diff --git a/README.en.md b/README.en.md deleted file mode 100644 index a478b3f..0000000 --- a/README.en.md +++ /dev/null @@ -1,36 +0,0 @@ -# FocProject - -#### Description -{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**} - -#### Software Architecture -Software architecture description - -#### Installation - -1. xxxx -2. xxxx -3. xxxx - -#### Instructions - -1. xxxx -2. xxxx -3. xxxx - -#### Contribution - -1. Fork the repository -2. Create Feat_xxx branch -3. Commit your code -4. Create Pull Request - - -#### Gitee Feature - -1. You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md -2. Gitee blog [blog.gitee.com](https://blog.gitee.com) -3. Explore open source project [https://gitee.com/explore](https://gitee.com/explore) -4. The most valuable open source project [GVP](https://gitee.com/gvp) -5. The manual of Gitee [https://gitee.com/help](https://gitee.com/help) -6. The most popular members [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/) diff --git a/README.md b/README.md index d2683b0..6029983 100644 --- a/README.md +++ b/README.md @@ -1,132 +1,94 @@ -# 自平衡莱洛三角形可充电版 +# 自平衡莱洛三角形可充电版 -#### 介绍 -**在B站[“基于LQR控制器的自平衡莱洛三角形”](https://www.bilibili.com/video/BV19v411n7mN)基础上添加了充电模块** +### 介绍 +**在B站[“基于LQR控制器的自平衡莱洛三角形”](https://www.bilibili.com/video/BV19v411n7mN) 基础上添加了充电模块** 主控芯片使用ESP32，并配置了调参上位机，可以很方便的通过wifi无线调参。无刷控制使用灯哥开源FOC。制作出一个方便复刻的自平衡莱洛三角形，在桌面上作为一个摆件还是非常不错的 [展示视频](https://www.bilibili.com/video/BV1b3411x7za) -![Image text](image/show.png) +
V1(图一)
-左：使用灯哥开源FOC2.0板测试 +![V1](image/show.png) -中：13*13cm立创紫PCB +
V2(图二)
-右：10*10cm最终版本 -#### 1 软件架构 +![V2](image/v2image.jpg) + +目前有两个版本 +- V1(图1)：ESP32主控+L6234驱动+GB2204电机+CH340串口芯片+CS5095充电芯片 +- V2(图2)：ESP32主控+EG2133+6mos驱动+2715电机+RGB+CM1010-A均衡芯片+CN3300充电芯片 + +**推荐制作V2，成功率高，效果更好，电机驱动芯片更便宜，还有RGB** + +V1和V2**`电路图以及代码`**均在对应`V1\V2`文件夹(如需制作只要打开对应版本的文件夹即可，里面有对应的README说明) + +### 1 软件架构 自平衡控制为LQR算法输出期望**速度**，使动量轮**加速运动**从而控制三角形左右方向。并且代码的调参都可以通过连接ESP32的wifi调整。具体特性如下： - **基于 Arduino**：运行在 ESP32 Arduino 上 - **自带测试模式**：电压测试和速度测试，可以单独输出电压让电机转动，也可以设置指定速度让电机保持速度 ![Image text](image/gui.gif) -#### 2 硬件特性 +### 2 硬件特性 | 说明 | 参数 | | ---------------- |---------------------- | | 莱洛三角形尺寸 | 100*100 mm | |动量轮尺寸|80*80 mm| -|电池*3 |厚x长x宽:7.9mmx25mmx40mm 规格内均可| | 输入电压 | 3.7v锂电池*3| |充电电压| 5V 从Type-C口输入| -|充电芯片CS5095|5V输入,最大1.2A充电电流| -|串口芯片CH340C|需要 打开开关 才能下载| | 主控芯片 | ESP-WROOM-32 | -|电机驱动芯片L6234PD|引脚:32, 33, 25, 22; 22为enable| -| AS5600 编码器 |SDA-23 SCL-5 　芯片要离磁铁有 2mm以上高度 | +|电机驱动|引脚:32, 33, 25| +| AS5600 编码器 |SDA-23 SCL-5 　芯片要离径向磁铁有 2mm以上高度 | | MPU6050六轴传感器 | SDA-19 SCL-18 | -#### 3 使用说明 - -1. 下载完本git所以文件后，打开arduino文件夹，解压arduino.7z完成之后双击运行esp32_package_1.0.6.exe安装esp32库环境。注意：若之前有安装过arduino，请将路径`C:\Users\用户名\AppData\Local\`的Arduino15文件夹和`此电脑\文档`内的Arduino 删除 （~~也可自行下载Arduino并安装SimpleFOC~~）（但是可能会版本不对电机不动） -2. 打开解压后的arduino文件夹内的arduino.exe，导航栏-文件-打开。选择arduino\main里面的main.ino -3. 烧录程序到ESP32：选择工具-开发板-esp32 Arduino-ESP32 Dev module，然后连接USB口选择对应的com口，编译上传。 - 1. 　 如无法正常编译 - 1. 可能与原有arduino冲突，请查看使用说明第一条 - 2. 文件夹路径含有非法字符，可以把Arduino移动到硬盘根目录下，如D:\Arduino -4. 打开本项目内的`python_gui`内的`可执行文件_main`内的**main.exe**并连接上WIFI：ESP32 密码：12345678。点击设置开始调参。 -5. 连接成功后，点击disable，然后逆时针拨动动量轮，查看上位机中V参数是否为正值。注意！如果 逆时针转为为负值 那么需要将电机线任意两线互换。 -![Image text](image/tiaocan.gif) -6. 如果电机不能正常运行可以，点击上位机中最下方的 测试部分 ，打开电压或者速度测试，滑动滑条，查看电机能否正常运行。如还不能请检测硬件电路部分。 -7. 如果不能摇摆直立，推荐调整的参数为TA、SA、SV -8. K值可以用滑块调整，拖动滑块就会发送参数命令，但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次 - -9. 滑条：最左边输入框为滑块下限，右边是滑块上限，滑条等分成**200**份，命令是**字符串**，滑动滑块发送**字符串** + **数值** - -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，K参数没有保存到EEPROM所以可以使用滑条调整。 - -| 参数命令 | 说明 | -| ---------------- |---------------------- | -| TA | target_angle平衡角度 例如TA89.3 设置平衡角度89.3| -| SV | swing_up_voltage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| -|SA|swing_up_angle摇摆角度 离平衡角度还有几度时候，切换到自平衡控制| -|VP1|速度环的PID的P，1是稳定在平衡角度之前的P值| -|VI1|速度环的PID的I，1是稳定在平衡角度之前的I值| -|VP2|速度环的PID的P，2是稳定后的P值| -|VI2|速度环的PID的I，2是稳定后的I值| -|K为LQR参数|**3和4**是速度控制稳定前和后| -|K3**1**|LQR的参数1：稳定前的角度差值| -|K3**2**|LQR的参数2：稳定前的左右倾倒加速度| -|K3**3**|LQR的参数3：稳定前的当前速度| -|K4**1**|LQR的参数1：稳定后的角度差值| -|K4**2**|LQR的参数2：稳定后的左右倾倒加速度| -|K4**3**|LQR的参数3：稳定后的当前速度| - -LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正。 - -在电压控制下：回正力F直接和输出电压值挂钩，向←倾斜，电机提供正电压V动量轮向**左加速转动**，产生向右的力F。 - -`期望电压 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3` - -在速度控制下：回正力F和动量轮转速加速度a有关，F = ma，向←倾斜，电机需要向**左加速转动**，产生向右的力F。 - -`期望速度 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3` - -两者区别：电压和速度控制都可以实现平衡，但因为使用simpleFOC控制电机转速无法无限加速，本电机实验最高转速180转，电压到上限12v。 - -使用电压控制会遇到，电机一下子就到了转速上限，就不能提供稳定的力F，参数调起来比较困难。 - -速度控制可以在偏差变大的时候，根据期望速度产生最大电压12v，并且不会超过电机最高转速。 -#### 4 硬件设计 +### 3 硬件设计 使用立创EDA绘制电路原理图，LaserMaker绘制莱洛三角形和动量轮（有激光切割机可以事先切割结构作为参考）。将绘制完的图形导入到立创EDA中可作为PCB的外框。丝印图案分别是**Gawr Gura**、**ouro kronii** ~~helicopter~~ LaserMaker绘制的plt在**莱洛三角结构**文件夹内，需要重新绘制电路图可以使用 -感谢嘉立创的PCB制板，使DIY电路制作变得非常便利，点击下方超链接可以前往嘉立创进行PCB制板 +感谢嘉立创的PCB制板，使DIY电路制作变得非常便利，PCB制作开源点击 -[莱洛三角形PCB](https://oshwhub.com/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben) - -[动量轮](https://oshwhub.com/45coll/lai-luo-san-jiao-dong-liang-lun) - -具体需要购买的物品在**物料清单.xlsx**中，如果缺货请自行某宝更换 - -#### 5 Ctrl+C +V（参考） +### 4 Ctrl+C +V（参考） Arduino上的控制算法是原作者的LQR，无刷电机控制是灯哥开源FOC。电机控制引脚定义与传感器定义和灯哥开源FOC控制板2.0版一样。 -Python的GUI是SimpleFOC的SimpleFOCStudio。 +EG2133无刷驱动为立创开源方案。 + +Python的GUI是以SimpleFOC的SimpleFOCStudio为基础，添加wifi功能。 + +V1的充电电路是立创广场开源的CS5095充电方案。 + +V2的充电电路是在立创广场开源的《CN3300 4串电池组板》方案基础上改的3串锂电池 + +PCB以及原理图技术支持——muyan + +wifi效果以及按键面修复代码作者——muyan -充电电路是立创广场开源的CS5095充电方案。 1. 原作者：基于LQR控制器的自平衡莱洛三角形[BV19v411n7mN](https://www.bilibili.com/video/BV19v411n7mN) -2. 灯哥开源FOC [https://gitee.com/ream_d/Deng-s-foc-controller](https://gitee.com/ream_d/Deng-s-foc-controller) -3. 充电芯片电路[https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu](https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu) -4. Arduino环境提供者[https://github.com/kaliCYH](https://github.com/kaliCYH) +2. muyan 立创链接[https://oshwhub.com/muyan2020?tab=project&page=1](https://oshwhub.com/muyan2020?tab=project&page=1) +3. muyan git链接[https://gitee.com/muyan3000](https://gitee.com/muyan3000) +4. EG2133驱动参考[https://oshwhub.com/acmetech-lceda/minifoc](https://oshwhub.com/acmetech-lceda/minifoc) +5. 灯哥开源FOC [https://gitee.com/ream_d/Deng-s-foc-controller](https://gitee.com/ream_d/Deng-s-foc-controller) +6. CS5095充电芯片电路[https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu](https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu) +7. CN3300 4串电池组板[https://oshwhub.com/583703056a/dian-chi-zu-ban_copy_copy](https://oshwhub.com/583703056a/dian-chi-zu-ban_copy_copy) +8. Arduino-Esp32环境提供者[https://github.com/kaliCYH](https://github.com/kaliCYH) -#### 6 有用的地方 + +### 5 有用的地方 1. Arduino的程序中的command.h、command.cpp可以支持任意的字符串输入。在其他项目中一样可以用，无论是wifi接收到的字符串数据或者是串口的字符串数据。 2. GUI上位机可以在其他wifi项目中可以继续使用，用来调参还是很方便。 -#### 7 未解之谜 +### 6 未解之谜 -问题1：在传感器读取当前角度pitch在0和360来回切换时候，卡尔曼滤波值会慢慢变化，得到的值无法反映正确的当前角度。导致有一个面无法摇摆平衡。 +问题1：在传感器读取当前角度pitch在0和360来回切换时候，卡尔曼滤波值会慢慢变化，得到的值无法反映正确的当前角度。导致有一个面无法摇摆平衡。（已解决）（使用muyan的代码完美解决） -问题2：摇摆到平衡态时，参数不太好时，可能会摇摆过头，或者一直左右摇摆不能到平衡态。就算调好参数也会偶尔发生摇摆过头现象。 +问题2：摇摆到平衡态时，参数不太好时，可能会摇摆过头，或者一直左右摇摆不能到平衡态。就算调好参数也会偶尔发生摇摆过头现象。（V2的2715电机可以让摇摆平衡的成功率提高到80%） -#### 8 交流Q群 +### 7 交流Q群 45coll电子交流QQ群：**824113552** 欢迎交流与沟通 -群文件内有PCB、元器件下单以及软件安装的教程视频 diff --git a/arduino/Arduino.7z.001 b/arduino/Arduino.7z.001 index d8de733..edbee36 100644 Binary files a/arduino/Arduino.7z.001 and b/arduino/Arduino.7z.001 differ diff --git a/arduino/Arduino.7z.002 b/arduino/Arduino.7z.002 index 13541f0..c88b255 100644 Binary files a/arduino/Arduino.7z.002 and b/arduino/Arduino.7z.002 differ diff --git a/arduino/Arduino.7z.003 b/arduino/Arduino.7z.003 index 1337333..a881904 100644 Binary files a/arduino/Arduino.7z.003 and b/arduino/Arduino.7z.003 differ diff --git a/arduino/Betas/.keep b/arduino/Betas/.keep deleted file mode 100644 index e69de29..0000000 diff --git a/arduino/Betas/RGB_V1.5/.keep b/arduino/Betas/RGB_V1.5/.keep deleted file mode 100644 index e69de29..0000000 diff --git a/arduino/Betas/RGB_V1.5/main/.keep b/arduino/Betas/RGB_V1.5/main/.keep deleted file mode 100644 index e69de29..0000000 diff --git a/arduino/Betas/RGB_V1.5/main/Command.cpp b/arduino/Betas/RGB_V1.5/main/Command.cpp deleted file mode 100644 index 323d99a..0000000 --- a/arduino/Betas/RGB_V1.5/main/Command.