth,b.chartHeight),l=this[(this.zoneAxis||"y")+"Axis"],k=b.inverted,m,p,n,t,q,x,w,B,C=!1;if(d.length&&(g||
|
||||
f)&&l&&"undefined"!==typeof l.min){var v=l.reversed;var u=l.horiz;g&&!this.showLine&&g.hide();f&&f.hide();var D=l.getExtremes();d.forEach(function(d,E){m=v?u?b.plotWidth:0:u?0:l.toPixels(D.min)||0;m=r(K(p,m),0,h);p=r(Math.round(l.toPixels(K(d.value,D.max),!0)||0),0,h);C&&(m=p=l.toPixels(D.max));t=Math.abs(m-p);q=Math.min(m,p);x=Math.max(m,p);l.isXAxis?(n={x:k?x:q,y:0,width:t,height:h},u||(n.x=b.plotHeight-n.x)):(n={x:0,y:k?x:q,width:h,height:t},u&&(n.y=b.plotWidth-n.y));k&&c.isVML&&(n=l.isXAxis?{x:0,
|
||||
y:v?q:x,height:n.width,width:b.chartWidth}:{x:n.y-b.plotLeft-b.spacingBox.x,y:0,width:n.height,height:b.chartHeight});e[E]?e[E].animate(n):e[E]=c.clipRect(n);w=a["zone-area-"+E];B=a["zone-graph-"+E];g&&B&&B.clip(e[E]);f&&w&&w.clip(e[E]);C=d.value>D.max;a.resetZones&&0===p&&(p=void 0)});this.clips=e}else a.visible&&(g&&g.show(!0),f&&f.show(!0))};a.prototype.invertGroups=function(a){function b(){["group","markerGroup"].forEach(function(b){c[b]&&(d.renderer.isVML&&c[b].attr({width:c.yAxis.len,height:c.xAxis.len}),
|
||||
c[b].width=c.yAxis.len,c[b].height=c.xAxis.len,c[b].invert(c.isRadialSeries?!1:a))})}var c=this,d=c.chart;c.xAxis&&(c.eventsToUnbind.push(t(d,"resize",b)),b(),c.invertGroups=b)};a.prototype.plotGroup=function(a,b,c,d,e){var f=this[a],h=!f;c={visibility:c,zIndex:d||.1};"undefined"===typeof this.opacity||this.chart.styledMode||"inactive"===this.state||(c.opacity=this.opacity);h&&(this[a]=f=this.chart.renderer.g().add(e));f.addClass("highcharts-"+b+" highcharts-series-"+this.index+" highcharts-"+this.type+
|
||||
"-series "+(g(this.colorIndex)?"highcharts-color-"+this.colorIndex+" ":"")+(this.options.className||"")+(f.hasClass("highcharts-tracker")?" highcharts-tracker":""),!0);f.attr(c)[h?"attr":"animate"](this.getPlotBox());return f};a.prototype.getPlotBox=function(){var a=this.chart,b=this.xAxis,c=this.yAxis;a.inverted&&(b=c,c=this.xAxis);return{translateX:b?b.left:a.plotLeft,translateY:c?c.top:a.plotTop,scaleX:1,scaleY:1}};a.prototype.removeEvents=function(a){a||M(this);this.eventsToUnbind.length&&(this.eventsToUnbind.forEach(function(a){a()}),
|
||||
this.eventsToUnbind.length=0)};a.prototype.render=function(){var a=this,b=a.chart,c=a.options,d=k(c.animation),e=a.visible?"inherit":"hidden",g=c.zIndex,f=a.hasRendered,h=b.seriesGroup,l=b.inverted;b=!a.finishedAnimating&&b.renderer.isSVG?d.duration:0;I(this,"render");var m=a.plotGroup("group","series",e,g,h);a.markerGroup=a.plotGroup("markerGroup","markers",e,g,h);!1!==c.clip&&a.setClip();a.animate&&b&&a.animate(!0);m.inverted=K(a.invertible,a.isCartesian)?l:!1;a.drawGraph&&(a.drawGraph(),a.applyZones());
|
||||
a.visible&&a.drawPoints();a.drawDataLabels&&a.drawDataLabels();a.redrawPoints&&a.redrawPoints();a.drawTracker&&!1!==a.options.enableMouseTracking&&a.drawTracker();a.invertGroups(l);a.animate&&b&&a.animate();f||(b&&d.defer&&(b+=d.defer),a.animationTimeout=Q(function(){a.afterAnimate()},b||0));a.isDirty=!1;a.hasRendered=!0;I(a,"afterRender")};a.prototype.redraw=function(){var a=this.chart,b=this.isDirty||this.isDirtyData,c=this.group,d=this.xAxis,e=this.yAxis;c&&(a.inverted&&c.attr({width:a.plotWidth,
|
||||
height:a.plotHeight}),c.animate({translateX:K(d&&d.left,a.plotLeft),translateY:K(e&&e.top,a.plotTop)}));this.translate();this.render();b&&delete this.kdTree};a.prototype.searchPoint=function(a,b){var c=this.xAxis,d=this.yAxis,e=this.chart.inverted;return this.searchKDTree({clientX:e?c.len-a.chartY+c.pos:a.chartX-c.pos,plotY:e?d.len-a.chartX+d.pos:a.chartY-d.pos},b,a)};a.prototype.buildKDTree=function(a){function b(a,d,e){var g=a&&a.length;if(g){var f=c.kdAxisArray[d%e];a.sort(function(a,b){return a[f]-
|
||||
b[f]});g=Math.floor(g/2);return{point:a[g],left:b(a.slice(0,g),d+1,e),right:b(a.slice(g+1),d+1,e)}}}this.buildingKdTree=!0;var c=this,d=-1<c.options.findNearestPointBy.indexOf("y")?2:1;delete c.kdTree;Q(function(){c.kdTree=b(c.getValidPoints(null,!c.directTouch),d,d);c.buildingKdTree=!1},c.options.kdNow||a&&"touchstart"===a.type?0:1)};a.prototype.searchKDTree=function(a,b,c){function d(a,b,c,k){var m=b.point,p=e.kdAxisArray[c%k],n=m,r=g(a[f])&&g(m[f])?Math.pow(a[f]-m[f],2):null;var t=g(a[h])&&g(m[h])?
|
||||
Math.pow(a[h]-m[h],2):null;t=(r||0)+(t||0);m.dist=g(t)?Math.sqrt(t):Number.MAX_VALUE;m.distX=g(r)?Math.sqrt(r):Number.MAX_VALUE;p=a[p]-m[p];t=0>p?"left":"right";r=0>p?"right":"left";b[t]&&(t=d(a,b[t],c+1,k),n=t[l]<n[l]?t:m);b[r]&&Math.sqrt(p*p)<n[l]&&(a=d(a,b[r],c+1,k),n=a[l]<n[l]?a:n);return n}var e=this,f=this.kdAxisArray[0],h=this.kdAxisArray[1],l=b?"distX":"dist";b=-1<e.options.findNearestPointBy.indexOf("y")?2:1;this.kdTree||this.buildingKdTree||this.buildKDTree(c);if(this.kdTree)return d(a,
|
||||
this.kdTree,b,b)};a.prototype.pointPlacementToXValue=function(){var a=this.options,b=a.pointRange,c=this.xAxis;a=a.pointPlacement;"between"===a&&(a=c.reversed?-.5:.5);return O(a)?a*(b||c.pointRange):0};a.prototype.isPointInside=function(a){var b=this.chart,c=this.xAxis,d=this.yAxis;return"undefined"!==typeof a.plotY&&"undefined"!==typeof a.plotX&&0<=a.plotY&&a.plotY<=(d?d.len:b.plotHeight)&&0<=a.plotX&&a.plotX<=(c?c.len:b.plotWidth)};a.prototype.drawTracker=function(){var a=this,b=a.options,c=b.trackByArea,
|
||||
d=[].concat(c?a.areaPath:a.graphPath),e=a.chart,g=e.pointer,h=e.renderer,l=e.options.tooltip.snap,m=a.tracker,k=function(b){if(e.hoverSeries!==a)a.onMouseOver()},p="rgba(192,192,192,"+(w?.0001:.002)+")";m?m.attr({d:d}):a.graph&&(a.tracker=h.path(d).attr({visibility:a.visible?"visible":"hidden",zIndex:2}).addClass(c?"highcharts-tracker-area":"highcharts-tracker-line").add(a.group),e.styledMode||a.tracker.attr({"stroke-linecap":"round","stroke-linejoin":"round",stroke:p,fill:c?p:"none","stroke-width":a.graph.strokeWidth()+
|
||||
(c?0:2*l)}),[a.tracker,a.markerGroup,a.dataLabelsGroup].forEach(function(a){if(a&&(a.addClass("highcharts-tracker").on("mouseover",k).on("mouseout",function(a){g.onTrackerMouseOut(a)}),b.cursor&&!e.styledMode&&a.css({cursor:b.cursor}),f))a.on("touchstart",k)}));I(this,"afterDrawTracker")};a.prototype.addPoint=function(a,b,c,d,e){var g=this.options,f=this.data,h=this.chart,l=this.xAxis;l=l&&l.hasNames&&l.names;var m=g.data,k=this.xData,p;b=K(b,!0);var n={series:this};this.pointClass.prototype.applyOptions.apply(n,
|
||||
[a]);var r=n.x;var t=k.length;if(this.requireSorting&&r<k[t-1])for(p=!0;t&&k[t-1]>r;)t--;this.updateParallelArrays(n,"splice",t,0,0);this.updateParallelArrays(n,t);l&&n.name&&(l[r]=n.name);m.splice(t,0,a);p&&(this.data.splice(t,0,null),this.processData());"point"===g.legendType&&this.generatePoints();c&&(f[0]&&f[0].remove?f[0].remove(!1):(f.shift(),this.updateParallelArrays(n,"shift"),m.shift()));!1!==e&&I(this,"addPoint",{point:n});this.isDirtyData=this.isDirty=!0;b&&h.redraw(d)};a.prototype.removePoint=
|
||||
function(a,b,c){var d=this,g=d.data,f=g[a],h=d.points,l=d.chart,k=function(){h&&h.length===g.length&&h.splice(a,1);g.splice(a,1);d.options.data.splice(a,1);d.updateParallelArrays(f||{series:d},"splice",a,1);f&&f.destroy();d.isDirty=!0;d.isDirtyData=!0;b&&l.redraw()};e(c,l);b=K(b,!0);f?f.firePointEvent("remove",null,k):k()};a.prototype.remove=function(a,b,c,d){function e(){g.destroy(d);f.isDirtyLegend=f.isDirtyBox=!0;f.linkSeries();K(a,!0)&&f.redraw(b)}var g=this,f=g.chart;!1!==c?I(g,"remove",null,
|
||||
e):e()};a.prototype.update=function(a,b){a=l(a,this.userOptions);I(this,"update",{options:a});var c=this,d=c.chart,e=c.userOptions,g=c.initialType||c.type,f=d.options.plotOptions,h=B[g].prototype,k=c.finishedAnimating&&{animation:!1},p={},n,r=["eventOptions","navigatorSeries","baseSeries"],t=a.type||e.type||d.options.chart.type,q=!(this.hasDerivedData||t&&t!==this.type||"undefined"!==typeof a.pointStart||"undefined"!==typeof a.pointInterval||"undefined"!==typeof a.relativeXValue||c.hasOptionChanged("dataGrouping")||
|
||||
c.hasOptionChanged("pointStart")||c.hasOptionChanged("pointInterval")||c.hasOptionChanged("pointIntervalUnit")||c.hasOptionChanged("keys"));t=t||g;q&&(r.push("data","isDirtyData","points","processedXData","processedYData","xIncrement","cropped","_hasPointMarkers","_hasPointLabels","clips","nodes","layout","mapMap","mapData","minY","maxY","minX","maxX"),!1!==a.visible&&r.push("area","graph"),c.parallelArrays.forEach(function(a){r.push(a+"Data")}),a.data&&(a.dataSorting&&D(c.options.dataSorting,a.dataSorting),
|
||||
this.setData(a.data,!1)));a=Y(e,k,{index:"undefined"===typeof e.index?c.index:e.index,pointStart:K(f&&f.series&&f.series.pointStart,e.pointStart,c.xData[0])},!q&&{data:c.options.data},a);q&&a.data&&(a.data=c.options.data);r=["group","markerGroup","dataLabelsGroup","transformGroup"].concat(r);r.forEach(function(a){r[a]=c[a];delete c[a]});f=!1;if(B[t]){if(f=t!==c.type,c.remove(!1,!1,!1,!0),f)if(Object.setPrototypeOf)Object.setPrototypeOf(c,B[t].prototype);else{k=Object.hasOwnProperty.call(c,"hcEvents")&&
|
||||
c.hcEvents;for(n in h)c[n]=void 0;D(c,B[t].prototype);k?c.hcEvents=k:delete c.hcEvents}}else m(17,!0,d,{missingModuleFor:t});r.forEach(function(a){c[a]=r[a]});c.init(d,a);if(q&&this.points){var x=c.options;!1===x.visible?(p.graphic=1,p.dataLabel=1):c._hasPointLabels||(a=x.marker,h=x.dataLabels,!a||!1!==a.enabled&&(e.marker&&e.marker.symbol)===a.symbol||(p.graphic=1),h&&!1===h.enabled&&(p.dataLabel=1));this.points.forEach(function(a){a&&a.series&&(a.resolveColor(),Object.keys(p).length&&a.destroyElements(p),
|
||||
!1===x.showInLegend&&a.legendItem&&d.legend.destroyItem(a))},this)}c.initialType=g;d.linkSeries();f&&c.linkedSeries.length&&(c.isDirtyData=!0);I(this,"afterUpdate");K(b,!0)&&d.redraw(q?void 0:!1)};a.prototype.setName=function(a){this.name=this.options.name=this.userOptions.name=a;this.chart.isDirtyLegend=!0};a.prototype.hasOptionChanged=function(a){var b=this.options[a],c=this.chart.options.plotOptions,d=this.userOptions[a];return d?b!==d:b!==K(c&&c[this.type]&&c[this.type][a],c&&c.series&&c.series[a],
|
||||
b)};a.prototype.onMouseOver=function(){var a=this.chart,b=a.hoverSeries;a.pointer.setHoverChartIndex();if(b&&b!==this)b.onMouseOut();this.options.events.mouseOver&&I(this,"mouseOver");this.setState("hover");a.hoverSeries=this};a.prototype.onMouseOut=function(){var a=this.options,b=this.chart,c=b.tooltip,d=b.hoverPoint;b.hoverSeries=null;if(d)d.onMouseOut();this&&a.events.mouseOut&&I(this,"mouseOut");!c||this.stickyTracking||c.shared&&!this.noSharedTooltip||c.hide();b.series.forEach(function(a){a.setState("",
|
||||
!0)})};a.prototype.setState=function(a,b){var c=this,d=c.options,e=c.graph,g=d.inactiveOtherPoints,f=d.states,h=K(f[a||"normal"]&&f[a||"normal"].animation,c.chart.options.chart.animation),l=d.lineWidth,k=0,m=d.opacity;a=a||"";if(c.state!==a&&([c.group,c.markerGroup,c.dataLabelsGroup].forEach(function(b){b&&(c.state&&b.removeClass("highcharts-series-"+c.state),a&&b.addClass("highcharts-series-"+a))}),c.state=a,!c.chart.styledMode)){if(f[a]&&!1===f[a].enabled)return;a&&(l=f[a].lineWidth||l+(f[a].lineWidthPlus||
|
||||
0),m=K(f[a].opacity,m));if(e&&!e.dashstyle)for(d={"stroke-width":l},e.animate(d,h);c["zone-graph-"+k];)c["zone-graph-"+k].animate(d,h),k+=1;g||[c.group,c.markerGroup,c.dataLabelsGroup,c.labelBySeries].forEach(function(a){a&&a.animate({opacity:m},h)})}b&&g&&c.points&&c.setAllPointsToState(a||void 0)};a.prototype.setAllPointsToState=function(a){this.points.forEach(function(b){b.setState&&b.setState(a)})};a.prototype.setVisible=function(a,b){var c=this,d=c.chart,e=c.legendItem,g=d.options.chart.ignoreHiddenSeries,
|
||||
f=c.visible,h=(c.visible=a=c.options.visible=c.userOptions.visible="undefined"===typeof a?!f:a)?"show":"hide";["group","dataLabelsGroup","markerGroup","tracker","tt"].forEach(function(a){if(c[a])c[a][h]()});if(d.hoverSeries===c||(d.hoverPoint&&d.hoverPoint.series)===c)c.onMouseOut();e&&d.legend.colorizeItem(c,a);c.isDirty=!0;c.options.stacking&&d.series.forEach(function(a){a.options.stacking&&a.visible&&(a.isDirty=!0)});c.linkedSeries.forEach(function(b){b.setVisible(a,!1)});g&&(d.isDirtyBox=!0);
|
||||
I(c,h);!1!==b&&d.redraw()};a.prototype.show=function(){this.setVisible(!0)};a.prototype.hide=function(){this.setVisible(!1)};a.prototype.select=function(a){this.selected=a=this.options.selected="undefined"===typeof a?!this.selected:a;this.checkbox&&(this.checkbox.checked=a);I(this,a?"select":"unselect")};a.prototype.shouldShowTooltip=function(a,b,c){void 0===c&&(c={});c.series=this;c.visiblePlotOnly=!0;return this.chart.isInsidePlot(a,b,c)};a.defaultOptions=H;return a}();D(a.prototype,{axisTypes:["xAxis",
|
||||
"yAxis"],coll:"series",colorCounter:0,cropShoulder:1,directTouch:!1,drawLegendSymbol:y.drawLineMarker,isCartesian:!0,kdAxisArray:["clientX","plotY"],parallelArrays:["x","y"],pointClass:G,requireSorting:!0,sorted:!0});A.series=a;"";"";return a});M(a,"Extensions/ScrollablePlotArea.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/Axis/Axis.js"],a["Core/Chart/Chart.js"],a["Core/Series/Series.js"],a["Core/Renderer/RendererRegistry.js"],a["Core/Utilities.js"]],function(a,u,z,F,y,G){var v=a.stop,A=
|
||||
G.addEvent,q=G.createElement,n=G.merge,k=G.pick;A(z,"afterSetChartSize",function(a){var c=this.options.chart.scrollablePlotArea,e=c&&c.minWidth;c=c&&c.minHeight;if(!this.renderer.forExport){if(e){if(this.scrollablePixelsX=e=Math.max(0,e-this.chartWidth)){this.scrollablePlotBox=this.renderer.scrollablePlotBox=n(this.plotBox);this.plotBox.width=this.plotWidth+=e;this.inverted?this.clipBox.height+=e:this.clipBox.width+=e;var f={1:{name:"right",value:e}}}}else c&&(this.scrollablePixelsY=e=Math.max(0,
|
||||
c-this.chartHeight))&&(this.scrollablePlotBox=this.renderer.scrollablePlotBox=n(this.plotBox),this.plotBox.height=this.plotHeight+=e,this.inverted?this.clipBox.width+=e:this.clipBox.height+=e,f={2:{name:"bottom",value:e}});f&&!a.skipAxes&&this.axes.forEach(function(a){f[a.side]?a.getPlotLinePath=function(){var c=f[a.side].name,e=this[c];this[c]=e-f[a.side].value;var h=u.prototype.getPlotLinePath.apply(this,arguments);this[c]=e;return h}:(a.setAxisSize(),a.setAxisTranslation())})}});A(z,"render",function(){this.scrollablePixelsX||
|
||||
this.scrollablePixelsY?(this.setUpScrolling&&this.setUpScrolling(),this.applyFixed()):this.fixedDiv&&this.applyFixed()});z.prototype.setUpScrolling=function(){var a=this,c={WebkitOverflowScrolling:"touch",overflowX:"hidden",overflowY:"hidden"};this.scrollablePixelsX&&(c.overflowX="auto");this.scrollablePixelsY&&(c.overflowY="auto");this.scrollingParent=q("div",{className:"highcharts-scrolling-parent"},{position:"relative"},this.renderTo);this.scrollingContainer=q("div",{className:"highcharts-scrolling"},
|
||||
c,this.scrollingParent);A(this.scrollingContainer,"scroll",function(){a.pointer&&delete a.pointer.chartPosition});this.innerContainer=q("div",{className:"highcharts-inner-container"},null,this.scrollingContainer);this.innerContainer.appendChild(this.container);this.setUpScrolling=null};z.prototype.moveFixedElements=function(){var a=this.container,c=this.fixedRenderer,h=".highcharts-contextbutton .highcharts-credits .highcharts-legend .highcharts-legend-checkbox .highcharts-navigator-series .highcharts-navigator-xaxis .highcharts-navigator-yaxis .highcharts-navigator .highcharts-reset-zoom .highcharts-drillup-button .highcharts-scrollbar .highcharts-subtitle .highcharts-title".split(" "),
|
||||
f;this.scrollablePixelsX&&!this.inverted?f=".highcharts-yaxis":this.scrollablePixelsX&&this.inverted?f=".highcharts-xaxis":this.scrollablePixelsY&&!this.inverted?f=".highcharts-xaxis":this.scrollablePixelsY&&this.inverted&&(f=".highcharts-yaxis");f&&h.push(f+":not(.highcharts-radial-axis)",f+"-labels:not(.highcharts-radial-axis-labels)");h.forEach(function(e){[].forEach.call(a.querySelectorAll(e),function(a){(a.namespaceURI===c.SVG_NS?c.box:c.box.parentNode).appendChild(a);a.style.pointerEvents="auto"})})};
|
||||
z.prototype.applyFixed=function(){var a=!this.fixedDiv,c=this.options.chart,h=c.scrollablePlotArea,f=y.getRendererType();a?(this.fixedDiv=q("div",{className:"highcharts-fixed"},{position:"absolute",overflow:"hidden",pointerEvents:"none",zIndex:(c.style&&c.style.zIndex||0)+2,top:0},null,!0),this.scrollingContainer&&this.scrollingContainer.parentNode.insertBefore(this.fixedDiv,this.scrollingContainer),this.renderTo.style.overflow="visible",this.fixedRenderer=c=new f(this.fixedDiv,this.chartWidth,this.chartHeight,
|
||||
this.options.chart.style),this.scrollableMask=c.path().attr({fill:this.options.chart.backgroundColor||"#fff","fill-opacity":k(h.opacity,.85),zIndex:-1}).addClass("highcharts-scrollable-mask").add(),A(this,"afterShowResetZoom",this.moveFixedElements),A(this,"afterDrilldown",this.moveFixedElements),A(this,"afterLayOutTitles",this.moveFixedElements)):this.fixedRenderer.setSize(this.chartWidth,this.chartHeight);if(this.scrollableDirty||a)this.scrollableDirty=!1,this.moveFixedElements();c=this.chartWidth+
|
||||
(this.scrollablePixelsX||0);f=this.chartHeight+(this.scrollablePixelsY||0);v(this.container);this.container.style.width=c+"px";this.container.style.height=f+"px";this.renderer.boxWrapper.attr({width:c,height:f,viewBox:[0,0,c,f].join(" ")});this.chartBackground.attr({width:c,height:f});this.scrollingContainer.style.height=this.chartHeight+"px";a&&(h.scrollPositionX&&(this.scrollingContainer.scrollLeft=this.scrollablePixelsX*h.scrollPositionX),h.scrollPositionY&&(this.scrollingContainer.scrollTop=this.scrollablePixelsY*
|
||||
h.scrollPositionY));f=this.axisOffset;a=this.plotTop-f[0]-1;h=this.plotLeft-f[3]-1;c=this.plotTop+this.plotHeight+f[2]+1;f=this.plotLeft+this.plotWidth+f[1]+1;var n=this.plotLeft+this.plotWidth-(this.scrollablePixelsX||0),p=this.plotTop+this.plotHeight-(this.scrollablePixelsY||0);a=this.scrollablePixelsX?[["M",0,a],["L",this.plotLeft-1,a],["L",this.plotLeft-1,c],["L",0,c],["Z"],["M",n,a],["L",this.chartWidth,a],["L",this.chartWidth,c],["L",n,c],["Z"]]:this.scrollablePixelsY?[["M",h,0],["L",h,this.plotTop-
|
||||
1],["L",f,this.plotTop-1],["L",f,0],["Z"],["M",h,p],["L",h,this.chartHeight],["L",f,this.chartHeight],["L",f,p],["Z"]]:[["M",0,0]];"adjustHeight"!==this.redrawTrigger&&this.scrollableMask.attr({d:a})};A(u,"afterInit",function(){this.chart.scrollableDirty=!0});A(F,"show",function(){this.chart.scrollableDirty=!0});""});M(a,"Core/Axis/StackingAxis.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/Axis/Axis.js"],a["Core/Utilities.js"]],function(a,u,z){var v=a.getDeferredAnimation,y=z.addEvent,G=
|
||||
z.destroyObjectProperties,H=z.fireEvent,A=z.isNumber,q=z.objectEach,n;(function(a){function e(){var a=this.stacking;if(a){var c=a.stacks;q(c,function(a,e){G(a);c[e]=null});a&&a.stackTotalGroup&&a.stackTotalGroup.destroy()}}function c(){this.stacking||(this.stacking=new f(this))}var h=[];a.compose=function(a){-1===h.indexOf(a)&&(h.push(a),y(a,"init",c),y(a,"destroy",e));return a};var f=function(){function a(a){this.oldStacks={};this.stacks={};this.stacksTouched=0;this.axis=a}a.prototype.buildStacks=
|
||||
function(){var a=this.axis,c=a.series,e=a.options.reversedStacks,f=c.length,h;if(!a.isXAxis){this.usePercentage=!1;for(h=f;h--;){var k=c[e?h:f-h-1];k.setStackedPoints();k.setGroupedPoints()}for(h=0;h<f;h++)c[h].modifyStacks();H(a,"afterBuildStacks")}};a.prototype.cleanStacks=function(){if(!this.axis.isXAxis){if(this.oldStacks)var a=this.stacks=this.oldStacks;q(a,function(a){q(a,function(a){a.cumulative=a.total})})}};a.prototype.resetStacks=function(){var a=this,c=a.stacks;a.axis.isXAxis||q(c,function(c){q(c,
|
||||
function(e,f){A(e.touched)&&e.touched<a.stacksTouched?(e.destroy(),delete c[f]):(e.total=null,e.cumulative=null)})})};a.prototype.renderStackTotals=function(){var a=this.axis,c=a.chart,e=c.renderer,f=this.stacks;a=v(c,a.options.stackLabels&&a.options.stackLabels.animation||!1);var h=this.stackTotalGroup=this.stackTotalGroup||e.g("stack-labels").attr({visibility:"visible",zIndex:6,opacity:0}).add();h.translate(c.plotLeft,c.plotTop);q(f,function(a){q(a,function(a){a.render(h)})});h.animate({opacity:1},
|
||||
a)};return a}();a.Additions=f})(n||(n={}));return n});M(a,"Extensions/Stacking.js",[a["Core/Axis/Axis.js"],a["Core/Chart/Chart.js"],a["Core/FormatUtilities.js"],a["Core/Globals.js"],a["Core/Series/Series.js"],a["Core/Axis/StackingAxis.js"],a["Core/Utilities.js"]],function(a,u,z,F,y,G,H){var v=z.format,q=H.correctFloat,n=H.defined,k=H.destroyObjectProperties,e=H.isArray,c=H.isNumber,h=H.objectEach,f=H.pick,w=function(){function a(a,c,e,f,h){var l=a.chart.inverted;this.axis=a;this.isNegative=e;this.options=
|
||||
c=c||{};this.x=f;this.total=null;this.points={};this.hasValidPoints=!1;this.stack=h;this.rightCliff=this.leftCliff=0;this.alignOptions={align:c.align||(l?e?"left":"right":"center"),verticalAlign:c.verticalAlign||(l?"middle":e?"bottom":"top"),y:c.y,x:c.x};this.textAlign=c.textAlign||(l?e?"right":"left":"center")}a.prototype.destroy=function(){k(this,this.axis)};a.prototype.render=function(a){var c=this.axis.chart,e=this.options,h=e.format;h=h?v(h,this,c):e.formatter.call(this);this.label?this.label.attr({text:h,
|
||||
visibility:"hidden"}):(this.label=c.renderer.label(h,null,null,e.shape,null,null,e.useHTML,!1,"stack-labels"),h={r:e.borderRadius||0,text:h,rotation:e.rotation,padding:f(e.padding,5),visibility:"hidden"},c.styledMode||(h.fill=e.backgroundColor,h.stroke=e.borderColor,h["stroke-width"]=e.borderWidth,this.label.css(e.style)),this.label.attr(h),this.label.added||this.label.add(a));this.label.labelrank=c.plotSizeY};a.prototype.setOffset=function(a,e,h,k,p){var l=this.axis,b=l.chart;k=l.translate(l.stacking.usePercentage?