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#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; -} diff --git a/arduino/Betas/RGB_V1.5/main/Command.h b/arduino/Betas/RGB_V1.5/main/Command.h deleted file mode 100644 index 04c8397..0000000 --- a/arduino/Betas/RGB_V1.5/main/Command.h +++ /dev/null @@ -1,17 +0,0 @@ -#include -// 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 - -}; diff --git a/arduino/Betas/RGB_V1.5/main/Kalman.cpp b/arduino/Betas/RGB_V1.5/main/Kalman.cpp deleted file mode 100644 index a7c70c1..0000000 --- a/arduino/Betas/RGB_V1.5/main/Kalman.cpp +++ /dev/null @@ -1,93 +0,0 @@ -/* 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; }; diff --git a/arduino/Betas/RGB_V1.5/main/Kalman.h b/arduino/Betas/RGB_V1.5/main/Kalman.h deleted file mode 100644 index eef6cdb..0000000 --- a/arduino/Betas/RGB_V1.5/main/Kalman.h +++ /dev/null @@ -1,59 +0,0 @@ -/* 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); 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d=this.tickAmount,e=b.length;this.tickAmount=a=c[a];if(e=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:b15&&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, 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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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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];fb&&(!d||k<=c)&&g.push(k),k>c&&(l=!0),k=j}else if(b=ha(b),c=ha(c), -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= -!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? -(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, -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, 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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, -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 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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), 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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;br.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(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, -f,g,h,i=a.box,j=a.options,k=a.padding,l=j.borderWidth,m=j.backgroundColor;a.itemX=a.initialItemX;a.itemY=a.initialItemY;a.offsetWidth=0;a.lastItemY=0;if(!d)a.group=d=c.g("legend").attr({zIndex:7}).add(),a.contentGroup=c.g().attr({zIndex:1}).add(d),a.scrollGroup=c.g().add(a.contentGroup);a.renderTitle();e=a.getAllItems();ob(e,function(a,b){return(a.options&&a.options.legendIndex||0)-(b.options&&b.options.legendIndex||0)});j.reversed&&e.reverse();a.allItems=e;a.display=f=!!e.length;p(e,function(b){a.renderItem(b)}); -g=j.width||a.offsetWidth;h=a.lastItemY+a.lastLineHeight+a.titleHeight;h=a.handleOverflow(h);if(l||m){g+=k;h+=k;if(i){if(g>0&&h>0)i[i.isNew?"attr":"animate"](i.crisp({width:g,height:h})),i.isNew=!1}else a.box=i=c.rect(0,0,g,h,j.borderRadius,l||0).attr({stroke:j.borderColor,"stroke-width":l||0,fill:m||O}).add(d).shadow(j.shadow),i.isNew=!0;i[f?"show":"hide"]()}a.legendWidth=g;a.legendHeight=h;p(e,function(b){a.positionItem(b)});f&&d.align(s({width:g,height:h},j),!0,"spacingBox");b.isResizing||this.positionCheckboxes()}, -handleOverflow:function(a){var b=this,c=this.chart,d=c.renderer,e=this.options,f=e.y,f=c.spacingBox.height+(e.verticalAlign==="top"?-f:f)-this.padding,g=e.maxHeight,h,i=this.clipRect,j=e.navigation,k=o(j.animation,!0),l=j.arrowSize||12,m=this.nav,n=this.pages,q,t=this.allItems;e.layout==="horizontal"&&(f/=2);g&&(f=E(f,g));n.length=0;if(a>f&&!e.useHTML){this.clipHeight=h=f-20-this.titleHeight-this.padding;this.currentPage=o(this.currentPage,1);this.fullHeight=a;p(t,function(a,b){var c=a._legendItemPos[1], 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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||g1?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"]= -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- -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, -"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, -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, -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;cg;)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= -!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); -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= -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=0;d--)g=o(a[d].yBottom,f),da&&i>e?(i=t(a,e),k=2*e-i):ig&&k>e?(k=t(g,e),i=2*e-k):kf?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{series.name}
',pointFormat:"x: {point.x}
y: {point.y}
",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;a0?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;m1.5*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 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期望角度TA摇摆电压SV摇摆角度SA速度环P1速度环I1速度环P2速度环I2
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Velocity		motor
voltage q		target
velocity		pendulum
angle		target
angle		pitchkalAngleZgyroZrate
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null : [] ); - return jQuery.merge( [], - (parsed.cacheable ? jQuery.clone( parsed.fragment ) : parsed.fragment).childNodes ); - }, - - parseJSON: function( data ) { - if ( !data || typeof data !== "string") { - return null; - } - - // Make sure leading/trailing whitespace is removed (IE can't handle it) - data = jQuery.trim( data ); - - // Attempt to parse using the native JSON parser first - if ( window.JSON && window.JSON.parse ) { - return window.JSON.parse( data ); - } - - // Make sure the incoming data is actual JSON - // Logic borrowed from http://json.org/json2.js - if ( rvalidchars.test( data.replace( rvalidescape, "@" ) - .replace( rvalidtokens, "]" ) - .replace( rvalidbraces, "")) ) { - - return ( new Function( "return " + data ) )(); - - } - jQuery.error( "Invalid JSON: " + data ); - }, - - // Cross-browser xml parsing - parseXML: function( data ) { - var xml, tmp; - if ( !data || typeof data !== "string" ) { - return null; - } - try { - if ( window.DOMParser ) { // Standard - tmp = new DOMParser(); - xml = tmp.parseFromString( data , "text/xml" ); - } else { // IE - xml = new ActiveXObject( "Microsoft.XMLDOM" ); - xml.async = "false"; - xml.loadXML( data ); - } - } catch( e ) { - xml = undefined; - } - if ( !xml || !xml.documentElement || xml.getElementsByTagName( "parsererror" ).length ) { - jQuery.error( "Invalid XML: " + data ); - } - return xml; - }, - - noop: function() {}, - - // Evaluates a script in a global context - // Workarounds based on findings by Jim Driscoll - // http://weblogs.java.net/blog/driscoll/archive/2009/09/08/eval-javascript-global-context - globalEval: function( data ) { - if ( data && core_rnotwhite.test( data ) ) { - // We use execScript on Internet Explorer - // We use an anonymous function so that context is window - // rather than jQuery in Firefox - ( window.execScript || function( data ) { - window[ "eval" ].call( window, data ); - } )( data ); - } - }, - - // Convert dashed to camelCase; used by the css and data modules - // Microsoft forgot to hump their vendor prefix (#9572) - camelCase: function( string ) { - return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); - }, - - nodeName: function( elem, name ) { - return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); - }, - - // args is for internal usage only - each: function( obj, callback, args ) { - var name, - i = 0, - length = obj.length, - isObj = length === undefined || jQuery.isFunction( obj ); - - if ( args ) { - if ( isObj ) { - for ( name in obj ) { - if ( callback.apply( obj[ name ], args ) === false ) { - break; - } - } - } else { - for ( ; i < length; ) { - if ( callback.apply( obj[ i++ ], args ) === false ) { - break; - } - } - } - - // A