|
||||
100:k?k:this.total,0,0,0,1);h=l.translate(h?h:0);h=n(k)&&Math.abs(k-h);a=f(p,b.xAxis[0].translate(this.x))+a;l=n(k)&&this.getStackBox(b,this,a,k,e,h,l);e=this.label;h=this.isNegative;a="justify"===f(this.options.overflow,"justify");var g=this.textAlign;e&&l&&(p=e.getBBox(),k=e.padding,g="left"===g?b.inverted?-k:k:"right"===g?p.width:b.inverted&&"center"===g?p.width/2:b.inverted?h?p.width+k:-k:p.width/2,h=b.inverted?p.height/2:h?-k:p.height,this.alignOptions.x=f(this.options.x,0),this.alignOptions.y=
|
||||
f(this.options.y,0),l.x-=g,l.y-=h,e.align(this.alignOptions,null,l),b.isInsidePlot(e.alignAttr.x+g-this.alignOptions.x,e.alignAttr.y+h-this.alignOptions.y)?e.show():(e.alignAttr.y=-9999,a=!1),a&&y.prototype.justifyDataLabel.call(this.axis,e,this.alignOptions,e.alignAttr,p,l),e.attr({x:e.alignAttr.x,y:e.alignAttr.y}),f(!a&&this.options.crop,!0)&&((b=c(e.x)&&c(e.y)&&b.isInsidePlot(e.x-k+e.width,e.y)&&b.isInsidePlot(e.x+k,e.y))||e.hide()))};a.prototype.getStackBox=function(a,c,e,f,h,l,b){var g=c.axis.reversed,
|
||||
d=a.inverted,k=b.height+b.pos-(d?a.plotLeft:a.plotTop);c=c.isNegative&&!g||!c.isNegative&&g;return{x:d?c?f-b.right:f-l+b.pos-a.plotLeft:e+a.xAxis[0].transB-a.plotLeft,y:d?b.height-e-h:c?k-f-l:k-f,width:d?l:h,height:d?h:l}};return a}();u.prototype.getStacks=function(){var a=this,c=a.inverted;a.yAxis.forEach(function(a){a.stacking&&a.stacking.stacks&&a.hasVisibleSeries&&(a.stacking.oldStacks=a.stacking.stacks)});a.series.forEach(function(e){var h=e.xAxis&&e.xAxis.options||{};!e.options.stacking||!0!==
|
||||
e.visible&&!1!==a.options.chart.ignoreHiddenSeries||(e.stackKey=[e.type,f(e.options.stack,""),c?h.top:h.left,c?h.height:h.width].join())})};G.compose(a);y.prototype.setGroupedPoints=function(){var a=this.yAxis.stacking;this.options.centerInCategory&&(this.is("column")||this.is("columnrange"))&&!this.options.stacking&&1<this.chart.series.length?y.prototype.setStackedPoints.call(this,"group"):a&&h(a.stacks,function(c,e){"group"===e.slice(-5)&&(h(c,function(a){return a.destroy()}),delete a.stacks[e])})};
|
||||
y.prototype.setStackedPoints=function(a){var c=a||this.options.stacking;if(c&&(!0===this.visible||!1===this.chart.options.chart.ignoreHiddenSeries)){var h=this.processedXData,k=this.processedYData,p=[],r=k.length,l=this.options,b=l.threshold,g=f(l.startFromThreshold&&b,0);l=l.stack;a=a?this.type+","+c:this.stackKey;var d="-"+a,m=this.negStacks,v=this.yAxis,x=v.stacking.stacks,u=v.stacking.oldStacks,A,y;v.stacking.stacksTouched+=1;for(y=0;y<r;y++){var z=h[y];var F=k[y];var H=this.getStackIndicator(H,
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z,this.index);var G=H.key;var K=(A=m&&F<(g?0:b))?d:a;x[K]||(x[K]={});x[K][z]||(u[K]&&u[K][z]?(x[K][z]=u[K][z],x[K][z].total=null):x[K][z]=new w(v,v.options.stackLabels,A,z,l));K=x[K][z];null!==F?(K.points[G]=K.points[this.index]=[f(K.cumulative,g)],n(K.cumulative)||(K.base=G),K.touched=v.stacking.stacksTouched,0<H.index&&!1===this.singleStacks&&(K.points[G][0]=K.points[this.index+","+z+",0"][0])):K.points[G]=K.points[this.index]=null;"percent"===c?(A=A?a:d,m&&x[A]&&x[A][z]?(A=x[A][z],K.total=A.total=
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Math.max(A.total,K.total)+Math.abs(F)||0):K.total=q(K.total+(Math.abs(F)||0))):"group"===c?(e(F)&&(F=F[0]),null!==F&&(K.total=(K.total||0)+1)):K.total=q(K.total+(F||0));K.cumulative="group"===c?(K.total||1)-1:f(K.cumulative,g)+(F||0);null!==F&&(K.points[G].push(K.cumulative),p[y]=K.cumulative,K.hasValidPoints=!0)}"percent"===c&&(v.stacking.usePercentage=!0);"group"!==c&&(this.stackedYData=p);v.stacking.oldStacks={}}};y.prototype.modifyStacks=function(){var a=this,c=a.stackKey,e=a.yAxis.stacking.stacks,
|
||||
f=a.processedXData,h,k=a.options.stacking;a[k+"Stacker"]&&[c,"-"+c].forEach(function(c){for(var b=f.length,g,d;b--;)if(g=f[b],h=a.getStackIndicator(h,g,a.index,c),d=(g=e[c]&&e[c][g])&&g.points[h.key])a[k+"Stacker"](d,g,b)})};y.prototype.percentStacker=function(a,c,e){c=c.total?100/c.total:0;a[0]=q(a[0]*c);a[1]=q(a[1]*c);this.stackedYData[e]=a[1]};y.prototype.getStackIndicator=function(a,c,e,f){!n(a)||a.x!==c||f&&a.key!==f?a={x:c,index:0,key:f}:a.index++;a.key=[e,c,a.index].join();return a};F.StackItem=
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||||
w;"";return F.StackItem});M(a,"Series/Line/LineSeries.js",[a["Core/Series/Series.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Utilities.js"]],function(a,u,z){var v=this&&this.__extends||function(){var a=function(v,q){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,k){a.__proto__=k}||function(a,k){for(var e in k)k.hasOwnProperty(e)&&(a[e]=k[e])};return a(v,q)};return function(v,q){function n(){this.constructor=v}a(v,q);v.prototype=null===q?Object.create(q):(n.prototype=q.prototype,
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new n)}}(),y=z.defined,G=z.merge;z=function(u){function A(){var a=null!==u&&u.apply(this,arguments)||this;a.data=void 0;a.options=void 0;a.points=void 0;return a}v(A,u);A.prototype.drawGraph=function(){var a=this,n=this.options,k=(this.gappedPath||this.getGraphPath).call(this),e=this.chart.styledMode,c=[["graph","highcharts-graph"]];e||c[0].push(n.lineColor||this.color||"#cccccc",n.dashStyle);c=a.getZonesGraphs(c);c.forEach(function(c,f){var h=c[0],p=a[h],q=p?"animate":"attr";p?(p.endX=a.preventGraphAnimation?
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||||
null:k.xMap,p.animate({d:k})):k.length&&(a[h]=p=a.chart.renderer.path(k).addClass(c[1]).attr({zIndex:1}).add(a.group));p&&!e&&(h={stroke:c[2],"stroke-width":n.lineWidth,fill:a.fillGraph&&a.color||"none"},c[3]?h.dashstyle=c[3]:"square"!==n.linecap&&(h["stroke-linecap"]=h["stroke-linejoin"]="round"),p[q](h).shadow(2>f&&n.shadow));p&&(p.startX=k.xMap,p.isArea=k.isArea)})};A.prototype.getGraphPath=function(a,n,k){var e=this,c=e.options,h=[],f=[],q,p=c.step;a=a||e.points;var v=a.reversed;v&&a.reverse();
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||||
(p={right:1,center:2}[p]||p&&3)&&v&&(p=4-p);a=this.getValidPoints(a,!1,!(c.connectNulls&&!n&&!k));a.forEach(function(t,v){var w=t.plotX,r=t.plotY,l=a[v-1];(t.leftCliff||l&&l.rightCliff)&&!k&&(q=!0);t.isNull&&!y(n)&&0<v?q=!c.connectNulls:t.isNull&&!n?q=!0:(0===v||q?v=[["M",t.plotX,t.plotY]]:e.getPointSpline?v=[e.getPointSpline(a,t,v)]:p?(v=1===p?[["L",l.plotX,r]]:2===p?[["L",(l.plotX+w)/2,l.plotY],["L",(l.plotX+w)/2,r]]:[["L",w,l.plotY]],v.push(["L",w,r])):v=[["L",w,r]],f.push(t.x),p&&(f.push(t.x),
|
||||
2===p&&f.push(t.x)),h.push.apply(h,v),q=!1)});h.xMap=f;return e.graphPath=h};A.prototype.getZonesGraphs=function(a){this.zones.forEach(function(n,k){k=["zone-graph-"+k,"highcharts-graph highcharts-zone-graph-"+k+" "+(n.className||"")];this.chart.styledMode||k.push(n.color||this.color,n.dashStyle||this.options.dashStyle);a.push(k)},this);return a};A.defaultOptions=G(a.defaultOptions,{});return A}(a);u.registerSeriesType("line",z);"";return z});M(a,"Series/Area/AreaSeries.js",[a["Core/Color/Color.js"],
|
||||
a["Core/Legend/LegendSymbol.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Utilities.js"]],function(a,u,z,F){var v=this&&this.__extends||function(){var a=function(e,c){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,c){a.__proto__=c}||function(a,c){for(var e in c)c.hasOwnProperty(e)&&(a[e]=c[e])};return a(e,c)};return function(e,c){function h(){this.constructor=e}a(e,c);e.prototype=null===c?Object.create(c):(h.prototype=c.prototype,new h)}}(),G=a.parse,H=z.seriesTypes.line;a=
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||||
F.extend;var A=F.merge,q=F.objectEach,n=F.pick;F=function(a){function e(){var c=null!==a&&a.apply(this,arguments)||this;c.data=void 0;c.options=void 0;c.points=void 0;return c}v(e,a);e.prototype.drawGraph=function(){this.areaPath=[];a.prototype.drawGraph.apply(this);var c=this,e=this.areaPath,f=this.options,k=[["area","highcharts-area",this.color,f.fillColor]];this.zones.forEach(function(a,e){k.push(["zone-area-"+e,"highcharts-area highcharts-zone-area-"+e+" "+a.className,a.color||c.color,a.fillColor||
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||||
f.fillColor])});k.forEach(function(a){var h=a[0],k=c[h],p=k?"animate":"attr",q={};k?(k.endX=c.preventGraphAnimation?null:e.xMap,k.animate({d:e})):(q.zIndex=0,k=c[h]=c.chart.renderer.path(e).addClass(a[1]).add(c.group),k.isArea=!0);c.chart.styledMode||(q.fill=n(a[3],G(a[2]).setOpacity(n(f.fillOpacity,.75)).get()));k[p](q);k.startX=e.xMap;k.shiftUnit=f.step?2:1})};e.prototype.getGraphPath=function(a){var c=H.prototype.getGraphPath,e=this.options,k=e.stacking,p=this.yAxis,q,t=[],v=[],u=this.index,r=
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||||
p.stacking.stacks[this.stackKey],l=e.threshold,b=Math.round(p.getThreshold(e.threshold));e=n(e.connectNulls,"percent"===k);var g=function(c,d,e){var g=a[c];c=k&&r[g.x].points[u];var f=g[e+"Null"]||0;e=g[e+"Cliff"]||0;g=!0;if(e||f){var h=(f?c[0]:c[1])+e;var n=c[0]+e;g=!!f}else!k&&a[d]&&a[d].isNull&&(h=n=l);"undefined"!==typeof h&&(v.push({plotX:m,plotY:null===h?b:p.getThreshold(h),isNull:g,isCliff:!0}),t.push({plotX:m,plotY:null===n?b:p.getThreshold(n),doCurve:!1}))};a=a||this.points;k&&(a=this.getStackPoints(a));
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||||
for(q=0;q<a.length;q++){k||(a[q].leftCliff=a[q].rightCliff=a[q].leftNull=a[q].rightNull=void 0);var d=a[q].isNull;var m=n(a[q].rectPlotX,a[q].plotX);var D=k?n(a[q].yBottom,b):b;if(!d||e)e||g(q,q-1,"left"),d&&!k&&e||(v.push(a[q]),t.push({x:q,plotX:m,plotY:D})),e||g(q,q+1,"right")}q=c.call(this,v,!0,!0);t.reversed=!0;d=c.call(this,t,!0,!0);(D=d[0])&&"M"===D[0]&&(d[0]=["L",D[1],D[2]]);d=q.concat(d);d.length&&d.push(["Z"]);c=c.call(this,v,!1,e);d.xMap=q.xMap;this.areaPath=d;return c};e.prototype.getStackPoints=
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||||
function(a){var c=this,e=[],k=[],p=this.xAxis,v=this.yAxis,t=v.stacking.stacks[this.stackKey],u={},C=v.series,r=C.length,l=v.options.reversedStacks?1:-1,b=C.indexOf(c);a=a||this.points;if(this.options.stacking){for(var g=0;g<a.length;g++)a[g].leftNull=a[g].rightNull=void 0,u[a[g].x]=a[g];q(t,function(a,b){null!==a.total&&k.push(b)});k.sort(function(a,b){return a-b});var d=C.map(function(a){return a.visible});k.forEach(function(a,g){var f=0,h,m;if(u[a]&&!u[a].isNull)e.push(u[a]),[-1,1].forEach(function(e){var f=
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1===e?"rightNull":"leftNull",n=0,p=t[k[g+e]];if(p)for(var q=b;0<=q&&q<r;){var v=C[q].index;h=p.points[v];h||(v===c.index?u[a][f]=!0:d[q]&&(m=t[a].points[v])&&(n-=m[1]-m[0]));q+=l}u[a][1===e?"rightCliff":"leftCliff"]=n});else{for(var q=b;0<=q&&q<r;){if(h=t[a].points[C[q].index]){f=h[1];break}q+=l}f=n(f,0);f=v.translate(f,0,1,0,1);e.push({isNull:!0,plotX:p.translate(a,0,0,0,1),x:a,plotY:f,yBottom:f})}})}return e};e.defaultOptions=A(H.defaultOptions,{threshold:0});return e}(H);a(F.prototype,{singleStacks:!1,
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drawLegendSymbol:u.drawRectangle});z.registerSeriesType("area",F);"";return F});M(a,"Series/Spline/SplineSeries.js",[a["Core/Series/SeriesRegistry.js"],a["Core/Utilities.js"]],function(a,u){var v=this&&this.__extends||function(){var a=function(v,q){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,k){a.__proto__=k}||function(a,k){for(var e in k)k.hasOwnProperty(e)&&(a[e]=k[e])};return a(v,q)};return function(v,q){function n(){this.constructor=v}a(v,q);v.prototype=null===q?Object.create(q):
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(n.prototype=q.prototype,new n)}}(),F=a.seriesTypes.line,y=u.merge,G=u.pick;u=function(a){function u(){var q=null!==a&&a.apply(this,arguments)||this;q.data=void 0;q.options=void 0;q.points=void 0;return q}v(u,a);u.prototype.getPointSpline=function(a,n,k){var e=n.plotX||0,c=n.plotY||0,h=a[k-1];k=a[k+1];if(h&&!h.isNull&&!1!==h.doCurve&&!n.isCliff&&k&&!k.isNull&&!1!==k.doCurve&&!n.isCliff){a=h.plotY||0;var f=k.plotX||0;k=k.plotY||0;var q=0;var p=(1.5*e+(h.plotX||0))/2.5;var v=(1.5*c+a)/2.5;f=(1.5*e+
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||||
f)/2.5;var t=(1.5*c+k)/2.5;f!==p&&(q=(t-v)*(f-e)/(f-p)+c-t);v+=q;t+=q;v>a&&v>c?(v=Math.max(a,c),t=2*c-v):v<a&&v<c&&(v=Math.min(a,c),t=2*c-v);t>k&&t>c?(t=Math.max(k,c),v=2*c-t):t<k&&t<c&&(t=Math.min(k,c),v=2*c-t);n.rightContX=f;n.rightContY=t}n=["C",G(h.rightContX,h.plotX,0),G(h.rightContY,h.plotY,0),G(p,e,0),G(v,c,0),e,c];h.rightContX=h.rightContY=void 0;return n};u.defaultOptions=y(F.defaultOptions);return u}(F);a.registerSeriesType("spline",u);"";return u});M(a,"Series/AreaSpline/AreaSplineSeries.js",
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||||
[a["Series/Area/AreaSeries.js"],a["Series/Spline/SplineSeries.js"],a["Core/Legend/LegendSymbol.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Utilities.js"]],function(a,u,z,F,y){var v=this&&this.__extends||function(){var a=function(k,e){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,e){a.__proto__=e}||function(a,e){for(var c in e)e.hasOwnProperty(c)&&(a[c]=e[c])};return a(k,e)};return function(k,e){function c(){this.constructor=k}a(k,e);k.prototype=null===e?Object.create(e):
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||||
(c.prototype=e.prototype,new c)}}(),H=a.prototype,A=y.extend,q=y.merge;y=function(n){function k(){var a=null!==n&&n.apply(this,arguments)||this;a.data=void 0;a.points=void 0;a.options=void 0;return a}v(k,n);k.defaultOptions=q(u.defaultOptions,a.defaultOptions);return k}(u);A(y.prototype,{getGraphPath:H.getGraphPath,getStackPoints:H.getStackPoints,drawGraph:H.drawGraph,drawLegendSymbol:z.drawRectangle});F.registerSeriesType("areaspline",y);"";return y});M(a,"Series/Column/ColumnSeries.js",[a["Core/Animation/AnimationUtilities.js"],
|
||||
a["Core/Color/Color.js"],a["Core/Globals.js"],a["Core/Legend/LegendSymbol.js"],a["Core/Series/Series.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Utilities.js"]],function(a,u,z,F,y,G,H){var v=this&&this.__extends||function(){var a=function(c,b){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,b){a.__proto__=b}||function(a,b){for(var c in b)b.hasOwnProperty(c)&&(a[c]=b[c])};return a(c,b)};return function(c,b){function e(){this.constructor=c}a(c,b);c.prototype=null===b?Object.create(b):
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(e.prototype=b.prototype,new e)}}(),q=a.animObject,n=u.parse,k=z.hasTouch;a=z.noop;var e=H.clamp,c=H.css,h=H.defined,f=H.extend,w=H.fireEvent,p=H.isArray,B=H.isNumber,t=H.merge,J=H.pick,C=H.objectEach;H=function(a){function l(){var b=null!==a&&a.apply(this,arguments)||this;b.borderWidth=void 0;b.data=void 0;b.group=void 0;b.options=void 0;b.points=void 0;return b}v(l,a);l.prototype.animate=function(a){var b=this,c=this.yAxis,h=b.options,l=this.chart.inverted,k={},n=l?"translateX":"translateY";if(a)k.scaleY=
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||||
.001,a=e(c.toPixels(h.threshold),c.pos,c.pos+c.len),l?k.translateX=a-c.len:k.translateY=a,b.clipBox&&b.setClip(),b.group.attr(k);else{var p=Number(b.group.attr(n));b.group.animate({scaleY:1},f(q(b.options.animation),{step:function(a,d){b.group&&(k[n]=p+d.pos*(c.pos-p),b.group.attr(k))}}))}};l.prototype.init=function(b,c){a.prototype.init.apply(this,arguments);var d=this;b=d.chart;b.hasRendered&&b.series.forEach(function(a){a.type===d.type&&(a.isDirty=!0)})};l.prototype.getColumnMetrics=function(){var a=
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||||
this,c=a.options,d=a.xAxis,e=a.yAxis,f=d.options.reversedStacks;f=d.reversed&&!f||!d.reversed&&f;var h={},l,k=0;!1===c.grouping?k=1:a.chart.series.forEach(function(b){var c=b.yAxis,d=b.options;if(b.type===a.type&&(b.visible||!a.chart.options.chart.ignoreHiddenSeries)&&e.len===c.len&&e.pos===c.pos){if(d.stacking&&"group"!==d.stacking){l=b.stackKey;"undefined"===typeof h[l]&&(h[l]=k++);var g=h[l]}else!1!==d.grouping&&(g=k++);b.columnIndex=g}});var n=Math.min(Math.abs(d.transA)*(d.ordinal&&d.ordinal.slope||
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||||
c.pointRange||d.closestPointRange||d.tickInterval||1),d.len),p=n*c.groupPadding,r=(n-2*p)/(k||1);c=Math.min(c.maxPointWidth||d.len,J(c.pointWidth,r*(1-2*c.pointPadding)));a.columnMetrics={width:c,offset:(r-c)/2+(p+((a.columnIndex||0)+(f?1:0))*r-n/2)*(f?-1:1),paddedWidth:r,columnCount:k};return a.columnMetrics};l.prototype.crispCol=function(a,c,d,e){var b=this.chart,g=this.borderWidth,f=-(g%2?.5:0);g=g%2?.5:1;b.inverted&&b.renderer.isVML&&(g+=1);this.options.crisp&&(d=Math.round(a+d)+f,a=Math.round(a)+
|
||||
f,d-=a);e=Math.round(c+e)+g;f=.5>=Math.abs(c)&&.5<e;c=Math.round(c)+g;e-=c;f&&e&&(--c,e+=1);return{x:a,y:c,width:d,height:e}};l.prototype.adjustForMissingColumns=function(a,c,d,e){var b=this,g=this.options.stacking;if(!d.isNull&&1<e.columnCount){var f=0,h=0;C(this.yAxis.stacking&&this.yAxis.stacking.stacks,function(a){if("number"===typeof d.x&&(a=a[d.x.toString()])){var c=a.points[b.index],e=a.total;g?(c&&(f=h),a.hasValidPoints&&h++):p(c)&&(f=c[1],h=e||0)}});a=(d.plotX||0)+((h-1)*e.paddedWidth+c)/