special, fast, case for the most common use of each - } else { - if ( isObj ) { - for ( name in obj ) { - if ( callback.call( obj[ name ], name, obj[ name ] ) === false ) { - break; - } - } - } else { - for ( ; i < length; ) { - if ( callback.call( obj[ i ], i, obj[ i++ ] ) === false ) { - break; - } - } - } - } - - return obj; - }, - - // Use native String.trim function wherever possible - trim: core_trim && !core_trim.call("\uFEFF\xA0") ? - function( text ) { - return text == null ? - "" : - core_trim.call( text ); - } : - - // Otherwise use our own trimming functionality - function( text ) { - return text == null ? - "" : - ( text + "" ).replace( rtrim, "" ); - }, - - // results is for internal usage only - makeArray: function( arr, results ) { - var type, - ret = results || []; - - if ( arr != null ) { - // The window, strings (and functions) also have 'length' - // Tweaked logic slightly to handle Blackberry 4.7 RegExp issues #6930 - type = jQuery.type( arr ); - - if ( arr.length == null || type === "string" || type === "function" || type === "regexp" || jQuery.isWindow( arr ) ) { - core_push.call( ret, arr ); - } else { - jQuery.merge( ret, arr ); - } - } - - return ret; - }, - - inArray: function( elem, arr, i ) { - var len; - - if ( arr ) { - if ( core_indexOf ) { - return core_indexOf.call( arr, elem, i ); - } - - len = arr.length; - i = i ? i < 0 ? Math.max( 0, len + i ) : i : 0; - - for ( ; i < len; i++ ) { - // Skip accessing in sparse arrays - if ( i in arr && arr[ i ] === elem ) { - return i; - } - } - } - - return -1; - }, - - merge: function( first, second ) { - var l = second.length, - i = first.length, - j = 0; - - if ( typeof l === "number" ) { - for ( ; j < l; j++ ) { - first[ i++ ] = second[ j ]; - } - - } else { - while ( second[j] !== undefined ) { - first[ i++ ] = second[ j++ ]; - } - } - - first.length = i; - - return first; - }, - - grep: function( elems, callback, inv ) { - var retVal, - ret = [], - i = 0, - length = elems.length; - inv = !!inv; - - // Go through the array, only saving the items - // that pass the validator function - for ( ; i < length; i++ ) { - retVal = !!callback( elems[ i ], i ); - if ( inv !== retVal ) { - ret.push( elems[ i ] ); - } - } - - return ret; - }, - - // arg is for internal usage only - map: function( elems, callback, arg ) { - var value, key, - ret = [], - i = 0, - length = elems.length, - // jquery objects are treated as arrays - isArray = elems instanceof jQuery || length !== undefined && typeof length === "number" && ( ( length > 0 && elems[ 0 ] && elems[ length -1 ] ) || length === 0 || jQuery.isArray( elems ) ) ; - - // Go through the array, translating each of the items to their - if ( isArray ) { - for ( ; i < length; i++ ) { - value = callback( elems[ i ], i, arg ); - - if ( value != null ) { - ret[ ret.length ] = value; - } - } - - // Go through every key on the object, - } else { - for ( key in elems ) { - value = callback( elems[ key ], key, arg ); - - if ( value != null ) { - ret[ ret.length ] = value; - } - } - } - - // Flatten any nested arrays - return ret.concat.apply( [], ret ); - }, - - // A global GUID counter for objects - guid: 1, - - // Bind a function to a context, optionally partially applying any - // arguments. - proxy: function( fn, context ) { - var tmp, args, proxy; - - if ( typeof context === "string" ) { - tmp = fn[ context ]; - context = fn; - fn = tmp; - } - - // Quick check to determine if target is callable, in the spec - // this throws a TypeError, but we will just return undefined. - if ( !jQuery.isFunction( fn ) ) { - return undefined; - } - - // Simulated bind - args = core_slice.call( arguments, 2 ); - proxy = function() { - return fn.apply( context, args.concat( core_slice.call( arguments ) ) ); - }; - - // Set the guid of unique handler to the same of original handler, so it can be removed - proxy.guid = fn.guid = fn.guid || jQuery.guid++; - - return proxy; - }, - - // Multifunctional method to get and set values of a collection - // The value/s can optionally be executed if it's a function - access: function( elems, fn, key, value, chainable, emptyGet, pass ) { - var exec, - bulk = key == null, - i = 0, - length = elems.length; - - // Sets many values - if ( key && typeof key === "object" ) { - for ( i in key ) { - jQuery.access( elems, fn, i, key[i], 1, emptyGet, value ); - } - chainable = 1; - - // Sets one value - } else if ( value !== undefined ) { - // Optionally, function values get executed if exec is true - exec = pass === undefined && jQuery.isFunction( value ); - - if ( bulk ) { - // Bulk operations only iterate when executing function values - if ( exec ) { - exec = fn; - fn = function( elem, key, value ) { - return exec.call( jQuery( elem ), value ); - }; - - // Otherwise they run against the entire set - } else { - fn.call( elems, value ); - fn = null; - } - } - - if ( fn ) { - for (; i < length; i++ ) { - fn( elems[i], key, exec ? value.call( elems[i], i, fn( elems[i], key ) ) : value, pass ); - } - } - - chainable = 1; - } - - return chainable ? - elems : - - // Gets - bulk ? - fn.call( elems ) : - length ? fn( elems[0], key ) : emptyGet; - }, - - now: function() { - return ( new Date() ).getTime(); - } -}); - -jQuery.ready.promise = function( obj ) { - if ( !readyList ) { - - readyList = jQuery.Deferred(); - - // Catch cases where $(document).ready() is called after the browser event has already occurred. - // we once tried to use readyState "interactive" here, but it caused issues like the one - // discovered by ChrisS here: http://bugs.jquery.com/ticket/12282#comment:15 - if ( document.readyState === "complete" ) { - // Handle it asynchronously to allow scripts the opportunity to delay ready - setTimeout( jQuery.ready, 1 ); - - // Standards-based browsers support DOMContentLoaded - } else if ( document.addEventListener ) { - // Use the handy event callback - document.addEventListener( "DOMContentLoaded", DOMContentLoaded, false ); - - // A fallback to window.onload, that will always work - window.addEventListener( "load", jQuery.ready, false ); - - // If IE event model is used - } else { - // Ensure firing before onload, maybe late but safe also for iframes - document.attachEvent( "onreadystatechange", DOMContentLoaded ); - - // A fallback to window.onload, that will always work - window.attachEvent( "onload", jQuery.ready ); - - // If IE and not a frame - // continually check to see if the document is ready - var top = false; - - try { - top = window.frameElement == null && document.documentElement; - } catch(e) {} - - if ( top && top.doScroll ) { - (function doScrollCheck() { - if ( !jQuery.isReady ) { - - try { - // Use the trick by Diego Perini - // http://javascript.nwbox.com/IEContentLoaded/ - top.doScroll("left"); - } catch(e) { - return setTimeout( doScrollCheck, 50 ); - } - - // and execute any waiting functions - jQuery.ready(); - } - })(); - } - } - } - return readyList.promise( obj ); -}; - -// Populate the class2type map -jQuery.each("Boolean Number String Function Array Date RegExp Object".split(" "), function(i, name) { - class2type[ "[object " + name + "]" ] = name.toLowerCase(); -}); - -// All jQuery objects should point back to these -rootjQuery = jQuery(document); -// String to Object options format cache -var optionsCache = {}; - -// Convert String-formatted options into Object-formatted ones and store in cache -function createOptions( options ) { - var object = optionsCache[ options ] = {}; - jQuery.each( options.split( core_rspace ), function( _, flag ) { - object[ flag ] = true; - }); - return object; -} - -/* - * Create a callback list using the following parameters: - * - * options: an optional list of space-separated options that will change how - * the callback list behaves or a more traditional option object - * - * By default a callback list will act like an event callback list and can be - * "fired" multiple times. - * - * Possible options: - * - * once: will ensure the callback list can only be fired once (like a