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||||
2-c-f*e.paddedWidth}return a};l.prototype.translate=function(){var a=this,c=a.chart,d=a.options,f=a.dense=2>a.closestPointRange*a.xAxis.transA;f=a.borderWidth=J(d.borderWidth,f?0:1);var l=a.xAxis,k=a.yAxis,n=d.threshold,p=a.translatedThreshold=k.getThreshold(n),r=J(d.minPointLength,5),q=a.getColumnMetrics(),t=q.width,v=a.pointXOffset=q.offset,u=a.dataMin,w=a.dataMax,C=a.barW=Math.max(t,1+2*f);c.inverted&&(p-=.5);d.pointPadding&&(C=Math.ceil(C));y.prototype.translate.apply(a);a.points.forEach(function(b){var g=
|
||||
J(b.yBottom,p),f=999+Math.abs(g),m=b.plotX||0;f=e(b.plotY,-f,k.len+f);var x=Math.min(f,g),D=Math.max(f,g)-x,y=t,A=m+v,z=C;r&&Math.abs(D)<r&&(D=r,m=!k.reversed&&!b.negative||k.reversed&&b.negative,B(n)&&B(w)&&b.y===n&&w<=n&&(k.min||0)<n&&(u!==w||(k.max||0)<=n)&&(m=!m),x=Math.abs(x-p)>r?g-r:p-(m?r:0));h(b.options.pointWidth)&&(y=z=Math.ceil(b.options.pointWidth),A-=Math.round((y-t)/2));d.centerInCategory&&(A=a.adjustForMissingColumns(A,y,b,q));b.barX=A;b.pointWidth=y;b.tooltipPos=c.inverted?[e(k.len+
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||||
k.pos-c.plotLeft-f,k.pos-c.plotLeft,k.len+k.pos-c.plotLeft),l.len+l.pos-c.plotTop-A-z/2,D]:[l.left-c.plotLeft+A+z/2,e(f+k.pos-c.plotTop,k.pos-c.plotTop,k.len+k.pos-c.plotTop),D];b.shapeType=a.pointClass.prototype.shapeType||"rect";b.shapeArgs=a.crispCol.apply(a,b.isNull?[A,p,z,0]:[A,x,z,D])})};l.prototype.drawGraph=function(){this.group[this.dense?"addClass":"removeClass"]("highcharts-dense-data")};l.prototype.pointAttribs=function(a,c){var b=this.options,e=this.pointAttrToOptions||{},g=e.stroke||
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h?k>a.x||k<e.x:k<a.x||k>e.x)f=!1;a=[["M",a.x,a.y]];f&&a.push(c);a.push(["L",e.x,e.y]);return a}}});return u});M(a,"Series/Pie/PieSeries.js",[a["Series/CenteredUtilities.js"],a["Series/Column/ColumnSeries.js"],a["Core/Globals.js"],a["Core/Legend/LegendSymbol.js"],a["Series/Pie/PiePoint.js"],a["Core/Series/Series.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Renderer/SVG/Symbols.js"],a["Core/Utilities.js"]],function(a,u,z,F,y,G,H,A,q){var n=this&&this.__extends||function(){var a=function(c,e){a=Object.setPrototypeOf||
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void 0;c.options=void 0;c.points=void 0;return c}n(c,a);c.prototype.animate=function(a){var c=this,e=c.points,f=c.startAngleRad;a||e.forEach(function(a){var b=a.graphic,d=a.shapeArgs;b&&d&&(b.attr({r:v(a.startR,c.center&&c.center[3]/2),start:f,end:f}),b.animate({r:d.r,start:d.start,end:d.end},c.options.animation))})};c.prototype.drawEmpty=function(){var a=this.startAngleRad,c=this.endAngleRad,e=this.options;if(0===this.total&&this.center){var f=this.center[0];var b=this.center[1];this.graph||(this.graph=
|
||||
this.chart.renderer.arc(f,b,this.center[1]/2,0,a,c).addClass("highcharts-empty-series").add(this.group));this.graph.attr({d:A.arc(f,b,this.center[2]/2,0,{start:a,end:c,innerR:this.center[3]/2})});this.chart.styledMode||this.graph.attr({"stroke-width":e.borderWidth,fill:e.fillColor||"none",stroke:e.color||"#cccccc"})}else this.graph&&(this.graph=this.graph.destroy())};c.prototype.drawPoints=function(){var a=this.chart.renderer;this.points.forEach(function(c){c.graphic&&c.hasNewShapeType()&&(c.graphic=
|
||||
c.graphic.destroy());c.graphic||(c.graphic=a[c.shapeType](c.shapeArgs).add(c.series.group),c.delayedRendering=!0)})};c.prototype.generatePoints=function(){a.prototype.generatePoints.call(this);this.updateTotals()};c.prototype.getX=function(a,c,f){var h=this.center,b=this.radii?this.radii[f.index]||0:h[2]/2;a=Math.asin(e((a-h[1])/(b+f.labelDistance),-1,1));return h[0]+(c?-1:1)*Math.cos(a)*(b+f.labelDistance)+(0<f.labelDistance?(c?-1:1)*this.options.dataLabels.padding:0)};c.prototype.hasData=function(){return!!this.processedXData.length};
|
||||
c.prototype.redrawPoints=function(){var a=this,c=a.chart,e=c.renderer,h=a.options.shadow,b,g,d,k;this.drawEmpty();!h||a.shadowGroup||c.styledMode||(a.shadowGroup=e.g("shadow").attr({zIndex:-1}).add(a.group));a.points.forEach(function(l){var m={};g=l.graphic;if(!l.isNull&&g){var n=void 0;k=l.shapeArgs;b=l.getTranslate();c.styledMode||(n=l.shadowGroup,h&&!n&&(n=l.shadowGroup=e.g("shadow").add(a.shadowGroup)),n&&n.attr(b),d=a.pointAttribs(l,l.selected&&"select"));l.delayedRendering?(g.setRadialReference(a.center).attr(k).attr(b),
|
||||
c.styledMode||g.attr(d).attr({"stroke-linejoin":"round"}).shadow(h,n),l.delayedRendering=!1):(g.setRadialReference(a.center),c.styledMode||f(!0,m,d),f(!0,m,k,b),g.animate(m));g.attr({visibility:l.visible?"inherit":"hidden"});g.addClass(l.getClassName(),!0)}else g&&(l.graphic=g.destroy())})};c.prototype.sortByAngle=function(a,c){a.sort(function(a,e){return"undefined"!==typeof a.angle&&(e.angle-a.angle)*c})};c.prototype.translate=function(a){this.generatePoints();var c=this.options,e=c.slicedOffset,
|
||||
f=e+(c.borderWidth||0),b=k(c.startAngle,c.endAngle),g=this.startAngleRad=b.start;b=(this.endAngleRad=b.end)-g;var d=this.points,m=c.dataLabels.distance;c=c.ignoreHiddenPoint;var n=d.length,q,t=0;a||(this.center=a=this.getCenter());for(q=0;q<n;q++){var u=d[q];var w=g+t*b;!u.isValid()||c&&!u.visible||(t+=u.percentage/100);var y=g+t*b;var B={x:a[0],y:a[1],r:a[2]/2,innerR:a[3]/2,start:Math.round(1E3*w)/1E3,end:Math.round(1E3*y)/1E3};u.shapeType="arc";u.shapeArgs=B;u.labelDistance=v(u.options.dataLabels&&
|
||||
u.options.dataLabels.distance,m);u.labelDistance=p(u.labelDistance,B.r);this.maxLabelDistance=Math.max(this.maxLabelDistance||0,u.labelDistance);y=(y+w)/2;y>1.5*Math.PI?y-=2*Math.PI:y<-Math.PI/2&&(y+=2*Math.PI);u.slicedTranslation={translateX:Math.round(Math.cos(y)*e),translateY:Math.round(Math.sin(y)*e)};B=Math.cos(y)*a[2]/2;var A=Math.sin(y)*a[2]/2;u.tooltipPos=[a[0]+.7*B,a[1]+.7*A];u.half=y<-Math.PI/2||y>Math.PI/2?1:0;u.angle=y;w=Math.min(f,u.labelDistance/5);u.labelPosition={natural:{x:a[0]+B+
|
||||
Math.cos(y)*u.labelDistance,y:a[1]+A+Math.sin(y)*u.labelDistance},"final":{},alignment:0>u.labelDistance?"center":u.half?"right":"left",connectorPosition:{breakAt:{x:a[0]+B+Math.cos(y)*w,y:a[1]+A+Math.sin(y)*w},touchingSliceAt:{x:a[0]+B,y:a[1]+A}}}}h(this,"afterTranslate")};c.prototype.updateTotals=function(){var a=this.points,c=a.length,e=this.options.ignoreHiddenPoint,f,b=0;for(f=0;f<c;f++){var g=a[f];!g.isValid()||e&&!g.visible||(b+=g.y)}this.total=b;for(f=0;f<c;f++)g=a[f],g.percentage=0<b&&(g.visible||
|
||||
!e)?g.y/b*100:0,g.total=b};c.defaultOptions=f(G.defaultOptions,{center:[null,null],clip:!1,colorByPoint:!0,dataLabels:{allowOverlap:!0,connectorPadding:5,connectorShape:"fixedOffset",crookDistance:"70%",distance:30,enabled:!0,formatter:function(){return this.point.isNull?void 0:this.point.name},softConnector:!0,x:0},fillColor:void 0,ignoreHiddenPoint:!0,inactiveOtherPoints:!0,legendType:"point",marker:null,size:null,showInLegend:!1,slicedOffset:10,stickyTracking:!1,tooltip:{followPointer:!0},borderColor:"#ffffff",
|
||||
borderWidth:1,lineWidth:void 0,states:{hover:{brightness:.1}}});return c}(G);c(q.prototype,{axisTypes:[],directTouch:!0,drawGraph:void 0,drawLegendSymbol:F.drawRectangle,drawTracker:u.prototype.drawTracker,getCenter:a.getCenter,getSymbol:z,isCartesian:!1,noSharedTooltip:!0,pointAttribs:u.prototype.pointAttribs,pointClass:y,requireSorting:!1,searchPoint:z,trackerGroups:["group","dataLabelsGroup"]});H.registerSeriesType("pie",q);"";return q});M(a,"Series/Pie/PieDataLabel.js",[a["Core/Series/DataLabel.js"],
|
||||
a["Core/Globals.js"],a["Core/Renderer/RendererUtilities.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Utilities.js"]],function(a,u,z,F,y){var v=u.noop,H=z.distribute,A=F.series,q=y.arrayMax,n=y.clamp,k=y.defined,e=y.merge,c=y.pick,h=y.relativeLength,f;(function(f){function p(){var a=this,f=a.data,b=a.chart,g=a.options.dataLabels||{},d=g.connectorPadding,h=b.plotWidth,n=b.plotHeight,p=b.plotLeft,v=Math.round(b.chartWidth/3),t=a.center,u=t[2]/2,w=t[1],C=[[],[]],y=[0,0,0,0],B=a.dataLabelPositioners,
|
||||
z,F,G,J,M,E,T,N,V,W,X,R;a.visible&&(g.enabled||a._hasPointLabels)&&(f.forEach(function(a){a.dataLabel&&a.visible&&a.dataLabel.shortened&&(a.dataLabel.attr({width:"auto"}).css({width:"auto",textOverflow:"clip"}),a.dataLabel.shortened=!1)}),A.prototype.drawDataLabels.apply(a),f.forEach(function(a){a.dataLabel&&(a.visible?(C[a.half].push(a),a.dataLabel._pos=null,!k(g.style.width)&&!k(a.options.dataLabels&&a.options.dataLabels.style&&a.options.dataLabels.style.width)&&a.dataLabel.getBBox().width>v&&(a.dataLabel.css({width:Math.round(.7*
|
||||
v)+"px"}),a.dataLabel.shortened=!0)):(a.dataLabel=a.dataLabel.destroy(),a.dataLabels&&1===a.dataLabels.length&&delete a.dataLabels))}),C.forEach(function(e,f){var l=e.length,m=[],r;if(l){a.sortByAngle(e,f-.5);if(0<a.maxLabelDistance){var q=Math.max(0,w-u-a.maxLabelDistance);var v=Math.min(w+u+a.maxLabelDistance,b.plotHeight);e.forEach(function(a){0<a.labelDistance&&a.dataLabel&&(a.top=Math.max(0,w-u-a.labelDistance),a.bottom=Math.min(w+u+a.labelDistance,b.plotHeight),r=a.dataLabel.getBBox().height||
|
||||
21,a.distributeBox={target:a.labelPosition.natural.y-a.top+r/2,size:r,rank:a.y},m.push(a.distributeBox))});q=v+r-q;H(m,q,q/5)}for(X=0;X<l;X++){z=e[X];E=z.labelPosition;J=z.dataLabel;W=!1===z.visible?"hidden":"inherit";V=q=E.natural.y;m&&k(z.distributeBox)&&("undefined"===typeof z.distributeBox.pos?W="hidden":(T=z.distributeBox.size,V=B.radialDistributionY(z)));delete z.positionIndex;if(g.justify)N=B.justify(z,u,t);else switch(g.alignTo){case "connectors":N=B.alignToConnectors(e,f,h,p);break;case "plotEdges":N=
|
||||
B.alignToPlotEdges(J,f,h,p);break;default:N=B.radialDistributionX(a,z,V,q)}J._attr={visibility:W,align:E.alignment};R=z.options.dataLabels||{};J._pos={x:N+c(R.x,g.x)+({left:d,right:-d}[E.alignment]||0),y:V+c(R.y,g.y)-10};E.final.x=N;E.final.y=V;c(g.crop,!0)&&(M=J.getBBox().width,q=null,N-M<d&&1===f?(q=Math.round(M-N+d),y[3]=Math.max(q,y[3])):N+M>h-d&&0===f&&(q=Math.round(N+M-h+d),y[1]=Math.max(q,y[1])),0>V-T/2?y[0]=Math.max(Math.round(-V+T/2),y[0]):V+T/2>n&&(y[2]=Math.max(Math.round(V+T/2-n),y[2])),
|
||||
J.sideOverflow=q)}}}),0===q(y)||this.verifyDataLabelOverflow(y))&&(this.placeDataLabels(),this.points.forEach(function(d){R=e(g,d.options.dataLabels);if(F=c(R.connectorWidth,1)){var f;G=d.connector;if((J=d.dataLabel)&&J._pos&&d.visible&&0<d.labelDistance){W=J._attr.visibility;if(f=!G)d.connector=G=b.renderer.path().addClass("highcharts-data-label-connector highcharts-color-"+d.colorIndex+(d.className?" "+d.className:"")).add(a.dataLabelsGroup),b.styledMode||G.attr({"stroke-width":F,stroke:R.connectorColor||
|
||||
d.color||"#666666"});G[f?"attr":"animate"]({d:d.getConnectorPath()});G.attr("visibility",W)}else G&&(d.connector=G.destroy())}}))}function u(){this.points.forEach(function(a){var c=a.dataLabel,b;c&&a.visible&&((b=c._pos)?(c.sideOverflow&&(c._attr.width=Math.max(c.getBBox().width-c.sideOverflow,0),c.css({width:c._attr.width+"px",textOverflow:(this.options.dataLabels.style||{}).textOverflow||"ellipsis"}),c.shortened=!0),c.attr(c._attr),c[c.moved?"animate":"attr"](b),c.moved=!0):c&&c.attr({y:-9999}));
|
||||
delete a.distributeBox},this)}function t(a){var c=this.center,b=this.options,e=b.center,d=b.minSize||80,f=null!==b.size;if(!f){if(null!==e[0])var k=Math.max(c[2]-Math.max(a[1],a[3]),d);else k=Math.max(c[2]-a[1]-a[3],d),c[0]+=(a[3]-a[1])/2;null!==e[1]?k=n(k,d,c[2]-Math.max(a[0],a[2])):(k=n(k,d,c[2]-a[0]-a[2]),c[1]+=(a[0]-a[2])/2);k<c[2]?(c[2]=k,c[3]=Math.min(h(b.innerSize||0,k),k),this.translate(c),this.drawDataLabels&&this.drawDataLabels()):f=!0}return f}var w=[],C={radialDistributionY:function(a){return a.top+
|
||||
a.distributeBox.pos},radialDistributionX:function(a,c,b,e){return a.getX(b<c.top+2||b>c.bottom-2?e:b,c.half,c)},justify:function(a,c,b){return b[0]+(a.half?-1:1)*(c+a.labelDistance)},alignToPlotEdges:function(a,c,b,e){a=a.getBBox().width;return c?a+e:b-a-e},alignToConnectors:function(a,c,b,e){var d=0,g;a.forEach(function(a){g=a.dataLabel.getBBox().width;g>d&&(d=g)});return c?d+e:b-d-e}};f.compose=function(c){a.compose(A);-1===w.indexOf(c)&&(w.push(c),c=c.prototype,c.dataLabelPositioners=C,c.alignDataLabel=
|
||||
v,c.drawDataLabels=p,c.placeDataLabels=u,c.verifyDataLabelOverflow=t)}})(f||(f={}));return f});M(a,"Extensions/OverlappingDataLabels.js",[a["Core/Chart/Chart.js"],a["Core/Utilities.js"]],function(a,u){function v(a,k){var e=!1;if(a){var c=a.newOpacity;a.oldOpacity!==c&&(a.alignAttr&&a.placed?(a[c?"removeClass":"addClass"]("highcharts-data-label-hidden"),e=!0,a.alignAttr.opacity=c,a[a.isOld?"animate":"attr"](a.alignAttr,null,function(){k.styledMode||a.css({pointerEvents:c?"auto":"none"})}),y(k,"afterHideOverlappingLabel")):
|
||||
a.attr({opacity:c}));a.isOld=!0}return e}var F=u.addEvent,y=u.fireEvent,G=u.isArray,H=u.isNumber,A=u.objectEach,q=u.pick;F(a,"render",function(){var a=this,k=[];(this.labelCollectors||[]).forEach(function(a){k=k.concat(a())});(this.yAxis||[]).forEach(function(a){a.stacking&&a.options.stackLabels&&!a.options.stackLabels.allowOverlap&&A(a.stacking.stacks,function(a){A(a,function(a){a.label&&"hidden"!==a.label.visibility&&k.push(a.label)})})});(this.series||[]).forEach(function(e){var c=e.options.dataLabels;
|
||||
e.visible&&(!1!==c.enabled||e._hasPointLabels)&&(c=function(c){return c.forEach(function(c){c.visible&&(G(c.dataLabels)?c.dataLabels:c.dataLabel?[c.dataLabel]:[]).forEach(function(e){var f=e.options;e.labelrank=q(f.labelrank,c.labelrank,c.shapeArgs&&c.shapeArgs.height);f.allowOverlap?(e.oldOpacity=e.opacity,e.newOpacity=1,v(e,a)):k.push(e)})})},c(e.nodes||[]),c(e.points))});this.hideOverlappingLabels(k)});a.prototype.hideOverlappingLabels=function(a){var k=this,e=a.length,c=k.renderer,h,f,n,p=!1;
|
||||
var q=function(a){var e,f=a.box?0:a.padding||0,b=e=0,g;if(a&&(!a.alignAttr||a.placed)){var d=a.alignAttr||{x:a.attr("x"),y:a.attr("y")};var h=a.parentGroup;a.width||(e=a.getBBox(),a.width=e.width,a.height=e.height,e=c.fontMetrics(null,a.element).h);var k=a.width-2*f;(g={left:"0",center:"0.5",right:"1"}[a.alignValue])?b=+g*k:H(a.x)&&Math.round(a.x)!==a.translateX&&(b=a.x-a.translateX);return{x:d.x+(h.translateX||0)+f-(b||0),y:d.y+(h.translateY||0)+f-e,width:a.width-2*f,height:a.height-2*f}}};for(f=
|
||||
0;f<e;f++)if(h=a[f])h.oldOpacity=h.opacity,h.newOpacity=1,h.absoluteBox=q(h);a.sort(function(a,c){return(c.labelrank||0)-(a.labelrank||0)});for(f=0;f<e;f++){var t=(q=a[f])&&q.absoluteBox;for(h=f+1;h<e;++h){var u=(n=a[h])&&n.absoluteBox;!t||!u||q===n||0===q.newOpacity||0===n.newOpacity||u.x>=t.x+t.width||u.x+u.width<=t.x||u.y>=t.y+t.height||u.y+u.height<=t.y||((q.labelrank<n.labelrank?q:n).newOpacity=0)}}a.forEach(function(a){v(a,k)&&(p=!0)});p&&y(k,"afterHideAllOverlappingLabels")}});M(a,"Core/Responsive.js",
|
||||
[a["Core/Utilities.js"]],function(a){var v=a.extend,z=a.find,F=a.isArray,y=a.isObject,G=a.merge,H=a.objectEach,A=a.pick,q=a.splat,n=a.uniqueKey,k;(function(a){var c=[];a.compose=function(a){-1===c.indexOf(a)&&(c.push(a),v(a.prototype,e.prototype));return a};var e=function(){function a(){}a.prototype.currentOptions=function(a){function c(a,f,h,k){var b;H(a,function(a,d){if(!k&&-1<e.collectionsWithUpdate.indexOf(d)&&f[d])for(a=q(a),h[d]=[],b=0;b<Math.max(a.length,f[d].length);b++)f[d][b]&&(void 0===
|
||||
a[b]?h[d][b]=f[d][b]:(h[d][b]={},c(a[b],f[d][b],h[d][b],k+1)));else y(a)?(h[d]=F(a)?[]:{},c(a,f[d]||{},h[d],k+1)):h[d]="undefined"===typeof f[d]?null:f[d]})}var e=this,f={};c(a,this.options,f,0);return f};a.prototype.matchResponsiveRule=function(a,c){var e=a.condition;(e.callback||function(){return this.chartWidth<=A(e.maxWidth,Number.MAX_VALUE)&&this.chartHeight<=A(e.maxHeight,Number.MAX_VALUE)&&this.chartWidth>=A(e.minWidth,0)&&this.chartHeight>=A(e.minHeight,0)}).call(this)&&c.push(a._id)};a.prototype.setResponsive=
|
||||
function(a,c){var e=this,f=this.options.responsive,h=this.currentResponsive,k=[];!c&&f&&f.rules&&f.rules.forEach(function(a){"undefined"===typeof a._id&&(a._id=n());e.matchResponsiveRule(a,k)},this);c=G.apply(void 0,k.map(function(a){return z((f||{}).rules||[],function(c){return c._id===a})}).map(function(a){return a&&a.chartOptions}));c.isResponsiveOptions=!0;k=k.toString()||void 0;k!==(h&&h.ruleIds)&&(h&&this.update(h.undoOptions,a,!0),k?(h=this.currentOptions(c),h.isResponsiveOptions=!0,this.currentResponsive=
|
||||
{ruleIds:k,mergedOptions:c,undoOptions:h},this.update(c,a,!0)):this.currentResponsive=void 0)};return a}()})(k||(k={}));"";"";return k});M(a,"masters/highcharts.src.js",[a["Core/Globals.js"],a["Core/Utilities.js"],a["Core/DefaultOptions.js"],a["Core/Animation/Fx.js"],a["Core/Animation/AnimationUtilities.js"],a["Core/Renderer/HTML/AST.js"],a["Core/FormatUtilities.js"],a["Core/Renderer/RendererUtilities.js"],a["Core/Renderer/SVG/SVGElement.js"],a["Core/Renderer/SVG/SVGRenderer.js"],a["Core/Renderer/HTML/HTMLElement.js"],
|
||||
a["Core/Renderer/HTML/HTMLRenderer.js"],a["Core/Axis/Axis.js"],a["Core/Axis/DateTimeAxis.js"],a["Core/Axis/LogarithmicAxis.js"],a["Core/Axis/PlotLineOrBand/PlotLineOrBand.js"],a["Core/Axis/Tick.js"],a["Core/Tooltip.js"],a["Core/Series/Point.js"],a["Core/Pointer.js"],a["Core/MSPointer.js"],a["Core/Legend/Legend.js"],a["Core/Chart/Chart.js"],a["Core/Series/Series.js"],a["Core/Series/SeriesRegistry.js"],a["Series/Column/ColumnSeries.js"],a["Series/Column/ColumnDataLabel.js"],a["Series/Pie/PieSeries.js"],
|
||||
a["Series/Pie/PieDataLabel.js"],a["Core/Series/DataLabel.js"],a["Core/Responsive.js"],a["Core/Color/Color.js"],a["Core/Time.js"]],function(a,u,z,F,y,G,H,A,q,n,k,e,c,h,f,w,p,B,t,J,C,r,l,b,g,d,m,D,x,I,M,S,O){a.animate=y.animate;a.animObject=y.animObject;a.getDeferredAnimation=y.getDeferredAnimation;a.setAnimation=y.setAnimation;a.stop=y.stop;a.timers=F.timers;a.AST=G;a.Axis=c;a.Chart=l;a.chart=l.chart;a.Fx=F;a.Legend=r;a.PlotLineOrBand=w;a.Point=t;a.Pointer=C.isRequired()?C:J;a.Series=b;a.SVGElement=
|
||||
q;a.SVGRenderer=n;a.Tick=p;a.Time=O;a.Tooltip=B;a.Color=S;a.color=S.parse;e.compose(n);k.compose(q);a.defaultOptions=z.defaultOptions;a.getOptions=z.getOptions;a.time=z.defaultTime;a.setOptions=z.setOptions;a.dateFormat=H.dateFormat;a.format=H.format;a.numberFormat=H.numberFormat;a.addEvent=u.addEvent;a.arrayMax=u.arrayMax;a.arrayMin=u.arrayMin;a.attr=u.attr;a.clearTimeout=u.clearTimeout;a.correctFloat=u.correctFloat;a.createElement=u.createElement;a.css=u.css;a.defined=u.defined;a.destroyObjectProperties=
|
||||
u.destroyObjectProperties;a.discardElement=u.discardElement;a.distribute=A.distribute;a.erase=u.erase;a.error=u.error;a.extend=u.extend;a.extendClass=u.extendClass;a.find=u.find;a.fireEvent=u.fireEvent;a.getMagnitude=u.getMagnitude;a.getStyle=u.getStyle;a.inArray=u.inArray;a.isArray=u.isArray;a.isClass=u.isClass;a.isDOMElement=u.isDOMElement;a.isFunction=u.isFunction;a.isNumber=u.isNumber;a.isObject=u.isObject;a.isString=u.isString;a.keys=u.keys;a.merge=u.merge;a.normalizeTickInterval=u.normalizeTickInterval;
|
||||
a.objectEach=u.objectEach;a.offset=u.offset;a.pad=u.pad;a.pick=u.pick;a.pInt=u.pInt;a.relativeLength=u.relativeLength;a.removeEvent=u.removeEvent;a.seriesType=g.seriesType;a.splat=u.splat;a.stableSort=u.stableSort;a.syncTimeout=u.syncTimeout;a.timeUnits=u.timeUnits;a.uniqueKey=u.uniqueKey;a.useSerialIds=u.useSerialIds;a.wrap=u.wrap;m.compose(d);I.compose(b);h.compose(c);f.compose(c);x.compose(D);w.compose(c);M.compose(l);return a});a["masters/highcharts.src.js"]._modules=a;return a["masters/highcharts.src.js"]});
|
||||
//# sourceMappingURL=highcharts.js.map
|
||||
|
|
@ -0,0 +1,521 @@
|
|||
<!--
|
||||
自平衡莱洛三角形 RGB版
|
||||
HW:Ver 1.5
|
||||
FW:Ver 1.2
|
||||
-->
|
||||
<html lang="zh-cn">
|
||||
|
||||
<head>
|
||||
<title>自平衡莱洛三角形</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
|
||||
<meta http-equiv="X-UA-Compatible" content="ie=edge">
|
||||
<meta http-equiv="Cache-Control" content="max-age=7200" />
|
||||
<meta content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no" name="viewport">
|
||||
<style>
|
||||
/*input框*/
|
||||
input,
|
||||
button {
|
||||
border: none;
|
||||
outline: none;
|
||||
}
|
||||
|
||||
.tl-input {
|
||||
width: 100%;
|
||||
border: 1px solid #ccc;
|
||||
padding: 7px 0;
|
||||
background: #F4F4F7;
|
||||
text-align: center;
|
||||
border-radius: 3px;
|
||||
padding-left: 5px;
|
||||
-webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
|
||||
box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
|
||||
-webkit-transition: border-color ease-in-out .15s, -webkit-box-shadow ease-in-out .15s;
|
||||
-o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
|
||||
transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s
|
||||
}
|
||||
|
||||
.tl-input:focus {
|
||||
border-color: #66afe9;
|
||||
outline: 0;
|
||||
-webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6);
|
||||
box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6)
|
||||
}
|
||||
|
||||
.ant-btn {
|
||||
line-height: 1.499;
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
font-weight: 400;
|
||||
white-space: nowrap;
|
||||
text-align: center;
|
||||
background-image: none;
|
||||
border: 1px solid transparent;
|
||||
-webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
|
||||
box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
|
||||
cursor: pointer;
|
||||
-webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1);
|
||||
transition: all .3s cubic-bezier(.645, .045, .355, 1);
|
||||
-webkit-user-select: none;
|
||||
-moz-user-select: none;
|
||||
-ms-user-select: none;
|
||||
user-select: none;
|
||||
-ms-touch-action: manipulation;
|
||||
touch-action: manipulation;
|
||||
height: 32px;
|
||||
padding: 0 15px;
|
||||
font-size: 14px;
|
||||
border-radius: 4px;
|
||||
color: rgba(0, 0, 0, 0.65);
|
||||
background-color: #fff;
|
||||
border-color: #d9d9d9;
|
||||
}
|
||||
|
||||
.ant-btn-primary {
|
||||
color: #fff;
|
||||
background-color: #1890ff;
|
||||
border-color: #1890ff;
|
||||
text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
|
||||
-webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
}
|
||||
|
||||
.ant-btn-red {
|
||||
color: #fff;
|
||||
background-color: #FF5A44;
|
||||
border-color: #FF5A44;
|
||||
text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
|
||||
-webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
|
||||
}
|
||||
|
||||
/* 这里不考虑浏览器的兼容性 */
|
||||
#control input {
|
||||
border: none;
|
||||
background-color: transparent;
|
||||
margin: 20px 0;
|
||||
outline: none;
|
||||
}
|
||||
|
||||
#control input[type="text"] {
|
||||
width: 100%;
|
||||
font-size: 25px;
|
||||
appearance: none;
|
||||
padding-bottom: 5px;
|
||||
border-bottom: 3px solid #ededed;
|
||||
color: #ededed;
|
||||
}
|
||||
|
||||
#control input[type="range"] {
|
||||
width: 100%;
|
||||
-webkit-appearance: none;
|
||||
/* background-color: silver; */
|
||||
height: 8px;
|
||||
border-radius: 4px;
|
||||
background: -webkit-linear-gradient(#ffa200, #ffa200) no-repeat white;
|
||||
background-size: 50% 100%;
|
||||
}
|
||||
|
||||
#control input[type="range"]::-webkit-slider-thumb {
|
||||
-webkit-appearance: none;
|
||||
background-color: #aaa;
|
||||
width: 8px;
|
||||
height: 20px;
|
||||
border-radius: 4px;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
#control input[type="range"]::-webkit-slider-thumb:hover {
|
||||
background: #666;
|
||||
}
|
||||
|
||||
#control #voltage {
|
||||
background-size: 0% 100%;
|
||||
}
|
||||
|
||||
#control #speed {
|
||||
background: linear-gradient(to right, #ffa200, white 0%, white);
|
||||
background-size: 100% 100%;
|
||||
}
|
||||
|
||||
#control input[type="button"] {
|
||||
padding: 5px;
|
||||
margin: 5px 0;
|
||||
background: linear-gradient(to bottom right, red 10%, white 90%);
|
||||
border: 0px;
|
||||
width: 100%;
|
||||
color: white;
|
||||
font-weight: white;
|
||||
}
|
||||
</style>
|
||||
<script type="text/javascript" src="jquery.js"></script>
|
||||
<script type="text/javascript" src="highcharts.js"></script>
|
||||
|
||||
<script type="text/javascript">
|
||||
var HighchartsData = new Array(9);
|
||||
$(function () {
|
||||
$(document).ready(function () {
|
||||
Highcharts.setOptions({ global: { useUTC: false } });
|
||||
var chart, time = new Date().getTime();
|
||||
$("#container").highcharts({
|
||||
chart: { type: "spline", animation: Highcharts.svg, marginRight: 10, events: { load: function () {
|
||||
var series = this.series;
|
||||
setInterval(function () {
|
||||
var x = new Date().getTime();
|
||||
for(i=0; i<HighchartsData.length;i++){
|
||||
series[i].addPoint([x, HighchartsData[i]], true, true);
|
||||
}
|
||||
}, 1000);
|
||||
}
|
||||
}
|
||||
},
|
||||
title: { text: "自平衡莱洛三角形" }, xAxis: { type: "datetime", tickPixelInterval: 100 }, yAxis: { title: { text: "Value" }, plotLines: [{ value: 0, width: 1, color: "#808080" }] },
|
||||
tooltip: { formatter: function () { return ( "<b>" + this.series.name + "</b><br/>" + Highcharts.dateFormat("%Y-%m-%d %H:%M:%S", this.x) + "<br/>" + Highcharts.numberFormat(this.y, 2) ); } },
|
||||
legend: { enabled: true },
|
||||
exporting: { enabled: false },
|
||||
plotOptions: { spline: { marker: { radius: 4, lineColor: "#666666", lineWidth: 1} } },
|
||||
series: [
|
||||
{name: "电池电压",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "轴速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "电机电压",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "目标速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "摆角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "目标角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "pitch",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "kalAngleZ",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
|
||||
{name: "回旋速率",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()}
|
||||
]
|
||||
});
|
||||
});
|
||||
});
|
||||
|
||||
function loadXMLDoc(path,element)
|
||||
{
|
||||
var xmlhttp;
|
||||
if (window.XMLHttpRequest)
|
||||
{
|
||||
// IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
|
||||
xmlhttp=new XMLHttpRequest();
|
||||
}
|
||||
else
|
||||
{
|
||||
// IE6, IE5 浏览器执行代码
|
||||
xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
|
||||
}
|
||||
xmlhttp.onreadystatechange=function()
|
||||
{
|
||||
if (xmlhttp.readyState==4 && xmlhttp.status==200)
|
||||
{
|
||||
document.getElementById(element).innerHTML=xmlhttp.responseText;
|
||||
}
|
||||
}
|
||||
xmlhttp.open("GET",path,true);
|
||||
xmlhttp.send();
|
||||
}
|
||||
|
||||
function UpdateInfo()
|
||||
{
|
||||
var xmlhttp;
|
||||
if (window.XMLHttpRequest){ // IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
|
||||
xmlhttp=new XMLHttpRequest();
|
||||
} else { // IE6, IE5 浏览器执行代码
|
||||
xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
|
||||
}
|
||||
xmlhttp.onreadystatechange=function()
|
||||
{
|
||||
if (xmlhttp.readyState==4 && xmlhttp.status==200)
|
||||
{
|
||||
var arr=xmlhttp.responseText.split(",");
|
||||
document.getElementById('TimeDiv').innerHTML=arr[0];
|
||||
document.getElementById('CurrentMillis').innerHTML=arr[1];
|
||||
document.getElementById('log_control').value=arr[2];
|
||||
document.getElementById('debug_log_control').value=arr[3];
|
||||
document.getElementById('test_flag').value=arr[4];
|
||||
if(arr[4]==2){
|
||||
document.getElementById('tvv_btn').innerHTML='关闭速度测试';
|
||||
document.getElementById('tvq_btn').innerHTML='开启电压测试';
|
||||
}else if(arr[4]==1){
|
||||
document.getElementById('tvq_btn').innerHTML='关闭电压测试';
|
||||
document.getElementById('tvv_btn').innerHTML='开启速度测试';
|
||||
}else{
|
||||
document.getElementById('tvv_btn').innerHTML='开启速度测试';
|
||||
document.getElementById('tvq_btn').innerHTML='开启电压测试';
|
||||
}
|
||||
|
||||
document.getElementById('target_angle_ROM').innerHTML=arr[5];
|
||||
document.getElementById('swing_up_voltage').innerHTML=arr[6];
|
||||
document.getElementById('swing_up_angle').innerHTML=arr[7];
|
||||
document.getElementById('v_i_1').innerHTML=arr[8];
|
||||
document.getElementById('v_p_1').innerHTML=arr[9];
|
||||
document.getElementById('v_i_2').innerHTML=arr[10];
|
||||
document.getElementById('v_p_2').innerHTML=arr[11];
|
||||
document.getElementById('BAT_VOLTAGE').innerHTML=arr[12];
|
||||
|
||||
if(document.getElementById('target_angle_ROM2').value=="") document.getElementById('target_angle_ROM2').value=arr[5];
|
||||
if(document.getElementById('swing_up_voltage2').value=="") document.getElementById('swing_up_voltage2').value=arr[6];
|
||||
if(document.getElementById('swing_up_angle2').value=="") document.getElementById('swing_up_angle2').value=arr[7];
|
||||
if(document.getElementById('v_i_12').value=="") document.getElementById('v_i_12').value=arr[8];
|
||||
if(document.getElementById('v_p_12').value=="") document.getElementById('v_p_12').value=arr[9];
|
||||
if(document.getElementById('v_i_22').value=="") document.getElementById('v_i_22').value=arr[10];
|
||||
if(document.getElementById('v_p_22').value=="") document.getElementById('v_p_22').value=arr[11];
|
||||
|
||||
for(i=0; i<HighchartsData.length;i++){
|
||||
HighchartsData[i] = parseFloat(arr[i+12]);
|
||||
}
|
||||
if(document.getElementById('log_control').value=="1" && arr[13]!=""){
|
||||
document.getElementById('Shaft_Velocity').innerHTML =arr[13]+"<br>"+document.getElementById('Shaft_Velocity').innerHTML;
|
||||
document.getElementById('motor_voltage_q').innerHTML=arr[14]+"<br>"+document.getElementById('motor_voltage_q').innerHTML;
|
||||
document.getElementById('target_velocity').innerHTML=arr[15]+"<br>"+document.getElementById('target_velocity').innerHTML;
|
||||
document.getElementById('pendulum_angle').innerHTML=arr[16]+"<br>"+document.getElementById('pendulum_angle').innerHTML;
|
||||
document.getElementById('target_angle').innerHTML=arr[17]+"<br>"+document.getElementById('target_angle').innerHTML;
|
||||
document.getElementById('pitch').innerHTML=arr[18]+"<br>"+document.getElementById('pitch').innerHTML;
|
||||
document.getElementById('kalAngleZ').innerHTML=arr[19]+"<br>"+document.getElementById('kalAngleZ').innerHTML;
|
||||
document.getElementById('gyroZrate').innerHTML=arr[20]+"<br>"+document.getElementById('gyroZrate').innerHTML;
|
||||
}
|
||||
|
||||
if(document.getElementById('debug_log_control').value=="1"){
|
||||
document.getElementById('debug_log').style.display='block';
|
||||
document.getElementById('debug_log').value += arr[21];
|
||||
}
|
||||
}
|
||||
}
|
||||
xmlhttp.open("GET",'/update',true);
|
||||
xmlhttp.send();
|
||||
}
|
||||
|
||||
function MyAutoRun() {
|
||||
UpdateInfo();
|
||||
}
|
||||
setInterval("MyAutoRun()", 1000);
|
||||
|
||||
function clearLog() {
|
||||
document.getElementById("Shaft_Velocity").innerHTML = "";
|
||||
document.getElementById("motor_voltage_q").innerHTML = "";
|
||||
document.getElementById("target_velocity").innerHTML = "";
|
||||
document.getElementById("pendulum_angle").innerHTML = "";
|
||||
document.getElementById("target_angle").innerHTML = "";
|
||||
document.getElementById("pitch").innerHTML = "";
|
||||
document.getElementById("kalAngleZ").innerHTML = "";
|
||||
document.getElementById("gyroZrate").innerHTML = "";
|
||||
}
|
||||
function clearDebugLog() {
|
||||
document.getElementById("debug_log").value = "";
|
||||
}
|
||||
|
||||
function checkNum(obj) {
|
||||
if (isNaN(obj.value)) { //检查是否是非数字值
|
||||
obj.value = "";
|
||||
}
|
||||
if (obj != null) { //检查小数点后是否对于两位
|
||||
if (
|
||||
obj.value.toString().split(".").length > 1 &&
|
||||
obj.value.toString().split(".")[1].length > 2
|
||||
) { //alert("小数点后多于两位！");
|
||||
obj.value = Number(obj.value).toPrecision(2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
</script>
|
||||
</head>
|
||||
<body style="background-color:black;color:white">
|
||||
|
||||
<font size="6" onclick="(document.getElementById('debug_hidden').value%6==5)?(document.getElementById('debug_show').style.display='block'):document.getElementById('debug_hidden').value++;">自平衡莱洛三角形
|
||||
<input id="debug_hidden" hidden>
|
||||
<span id="TimeDiv" hidden>datetime</Span>
|
||||
</font>
|
||||
</div>
|
||||
<table border="0">
|
||||
<tr>
|
||||
<td height="50">CPU温度： <span id="CPUtemp"></span> 已启动：<span id=CurrentMillis></span>
|
||||
电池电压：<span id="BAT_VOLTAGE" style="color:#de87b8;"></span> V
|
||||
<span id="OperationHit" style="color:#ffa200;"></span>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td height="50">
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=0','OperationHit')" class="ant-btn ant-btn-red">开灯</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=1','OperationHit')" class="ant-btn ant-btn-red">+</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=2','OperationHit')" class="ant-btn ant-btn-red">-</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=3','OperationHit')" class="ant-btn ant-btn-red">关灯</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=1&Index=99&Operation=0','OperationHit')" class="ant-btn ant-btn-red">电机启停</button>
|
||||
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=4','OperationHit')" class="ant-btn ant-btn-red">重启</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left">
|
||||
<table border="1" cellspacing="0" cellpadding="0">
|
||||
<tr>
|
||||
<td align="center"><span style="color:#398ad9;">期望角度TA</span></td>
|
||||
<td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td>
|
||||
<td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">速度环P1</span></td>
|
||||
<td align="center"><span style="color:#ff33ff;">速度环I1</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">速度环P2</span></td>