Deferred) - * - * memory: will keep track of previous values and will call any callback added - * after the list has been fired right away with the latest "memorized" - * values (like a Deferred) - * - * unique: will ensure a callback can only be added once (no duplicate in the list) - * - * stopOnFalse: interrupt callings when a callback returns false - * - */ -jQuery.Callbacks = function( options ) { - - // Convert options from String-formatted to Object-formatted if needed - // (we check in cache first) - options = typeof options === "string" ? - ( optionsCache[ options ] || createOptions( options ) ) : - jQuery.extend( {}, options ); - - var // Last fire value (for non-forgettable lists) - memory, - // Flag to know if list was already fired - fired, - // Flag to know if list is currently firing - firing, - // First callback to fire (used internally by add and fireWith) - firingStart, - // End of the loop when firing - firingLength, - // Index of currently firing callback (modified by remove if needed) - firingIndex, - // Actual callback list - list = [], - // Stack of fire calls for repeatable lists - stack = !options.once && [], - // Fire callbacks - fire = function( data ) { - memory = options.memory && data; - fired = true; - firingIndex = firingStart || 0; - firingStart = 0; - firingLength = list.length; - firing = true; - for ( ; list && firingIndex < firingLength; firingIndex++ ) { - if ( list[ firingIndex ].apply( data[ 0 ], data[ 1 ] ) === false && options.stopOnFalse ) { - memory = false; // To prevent further calls using add - break; - } - } - firing = false; - if ( list ) { - if ( stack ) { - if ( stack.length ) { - fire( stack.shift() ); - } - } else if ( memory ) { - list = []; - } else { - self.disable(); - } - } - }, - // Actual Callbacks object - self = { - // Add a callback or a collection of callbacks to the list - add: function() { - if ( list ) { - // First, we save the current length - var start = list.length; - (function add( args ) { - jQuery.each( args, function( _, arg ) { - var type = jQuery.type( arg ); - if ( type === "function" ) { - if ( !options.unique || !self.has( arg ) ) { - list.push( arg ); - } - } else if ( arg && arg.length && type !== "string" ) { - // Inspect recursively - add( arg ); - } - }); - })( arguments ); - // Do we need to add the callbacks to the - // current firing batch? - if ( firing ) { - firingLength = list.length; - // With memory, if we're not firing then - // we should call right away - } else if ( memory ) { - firingStart = start; - fire( memory ); - } - } - return this; - }, - // Remove a callback from the list - remove: function() { - if ( list ) { - jQuery.each( arguments, function( _, arg ) { - var index; - while( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { - list.splice( index, 1 ); - // Handle firing indexes - if ( firing ) { - if ( index <= firingLength ) { - firingLength--; - } - if ( index <= firingIndex ) { - firingIndex--; - } - } - } - }); - } - return this; - }, - // Control if a given callback is in the list - has: function( fn ) { - return jQuery.inArray( fn, list ) > -1; - }, - // Remove all callbacks from the list - empty: function() { - list = []; - return this; - }, - // Have the list do nothing anymore - disable: function() { - list = stack = memory = undefined; - return this; - }, - // Is it disabled? - disabled: function() { - return !list; - }, - // Lock the list in its current state - lock: function() { - stack = undefined; - if ( !memory ) { - self.disable(); - } - return this; - }, - // Is it locked? - locked: function() { - return !stack; - }, - // Call all callbacks with the given context and arguments - fireWith: function( context, args ) { - args = args || []; - args = [ context, args.slice ? args.slice() : args ]; - if ( list && ( !fired || stack ) ) { - if ( firing ) { - stack.push( args ); - } else { - fire( args ); - } - } - return this; - }, - // Call all the callbacks with the given arguments - fire: function() { - self.fireWith( this, arguments ); - return this; - }, - // To know if the callbacks have already been called at least once - fired: function() { - return !!fired; - } - }; - - return self; -}; -jQuery.extend({ - - Deferred: function( func ) { - var tuples = [ - // action, add listener, listener list, final state - [ "resolve", "done", jQuery.Callbacks("once memory"), "resolved" ], - [ "reject", "fail", jQuery.Callbacks("once memory"), "rejected" ], - [ "notify", "progress", jQuery.Callbacks("memory") ] - ], - state = "pending", - promise = { - state: function() { - return state; - }, - always: function() { - deferred.done( arguments ).fail( arguments ); - return this; - }, - then: function( /* fnDone, fnFail, fnProgress */ ) { - var fns = arguments; - return jQuery.Deferred(function( newDefer ) { - jQuery.each( tuples, function( i, tuple ) { - var action = tuple[ 0 ], - fn = fns[ i ]; - // deferred[ done | fail | progress ] for forwarding actions to newDefer - deferred[ tuple[1] ]( jQuery.isFunction( fn ) ? - function() { - var returned = fn.apply( this, arguments ); - if ( returned && jQuery.isFunction( returned.promise ) ) { - returned.promise() - .done( newDefer.resolve ) - .fail( newDefer.reject ) - .progress( newDefer.notify ); - } else { - newDefer[ action + "With" ]( this === deferred ? newDefer : this, [ returned ] ); - } - } : - newDefer[ action ] - ); - }); - fns = null; - }).promise(); - }, - // Get a promise for this deferred - // If obj is provided, the promise aspect is added to the object - promise: function( obj ) { - return obj != null ? jQuery.extend( obj, promise ) : promise; - } - }, - deferred = {}; - - // Keep pipe for back-compat - promise.pipe = promise.then; - - // Add list-specific methods - jQuery.each( tuples, function( i, tuple ) { - var list = tuple[ 2 ], - stateString = tuple[ 3 ]; - - // promise[ done | fail | progress ] = list.add - promise[ tuple[1] ] = list.add; - - // Handle state - if ( stateString ) { - list.add(function() { - // state = [ resolved | rejected ] - state = stateString; - - // [ reject_list | resolve_list ].disable; progress_list.lock - }, tuples[ i ^ 1 ][ 2 ].disable, tuples[ 2 ][ 2 ].lock ); - } - - // deferred[ resolve | reject | notify ] = list.fire - deferred[ tuple[0] ] = list.fire; - deferred[ tuple[0] + "With" ] = list.fireWith; - }); - - // Make the deferred a promise - promise.promise( deferred ); - - // Call given func if any - if ( func ) { - func.call( deferred, deferred ); - } - - // All done! - return deferred; - }, - - // Deferred helper - when: function( subordinate /* , ..., subordinateN */ ) { - var i = 0, - resolveValues = core_slice.call( arguments ), - length = resolveValues.length, - - // the count of uncompleted subordinates - remaining = length !== 1 || ( subordinate && jQuery.isFunction( subordinate.promise ) ) ? length : 0, - - // the master Deferred. If resolveValues consist of only a single Deferred, just use that. - deferred = remaining === 1 ? subordinate : jQuery.Deferred(), - - // Update function for both resolve and progress values - updateFunc = function( i, contexts, values ) { - return function( value ) { - contexts[ i ] = this; - values[ i ] = arguments.length > 1 ? core_slice.call( arguments ) : value; - if( values === progressValues ) { - deferred.notifyWith( contexts, values ); - } else if ( !( --remaining ) ) { - deferred.resolveWith( contexts, values ); - } - }; - }, - - progressValues, progressContexts, resolveContexts; - - // add listeners to Deferred subordinates; treat others as resolved - if ( length > 1 ) { - progressValues = new Array( length ); - progressContexts = new Array( length ); - resolveContexts = new Array( length ); - for ( ; i < length; i++ ) { - if ( resolveValues[ i ] && jQuery.isFunction( resolveValues[ i ].promise ) ) { - resolveValues[ i ].promise() - .done( updateFunc( i, resolveContexts, resolveValues ) ) - .fail( deferred.reject ) - .progress( updateFunc( i, progressContexts, progressValues ) ); - } else { - --remaining; - } - } - } - - // if we're not waiting on anything, resolve the master - if ( !remaining ) { - deferred.resolveWith( resolveContexts, resolveValues ); - } - - return deferred.promise(); - } -}); -jQuery.support = (function() { - - var support, - all, - a, - select, - opt, - input, - fragment, - eventName, - i, - isSupported, - clickFn, - div = document.createElement("div"); - - // Setup - div.setAttribute( "className", "t" ); - div.innerHTML = "