|
||||
<td align="center"><span style="color:#ff33ff;">速度环I2</span></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center"><span style="color:#ff5c5c;" id="target_angle_ROM"></span></td>
|
||||
<td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td>
|
||||
<td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td>
|
||||
<td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td>
|
||||
<td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_angle_ROM" id="target_angle_ROM2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)+0.5;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)-0.5;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=0&Operation='+document.getElementById('target_angle_ROM2').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=1&Operation='+document.getElementById('swing_up_voltage2').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=2&Operation='+document.getElementById('swing_up_angle2').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)+0.1).toPrecision(2);">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)-0.1).toPrecision(2);">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=3&Operation='+document.getElementById('v_p_12').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=4&Operation='+document.getElementById('v_i_12').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)+0.1).toPrecision(2);">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)-0.1).toPrecision(2);">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=5&Operation='+document.getElementById('v_p_22').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
<td align="center">
|
||||
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button>
|
||||
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br>
|
||||
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=6&Operation='+document.getElementById('v_i_22').value,'OperationHit')">发送</button>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>
|
||||
<table border="0" cellspacing="0" cellpadding="0" ID="control" width="100%">
|
||||
<tr>
|
||||
<td height="50" width="50"><button type="button" class="ant-btn ant-btn-red" onclick="(this.innerHTML=='关闭速度测试'?(this.innerHTML='开启速度测试'):this.innerHTML='关闭速度测试');(document.getElementById('tvq_btn').innerHTML=='关闭电压测试'?(document.getElementById('tvq_btn').innerHTML='开启电压测试'):'');loadXMLDoc('/Control?Type=1&Index=88&Operation=0','OperationHit')" id="tvv_btn">开启速度测试</button></td>
|
||||
<td width="40" align="center"><span id="speedNum">0</span></td>
|
||||
<td><input type="range" id="speed" value="0" min="-100" max="100" step="1" onchange="changeV()"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td height="50" width="50"><button type="button" class="ant-btn ant-btn-red" onclick="(this.innerHTML=='关闭电压测试'?(this.innerHTML='开启电压测试'):this.innerHTML='关闭电压测试');(document.getElementById('tvv_btn').innerHTML=='关闭速度测试'?(document.getElementById('tvv_btn').innerHTML='开启速度测试'):'');loadXMLDoc('/Control?Type=1&Index=77&Operation=0','OperationHit')" id="tvq_btn">开启电压测试</button></td>
|
||||
<td width="40" align="center"><span id="voltageNum">0</span></td>
|
||||
<td>
|
||||
<input type="hidden" name="test_flag" id="test_flag">
|
||||
<input type="range" id="voltage" value="0" min="-12" max="12" step="1" onchange="changeV()">
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>
|
||||
<table border="0" cellspacing="0" cellpadding="0" ID="debug_show" width="100%" style="display:none">
|
||||
<tr>
|
||||
<td>
|
||||
<button type="button" onclick="document.getElementById('debug_log_control').value=1;loadXMLDoc('/Control?Type=0&Index=6&Operation=1','OperationHit');document.getElementById('debug_log').style.display='block';">开启Debug</button>
|
||||
<button type="button" onclick="document.getElementById('debug_log_control').value=0;loadXMLDoc('/Control?Type=0&Index=6&Operation=0','OperationHit');">关闭Debug</button>
|
||||
<button type="button" onclick="document.getElementById('debug_log').style.display='block';">显示记录</button>
|
||||
<button type="button" onclick="document.getElementById('debug_log').style.display='none';">隐藏记录</button>
|
||||
<button type="button" onclick="clearDebugLog()">清除记录</button>
|
||||
<input type="hidden" name="debug_log_control" id="debug_log_control">
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left"><textarea name="debug_log" rows="10" cols="80" id="debug_log" style="display:none"></textarea></td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td height="50">
|
||||
<button type="button" onclick="document.getElementById('log_control').value=1;loadXMLDoc('/Control?Type=0&Index=5&Operation=1','OperationHit')">开启记录</button>
|
||||
<button type="button" onclick="document.getElementById('log_control').value=0;loadXMLDoc('/Control?Type=0&Index=5&Operation=0','OperationHit')">停止记录</button>
|
||||
<button type="button" onclick="document.getElementById('loglist').style.display='block';">显示记录</button>
|
||||
<button type="button" onclick="document.getElementById('loglist').style.display='none';">隐藏记录</button>
|
||||
<button type="button" onclick="clearLog()">清除记录</button>
|
||||
<input type="hidden" name="log_control" id="log_control">
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left">
|
||||
<table border="1" cellspacing="0" cellpadding="0" ID="logchart" width="100%">
|
||||
<tr>
|
||||
<td align="center">
|
||||
<div id="container" style="width:700px;height:400px;margin:0 auto;"></div>
|
||||
<div style="text-align:center;clear:both;">
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="left">
|
||||
<table border="1" cellspacing="0" cellpadding="0" ID="loglist" width="100%">
|
||||
<tr>
|
||||
<td align="center"><span style="color:#ff5c5c;">Shaft<br>Velocity</span></td>
|
||||
<td align="center"><span style="color:#398ad9;">motor<br>voltage q</span></td>
|
||||
<td align="center"><span style="color:#ff5c5c;">target<br>velocity</span></td>
|
||||
<td align="center"><span style="color:#5bec8d;">pendulum<br>angle</span></td>
|
||||
<td align="center"><span style="color:#fd42ac;">target<br>angle</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">pitch</span></td>
|
||||
<td align="center"><span style="color:#ff33ff;">kalAngleZ</span></td>
|
||||
<td align="center"><span style="color:#4b8200;">gyroZrate</span></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center"><span style="color:#ff5c5c;" id="Shaft_Velocity"></span></td>
|
||||
<td align="center"><span style="color:#398ad9;" id="motor_voltage_q"></span></td>
|
||||
<td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td>
|
||||
<td align="center"><span style="color:#5bec8d;" id="pendulum_angle"></span></td>
|
||||
<td align="center"><span style="color:#fd42ac;" id="target_angle"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="pitch"></span></td>
|
||||
<td align="center"><span style="color:#ff33ff;" id="kalAngleZ"></span></td>
|
||||
<td align="center"><span style="color:#4b8200;" id="gyroZrate"></span></td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
<script>
|
||||
const voltage = document.getElementById('voltage');
|
||||
const speed = document.getElementById('speed');
|
||||
|
||||
function changeV() {
|
||||
voltageVal = parseFloat(voltage.value);
|
||||
spdVal = parseFloat(speed.value);
|
||||
const voltagePercent = Math.abs(parseFloat(voltageVal / 12, 2) * 50)
|
||||
const speedPercent = Math.abs(parseFloat((spdVal / 100), 2) * 100) * 1.5
|
||||
if (voltageVal < 0)
|
||||
voltage.style.background = `linear-gradient(to right, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
|
||||
else
|
||||
voltage.style.background = `linear-gradient(to left, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
|
||||
if (spdVal < 0)
|
||||
speed.style.background = `linear-gradient(to right, #ffa200, white ${speedPercent}%`
|
||||
else
|
||||
speed.style.background = `linear-gradient(to left, #ffa200, white ${speedPercent}%`
|
||||
document.getElementById('voltageNum').innerHTML = voltageVal;
|
||||
document.getElementById('speedNum').innerHTML = spdVal;
|
||||
if (document.getElementById('test_flag').value == '1') {
|
||||
loadXMLDoc('/Control?Type=1&Index=7&Operation=' + voltageVal, 'OperationHit');
|
||||
}
|
||||
if (document.getElementById('test_flag').value == '2') {
|
||||
loadXMLDoc('/Control?Type=1&Index=8&Operation=' + spdVal, 'OperationHit');
|
||||
}
|
||||
};
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,63 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
|
||||
const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
|
||||
return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
|
||||
}
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
Wire.write(data, length);
|
||||
uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cWrite failed: "));
|
||||
Serial.println(rcode);
|
||||
}
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
|
||||
uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
|
||||
uint32_t timeOutTimer;
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cRead failed: "));
|
||||
Serial.println(rcode);
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
|
||||
for (uint8_t i = 0; i < nbytes; i++) {
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
timeOutTimer = micros();
|
||||
while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
Serial.println(F("i2cRead timeout"));
|
||||
return 5; // This error value is not already taken by endTransmission
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0; // Success
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,99 @@
|
|||
# RGB自平衡莱洛三角形
|
||||
|
||||
#### 介绍
|
||||
|
||||
本版本是慕炎RGB版本程序 基于45°([https://gitee.com/coll45/foc/](https://gitee.com/coll45/foc/))程序修改
|
||||
|
||||
本版本虽然能在原版本pcb上运行，但完整功能需要对应的硬件支持才能获得
|
||||
|
||||
**硬件要点**
|
||||
|
||||
电机连接线线序按原插头顺序安装
|
||||
|
||||
动量轮的重量，建议安装所有孔位螺丝及螺母
|
||||
|
||||
磁铁的磁性为径向，而不是正反两面为NS
|
||||
|
||||
AS5600与磁铁的距离 0.3-3mm之内
|
||||
|
||||
可通过TTL观察simplefoc初始化时的状态提示判断，如果为PP Check：fail则需要检查磁铁及安装情况
|
||||
|
||||
|
||||
【硬件基于45°工程文件修改的RGB版本】
|
||||
|
||||
[https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy](https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy)
|
||||
|
||||
|
||||
1、去掉ch340和自动下载电路更换为rx tx插针，使用时不要连接3.3v插针，烧录前按住boot不放，再按一下reset，然后放掉所有键（如果打开串口监视发现数据乱码，把rx和tx线对换）
|
||||
|
||||
2、TPS54331更改为5V输出供电给RGB灯，5V输入到ams1117-3.3
|
||||
|
||||
3、预留2个触摸区和增加esp32状态灯，KEY3触摸开关灯，KEY4长按调光
|
||||
|
||||
4、无线充电功能（无线充电底座）
|
||||
|
||||
|
||||
#### 软件架构
|
||||
|
||||
1、OTA
|
||||
|
||||
2、RGB灯控制程序
|
||||
|
||||
3、触摸控制程序
|
||||
|
||||
4、基于webserver的基础调参功能
|
||||
|
||||
|
||||
#### webserver安装教程
|
||||
|
||||
webserver需要使用【ESP32 SPIFFS】文件上传
|
||||
|
||||
ESP32 SPIFFS文件上传方法
|
||||
|
||||
下载插件复制到C:\Program Files (x86)\Arduino\tools\ESP32FS\tool
|
||||
|
||||
重启Arduino即可
|
||||
|
||||
arduino-esp32fs-plugin
|
||||
|
||||
https://github.com/me-no-dev/arduino-esp32fs-plugin/releases/tag/1.0
|
||||
|
||||
使用时在arduino界面点“工具”-“ESP32 Sketch Data Upload”
|
||||
|
||||
#### 使用说明
|
||||
|
||||
Key3长按为开关RGB灯光
|
||||
|
||||
key4长按为增加亮度，放手后再次触摸为降低亮度
|
||||
|
||||
web页面调参
|
||||
|
||||
通过浏览器访问:[http://192.168.4.1](http://192.168.4.1)，用户名：admin 密码：reuleaux123(可通过修改代码修改)
|
||||
|
||||
|
||||
#### 更新说明
|
||||
|
||||
### 20211229
|
||||
|
||||
|
||||
1、增加OTA升级，第一次烧完固件后，再也不需要串口线了
|
||||
|
||||
2、增加webserver，通过手机浏览器访问192.168.4.1，直接可以进行数据查看和调参（调参功能还没做）
|
||||
|
||||
|
||||
### 20220221
|
||||
|
||||
增加V2版本，电机是2715，对应极数7
|
||||
|
||||
V2版本的第三个按键，设定为wifi开关，按住2秒，ACT灯由亮转暗则设定完成
|
||||
|
||||
|
||||
### 20220223
|
||||
|
||||
V1目录改为V1.5 为 GB2204 RGB版本
|
||||
|
||||
V1.5 V2修正摇摆无法平衡的问题
|
||||
|
||||
V2 默认不开启wifi，平衡后电流在50ma左右，开启wifi在100ma左右
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
#include "Command.h"
|
||||
|
||||
void Command::run(char* str){
|
||||
for(int i=0; i < call_count; i++){
|
||||
if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15"
|
||||
call_list[i](str+strlen(call_ids[i])); // get 15.15 input function
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
void Command::add(char* id, CommandCallback onCommand){
|
||||
call_list[call_count] = onCommand;
|
||||
call_ids[call_count] = id;
|
||||
call_count++;
|
||||
}
|
||||
void Command::scalar(float* value, char* user_cmd){
|
||||
*value = atof(user_cmd);
|
||||
}
|
||||
bool Command::isSentinel(char* ch,char* str)
|
||||
{
|
||||
char s[strlen(ch)+1];
|
||||
strncpy(s,str,strlen(ch));
|
||||
s[strlen(ch)] = '\0'; //strncpy need add end '\0'
|
||||
if(strcmp(ch, s) == 0)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
#include <Arduino.h>
|
||||
// callback function pointer definiton
|
||||
typedef void (* CommandCallback)(char*); //!< command callback function pointer
|
||||
class Command
|
||||
{
|
||||
public:
|
||||
void add(char* id , CommandCallback onCommand);
|
||||
void run(char* str);
|
||||
void scalar(float* value, char* user_cmd);
|
||||
bool isSentinel(char* ch,char* str);
|
||||
private:
|
||||
// Subscribed command callback variables
|
||||
CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
|
||||
char* call_ids[20]; //!< added callback commands
|
||||
int call_count;//!< number callbacks that are subscribed
|
||||
|
||||
};
|
||||
|
|
@ -0,0 +1,93 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
#include "Kalman.h"
|
||||
|
||||
Kalman::Kalman() {
|
||||
/* We will set the variables like so, these can also be tuned by the user */
|
||||
Q_angle = 0.001f;
|
||||
Q_bias = 0.003f;
|
||||
R_measure = 0.03f;
|
||||
|
||||
angle = 0.0f; // Reset the angle
|
||||
bias = 0.0f; // Reset bias
|
||||
|
||||
P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
|
||||
P[0][1] = 0.0f;
|
||||
P[1][0] = 0.0f;
|
||||
P[1][1] = 0.0f;
|
||||
};
|
||||
|
||||
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
|
||||
float Kalman::getAngle(float newAngle, float newRate, float dt) {
|
||||
// KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145
|
||||
// Modified by Kristian Lauszus
|
||||
// See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it
|
||||
|
||||
// Discrete Kalman filter time update equations - Time Update ("Predict")
|
||||
// Update xhat - Project the state ahead
|
||||
/* Step 1 */
|
||||
rate = newRate - bias;
|
||||
angle += dt * rate;
|
||||
|
||||
// Update estimation error covariance - Project the error covariance ahead
|
||||
/* Step 2 */
|
||||
P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle);
|
||||
P[0][1] -= dt * P[1][1];
|
||||
P[1][0] -= dt * P[1][1];
|
||||
P[1][1] += Q_bias * dt;
|
||||
|
||||
// Discrete Kalman filter measurement update equations - Measurement Update ("Correct")
|
||||
// Calculate Kalman gain - Compute the Kalman gain
|
||||
/* Step 4 */
|
||||
float S = P[0][0] + R_measure; // Estimate error
|
||||
/* Step 5 */
|
||||
float K[2]; // Kalman gain - This is a 2x1 vector
|
||||
K[0] = P[0][0] / S;
|
||||
K[1] = P[1][0] / S;
|
||||
|
||||
// Calculate angle and bias - Update estimate with measurement zk (newAngle)
|
||||
/* Step 3 */
|
||||
float y = newAngle - angle; // Angle difference
|
||||
/* Step 6 */
|
||||
angle += K[0] * y;
|
||||
bias += K[1] * y;
|
||||
|
||||
// Calculate estimation error covariance - Update the error covariance
|
||||
/* Step 7 */
|
||||
float P00_temp = P[0][0];
|
||||
float P01_temp = P[0][1];
|
||||
|
||||
P[0][0] -= K[0] * P00_temp;
|
||||
P[0][1] -= K[0] * P01_temp;
|
||||
P[1][0] -= K[1] * P00_temp;
|
||||
P[1][1] -= K[1] * P01_temp;
|
||||
|
||||
return angle;
|
||||
};
|
||||
|
||||
void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle
|
||||
float Kalman::getRate() { return this->rate; }; // Return the unbiased rate
|
||||
|
||||
/* These are used to tune the Kalman filter */
|
||||
void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; };
|
||||
void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; };
|
||||
void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; };
|
||||
|
||||
float Kalman::getQangle() { return this->Q_angle; };
|
||||
float Kalman::getQbias() { return this->Q_bias; };
|
||||
float Kalman::getRmeasure() { return this->R_measure; };
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
#ifndef _Kalman_h_
|
||||
#define _Kalman_h_
|
||||
|
||||
class Kalman {
|
||||
public:
|
||||
Kalman();
|
||||
|
||||
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
|
||||
float getAngle(float newAngle, float newRate, float dt);
|
||||
|
||||
void setAngle(float angle); // Used to set angle, this should be set as the starting angle
|
||||
float getRate(); // Return the unbiased rate
|
||||
|
||||
/* These are used to tune the Kalman filter */
|
||||
void setQangle(float Q_angle);
|
||||
/**
|
||||
* setQbias(float Q_bias)
|
||||
* Default value (0.003f) is in Kalman.cpp.
|
||||
* Raise this to follow input more closely,
|
||||
* lower this to smooth result of kalman filter.