a"; - - // Support tests won't run in some limited or non-browser environments - all = div.getElementsByTagName("*"); - a = div.getElementsByTagName("a")[ 0 ]; - if ( !all || !a || !all.length ) { - return {}; - } - - // First batch of tests - select = document.createElement("select"); - opt = select.appendChild( document.createElement("option") ); - input = div.getElementsByTagName("input")[ 0 ]; - - a.style.cssText = "top:1px;float:left;opacity:.5"; - support = { - // IE strips leading whitespace when .innerHTML is used - leadingWhitespace: ( div.firstChild.nodeType === 3 ), - - // Make sure that tbody elements aren't automatically inserted - // IE will insert them into empty tables - tbody: !div.getElementsByTagName("tbody").length, - - // Make sure that link elements get serialized correctly by innerHTML - // This requires a wrapper element in IE - htmlSerialize: !!div.getElementsByTagName("link").length, - - // Get the style information from getAttribute - // (IE uses .cssText instead) - style: /top/.test( a.getAttribute("style") ), - - // Make sure that URLs aren't manipulated - // (IE normalizes it by default) - hrefNormalized: ( a.getAttribute("href") === "/a" ), - - // Make sure that element opacity exists - // (IE uses filter instead) - // Use a regex to work around a WebKit issue. See #5145 - opacity: /^0.5/.test( a.style.opacity ), - - // Verify style float existence - // (IE uses styleFloat instead of cssFloat) - cssFloat: !!a.style.cssFloat, - - // Make sure that if no value is specified for a checkbox - // that it defaults to "on". - // (WebKit defaults to "" instead) - checkOn: ( input.value === "on" ), - - // Make sure that a selected-by-default option has a working selected property. - // (WebKit defaults to false instead of true, IE too, if it's in an optgroup) - optSelected: opt.selected, - - // Test setAttribute on camelCase class. If it works, we need attrFixes when doing get/setAttribute (ie6/7) - getSetAttribute: div.className !== "t", - - // Tests for enctype support on a form (#6743) - enctype: !!document.createElement("form").enctype, - - // Makes sure cloning an html5 element does not cause problems - // Where outerHTML is undefined, this still works - html5Clone: document.createElement("nav").cloneNode( true ).outerHTML !== "<:nav>", - - // jQuery.support.boxModel DEPRECATED in 1.8 since we don't support Quirks Mode - boxModel: ( document.compatMode === "CSS1Compat" ), - - // Will be defined later - submitBubbles: true, - changeBubbles: true, - focusinBubbles: false, - deleteExpando: true, - noCloneEvent: true, - inlineBlockNeedsLayout: false, - shrinkWrapBlocks: false, - reliableMarginRight: true, - boxSizingReliable: true, - pixelPosition: false - }; - - // Make sure checked status is properly cloned - input.checked = true; - support.noCloneChecked = input.cloneNode( true ).checked; - - // Make sure that the options inside disabled selects aren't marked as disabled - // (WebKit marks them as disabled) - select.disabled = true; - support.optDisabled = !opt.disabled; - - // Test to see if it's possible to delete an expando from an element - // Fails in Internet Explorer - try { - delete div.test; - } catch( e ) { - support.deleteExpando = false; - } - - if ( !div.addEventListener && div.attachEvent && div.fireEvent ) { - div.attachEvent( "onclick", clickFn = function() { - // Cloning a node shouldn't copy over any - // bound event handlers (IE does this) - support.noCloneEvent = false; - }); - div.cloneNode( true ).fireEvent("onclick"); - div.detachEvent( "onclick", clickFn ); - } - - // Check if a radio maintains its value - // after being appended to the DOM - input = document.createElement("input"); - input.value = "t"; - input.setAttribute( "type", "radio" ); - support.radioValue = input.value === "t"; - - input.setAttribute( "checked", "checked" ); - - // #11217 - WebKit loses check when the name is after the checked attribute - input.setAttribute( "name", "t" ); - - div.appendChild( input ); - fragment = document.createDocumentFragment(); - fragment.appendChild( div.lastChild ); - - // WebKit doesn't clone checked state correctly in fragments - support.checkClone = fragment.cloneNode( true ).cloneNode( true ).lastChild.checked; - - // Check if a disconnected checkbox will retain its checked - // value of true after appended to the DOM (IE6/7) - support.appendChecked = input.checked; - - fragment.removeChild( input ); - fragment.appendChild( div ); - - // Technique from Juriy Zaytsev - // http://perfectionkills.com/detecting-event-support-without-browser-sniffing/ - // We only care about the case where non-standard event systems - // are used, namely in IE. Short-circuiting here helps us to - // avoid an eval call (in setAttribute) which can cause CSP - // to go haywire. See: https://developer.mozilla.org/en/Security/CSP - if ( div.attachEvent ) { - for ( i in { - submit: true, - change: true, - focusin: true - }) { - eventName = "on" + i; - isSupported = ( eventName in div ); - if ( !isSupported ) { - div.setAttribute( eventName, "return;" ); - isSupported = ( typeof div[ eventName ] === "function" ); - } - support[ i + "Bubbles" ] = isSupported; - } - } - - // Run tests that need a body at doc ready - jQuery(function() { - var container, div, tds, marginDiv, - divReset = "padding:0;margin:0;border:0;display:block;overflow:hidden;", - body = document.getElementsByTagName("body")[0]; - - if ( !body ) { - // Return for frameset docs that don't have a body - return; - } - - container = document.createElement("div"); - container.style.cssText = "visibility:hidden;border:0;width:0;height:0;position:static;top:0;margin-top:1px"; - body.insertBefore( container, body.firstChild ); - - // Construct the test element - div = document.createElement("div"); - container.appendChild( div ); - - // Check if table cells still have offsetWidth/Height when they are set - // to display:none and there are still other visible table cells in a - // table row; if so, offsetWidth/Height are not reliable for use when - // determining if an element has been hidden directly using - // display:none (it is still safe to use offsets if a parent element is - // hidden; don safety goggles and see bug #4512 for more information). - // (only IE 8 fails this test) - div.innerHTML = "
t
"; - tds = div.getElementsByTagName("td"); - tds[ 0 ].style.cssText = "padding:0;margin:0;border:0;display:none"; - isSupported = ( tds[ 0 ].offsetHeight === 0 ); - - tds[ 0 ].style.display = ""; - tds[ 1 ].style.display = "none"; - - // Check if empty table cells still have offsetWidth/Height - // (IE <= 8 fail this test) - support.reliableHiddenOffsets = isSupported && ( tds[ 0 ].offsetHeight === 0 ); - - // Check box-sizing and margin behavior - div.innerHTML = ""; - div.style.cssText = "box-sizing:border-box;-moz-box-sizing:border-box;-webkit-box-sizing:border-box;padding:1px;border:1px;display:block;width:4px;margin-top:1%;position:absolute;top:1%;"; - support.boxSizing = ( div.offsetWidth === 4 ); - support.doesNotIncludeMarginInBodyOffset = ( body.offsetTop !== 1 ); - - // NOTE: To any future maintainer, we've window.getComputedStyle - // because jsdom on node.js will break without it. - if ( window.getComputedStyle ) { - support.pixelPosition = ( window.getComputedStyle( div, null ) || {} ).top !== "1%"; - support.boxSizingReliable = ( window.getComputedStyle( div, null ) || { width: "4px" } ).width === "4px"; - - // Check if div with explicit width and no margin-right incorrectly - // gets computed margin-right based on width of container. For more - // info see bug #3333 - // Fails in WebKit before Feb 2011 nightlies - // WebKit Bug 13343 - getComputedStyle returns wrong value for margin-right - marginDiv = document.createElement("div"); - marginDiv.style.cssText = div.style.cssText = divReset; - marginDiv.style.marginRight = marginDiv.style.width = "0"; - div.style.width = "1px"; - div.appendChild( marginDiv ); - support.reliableMarginRight = - !parseFloat( ( window.getComputedStyle( marginDiv, null ) || {} ).marginRight ); - } - - if ( typeof div.style.zoom !== "undefined" ) { - // Check if natively block-level elements act like inline-block - // elements when setting their display to 'inline' and giving - // them layout - // (IE < 8 does this) - div.innerHTML = ""; - div.style.cssText = divReset + "width:1px;padding:1px;display:inline;zoom:1"; - support.inlineBlockNeedsLayout = ( div.offsetWidth === 3 ); - - // Check if elements with layout shrink-wrap their children - // (IE 6 does this) - div.style.display = "block"; - div.style.overflow = "visible"; - div.innerHTML = "