|
||||
*/
|
||||
void setQbias(float Q_bias);
|
||||
void setRmeasure(float R_measure);
|
||||
|
||||
float getQangle();
|
||||
float getQbias();
|
||||
float getRmeasure();
|
||||
|
||||
private:
|
||||
/* Kalman filter variables */
|
||||
float Q_angle; // Process noise variance for the accelerometer
|
||||
float Q_bias; // Process noise variance for the gyro bias
|
||||
float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise
|
||||
|
||||
float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
|
||||
float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
|
||||
float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate
|
||||
|
||||
float P[2][2]; // Error covariance matrix - This is a 2x2 matrix
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,63 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
|
||||
const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
|
||||
return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
|
||||
}
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
Wire.write(data, length);
|
||||
uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cWrite failed: "));
|
||||
Serial.println(rcode);
|
||||
}
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
|
||||
uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
|
||||
uint32_t timeOutTimer;
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cRead failed: "));
|
||||
Serial.println(rcode);
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
|
||||
for (uint8_t i = 0; i < nbytes; i++) {
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
timeOutTimer = micros();
|
||||
while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
Serial.println(F("i2cRead timeout"));
|
||||
return 5; // This error value is not already taken by endTransmission
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0; // Success
|
||||
}
|
||||
|
|
@ -0,0 +1,465 @@
|
|||
/**
|
||||
arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller，并安装Kalman。
|
||||
FOC引脚32, 33, 25, 22 22为enable
|
||||
AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18
|
||||
本程序有两种平衡方式， FLAG_V为1时使用电压控制，为0时候速度控制。电压控制时LQR参数使用K1和K2，速度控制时LQR参数使用K3和K4
|
||||
在wifi上位机窗口中输入：TA+角度，就可以修改平衡角度
|
||||
比如让平衡角度为90度，则输入：TA90，并且会存入eeprom的位置0中 注：wifi发送命令不能过快，因为每次都会保存进eeprom
|
||||
在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(5) 中的值，设置为自己的极对数数字，磁铁数量/2
|
||||
程序默认设置的供电电压为 12V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
|
||||
默认PID针对的电机是 GB2204 ，使用自己的电机需要修改PID参数，才能实现更好效果
|
||||
*/
|
||||
#include <SimpleFOC.h>
|
||||
#include "Command.h"
|
||||
#include <WiFi.h>
|
||||
#include <AsyncUDP.h> //引用以使用异步UDP
|
||||
#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter
|
||||
#include "EEPROM.h"
|
||||
Kalman kalmanZ;
|
||||
#define gyroZ_OFF -0.19
|
||||
/* ----IMU Data---- */
|
||||
|
||||
double accX, accY, accZ;
|
||||
double gyroX, gyroY, gyroZ;
|
||||
int16_t tempRaw;
|
||||
bool stable = 0;
|
||||
uint32_t last_unstable_time;
|
||||
|
||||
double gyroZangle; // Angle calculate using the gyro only
|
||||
double compAngleZ; // Calculated angle using a complementary filter
|
||||
double kalAngleZ; // Calculated angle using a Kalman filter
|
||||
|
||||
uint32_t timer;
|
||||
uint8_t i2cData[14]; // Buffer for I2C data
|
||||
/* ----FOC Data---- */
|
||||
|
||||
// driver instance
|
||||
double acc2rotation(double x, double y);
|
||||
float constrainAngle(float x);
|
||||
const char *ssid = "esp32";
|
||||
const char *password = "12345678";
|
||||
|
||||
bool wifi_flag = 0;
|
||||
AsyncUDP udp; //创建UDP对象
|
||||
unsigned int localUdpPort = 2333; //本地端口号
|
||||
void wifi_print(char * s,double num);
|
||||
|
||||
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
|
||||
TwoWire I2Ctwo = TwoWire(1);
|
||||
LowPassFilter lpf_throttle{0.00};
|
||||
|
||||
//倒立摆参数
|
||||
float LQR_K3_1 = 10; //摇摆到平衡
|
||||
float LQR_K3_2 = 1.7; //
|
||||
float LQR_K3_3 = 1.75; //
|
||||
|
||||
float LQR_K4_1 = 2.4; //摇摆到平衡
|
||||
float LQR_K4_2 = 1.5; //
|
||||
float LQR_K4_3 = 1.42; //
|
||||
|
||||
//电机参数
|
||||
BLDCMotor motor = BLDCMotor(5);
|
||||
BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
|
||||
float target_velocity = 0;
|
||||
float target_angle = 89.3;
|
||||
float target_voltage = 0;
|
||||
float swing_up_voltage = 1.8;
|
||||
float swing_up_angle = 20;
|
||||
float v_i_1 = 20;
|
||||
float v_p_1 = 0.5;
|
||||
float v_i_2 = 10;
|
||||
float v_p_2 = 0.2;
|
||||
//命令设置
|
||||
Command comm;
|
||||
bool Motor_enable_flag = 0;
|
||||
int test_flag = 0;
|
||||
void do_TA(char* cmd) { comm.scalar(&target_angle, cmd);EEPROM.writeFloat(0, target_angle); }
|
||||
void do_SV(char* cmd) { comm.scalar(&swing_up_voltage, cmd); EEPROM.writeFloat(4, swing_up_voltage); }
|
||||
void do_SA(char* cmd) { comm.scalar(&swing_up_angle, cmd);EEPROM.writeFloat(8, swing_up_angle); }
|
||||
void do_START(char* cmd) { wifi_flag = !wifi_flag; }
|
||||
void do_MOTOR(char* cmd)
|
||||
{
|
||||
if(Motor_enable_flag)
|
||||
motor.enable();
|
||||
else
|
||||
motor.disable();
|
||||
Motor_enable_flag = !Motor_enable_flag;
|
||||
}
|
||||
void do_TVQ(char* cmd)
|
||||
{
|
||||
if(test_flag == 1)
|
||||
test_flag = 0;
|
||||
else
|
||||
test_flag = 1;
|
||||
}
|
||||
void do_TVV(char* cmd)
|
||||
{
|
||||
if(test_flag == 2)
|
||||
test_flag = 0;
|
||||
else
|
||||
test_flag = 2;
|
||||
}
|
||||
void do_VV(char* cmd) { comm.scalar(&target_velocity, cmd); }
|
||||
void do_VQ(char* cmd) { comm.scalar(&target_voltage, cmd); }
|
||||
void do_vp1(char* cmd) { comm.scalar(&v_p_1, cmd); EEPROM.writeFloat(12, v_p_1);}
|
||||
void do_vi1(char* cmd) { comm.scalar(&v_i_1, cmd);EEPROM.writeFloat(16, v_i_1); }
|
||||
void do_vp2(char* cmd) { comm.scalar(&v_p_2, cmd); EEPROM.writeFloat(20, v_p_2);}
|
||||
void do_vi2(char* cmd) { comm.scalar(&v_i_2, cmd);EEPROM.writeFloat(24, v_i_2); }
|
||||
void do_tv(char* cmd) { comm.scalar(&target_velocity, cmd); }
|
||||
void do_K31(char* cmd) { comm.scalar(&LQR_K3_1, cmd); }
|
||||
void do_K32(char* cmd) { comm.scalar(&LQR_K3_2, cmd); }
|
||||
void do_K33(char* cmd) { comm.scalar(&LQR_K3_3, cmd); }
|
||||
void do_K41(char* cmd) { comm.scalar(&LQR_K4_1, cmd); }
|
||||
void do_K42(char* cmd) { comm.scalar(&LQR_K4_2, cmd); }
|
||||
void do_K43(char* cmd) { comm.scalar(&LQR_K4_3, cmd); }
|
||||
|
||||
void onPacketCallBack(AsyncUDPPacket packet)
|
||||
{
|
||||
char* da;
|
||||
da= (char*)(packet.data());
|
||||
Serial.println(da);
|
||||
comm.run(da);
|
||||
EEPROM.commit();
|
||||
// packet.print("reply data");
|
||||
}
|
||||
// instantiate the commander
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
if (!EEPROM.begin(1000)) {
|
||||
Serial.println("Failed to initialise EEPROM");
|
||||
Serial.println("Restarting...");
|
||||
delay(1000);
|
||||
ESP.restart();
|
||||
}
|
||||
// eeprom 读取
|
||||
int k,j;
|
||||
j = 0;
|
||||
for(k=0;k<=24;k=k+4)
|
||||
{
|
||||
float nan = EEPROM.readFloat(k);
|
||||
if(isnan(nan))
|
||||
{
|
||||
j = 1;
|
||||
Serial.println("frist write");
|
||||
EEPROM.writeFloat(0, target_angle); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(4, swing_up_voltage); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(8, swing_up_angle); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(12, v_p_1); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(16, v_i_1); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(20, v_p_2); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(24, v_i_2); delay(10);EEPROM.commit();
|
||||
}
|
||||
}
|
||||
if(j == 0)
|
||||
{
|
||||
target_angle = EEPROM.readFloat(0);
|
||||
swing_up_voltage = EEPROM.readFloat(4);
|
||||
swing_up_angle = EEPROM.readFloat(8);
|
||||
v_p_1 = EEPROM.readFloat(12);
|
||||
v_i_1 = EEPROM.readFloat(16);
|
||||
v_p_2 = EEPROM.readFloat(20);
|
||||
v_i_2 = EEPROM.readFloat(24);
|
||||
motor.PID_velocity.P = v_p_1;
|
||||
motor.PID_velocity.I = v_i_1;
|
||||
}
|
||||
//命令设置
|
||||
comm.add("TA",do_TA);
|
||||
comm.add("START",do_START);
|
||||
comm.add("MOTOR",do_MOTOR);
|
||||
comm.add("SV",do_SV);
|
||||
comm.add("SA",do_SA);
|
||||
comm.add("TVQ",do_TVQ);
|
||||
comm.add("TVV",do_TVV);
|
||||
comm.add("VV",do_VV);
|
||||
comm.add("VQ",do_VQ);
|
||||
//速度环参数
|
||||
comm.add("VP1",do_vp1);
|
||||
comm.add("VI1",do_vi1);
|
||||
comm.add("VP2",do_vp2);
|
||||
comm.add("VI2",do_vi2);
|
||||
comm.add("TV",do_tv);
|
||||
comm.add("K31",do_K31);
|
||||
comm.add("K32",do_K32);
|
||||
comm.add("K33",do_K33);
|
||||
comm.add("K41",do_K41);
|
||||
comm.add("K42",do_K42);
|
||||
comm.add("K43",do_K43);
|
||||
|
||||
// kalman mpu6050 init
|
||||
Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
|
||||
i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
|
||||
i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
|
||||
i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
|
||||
i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
|
||||
while (i2cWrite(0x19, i2cData, 4, false))
|
||||
; // Write to all four registers at once
|
||||
while (i2cWrite(0x6B, 0x01, true))
|
||||
; // PLL with X axis gyroscope reference and disable sleep mode
|
||||
while (i2cRead(0x75, i2cData, 1))
|
||||
;
|
||||
if (i2cData[0] != 0x68)
|
||||
{ // Read "WHO_AM_I" register
|
||||
Serial.print(F("Error reading sensor"));
|
||||
while (1)
|
||||
;
|
||||
}
|
||||
delay(100); // Wait for sensor to stabilize
|
||||
/* Set kalman and gyro starting angle */
|
||||
while (i2cRead(0x3B, i2cData, 6))
|
||||
;
|
||||
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
|
||||
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
|
||||
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
|
||||
double pitch = acc2rotation(accX, accY);
|
||||
kalmanZ.setAngle(pitch);
|
||||
gyroZangle = pitch;
|
||||
timer = micros();
|
||||
Serial.println("kalman mpu6050 init");
|
||||
|
||||
//wifi初始化
|
||||
WiFi.mode(WIFI_AP);
|
||||
while(!WiFi.softAP(ssid, password)){}; //启动AP
|
||||
Serial.println("AP启动成功");
|
||||
while (!udp.listen(localUdpPort)) //等待udp监听设置成功
|
||||
{
|
||||
}
|
||||
udp.onPacket(onPacketCallBack); //注册收到数据包事件
|
||||
|
||||
I2Ctwo.begin(23, 5, 400000); //SDA,SCL
|
||||
sensor.init(&I2Ctwo);
|
||||
|
||||
//连接motor对象与传感器对象
|
||||
motor.linkSensor(&sensor);
|
||||
|
||||
//供电电压设置 [V]
|
||||
driver.voltage_power_supply = 12;
|
||||
driver.init();
|
||||
|
||||
//连接电机和driver对象
|
||||
motor.linkDriver(&driver);
|
||||
|
||||
//FOC模型选择
|
||||
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
|
||||
|
||||
//运动控制模式设置
|
||||
motor.controller = MotionControlType::velocity;
|
||||
//速度PI环设置
|
||||
motor.PID_velocity.P = v_p_1;
|
||||
motor.PID_velocity.I = v_i_1;
|
||||
|
||||
//最大电机限制电机
|
||||
motor.voltage_limit = 12;
|
||||
|
||||
//速度低通滤波时间常数
|
||||
motor.LPF_velocity.Tf = 0.02;
|
||||
|
||||
//设置最大速度限制
|
||||
motor.velocity_limit = 40;
|
||||
|
||||
motor.useMonitoring(Serial);
|
||||
|
||||
//初始化电机
|
||||
motor.init();
|
||||
|
||||
//初始化 FOC
|
||||
motor.initFOC();
|
||||
|
||||
Serial.println(F("Motor ready."));
|
||||
Serial.println(F("Set the target velocity using serial terminal:"));
|
||||
|
||||
}
|
||||
char buf[255];
|
||||
long loop_count = 0;
|
||||
double last_pitch;
|
||||
void loop() {
|
||||
motor.loopFOC();
|
||||
if (1)
|
||||
{
|
||||
// loop_count++ == 10
|
||||
// loop_count = 0;
|
||||
while (i2cRead(0x3B, i2cData, 14));
|
||||
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
|
||||
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
|
||||
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
|
||||
tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
|
||||
gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
|
||||
gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
|
||||
gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
|
||||
|
||||
double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
|
||||
timer = micros();
|
||||
|
||||
double pitch = acc2rotation(accX, accY);
|
||||
double gyroZrate = gyroZ / 131.0; // Convert to deg/s
|
||||
if(abs(pitch-last_pitch)>100)
|
||||
kalmanZ.setAngle(pitch);
|
||||
|
||||
kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
|
||||
last_pitch = pitch;
|
||||
gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
|
||||
compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
|
||||
|
||||
// Reset the gyro angle when it has drifted too much
|
||||
if (gyroZangle < -180 || gyroZangle > 180)
|
||||
gyroZangle = kalAngleZ;
|
||||
|
||||
float pendulum_angle = constrainAngle(fmod(kalAngleZ,120)-target_angle);
|
||||
|
||||
// pendulum_angle当前角度与期望角度差值，在差值大的时候进行摇摆，差值小的时候LQR控制电机保持平衡
|
||||
if(test_flag == 0)//正常控制
|
||||
{
|
||||
if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90°
|
||||
{
|
||||
target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaft_velocity);
|
||||
if (abs(target_velocity) > 140)
|
||||
target_velocity = _sign(target_velocity) * 140;
|
||||
|
||||
motor.controller = MotionControlType::velocity;
|
||||
motor.move(target_velocity);
|
||||
}
|
||||
else // else do swing-up
|
||||
{ // sets swing_up_voltage to the motor in order to swing up
|
||||
motor.controller = MotionControlType::torque;
|
||||
target_voltage = -_sign(gyroZrate) * swing_up_voltage;
|
||||
motor.move(target_voltage);
|
||||
}
|
||||
}
|
||||
else if(test_flag == 1)
|
||||
{
|
||||
motor.controller = MotionControlType::torque;
|
||||
motor.move(target_voltage);
|
||||
}
|
||||
else
|
||||
{
|
||||
motor.controller = MotionControlType::velocity;
|
||||
motor.move(target_velocity);
|
||||
}
|
||||
//串口输出数据部分，不需要的情况可以改为0
|
||||
#if 1
|
||||
|
||||
Serial.print(pitch);Serial.print("\t");
|
||||
Serial.print(kalAngleZ);Serial.print("\t");
|
||||
Serial.print(target_voltage);Serial.print("\t");
|
||||
Serial.print(motor.shaft_velocity);Serial.print("\t");
|
||||
Serial.print(motor.voltage.q);Serial.print("\t");
|
||||
Serial.print(target_angle);Serial.print("\t");
|
||||
Serial.print(pendulum_angle);Serial.print("\t");
|
||||
Serial.print(gyroZrate);Serial.print("\t");
|
||||
Serial.print("\r\n");
|
||||
#endif
|
||||
//可以使用该方法wifi发送udp信息
|
||||
if(wifi_flag)
|
||||
{
|
||||
memset(buf, 0, strlen(buf));
|
||||
|
||||
wifi_print("v", motor.shaft_velocity);
|
||||
wifi_print("vq",motor.voltage.q);
|
||||
wifi_print("p",pendulum_angle);
|
||||
wifi_print("t",target_angle);
|
||||
wifi_print("k",kalAngleZ);
|
||||
wifi_print("g",gyroZrate);
|
||||
|
||||
udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192,168,4,2), localUdpPort); //广播数据
|
||||
}
|
||||
}
|
||||
}
|
||||
/* mpu6050加速度转换为角度
|
||||
acc2rotation(ax, ay)
|
||||
acc2rotation(az, ay) */
|
||||
double acc2rotation(double x, double y)
|
||||
{
|
||||
double tmp_kalAngleZ = (atan(x / y) / 1.570796 * 90);
|
||||
if (y < 0)
|
||||
{
|
||||
return (tmp_kalAngleZ + 180);
|
||||
}
|
||||
else if (x < 0)
|
||||
{
|
||||
//将当前值与前值比较，当前差值大于100则认为异常
|
||||
if (!isnan(kalAngleZ) && (tmp_kalAngleZ + 360 - kalAngleZ) > 100) {
|
||||
//Serial.print("X<0"); Serial.print("\t");
|
||||
//Serial.print(tmp_kalAngleZ); Serial.print("\t");
|
||||
//Serial.print(kalAngleZ); Serial.print("\t");
|
||||
//Serial.print("\r\n");
|
||||
if (tmp_kalAngleZ < 0 && kalAngleZ < 0) //按键右边角
|
||||
return tmp_kalAngleZ;
|
||||
else //按键边异常处理
|
||||
return tmp_kalAngleZ;
|
||||
} else
|
||||
return (tmp_kalAngleZ + 360);
|
||||
}
|
||||
else
|
||||
{
|
||||
return tmp_kalAngleZ;
|
||||
}
|
||||
}
|
||||
|
||||
// function constraining the angle in between -60~60
|
||||
float constrainAngle(float x)
|
||||
{
|
||||
float a = 0;
|
||||
if(x < 0)
|
||||
{
|
||||
a = 120+x;
|
||||
if(a<abs(x))
|
||||
return a;
|
||||
}
|
||||
return x;
|
||||
}
|
||||
// LQR stabilization controller functions
|
||||
// calculating the voltage that needs to be set to the motor in order to stabilize the pendulum
|
||||
float controllerLQR(float p_angle, float p_vel, float m_vel)
|
||||
{
|
||||
if (abs(p_angle) > 5) //摆角大于5则进入非稳态，记录非稳态时间
|
||||
{
|
||||
last_unstable_time = millis();
|
||||
if (stable) //如果是稳态进入非稳态则调整为目标角度
|
||||
{
|
||||
//target_angle = EEPROM.readFloat(0) - p_angle;
|
||||
target_angle = EEPROM.readFloat(0);
|
||||
stable = 0;
|
||||
}
|
||||
}
|
||||
if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
|
||||
{
|
||||
//target_angle -= _sign(target_velocity) * 0.4;
|
||||
target_angle = target_angle+p_angle;
|
||||
stable = 1;
|
||||
}
|
||||
|
||||
if ((millis() - last_stable_time) > 2500 && stable) { //稳态超过2000ms检测，更新目标角
|
||||
if (abs(target_velocity) > 5 ) { //稳态速度偏大校正
|
||||
last_stable_time = millis();
|
||||
target_angle -= _sign(target_velocity) * 0.2;
|
||||
}
|
||||
}
|
||||
|
||||
//Serial.println(stable);
|
||||
float u;
|
||||
|
||||
if (!stable) //非稳态计算
|
||||
{
|
||||
motor.PID_velocity.P = v_p_1;
|
||||
motor.PID_velocity.I = v_i_1;
|
||||
u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel;
|
||||
}
|
||||
else
|
||||
{
|
||||
motor.PID_velocity.P = v_p_2;
|
||||
motor.PID_velocity.I = v_i_2;
|
||||
u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel;
|
||||
}
|
||||
|
||||
return u;
|
||||
}
|
||||
void wifi_print(char * s,double num)
|
||||
{
|
||||
char str[255];
|
||||
char n[255];
|
||||
sprintf(n, "%.2f",num);
|
||||
strcpy(str,s);
|
||||
strcat(str, n);
|
||||
strcat(buf+strlen(buf), str);
|
||||
strcat(buf, ",\0");
|
||||
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 521 KiB |
Binary file not shown.
Binary file not shown.
|
Binary file not shown.
|
|
|
@ -0,0 +1,28 @@
|
|||
#include "Command.h"
|
||||
|
||||
void Command::run(char* str){
|
||||
for(int i=0; i < call_count; i++){
|
||||
if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15"
|
||||
call_list[i](str+strlen(call_ids[i])); // get 15.15 input function
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
void Command::add(char* id, CommandCallback onCommand){
|
||||
call_list[call_count] = onCommand;
|
||||
call_ids[call_count] = id;
|
||||
call_count++;
|
||||
}
|
||||
void Command::scalar(float* value, char* user_cmd){
|
||||
*value = atof(user_cmd);
|
||||
}
|
||||
bool Command::isSentinel(char* ch,char* str)
|
||||
{
|
||||
char s[strlen(ch)+1];
|
||||
strncpy(s,str,strlen(ch));
|
||||
s[strlen(ch)] = '\0'; //strncpy need add end '\0'
|
||||
if(strcmp(ch, s) == 0)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
#include <Arduino.h>
|
||||
// callback function pointer definiton
|
||||
typedef void (* CommandCallback)(char*); //!< command callback function pointer
|
||||
class Command
|
||||
{
|
||||
public:
|
||||
void add(char* id , CommandCallback onCommand);
|
||||
void run(char* str);
|
||||
void scalar(float* value, char* user_cmd);
|
||||
bool isSentinel(char* ch,char* str);
|
||||
private:
|
||||
// Subscribed command callback variables
|
||||
CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
|
||||
char* call_ids[20]; //!< added callback commands
|
||||
int call_count;//!< number callbacks that are subscribed
|
||||
|
||||
};
|
||||
|
|
@ -0,0 +1,93 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
#include "Kalman.h"
|
||||
|
||||
Kalman::Kalman() {
|
||||
/* We will set the variables like so, these can also be tuned by the user */
|
||||
Q_angle = 0.001f;
|
||||
Q_bias = 0.003f;
|
||||
R_measure = 0.03f;
|
||||
|
||||
angle = 0.0f; // Reset the angle
|
||||
bias = 0.0f; // Reset bias
|
||||
|
||||
P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
|
||||
P[0][1] = 0.0f;
|
||||
P[1][0] = 0.0f;
|
||||
P[1][1] = 0.0f;
|
||||
};
|
||||
|
||||
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
|
||||
float Kalman::getAngle(float newAngle, float newRate, float dt) {
|
||||
// KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145
|
||||
// Modified by Kristian Lauszus
|
||||
// See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it
|
||||
|
||||
// Discrete Kalman filter time update equations - Time Update ("Predict")
|
||||
// Update xhat - Project the state ahead
|
||||
/* Step 1 */
|
||||
rate = newRate - bias;
|
||||
angle += dt * rate;
|
||||
|
||||
// Update estimation error covariance - Project the error covariance ahead
|
||||
/* Step 2 */
|
||||
P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle);
|
||||
P[0][1] -= dt * P[1][1];
|
||||
P[1][0] -= dt * P[1][1];
|
||||
P[1][1] += Q_bias * dt;
|
||||
|
||||
// Discrete Kalman filter measurement update equations - Measurement Update ("Correct")
|
||||
// Calculate Kalman gain - Compute the Kalman gain
|
||||
/* Step 4 */
|
||||
float S = P[0][0] + R_measure; // Estimate error
|
||||
/* Step 5 */
|
||||
float K[2]; // Kalman gain - This is a 2x1 vector
|
||||
K[0] = P[0][0] / S;
|
||||
K[1] = P[1][0] / S;
|
||||
|
||||
// Calculate angle and bias - Update estimate with measurement zk (newAngle)
|
||||
/* Step 3 */
|
||||
float y = newAngle - angle; // Angle difference
|
||||
/* Step 6 */
|
||||
angle += K[0] * y;
|
||||
bias += K[1] * y;
|
||||
|
||||
// Calculate estimation error covariance - Update the error covariance
|
||||
/* Step 7 */
|
||||
float P00_temp = P[0][0];
|
||||
float P01_temp = P[0][1];
|
||||
|
||||
P[0][0] -= K[0] * P00_temp;
|
||||
P[0][1] -= K[0] * P01_temp;
|
||||
P[1][0] -= K[1] * P00_temp;
|
||||
P[1][1] -= K[1] * P01_temp;
|
||||
|
||||
return angle;
|
||||
};
|
||||
|
||||
void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle
|
||||
float Kalman::getRate() { return this->rate; }; // Return the unbiased rate
|
||||
|
||||
/* These are used to tune the Kalman filter */
|
||||
void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; };
|
||||
void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; };
|
||||
void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; };
|
||||
|
||||
float Kalman::getQangle() { return this->Q_angle; };
|
||||
float Kalman::getQbias() { return this->Q_bias; };
|
||||
float Kalman::getRmeasure() { return this->R_measure; };
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
#ifndef _Kalman_h_
|
||||
#define _Kalman_h_
|
||||
|
||||
class Kalman {
|
||||
public:
|
||||
Kalman();
|
||||
|
||||
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
|
||||
float getAngle(float newAngle, float newRate, float dt);
|
||||
|
||||
void setAngle(float angle); // Used to set angle, this should be set as the starting angle
|
||||
float getRate(); // Return the unbiased rate
|
||||
|
||||
/* These are used to tune the Kalman filter */
|
||||
void setQangle(float Q_angle);
|
||||
/**
|
||||
* setQbias(float Q_bias)
|
||||
* Default value (0.003f) is in Kalman.cpp.
|
||||
* Raise this to follow input more closely,
|
||||
* lower this to smooth result of kalman filter.
|
||||
*/
|
||||
void setQbias(float Q_bias);
|
||||
void setRmeasure(float R_measure);
|
||||
|
||||
float getQangle();
|
||||
float getQbias();
|
||||
float getRmeasure();
|
||||
|
||||
private:
|
||||
/* Kalman filter variables */
|
||||
float Q_angle; // Process noise variance for the accelerometer
|
||||
float Q_bias; // Process noise variance for the gyro bias
|
||||
float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise
|
||||
|
||||
float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
|
||||
float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
|
||||
float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate
|
||||
|
||||
float P[2][2]; // Error covariance matrix - This is a 2x2 matrix
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,145 @@
|
|||
#include <Adafruit_NeoPixel.h>
|
||||
// Which pin on the Arduino is connected to the NeoPixels?
|
||||
#define LED_PIN 16
|
||||
// How many NeoPixels are attached to the Arduino?
|
||||
#define LED_COUNT 21
|
||||
unsigned char brightness = 30;
|
||||
// Declare our NeoPixel strip object:
|
||||
Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);
|
||||
// Argument 1 = Number of pixels in NeoPixel strip
|
||||
// Argument 2 = Arduino pin number (most are valid)
|
||||
// Argument 3 = Pixel type flags, add together as needed:
|
||||
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
|
||||
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
|
||||
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
|
||||
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
|
||||
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
|
||||
|
||||
unsigned long pixelPrevious = 0; // Previous Pixel Millis
|
||||
unsigned long patternPrevious = 0; // Previous Pattern Millis
|
||||
int patternCurrent = 0; // Current Pattern Number
|
||||
int pixelInterval = 50; // Pixel Interval (ms)
|
||||
int pixelQueue = 0; // Pattern Pixel Queue
|
||||
int pixelCycle = 0; // Pattern Pixel Cycle
|
||||
uint16_t pixelCurrent = 0; // Pattern Current Pixel Number
|
||||
uint16_t pixelNumber = LED_COUNT; // Total Number of Pixels
|
||||
|
||||
// Input a value 0 to 255 to get a color value.
|
||||
// The colours are a transition r - g - b - back to r.
|
||||
uint32_t Wheel(byte WheelPos) {
|
||||
WheelPos = 255 - WheelPos;
|
||||
if(WheelPos < 85) {
|
||||
return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
|
||||
}
|
||||
if(WheelPos < 170) {
|
||||
WheelPos -= 85;
|
||||
return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
|
||||
}
|
||||
WheelPos -= 170;
|
||||
return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
|
||||
}
|
||||
void colorWipe(uint32_t color) {
|
||||
strip.setPixelColor(pixelCurrent, color); // Set pixel's color (in RAM)
|
||||
strip.show(); // Update strip to match
|
||||
pixelCurrent++; // Advance current pixel
|
||||
if(pixelCurrent >= pixelNumber) // Loop the pattern from the first LED
|
||||
pixelCurrent = 0;
|
||||
}
|
||||
// Fill the dots one after the other with a color
|
||||
void colorWipe_delay(uint32_t c, uint8_t wait) {
|
||||
for(uint16_t i=0; i<strip.numPixels(); i++) {
|
||||
strip.setPixelColor(i, c);
|
||||
strip.show();
|
||||
delay(wait);
|
||||
}
|
||||
}
|
||||
void strip1() {
|
||||
pixelInterval = 100;
|
||||
for(int i = 0; i < pixelNumber; i++) {
|
||||
if(pixelCycle == i)
|
||||
strip.setPixelColor(i, strip.Color( 0,191,255)); // Set pixel's color (in RAM)
|
||||
else if((pixelNumber-pixelCycle+7)%pixelNumber == i)
|
||||
strip.setPixelColor(i, strip.Color(255,165,0));
|
||||
else if((pixelCycle+14)%pixelNumber == i)
|
||||
strip.setPixelColor(i, strip.Color(255,0,255));
|
||||
else
|
||||
strip.setPixelColor(i, strip.Color(0, 0, 0));
|
||||
}
|
||||
strip.show(); // Update strip to match
|
||||
pixelCycle++;
|
||||
if(pixelCycle>=pixelNumber)
|
||||
pixelCycle = 0;
|
||||
}
|
||||
void strip2() {
|
||||
int i = 0;
|
||||
pixelInterval = 100;
|
||||
strip.fill(strip.Color(0, 0, 0));
|
||||
for(i;i<5;i++)
|
||||
{
|
||||
int j =i%7*(150/5)+1;
|
||||
strip.setPixelColor((i+pixelCycle)%pixelNumber, strip.Color(0,0,j));
|
||||
strip.setPixelColor((i+pixelCycle+7)%pixelNumber, strip.Color(j,0,0));
|
||||
strip.setPixelColor((i+pixelCycle+14)%pixelNumber, strip.Color(0,j,0));
|
||||
}
|
||||
|
||||
strip.show();
|
||||
pixelCycle++;
|
||||
if(pixelCycle>=pixelNumber)
|
||||
pixelCycle = 0;
|
||||
}
|
||||
void strip3() {
|
||||
int i = 0;
|
||||
pixelInterval = 100;
|
||||
strip.fill(strip.Color(0, 0, 0));
|
||||
for(i;i<5;i++)
|
||||
{
|
||||
int j =i%7*(150/5)+1;
|
||||
strip.setPixelColor((i+pixelCycle)%pixelNumber, strip.Color(j,j,j));
|
||||
strip.setPixelColor((i+pixelCycle+11)%pixelNumber, strip.Color(j,j,j));
|
||||
}
|
||||
strip.show();
|
||||
pixelCycle++;
|
||||
if(pixelCycle>=pixelNumber)
|
||||
pixelCycle = 0;
|
||||
}
|
||||
void rainbow1() {
|
||||
pixelInterval = 30;
|
||||
for(uint16_t i=0; i < pixelNumber; i++) {
|
||||
strip.setPixelColor(i, Wheel((i + pixelCycle) & 255)); // Update delay time
|
||||
}
|
||||
strip.show(); // Update strip to match
|
||||
pixelCycle++; // Advance current cycle
|
||||
if(pixelCycle >= 256)
|
||||
pixelCycle = 0; // Loop the cycle back to the begining
|
||||
}
|
||||
void rainbow2()
|
||||
{
|
||||
pixelInterval = 30;
|
||||
pixelCycle +=256;
|
||||
strip.rainbow(pixelCycle);
|
||||
strip.show(); // Update strip with new contents
|
||||
if(pixelCycle >= 5*65536)
|
||||
pixelCycle = 0;
|
||||
}
|
||||
void pulse_rainbow1()
|
||||
{
|
||||
pixelInterval = 30;
|
||||
pixelQueue+=1;
|
||||
if(pixelQueue>=brightness*2)
|
||||
pixelQueue = 0;
|
||||
if(pixelQueue<brightness)
|
||||
strip.setBrightness(pixelQueue); // Set BRIGHTNESS to about 1/5 (max = 255)
|
||||
else
|
||||
strip.setBrightness(brightness+brightness-pixelQueue); // Set BRIGHTNESS to about 1/5 (max = 255)
|
||||
pixelCycle +=256;
|
||||
strip.rainbow(pixelCycle);
|
||||
strip.show(); // Update strip with new contents
|
||||
if(pixelCycle >= 5*65536)
|
||||
pixelCycle = 0;
|
||||
}
|
||||
void rgb_off()
|
||||
{
|
||||
pixelInterval = 100;
|
||||
strip.fill(strip.Color(0, 0, 0));
|
||||
strip.show(); // Update strip with new contents
|
||||
}
|
||||
|
|
@ -0,0 +1,63 @@
|
|||
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
|
||||
|
||||
This software may be distributed and modified under the terms of the GNU
|
||||
General Public License version 2 (GPL2) as published by the Free Software
|
||||
Foundation and appearing in the file GPL2.TXT included in the packaging of
|
||||
this file. Please note that GPL2 Section 2[b] requires that all works based
|
||||
on this software must also be made publicly available under the terms of
|
||||
the GPL2 ("Copyleft").
|
||||
|
||||
Contact information
|
||||
-------------------
|
||||
|
||||
Kristian Lauszus, TKJ Electronics
|
||||
Web : http://www.tkjelectronics.com
|
||||
e-mail : kristianl@tkjelectronics.com
|
||||
*/
|
||||
|
||||
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
|
||||
const uint16_t I2C_TIMEOUT = 10; // Used to check for errors in I2C communication
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
|
||||
return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
|
||||
}
|
||||
|
||||
uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
Wire.write(data, length);
|
||||
uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cWrite failed: "));
|
||||
Serial.println(rcode);
|
||||
}
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
|
||||
uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
|
||||
uint32_t timeOutTimer;
|
||||
Wire.beginTransmission(IMUAddress);
|
||||
Wire.write(registerAddress);
|
||||
uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
|
||||
if (rcode) {
|
||||
Serial.print(F("i2cRead failed: "));
|
||||
Serial.println(rcode);
|
||||
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
|
||||
}
|
||||
Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
|
||||
for (uint8_t i = 0; i < nbytes; i++) {
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
timeOutTimer = micros();
|
||||
while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
|
||||
if (Wire.available())
|
||||
data[i] = Wire.read();
|
||||
else {
|
||||
Serial.println(F("i2cRead timeout"));
|
||||
return 5; // This error value is not already taken by endTransmission
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0; // Success
|
||||
}
|
||||
|
|
@ -0,0 +1,757 @@
|
|||
/**
|
||||
arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller
|
||||
FOC引脚32, 33, 25
|
||||
AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18
|
||||
本程序平衡控制为速度控制，LQR参数使用K3和K4
|
||||
在wifi上位机窗口中输入：TA+角度，就可以修改平衡角度
|
||||
比如让平衡角度为90度，则输入：TA90，并且会存入eeprom的位置0中 注：wifi发送命令不能过快，因为每次都会保存进eeprom
|
||||
在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(7) 中的值，设置为自己的极对数数字，磁铁数量/2
|
||||
程序默认设置的供电电压为 12V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
|
||||
默认PID针对的电机是 2715 ，使用自己的电机需要修改PID参数，才能实现更好效果
|
||||
*/
|
||||
#include <SimpleFOC.h>
|
||||
#include "Command.h"
|
||||
#include <WiFi.h>
|
||||
#include <AsyncUDP.h> //引用以使用异步UDP
|
||||
#include <ArduinoOTA.h>
|
||||
#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter
|
||||
#include "EEPROM.h"
|
||||
#include "tourch.h"
|
||||
/* ----ESP32 IO SET---- */
|
||||
#define ACTIVE_PIN 4 //状态灯
|
||||
#define BAT_VOLTAGE_SENSE_PIN 34 //电池电压检测ADC，如果旧版PCB无电压检测电路，则注释掉此行
|
||||
const double R1_VOLTAGE = 62000; //62K
|
||||
const double R2_VOLTAGE = 10000; //10K
|
||||
const double min_voltage = 9.5; //电池检测最低电压
|
||||
double bat_voltage;
|
||||
unsigned long voltage_last_time;
|
||||
/* ----IMU Data---- */
|
||||
Kalman kalmanZ;
|
||||
#define gyroZ_OFF -0.19
|
||||
double accX, accY, accZ;
|
||||
double gyroX, gyroY, gyroZ;
|
||||
int16_t tempRaw;
|
||||
bool stable = 0 , battery_low = 0;
|
||||
uint32_t last_unstable_time;
|
||||
uint32_t last_stable_time;
|
||||
|
||||
double gyroZangle; // Angle calculate using the gyro only
|
||||
double compAngleZ; // Calculated angle using a complementary filter
|
||||
double kalAngleZ; // Calculated angle using a Kalman filter
|
||||
|
||||
uint32_t timer;
|
||||
uint8_t i2cData[14]; // Buffer for I2C data
|
||||
/* ----FOC Data---- */
|
||||
|
||||
// driver instance
|
||||
const char *ServerName = "ESP32-Reuleaux-RGB";
|
||||
char mac_tmp[6];
|
||||
const char *ssid = mac_tmp;
|
||||
const char *password = "";
|
||||
bool wifi_on_off = 0;
|
||||
bool wifi_flag = 0;
|
||||
AsyncUDP udp; //创建UDP对象
|
||||
unsigned int localUdpPort = 2333; //本地端口号
|
||||
void wifi_print(char * s,double num);
|
||||
|
||||
/* ----FOC Data---- */
|
||||
double acc2rotation(double x, double y);
|
||||
float constrainAngle(float x);
|
||||
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
|
||||
TwoWire I2Ctwo = TwoWire(1);
|
||||
LowPassFilter lpf_throttle{0.00};
|
||||
|
||||
//倒立摆参数
|
||||
float LQR_K3_1 = 8.4; //摇摆到平衡
|
||||
float LQR_K3_2 = 2.1; //
|
||||
float LQR_K3_3 = 2.1; //
|
||||
|
||||
float LQR_K4_1 = 2.4; //平衡到稳定
|
||||
float LQR_K4_2 = 1.5; //
|
||||
float LQR_K4_3 = 1.42; //
|
||||
|
||||
//电机参数
|
||||
BLDCMotor motor = BLDCMotor(7);
|
||||
BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25);
|
||||
float target_velocity = 0; //目标速度
|
||||
float target_angle = 90; //平衡角度 例如TA89.3 设置平衡角度89.3
|
||||
float target_voltage = 0; //目标电压
|
||||
float swing_up_voltage = 1.4; //摇摆电压 左右摇摆的电压，越大越快到平衡态，但是过大会翻过头
|
||||
float swing_up_angle = 12; //摇摆角度 离平衡角度还有几度时候，切换到自平衡控制
|
||||
float v_i_1 = 25; //非稳态速度环I
|
||||
float v_p_1 = 1.8; //非稳态速度环P
|
||||
float v_i_2 = 10; //稳态速度环I
|
||||
float v_p_2 = 0.3; //稳态速度环P
|
||||
|
||||
//命令设置
|
||||
Command comm;
|
||||
bool Motor_enable_flag = 0;
|
||||
int test_flag = 0;
|
||||
void do_TA(char* cmd) { comm.scalar(&target_angle, cmd);EEPROM.writeFloat(0, target_angle); }
|
||||
void do_SV(char* cmd) { comm.scalar(&swing_up_voltage, cmd); EEPROM.writeFloat(4, swing_up_voltage); }
|
||||
void do_SA(char* cmd) { comm.scalar(&swing_up_angle, cmd);EEPROM.writeFloat(8, swing_up_angle); }
|
||||
void do_START(char* cmd) { wifi_flag = !wifi_flag; }
|
||||
void do_MOTOR(char* cmd)
|
||||
{
|
||||
if(Motor_enable_flag)
|
||||
motor.enable();
|
||||
else
|
||||
motor.disable();
|
||||
Motor_enable_flag = !Motor_enable_flag;
|
||||
}
|
||||
void do_TVQ(char* cmd)
|
||||
{
|
||||
if(test_flag == 1)
|
||||
test_flag = 0;
|
||||
else
|
||||
{
|
||||
motor.controller = MotionControlType::torque;
|
||||
test_flag = 1;
|
||||
}
|
||||
}
|
||||
void do_TVV(char* cmd)
|
||||
{
|
||||
if(test_flag == 2)
|
||||
test_flag = 0;
|
||||
else
|
||||
{
|
||||
motor.controller = MotionControlType::velocity;
|
||||
test_flag = 2;
|
||||
}
|
||||
}
|
||||
void do_VV(char* cmd) { comm.scalar(&target_velocity, cmd); }
|
||||
void do_VQ(char* cmd) { comm.scalar(&target_voltage, cmd); }
|
||||
void do_vp1(char* cmd) { comm.scalar(&v_p_1, cmd); EEPROM.writeFloat(12, v_p_1);}
|
||||
void do_vi1(char* cmd) { comm.scalar(&v_i_1, cmd);EEPROM.writeFloat(16, v_i_1); }
|
||||
void do_vp2(char* cmd) { comm.scalar(&v_p_2, cmd); EEPROM.writeFloat(20, v_p_2);}
|
||||
void do_vi2(char* cmd) { comm.scalar(&v_i_2, cmd);EEPROM.writeFloat(24, v_i_2); }
|
||||
void do_tv(char* cmd) { comm.scalar(&target_velocity, cmd); }
|
||||
void do_K31(char* cmd) { comm.scalar(&LQR_K3_1, cmd); }
|
||||
void do_K32(char* cmd) { comm.scalar(&LQR_K3_2, cmd); }
|
||||
void do_K33(char* cmd) { comm.scalar(&LQR_K3_3, cmd); }
|
||||
void do_K41(char* cmd) { comm.scalar(&LQR_K4_1, cmd); }
|
||||
void do_K42(char* cmd) { comm.scalar(&LQR_K4_2, cmd); }
|
||||
void do_K43(char* cmd) { comm.scalar(&LQR_K4_3, cmd); }
|
||||
|
||||
void onPacketCallBack(AsyncUDPPacket packet)
|
||||
{
|
||||
char* da;
|
||||
da= (char*)(packet.data());
|
||||
Serial.println(da);
|
||||
comm.run(da);
|
||||
EEPROM.commit();
|
||||
// packet.print("reply data");
|
||||
}
|
||||
// instantiate the commander
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
|
||||
//状态灯
|
||||
pinMode(ACTIVE_PIN, OUTPUT);
|
||||
digitalWrite(ACTIVE_PIN, LOW);
|
||||
|
||||
uint32_t chipId = 0;
|
||||
for (int i = 0; i < 17; i = i + 8) {
|
||||
chipId |= ((ESP.getEfuseMac() >> (40 - i)) & 0xff) << i;
|
||||
}
|
||||
Serial.printf("Chip ID: %d\r\n", chipId);
|
||||
|
||||
Serial.printf("ESP32 Chip ID = %04X",(uint16_t)(ESP.getEfuseMac()>>32));//print High 2 bytes
|
||||
Serial.printf("%08X\r\n",(uint32_t)ESP.getEfuseMac());//print Low 4bytes.