"; - div.firstChild.style.width = "5px"; - support.shrinkWrapBlocks = ( div.offsetWidth !== 3 ); - - container.style.zoom = 1; - } - - // Null elements to avoid leaks in IE - body.removeChild( container ); - container = div = tds = marginDiv = null; - }); - - // Null elements to avoid leaks in IE - fragment.removeChild( div ); - all = a = select = opt = input = fragment = div = null; - - return support; -})(); -var rbrace = /(?:\{[\s\S]*\}|\[[\s\S]*\])$/, - rmultiDash = /([A-Z])/g; - -jQuery.extend({ - cache: {}, - - deletedIds: [], - - // Remove at next major release (1.9/2.0) - uuid: 0, - - // Unique for each copy of jQuery on the page - // Non-digits removed to match rinlinejQuery - expando: "jQuery" + ( jQuery.fn.jquery + Math.random() ).replace( /\D/g, "" ), - - // The following elements throw uncatchable exceptions if you - // attempt to add expando properties to them. - noData: { - "embed": true, - // Ban all objects except for Flash (which handle expandos) - "object": "clsid:D27CDB6E-AE6D-11cf-96B8-444553540000", - "applet": true - }, - - hasData: function( elem ) { - elem = elem.nodeType ? jQuery.cache[ elem[jQuery.expando] ] : elem[ jQuery.expando ]; - return !!elem && !isEmptyDataObject( elem ); - }, - - data: function( elem, name, data, pvt /* Internal Use Only */ ) { - if ( !jQuery.acceptData( elem ) ) { - return; - } - - var thisCache, ret, - internalKey = jQuery.expando, - getByName = typeof name === "string", - - // We have to handle DOM nodes and JS objects differently because IE6-7 - // can't GC object references properly across the DOM-JS boundary - isNode = elem.nodeType, - - // Only DOM nodes need the global jQuery cache; JS object data is - // attached directly to the object so GC can occur automatically - cache = isNode ? jQuery.cache : elem, - - // Only defining an ID for JS objects if its cache already exists allows - // the code to shortcut on the same path as a DOM node with no cache - id = isNode ? elem[ internalKey ] : elem[ internalKey ] && internalKey; - - // Avoid doing any more work than we need to when trying to get data on an - // object that has no data at all - if ( (!id || !cache[id] || (!pvt && !cache[id].data)) && getByName && data === undefined ) { - return; - } - - if ( !id ) { - // Only DOM nodes need a new unique ID for each element since their data - // ends up in the global cache - if ( isNode ) { - elem[ internalKey ] = id = jQuery.deletedIds.pop() || jQuery.guid++; - } else { - id = internalKey; - } - } - - if ( !cache[ id ] ) { - cache[ id ] = {}; - - // Avoids exposing jQuery metadata on plain JS objects when the object - // is serialized using JSON.stringify - if ( !isNode ) { - cache[ id ].toJSON = jQuery.noop; - } - } - - // An object can be passed to jQuery.data instead of a key/value pair; this gets - // shallow copied over onto the existing cache - if ( typeof name === "object" || typeof name === "function" ) { - if ( pvt ) { - cache[ id ] = jQuery.extend( cache[ id ], name ); - } else { - cache[ id ].data = jQuery.extend( cache[ id ].data, name ); - } - } - - thisCache = cache[ id ]; - - // jQuery data() is stored in a separate object inside the object's internal data - // cache in order to avoid key collisions between internal data and user-defined - // data. - if ( !pvt ) { - if ( !thisCache.data ) { - thisCache.data = {}; - } - - thisCache = thisCache.data; - } - - if ( data !== undefined ) { - thisCache[ jQuery.camelCase( name ) ] = data; - } - - // Check for both converted-to-camel and non-converted data property names - // If a data property was specified - if ( getByName ) { - - // First Try to find as-is property data - ret = thisCache[ name ]; - - // Test for null|undefined property data - if ( ret == null ) { - - // Try to find the camelCased property - ret = thisCache[ jQuery.camelCase( name ) ]; - } - } else { - ret = thisCache; - } - - return ret; - }, - - removeData: function( elem, name, pvt /* Internal Use Only */ ) { - if ( !jQuery.acceptData( elem ) ) { - return; - } - - var thisCache, i, l, - - isNode = elem.nodeType, - - // See jQuery.data for more information - cache = isNode ? jQuery.cache : elem, - id = isNode ? elem[ jQuery.expando ] : jQuery.expando; - - // If there is already no cache entry for this object, there is no - // purpose in continuing - if ( !cache[ id ] ) { - return; - } - - if ( name ) { - - thisCache = pvt ? cache[ id ] : cache[ id ].data; - - if ( thisCache ) { - - // Support array or space separated string names for data keys - if ( !jQuery.isArray( name ) ) { - - // try the string as a key before any manipulation - if ( name in thisCache ) { - name = [ name ]; - } else { - - // split the camel cased version by spaces unless a key with the spaces exists - name = jQuery.camelCase( name ); - if ( name in thisCache ) { - name = [ name ]; - } else { - name = name.split(" "); - } - } - } - - for ( i = 0, l = name.length; i < l; i++ ) { - delete thisCache[ name[i] ]; - } - - // If there is no data left in the cache, we want to continue - // and let the cache object itself get destroyed - if ( !( pvt ? isEmptyDataObject : jQuery.isEmptyObject )( thisCache ) ) { - return; - } - } - } - - // See jQuery.data for more information - if ( !pvt ) { - delete cache[ id ].data; - - // Don't destroy the parent cache unless the internal data object - // had been the only thing left in it - if ( !isEmptyDataObject( cache[ id ] ) ) { - return; - } - } - - // Destroy the cache - if ( isNode ) { - jQuery.cleanData( [ elem ], true ); - - // Use delete when supported for expandos or `cache` is not a window per isWindow (#10080) - } else if ( jQuery.support.deleteExpando || cache != cache.window ) { - delete cache[ id ]; - - // When all else fails, null - } else { - cache[ id ] = null; - } - }, - - // For internal use only. - _data: function( elem, name, data ) { - return jQuery.data( elem, name, data, true ); - }, - - // A method for determining if a DOM node can handle the data expando - acceptData: function( elem ) { - var noData = elem.nodeName && jQuery.noData[ elem.nodeName.toLowerCase() ]; - - // nodes accept data unless otherwise specified; rejection can be conditional - return !noData || noData !