|
||||
|
||||
Serial.printf("Chip model = %s Rev %d\r\n", ESP.getChipModel(), ESP.getChipRevision());
|
||||
Serial.printf("This chip has %d cores CpuFreqMHz = %u\r\n", ESP.getChipCores(),ESP.getCpuFreqMHz());
|
||||
Serial.printf("get Cycle Count = %u\r\n",ESP.getCycleCount());
|
||||
Serial.printf("SDK version:%s\r\n", ESP.getSdkVersion()); //获取IDF版本
|
||||
|
||||
//获取片内内存 Internal RAM
|
||||
Serial.printf("Total heap size = %u\t",ESP.getHeapSize());
|
||||
Serial.printf("Available heap = %u\r\n",ESP.getFreeHeap());
|
||||
Serial.printf("Lowest level of free heap since boot = %u\r\n",ESP.getMinFreeHeap());
|
||||
Serial.printf("Largest block of heap that can be allocated at once = %u\r\n",ESP.getMaxAllocHeap());
|
||||
|
||||
//SPI RAM
|
||||
Serial.printf("Total Psram size = %u\t",ESP.getPsramSize());
|
||||
Serial.printf("Available Psram = %u\r\n",ESP.getFreePsram());
|
||||
Serial.printf("Lowest level of free Psram since boot = %u\r\n",ESP.getMinFreePsram());
|
||||
Serial.printf("Largest block of Psram that can be allocated at once = %u\r\n",ESP.getMinFreePsram());
|
||||
sprintf(mac_tmp, "%02X\r\n", (uint32_t)(ESP.getEfuseMac() >> (24) ));
|
||||
sprintf(mac_tmp, "ESP32-%c%c%c%c%c%c", mac_tmp[4], mac_tmp[5], mac_tmp[2], mac_tmp[3], mac_tmp[0], mac_tmp[1] );
|
||||
|
||||
if (!EEPROM.begin(1000)) {
|
||||
Serial.println("Failed to initialise EEPROM");
|
||||
Serial.println("Restarting...");
|
||||
delay(1000);
|
||||
ESP.restart();
|
||||
}
|
||||
// eeprom 读取
|
||||
int k,j;
|
||||
j = 0;
|
||||
for(k=0;k<=24;k=k+4)
|
||||
{
|
||||
float nan = EEPROM.readFloat(k);
|
||||
if(isnan(nan))
|
||||
{
|
||||
j = 1;
|
||||
Serial.println("frist write");
|
||||
EEPROM.writeFloat(0, target_angle); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(4, swing_up_voltage); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(8, swing_up_angle); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(12, v_p_1); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(16, v_i_1); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(20, v_p_2); delay(10);EEPROM.commit();
|
||||
EEPROM.writeFloat(24, v_i_2); delay(10);EEPROM.commit();
|
||||
EEPROM.writeUChar(28,brightness); delay(10);EEPROM.commit();
|
||||
EEPROM.writeUChar(32,rgb_flag); delay(10);EEPROM.commit();
|
||||
}
|
||||
}
|
||||
if(j == 0)
|
||||
{
|
||||
target_angle = EEPROM.readFloat(0);
|
||||
swing_up_voltage = EEPROM.readFloat(4);
|
||||
swing_up_angle = EEPROM.readFloat(8);
|
||||
v_p_1 = EEPROM.readFloat(12);
|
||||
v_i_1 = EEPROM.readFloat(16);
|
||||
v_p_2 = EEPROM.readFloat(20);
|
||||
v_i_2 = EEPROM.readFloat(24);
|
||||
brightness = EEPROM.readUChar(28);
|
||||
rgb_flag = EEPROM.readUChar(32);
|
||||
motor.PID_velocity.P = v_p_1;
|
||||
motor.PID_velocity.I = v_i_1;
|
||||
}
|
||||
//命令设置
|
||||
comm.add("TA",do_TA);
|
||||
comm.add("START",do_START);
|
||||
comm.add("MOTOR",do_MOTOR);
|
||||
comm.add("SV",do_SV);
|
||||
comm.add("SA",do_SA);
|
||||
comm.add("TVQ",do_TVQ);
|
||||
comm.add("TVV",do_TVV);
|
||||
comm.add("VV",do_VV);
|
||||
comm.add("VQ",do_VQ);
|
||||
//速度环参数
|
||||
comm.add("VP1",do_vp1);
|
||||
comm.add("VI1",do_vi1);
|
||||
comm.add("VP2",do_vp2);
|
||||
comm.add("VI2",do_vi2);
|
||||
comm.add("TV",do_tv);
|
||||
comm.add("K31",do_K31);
|
||||
comm.add("K32",do_K32);
|
||||
comm.add("K33",do_K33);
|
||||
comm.add("K41",do_K41);
|
||||
comm.add("K42",do_K42);
|
||||
comm.add("K43",do_K43);
|
||||
|
||||
//RGB
|
||||
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
|
||||
strip.show(); // Turn OFF all pixels ASAP
|
||||
strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255)
|
||||
colorWipe_delay(strip.Color(255, 106, 106),50);
|
||||
colorWipe_delay(strip.Color(0, 255, 255),50);
|
||||
colorWipe_delay(strip.Color(148, 0, 211),50);
|
||||
|
||||
// kalman mpu6050 init
|
||||
Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
|
||||
i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
|
||||
i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
|
||||
i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
|
||||
i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
|
||||
while (i2cWrite(0x19, i2cData, 4, false))
|
||||
; // Write to all four registers at once
|
||||
while (i2cWrite(0x6B, 0x01, true))
|
||||
; // PLL with X axis gyroscope reference and disable sleep mode
|
||||
while (i2cRead(0x75, i2cData, 1))
|
||||
;
|
||||
if (i2cData[0] != 0x68)
|
||||
{ // Read "WHO_AM_I" register
|
||||
Serial.print(F("Error reading sensor"));
|
||||
while (1)
|
||||
;
|
||||
}
|
||||
delay(100); // Wait for sensor to stabilize
|
||||
/* Set kalman and gyro starting angle */
|
||||
while (i2cRead(0x3B, i2cData, 6))
|
||||
;
|
||||
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
|
||||
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
|
||||
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
|
||||
double pitch = acc2rotation(accX, accY);
|
||||
kalmanZ.setAngle(pitch);
|
||||
gyroZangle = pitch;
|
||||
timer = micros();
|
||||
Serial.println("kalman mpu6050 init");
|
||||
|
||||
I2Ctwo.begin(23, 5, 400000); //SDA,SCL
|
||||
sensor.init(&I2Ctwo);
|
||||
|
||||
//连接motor对象与传感器对象
|
||||
motor.linkSensor(&sensor);
|
||||
|
||||
//供电电压设置 [V]
|
||||
driver.voltage_power_supply = 12;
|
||||
driver.init();
|
||||
|
||||
//连接电机和driver对象
|
||||
motor.linkDriver(&driver);
|
||||
|
||||
//FOC模型选择
|
||||
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
|
||||
|
||||
//运动控制模式设置
|
||||
motor.controller = MotionControlType::torque;
|
||||
//速度PI环设置
|
||||
motor.PID_velocity.P = v_p_1;
|
||||
motor.PID_velocity.I = v_i_1;
|
||||
|
||||
//最大电机限制电机
|
||||
motor.voltage_limit = 12;
|
||||
|
||||
//速度低通滤波时间常数
|
||||
motor.LPF_velocity.Tf = 0.01;
|
||||
|
||||
//设置最大速度限制
|
||||
motor.velocity_limit = 40;
|
||||
|
||||
motor.useMonitoring(Serial);
|
||||
|
||||
//初始化电机
|
||||
motor.init();
|
||||
|
||||
//初始化 FOC
|
||||
motor.initFOC();
|
||||
|
||||
Serial.println(F("Motor ready."));
|
||||
Serial.println(F("Set the target velocity using serial terminal:"));
|
||||
|
||||
digitalWrite(ACTIVE_PIN, HIGH);
|
||||
}
|
||||
char buf[255];
|
||||
void loop() {
|
||||
motor.loopFOC(); //foc循环用来控制电机运动
|
||||
if(wifi_on_off)
|
||||
{
|
||||
ArduinoOTA.handle();
|
||||
}
|
||||
// 触摸效果以及RGB灯效
|
||||
unsigned long currentMillis = millis();
|
||||
if(currentMillis - voltage_last_time >=1000)
|
||||
{
|
||||
voltage_last_time = currentMillis;
|
||||
voltage_detection();
|
||||
}
|
||||
if(currentMillis - touch_last_time >= 10) { // Check for expired time
|
||||
touch_last_time = currentMillis; // Run current frame
|
||||
touchAttach(0,T2);
|
||||
touchAttach(1,T3);
|
||||
touchAttach(2,T4);
|
||||
int i;
|
||||
for(i = 0;i<3;i++)
|
||||
{
|
||||
if(touch_STATE[i]&&touch_touched[i])
|
||||
if(touch_touched[i] == 1)
|
||||
{
|
||||
single_event(i);
|
||||
}
|
||||
else
|
||||
long_event(i);
|
||||
}
|
||||
}
|
||||
// Update current time 更新RGB效果
|
||||
if(currentMillis - pixelPrevious >= pixelInterval) { // Check for expired time
|
||||
pixelPrevious = currentMillis; // Run current frame
|
||||
switch(rgb_flag){
|
||||
case 0 :
|
||||
rgb_off();
|
||||
break;
|
||||
case 1 :
|
||||
strip1();
|
||||
break;
|
||||
case 2 :
|
||||
strip2();
|
||||
break;
|
||||
case 3 :
|
||||
strip3();
|
||||
break;
|
||||
case 4 :
|
||||
rainbow1();
|
||||
break;
|
||||
case 5 :
|
||||
rainbow2();
|
||||
break;
|
||||
case 6 :
|
||||
pulse_rainbow1();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 读取MPU6050数据
|
||||
while (i2cRead(0x3B, i2cData, 14));
|
||||
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
|
||||
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
|
||||
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
|
||||
// tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
|
||||
gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
|
||||
gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
|
||||
gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
|
||||
|
||||
double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
|
||||
timer = micros();
|
||||
|
||||
double pitch = acc2rotation(accX, accY);
|
||||
double gyroZrate = gyroZ / 131.0; // Convert to deg/s
|
||||
|
||||
kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
|
||||
gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
|
||||
compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
|
||||
|
||||
// Reset the gyro angle when it has drifted too much
|
||||
if (gyroZangle < -180 || gyroZangle > 180)
|
||||
gyroZangle = kalAngleZ;
|
||||
|
||||
float pendulum_angle = constrainAngle(fmod(kalAngleZ,120)-target_angle);
|
||||
|
||||
// pendulum_angle当前角度与期望角度差值，在差值大的时候进行摇摆，差值小的时候LQR控制电机保持平衡
|
||||
if(test_flag == 0)//正常控制
|
||||
{
|
||||
if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90°
|
||||
{
|
||||
target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity());
|
||||
if (abs(target_velocity) > 120)
|
||||
target_velocity = _sign(target_velocity) * 120;
|
||||
|
||||
motor.controller = MotionControlType::velocity;
|
||||
motor.move(target_velocity);
|
||||
}
|
||||
else // else do swing-up
|
||||
{ // sets swing_up_voltage to the motor in order to swing up
|
||||
motor.controller = MotionControlType::torque;
|
||||
target_voltage = -_sign(gyroZrate) * swing_up_voltage;
|
||||
motor.move(target_voltage);
|
||||
}
|
||||
}
|
||||
else if(test_flag == 1)
|
||||
{
|
||||
|
||||
motor.move(target_voltage);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
motor.move(target_velocity);
|
||||
}
|
||||
|
||||
//串口输出数据部分，不需要的情况可以改为0
|
||||
#if 0
|
||||
|
||||
Serial.print(pitch);Serial.print("\t");
|
||||
Serial.print(kalAngleZ);Serial.print("\t");
|
||||
Serial.print(target_voltage);Serial.print("\t");
|
||||
Serial.print(motor.shaft_velocity);Serial.print("\t");
|
||||
Serial.print(motor.voltage.q);Serial.print("\t");
|
||||
Serial.print(target_angle);Serial.print("\t");
|
||||
Serial.print(pendulum_angle);Serial.print("\t");
|
||||
Serial.print(gyroZrate);Serial.print("\t");
|
||||
Serial.print("\r\n");
|
||||
#endif
|
||||
//可以使用该方法wifi发送udp信息
|
||||
if(wifi_flag)
|
||||
{
|
||||
memset(buf, 0, strlen(buf));
|
||||
|
||||
wifi_print("v", motor.shaft_velocity);
|
||||
wifi_print("vq",motor.voltage.q);
|
||||
wifi_print("p",pendulum_angle);
|
||||
wifi_print("t",target_angle);
|
||||
wifi_print("k",kalAngleZ);
|
||||
wifi_print("g",gyroZrate);
|
||||
wifi_print("VT",bat_voltage);
|
||||
|
||||
udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192,168,4,2), localUdpPort); //广播数据
|
||||
}
|
||||
}
|
||||
/* mpu6050加速度转换为角度
|
||||
acc2rotation(ax, ay)
|
||||
acc2rotation(az, ay) */
|
||||
double acc2rotation(double x, double y)
|
||||
{
|
||||
double tmp_kalAngleZ = (atan(x / y) / 1.570796 * 90);
|
||||
if (y < 0)
|
||||
{
|
||||
return (tmp_kalAngleZ + 180);
|
||||
}
|
||||
else if (x < 0)
|
||||
{
|
||||
//将当前值与前值比较，当前差值大于100则认为异常
|
||||
if (!isnan(kalAngleZ) && (tmp_kalAngleZ + 360 - kalAngleZ) > 100) {
|
||||
//Serial.print("X<0"); Serial.print("\t");
|
||||
//Serial.print(tmp_kalAngleZ); Serial.print("\t");
|
||||
//Serial.print(kalAngleZ); Serial.print("\t");
|
||||
//Serial.print("\r\n");
|
||||
if (tmp_kalAngleZ < 0 && kalAngleZ < 0) //按键右边角
|
||||
return tmp_kalAngleZ;
|
||||
else //按键边异常处理
|
||||
return tmp_kalAngleZ;
|
||||
} else
|
||||
return (tmp_kalAngleZ + 360);
|
||||
}
|
||||
else
|
||||
{
|
||||
return tmp_kalAngleZ;
|
||||
}
|
||||
}
|
||||
|
||||
// function constraining the angle in between -60~60
|
||||
float constrainAngle(float x)
|
||||
{
|
||||
float a = 0;
|
||||
if(x < 0)
|
||||
{
|
||||
a = 120+x;
|
||||
if(a<abs(x))
|
||||
return a;
|
||||
}
|
||||
return x;
|
||||
}
|
||||
// LQR stabilization controller functions
|
||||
// calculating the voltage that needs to be set to the motor in order to stabilize the pendulum
|
||||
float controllerLQR(float p_angle, float p_vel, float m_vel)
|
||||
{
|
||||
if (abs(p_angle) > 5) //摆角大于5则进入非稳态，记录非稳态时间
|
||||
{
|
||||
last_unstable_time = millis();
|
||||
if (stable) //如果是稳态进入非稳态则调整为目标角度
|
||||
{
|
||||
//target_angle = EEPROM.readFloat(0) - p_angle;
|
||||
target_angle = EEPROM.readFloat(0);
|
||||
stable = 0;
|
||||
}
|
||||
}
|
||||
if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
|
||||
{
|
||||
//target_angle -= _sign(target_velocity) * 0.4;
|
||||
target_angle = target_angle+p_angle;
|
||||
stable = 1;
|
||||
}
|
||||
|
||||
if ((millis() - last_stable_time) > 2500 && stable) { //稳态超过2000ms检测，更新目标角
|
||||
if (abs(target_velocity) > 5 ) { //稳态速度偏大校正
|
||||
last_stable_time = millis();
|
||||
target_angle -= _sign(target_velocity) * 0.2;
|
||||
}
|
||||
}
|
||||
|
||||
//Serial.println(stable);
|
||||
float u;
|
||||
|
||||
if (!stable) //非稳态计算
|
||||
{
|
||||
motor.PID_velocity.P = v_p_1;
|
||||
motor.PID_velocity.I = v_i_1;
|
||||
u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel;
|
||||
}
|
||||
else
|
||||
{
|
||||
motor.PID_velocity.P = v_p_2;
|
||||
motor.PID_velocity.I = v_i_2;
|
||||
u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel;
|
||||
}
|
||||
|
||||
return u;
|
||||
}
|
||||
void wifi_print(char * s,double num)
|
||||
{
|
||||
char str[255];
|
||||
char n[255];
|
||||
sprintf(n, "%.2f",num);
|
||||
strcpy(str,s);
|
||||
strcat(str, n);
|
||||
strcat(buf+strlen(buf), str);
|
||||
strcat(buf, ",\0");
|
||||
|
||||
}
|
||||
void voltage_detection()
|
||||
{
|
||||
#if defined(BAT_VOLTAGE_SENSE_PIN) //电池电压检测
|
||||
bat_voltage = return_voltage_value(BAT_VOLTAGE_SENSE_PIN);
|
||||
//driver.voltage_power_supply = bat_voltage;
|
||||
//Serial.println(driver.voltage_power_supply);
|
||||
if (bat_voltage < min_voltage && !battery_low)
|
||||
{
|
||||
battery_low = 1;
|
||||
Serial.print(driver.voltage_power_supply);
|
||||
Serial.println("V ");
|
||||
Serial.print(bat_voltage);
|
||||
Serial.println("V battery_low!!");
|
||||
while (battery_low)
|
||||
{
|
||||
rgb_off();
|
||||
motor.disable();
|
||||
|
||||
bat_voltage = return_voltage_value(BAT_VOLTAGE_SENSE_PIN);
|
||||
if (bat_voltage >= (min_voltage + 0.5)) {
|
||||
Serial.print(driver.voltage_power_supply);
|
||||
Serial.println("V");
|
||||
Serial.print(bat_voltage);
|
||||
Serial.println("V battery ok");
|
||||
digitalWrite(ACTIVE_PIN, 0); //电池电压恢复则常亮，需reset重启
|
||||
//battery_low = 0;
|
||||
} else { //电池电压低闪灯
|
||||
if (millis() % 500 < 250)
|
||||
digitalWrite(ACTIVE_PIN, 0);
|
||||
else
|
||||
digitalWrite(ACTIVE_PIN, 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
double return_voltage_value(int pin_no)
|
||||
{
|
||||
double tmp;
|
||||
double ADCVoltage;
|
||||
double inputVoltage;
|
||||
analogSetPinAttenuation(pin_no, ADC_6db);
|
||||
|
||||
for (int i = 0; i < 20; i++)
|
||||
{
|
||||
ADCVoltage = analogReadMilliVolts(pin_no) / 1000.0;
|
||||
inputVoltage = (ADCVoltage * R1_VOLTAGE) / R2_VOLTAGE;
|
||||
|
||||
tmp = tmp + inputVoltage + ADCVoltage; // formula for calculating voltage in i.e. GND
|
||||
}
|
||||
inputVoltage = tmp / 20;
|
||||
if(inputVoltage!=0)
|
||||
inputVoltage = inputVoltage + 0.001;
|
||||
/*
|
||||
|
||||
for (int i = 0; i < 20; i++)
|
||||
{
|
||||
tmp = tmp + analogRead(pin_no);
|
||||
}
|
||||
tmp = tmp / 20;
|
||||
|
||||
ADCVoltage = ((tmp * 3.3) / 4095.0) + 0.165;
|
||||
inputVoltage = ADCVoltage / (R2_VOLTAGE / (R1_VOLTAGE + R2_VOLTAGE)); // formula for calculating voltage in i.e. GND
|
||||
*/
|
||||
|
||||
return inputVoltage;
|
||||
}
|
||||
void AutoWifiConfig()
|
||||
{
|
||||
//wifi初始化
|
||||
sprintf(mac_tmp, "%02X\r\n", (uint32_t)(ESP.getEfuseMac() >> (24) ));
|
||||
sprintf(mac_tmp, "ESP32-%c%c%c%c%c%c", mac_tmp[4], mac_tmp[5], mac_tmp[2], mac_tmp[3], mac_tmp[0], mac_tmp[1] );
|
||||
|
||||
WiFi.mode(WIFI_AP);
|
||||
while (!WiFi.softAP(ssid, password)) {}; //启动AP
|
||||
Serial.println("AP启动成功");
|
||||
Serial.println("Ready");
|
||||
Serial.print("IP address: ");
|
||||
Serial.println(WiFi.softAPIP());
|
||||
byte mac[6];
|
||||
WiFi.macAddress(mac);
|
||||
WiFi.setHostname(ServerName);
|
||||
Serial.printf("macAddress 0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X\r\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
|
||||
|
||||
while (!udp.listen(localUdpPort)) //等待udp监听设置成功
|
||||
{
|
||||
}
|
||||
udp.onPacket(onPacketCallBack); //注册收到数据包事件
|
||||
|
||||
ArduinoOTA.setHostname(ServerName);
|
||||
//以下是启动OTA，可以通过WiFi刷新固件
|
||||
ArduinoOTA.onStart([]() {
|
||||
String type;
|
||||
if (ArduinoOTA.getCommand() == U_FLASH) {
|
||||
type = "sketch";
|
||||
} else { // U_SPIFFS
|
||||
type = "filesystem";
|
||||
}
|
||||
|
||||
// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
|
||||
Serial.println("Start updating " + type);
|
||||
});
|
||||
ArduinoOTA.onEnd([]() {
|
||||
Serial.println("\nEnd");
|
||||
});
|
||||
ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
|
||||
Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
|
||||
});
|
||||
ArduinoOTA.onError([](ota_error_t error) {
|
||||
Serial.printf("Error[%u]: ", error);
|
||||
if (error == OTA_AUTH_ERROR) {
|
||||
Serial.println("Auth Failed");
|
||||
} else if (error == OTA_BEGIN_ERROR) {
|
||||
Serial.println("Begin Failed");
|
||||
} else if (error == OTA_CONNECT_ERROR) {
|
||||
Serial.println("Connect Failed");
|
||||
} else if (error == OTA_RECEIVE_ERROR) {
|
||||
Serial.println("Receive Failed");
|
||||
} else if (error == OTA_END_ERROR) {
|
||||
Serial.println("End Failed");
|
||||
}
|
||||
});
|
||||
ArduinoOTA.begin();
|
||||
}
|
||||
//触摸单击函数处理
|
||||
void single_event(int touchID)
|
||||
{
|
||||
switch(touchID){
|
||||
case 0 :
|
||||
if(brightness<=15)
|
||||
brightness = 15;
|
||||
brightness-=15;
|
||||
EEPROM.writeUChar(28, brightness); EEPROM.commit();
|
||||
strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255)
|
||||
break;
|
||||
case 1 :
|
||||
if(brightness>=240)
|
||||
brightness = 240;
|
||||
brightness+=15;
|
||||
EEPROM.writeUChar(28, brightness); EEPROM.commit();
|
||||
strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255)
|
||||
break;
|
||||
case 2 :
|
||||
if(rgb_flag)
|
||||
rgb_flag = 0;
|
||||
else
|
||||
rgb_flag = EEPROM.readUChar(32);
|
||||
break;
|
||||
}
|
||||
}
|
||||
//触摸长按函数处理
|
||||
void long_event(int touchID)
|
||||
{
|
||||
switch(touchID){
|
||||
case 0 : //长按投币
|
||||
if(rgb_flag == 0)
|
||||
rgb_flag = rgb_modle;
|
||||
rgb_flag--;
|
||||
strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255)
|
||||
EEPROM.writeUChar(32, rgb_flag); EEPROM.commit();
|
||||
break;
|
||||
case 1 : //长按收藏
|
||||
rgb_flag++;
|
||||
if(rgb_flag>=rgb_modle)
|
||||
rgb_flag = 0;
|
||||
strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255)
|
||||
EEPROM.writeUChar(32, rgb_flag); EEPROM.commit();
|
||||
break;
|
||||
case 2 : //长按点赞
|
||||
if(wifi_on_off)
|
||||
{
|
||||
motor.enable();
|
||||
WiFi.disconnect();
|
||||
WiFi.mode(WIFI_OFF);
|
||||
Serial.println("WIFI_OFF");
|
||||
}
|
||||
else
|
||||
{
|
||||
motor.disable();
|
||||
AutoWifiConfig();//打开wifi
|
||||
Serial.println("WIFI_ON");
|
||||
}
|
||||
wifi_on_off = !wifi_on_off;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
#include "RGB.h"
|
||||
const int threshold_top = 40; //触摸阈值
|
||||
const int single_count[3] = {10,10,10}; //单击时间 实际时间为20*10 = 200ms
|
||||
const int long_count[3] = {80,80,80}; //长按时间 实际时间为80*10 = 800ms
|
||||
unsigned long touch_last_time;
|
||||
int touch_count[3] = {0,0,0}; //持续触摸计数
|
||||
int touch_touched[3] = {0,0,0}; //单击,长按判断 单击值为1，长按值为2 没点击为0
|
||||
bool touch_STATE[3] = {1, 1, 1}; // 定义按键触发对象状态变量初始值为true默认开启 T2 T3 T4
|
||||
|
||||
int rgb_flag = 1;
|
||||
int rgb_modle = 7;//有几种RGB效果就写几
|
||||
//触摸感应处理
|
||||
void touchAttach(int touchID, uint8_t touchPin) {
|
||||
int touchread = touchRead(touchPin);
|
||||
if ( touchread <= threshold_top ) { //达到触发值的计数
|
||||
//delay(38); // 0.038秒
|
||||
touch_count[touchID]++; //持续触摸计数
|
||||
}
|
||||
else
|
||||
{
|
||||
if ( touch_count[touchID] >= single_count[touchID] && touch_count[touchID] < long_count[touchID])
|
||||
touch_touched[touchID] = 1;//持续触摸时间达到单击
|
||||
else if(touch_count[touchID] >= long_count[touchID])
|
||||
touch_touched[touchID] = 2;
|
||||
else
|
||||
touch_touched[touchID]= 0;
|
||||
touch_count[touchID] = 0; //持续触摸计数清零
|
||||
}
|
||||
}
|
||||
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Loading…
Reference in New Issue