== true && elem.getAttribute("classid") === noData; - } -}); - -jQuery.fn.extend({ - data: function( key, value ) { - var parts, part, attr, name, l, - elem = this[0], - i = 0, - data = null; - - // Gets all values - if ( key === undefined ) { - if ( this.length ) { - data = jQuery.data( elem ); - - if ( elem.nodeType === 1 && !jQuery._data( elem, "parsedAttrs" ) ) { - attr = elem.attributes; - for ( l = attr.length; i < l; i++ ) { - name = attr[i].name; - - if ( !name.indexOf( "data-" ) ) { - name = jQuery.camelCase( name.substring(5) ); - - dataAttr( elem, name, data[ name ] ); - } - } - jQuery._data( elem, "parsedAttrs", true ); - } - } - - return data; - } - - // Sets multiple values - if ( typeof key === "object" ) { - return this.each(function() { - jQuery.data( this, key ); - }); - } - - parts = key.split( ".", 2 ); - parts[1] = parts[1] ? "." + parts[1] : ""; - part = parts[1] + "!"; - - return jQuery.access( this, function( value ) { - - if ( value === undefined ) { - data = this.triggerHandler( "getData" + part, [ parts[0] ] ); - - // Try to fetch any internally stored data first - if ( data === undefined && elem ) { - data = jQuery.data( elem, key ); - data = dataAttr( elem, key, data ); - } - - return data === undefined && parts[1] ? - this.data( parts[0] ) : - data; - } - - parts[1] = value; - this.each(function() { - var self = jQuery( this ); - - self.triggerHandler( "setData" + part, parts ); - jQuery.data( this, key, value ); - self.triggerHandler( "changeData" + part, parts ); - }); - }, null, value, arguments.length > 1, null, false ); - }, - - removeData: function( key ) { - return this.each(function() { - jQuery.removeData( this, key ); - }); - } -}); - -function dataAttr( elem, key, data ) { - // If nothing was found internally, try to fetch any - // data from the HTML5 data-* attribute - if ( data === undefined && elem.nodeType === 1 ) { - - var name = "data-" + key.replace( rmultiDash, "-$1" ).toLowerCase(); - - data = elem.getAttribute( name ); - - if ( typeof data === "string" ) { - try { - data = data === "true" ? true : - data === "false" ? false : - data === "null" ? null : - // Only convert to a number if it doesn't change the string - +data + "" === data ? +data : - rbrace.test( data ) ? jQuery.parseJSON( data ) : - data; - } catch( e ) {} - - // Make sure we set the data so it isn't changed later - jQuery.data( elem, key, data ); - - } else { - data = undefined; - } - } - - return data; -} - -// checks a cache object for emptiness -function isEmptyDataObject( obj ) { - var name; - for ( name in obj ) { - - // if the public data object is empty, the private is still empty - if ( name === "data" && jQuery.isEmptyObject( obj[name] ) ) { - continue; - } - if ( name !== "toJSON" ) { - return false; - } - } - - return true; -} -jQuery.extend({ - queue: function( elem, type, data ) { - var queue; - - if ( elem ) { - type = ( type || "fx" ) + "queue"; - queue = jQuery._data( elem, type ); - - // Speed up dequeue by getting out quickly if this is just a lookup - if ( data ) { - if ( !queue || jQuery.isArray(data) ) { - queue = jQuery._data( elem, type, jQuery.makeArray(data) ); - } else { - queue.push( data ); - } - } - return queue || []; - } - }, - - dequeue: function( elem, type ) { - type = type || "fx"; - - var queue = jQuery.queue( elem, type ), - startLength = queue.length, - fn = queue.shift(), - hooks = jQuery._queueHooks( elem, type ), - next = function() { - jQuery.dequeue( elem, type ); - }; - - // If the fx queue is dequeued, always remove the progress sentinel - if ( fn === "inprogress" ) { - fn = queue.shift(); - startLength--; - } - - if ( fn ) { - - // Add a progress sentinel to prevent the fx queue from being - // automatically dequeued - if ( type === "fx" ) { - queue.unshift( "inprogress" ); - } - - // clear up the last queue stop function - delete hooks.stop; - fn.call( elem, next, hooks ); - } - - if ( !startLength && hooks ) { - hooks.empty.fire(); - } - }, - - // not intended for public consumption - generates a queueHooks object, or returns the current one - _queueHooks: function( elem, type ) { - var key = type + "queueHooks"; - return jQuery._data( elem, key ) || jQuery._data( elem, key, { - empty: jQuery.Callbacks("once memory").add(function() { - jQuery.removeData( elem, type + "queue", true ); - jQuery.removeData( elem, key, true ); - }) - }); - } -}); - -jQuery.fn.extend({ - queue: function( type, data ) { - var setter = 2; - - if ( typeof type !== "string" ) { - data = type; - type = "fx"; - setter--; - } - - if ( arguments.length < setter ) { - return jQuery.queue( this[0], type ); - } - - return data === undefined ? - this : - this.each(function() { - var queue = jQuery.queue( this, type, data ); - - // ensure a hooks for this queue - jQuery._queueHooks( this, type ); - - if ( type === "fx" && queue[0] !== "inprogress" ) { - jQuery.dequeue( this, type ); - } - }); - }, - dequeue: function( type ) { - return this.each(function() { - jQuery.dequeue( this, type ); - }); - }, - // Based off of the plugin by Clint Helfers, with permission. - // http://blindsignals.com/index.php/2009/07/jquery-delay/ - delay: function( time, type ) { - time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; - type = type || "fx"; - - return this.queue( type, function( next, hooks ) { - var timeout = setTimeout( next, time ); - hooks.stop = function() { - clearTimeout( timeout ); - }; - }); - }, - clearQueue: function( type ) { - return this.queue( type || "fx", [] ); - }, - // Get a promise resolved when queues of a certain type - // are emptied (fx is the type by default) - promise: function( type, obj ) { - var tmp, - count = 1, - defer = jQuery.Deferred(), - elements = this, - i = this.length, - resolve = function() { - if ( !( --count ) ) { - defer.resolveWith( elements, [ elements ] ); - } - }; - - if ( typeof type !== "string" ) { - obj = type; - type = undefined; - } - type = type || "fx"; - - while( i-- ) { - tmp = jQuery._data( elements[ i ], type + "queueHooks" ); - if ( tmp && tmp.empty ) { - count++; - tmp.empty.add( resolve ); - } - } - resolve(); - return defer.promise( obj ); - } -}); -var nodeHook, boolHook, fixSpecified, - rclass = /[\t\r\n]/g, - rreturn = /\r/g, - rtype = /^(?:button|input)$/i, - rfocusable = /^(?:button|input|object|select|textarea)$/i, - rclickable = /^a(?:rea|)$/i, - rboolean = /^(?:autofocus|autoplay|async|checked|controls|defer|disabled|hidden|loop|multiple|open|readonly|required|scoped|selected)$/i, - getSetAttribute = jQuery.support.getSetAttribute; - -jQuery.fn.extend({ - attr: function( name, value ) { - return jQuery.access( this, jQuery.attr, name, value, arguments.length > 1 ); - }, - - removeAttr: function( name ) { - return this.each(function() { - jQuery.removeAttr( this, name ); - }); - }, - - prop: function( name, value ) { - return jQuery.access( this, jQuery.prop, name, value, arguments.length > 1 ); - }, - - removeProp: function( name ) { - name = jQuery.propFix[ name ] || name; - return this.each(function() { - // try/catch handles cases where IE balks (such as removing a property on window) - try { - this[ name ] = undefined; - delete this[ name ]; - } catch( e ) {} - }); - }, - - addClass: function( value ) { - var classNames, i, l, elem, - setClass, c, cl; - - if ( jQuery.isFunction( value ) ) { - return this.each(function( j ) { - jQuery( this ).addClass( value.call(this, j, this.className) ); - }); - } - - if ( value && typeof value === "string" ) { - classNames = value.split( core_rspace ); - - for ( i = 0, l = this.length; i < l; i++ ) { - elem = this[ i ]; - - if ( elem.nodeType === 1 ) { - if ( !elem.className && classNames.length === 1 ) { - elem.className = value; - - } else { - setClass = " " + elem.className + " "; - - for ( c = 0, cl = classNames.length; c < cl; c++ ) { - if ( setClass.indexOf( " " + classNames[ c ] + " " ) < 0 ) { - setClass += classNames[ c ] + " "; - } - } - elem.className = jQuery.trim( setClass ); - } - } - } - } - - return this; - }, - - removeClass: function( value ) { - var removes, className, elem, c, cl, i, l; - - if ( jQuery.isFunction( value ) ) { - return this.each(function( j ) { - jQuery( this ).removeClass( value.call(this, j, this.className) ); - }); - } - if ( (value && typeof value === "string") || value === undefined ) { - removes = ( value || "" ).split( core_rspace ); - - for ( i = 0, l = this.length; i < l; i++ ) { - elem = this[ i ]; - if ( elem.nodeType === 1 && elem.className ) { - - className = (" " + elem.className + " ").replace( rclass, " " ); - - // loop over each item in the removal list - for ( c = 0, cl = removes.length; c < cl; c++ ) { - // Remove until there is nothing to remove, - while ( className.indexOf(" " + removes[ c ] + " ") >= 0 ) { - className = className.replace( " " + removes[ c ] + " " , " " ); - } - } - elem.className = value ? jQuery.trim( className ) : ""; - } - } - } - - return this; - }, - - toggleClass: function( value, stateVal ) { - var type = typeof value, - isBool = typeof stateVal === "boolean"; - - if ( jQuery.isFunction( value ) ) { - return this.each(function( i ) { - jQuery( this ).toggleClass( value.call(this, i, this.className, stateVal), stateVal ); - }); - } - - return this.each(function() { - if ( type === "string" ) { - // toggle individual class names - var className, - i = 0, - self = jQuery( this ), - state = stateVal, - classNames = value.split( core_rspace ); - - while ( (className = classNames[ i++ ]) ) { - // check each className given, space separated list - state = isBool ? state : !self.hasClass( className ); - self[ state ? "addClass" : "removeClass" ]( className ); - } - - } else if ( type === "undefined" || type === "boolean" ) { - if ( this.className ) { - // store className if set - jQuery._data( this, "__className__", this.className ); - } - - // toggle whole className - this.className = this.className || value === false ? "" : jQuery._data( this, "__className__" ) || ""; - } - }); - }, - - hasClass: function( selector ) { - var className = " " + selector + " ", - i = 0, - l = this.length; - for ( ; i < l; i++ ) { - if ( this[i].nodeType === 1 && (" " + this[i].className + " ").replace(rclass, " ").indexOf( className ) >= 0 ) { - return true; - } - } - - return false; - }, - - val: function( value ) { - var hooks, ret, isFunction, - elem = this[0]; - - if ( !arguments.length ) { - if ( elem ) { - hooks = jQuery.valHooks[ elem.type ] || jQuery.valHooks[ elem.nodeName.toLowerCase() ]; - - if ( hooks && "get" in hooks && (ret = hooks.get( elem, "value" )) !== undefined ) { - return ret; - } - - ret = elem.value; - - return typeof ret === "string" ? - // handle most common string cases - ret.replace(rreturn, "") : - // handle cases where value is null/undef or number - ret == null ? "" : ret; - } - - return; - } - - isFunction = jQuery.isFunction( value ); - - return this.each(function( i ) { - var val, - self = jQuery(this); - - if ( this.nodeType !== 1 ) { - return; - } - - if ( isFunction ) { - val = value.call( this, i, self.val() ); - } else { - val = value; - } - - // Treat null/undefined as ""; convert numbers to string - if ( val == null ) { - val = ""; - } else if ( typeof val === "number" ) { - val += ""; - } else if ( jQuery.isArray( val ) ) { - val = jQuery.map(val, function ( value ) { - return value == null ? "" : value + ""; - }); - } - - hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; - - // If set returns undefined, fall back to normal setting - if ( !hooks || !("set" in hooks) || hooks.set( this, val, "value" ) === undefined ) { - this.value = val; - } - }); - } -}); - -jQuery.extend({ - valHooks: { - option: { - get: function( elem ) { - // attributes.value is undefined in Blackberry 4.7 but - // uses .value. See #6932 - var val = elem.attributes.value; - return !val || val.specified ? elem.value : elem.text; - } - }, - select: { - get: function( elem ) { - var value, option, - options = elem.options, - index = elem.selectedIndex, - one = elem.type === "select-one" || index < 0, - values = one ? null : [], - max = one ? index + 1 : options.length, - i = index < 0 ? - max : - one ? index : 0; - - // Loop through all the selected options - for ( ; i < max; i++ ) { - option = options[ i ]; - - // oldIE doesn't update selected after form reset (#2551) - if ( ( option.selected || i === index ) && - // Don't return options that are disabled or in a disabled optgroup - ( jQuery.support.optDisabled ? !option.disabled : option.getAttribute("disabled") === null ) && - ( !option.parentNode.disabled || !jQuery.nodeName( option.parentNode, "optgroup" ) ) ) { - - // Get the specific value for the option - value = jQuery( option ).val(); - - // We don't need an array for one selects - if ( one ) { - return value; - } - - // Multi-Selects return an array - values.push( value ); - } - } - - return values; - }, - - set: function( elem, value ) { - var values = jQuery.makeArray( value ); - - jQuery(elem).find("option").each(function() { - this.selected = jQuery.inArray( jQuery(this).val(), values ) >= 0; - }); - - if ( !values.length ) { - elem.selectedIndex = -1; - } - return values; - } - } - }, - - // Unused in 1.8, left in so attrFn-stabbers won't die; remove in 1.9 - attrFn: {}, - - attr: function( elem, name, value, pass ) { - var ret, hooks, notxml, - nType = elem.nodeType; - - // don't get/set attributes on text, comment and attribute nodes - if ( !elem || nType === 3 || nType === 8 || nType === 2 ) { - return; - } - - if ( pass && jQuery.isFunction( jQuery.fn[ name ] ) ) { - return jQuery( elem )[ name ]( value ); - } - - // Fallback to prop when attributes are not supported - if ( typeof elem.getAttribute === "undefined" ) { - return jQuery.prop( elem, name, value ); - } - - notxml = nType !== 1 || !jQuery.isXMLDoc( elem ); - - // All attributes are lowercase - // Grab necessary hook if one is defined - if ( notxml ) { - name = name.toLowerCase(); - hooks = jQuery.attrHooks[ name ] || ( rboolean.test( name ) ? boolHook : nodeHook ); - } - - if ( value !== undefined ) { - - if ( value === null ) { - jQuery.removeAttr( elem, name ); - return; - - } else if ( hooks && "set" in hooks && notxml && (ret = hooks.set( elem, value, name )) !== undefined ) { - return ret; - - } else { - elem.setAttribute( name, value + "" ); - return value; - } - - } else if ( hooks && "get" in hooks && notxml && (ret = hooks.get( elem, name )) !== null ) { - return ret; - - } else { - - ret = elem.getAttribute( name ); - - // Non-existent attributes return null, we normalize to undefined - return ret === null ? - undefined : - ret; - } - }, - - removeAttr: function( elem, value ) { - var propName, attrNames, name, isBool, - i = 0; - - if ( value && elem.nodeType === 1 ) { - - attrNames = value.split( core_rspace ); - - for ( ; i < attrNames.length; i++ ) { - name = attrNames[ i ]; - - if ( name ) { - propName = jQuery.propFix[ name ] || name; - isBool = rboolean.test( name ); - - // See #9699 for explanation of this approach (setting first, then removal) - // Do not do this for boolean attributes (see #10870) - if ( !isBool ) { - jQuery.attr( elem, name, "" ); - } - elem.removeAttribute( getSetAttribute ? name : propName ); - - // Set corresponding property to false for boolean attributes - if ( isBool && propName in elem ) { - elem[ propName ] = false; - } - } - } - } - }, - - attrHooks: { - type: { - set: function( elem, value ) { - // We can't allow the type property to be changed (since it causes problems in IE) - if ( rtype.test( elem.nodeName ) && elem.parentNode ) { - jQuery.error( "type property can't be changed" ); - } else if ( !jQuery.support.radioValue && value === "radio" && jQuery.nodeName(elem, "input") ) { - // Setting the type on a radio button after the value resets the value in IE6-9 - // Reset value to it's default in case type is set after value - // This is for element creation - var val = elem.value; - elem.setAttribute( "type", value ); - if ( val ) { - elem.value = val; - } - return value; - } - } - }, - // Use the value property for back compat - // Use the nodeHook for button elements in IE6/7 (#1954) - value: { - get: function( elem, name ) { - if ( nodeHook && jQuery.nodeName( elem, "button" ) ) { - return nodeHook.get( elem, name ); - } - return name in elem ? - elem.value : - null; - }, - set: function( elem, value, name ) { - if ( nodeHook && jQuery.nodeName( elem, "button" ) ) { - return nodeHook.set( elem, value, name ); - } - // Does not return so that setAttribute is also used - elem.value = value; - } - } - }, - - propFix: { - tabindex: "tabIndex", - readonly: "readOnly", - "for": "htmlFor", - "class": "className", - maxlength: "maxLength", - cellspacing: "cellSpacing", - cellpadding: "cellPadding", - rowspan: "rowSpan", - colspan: "colSpan", - usemap: "useMap", - frameborder: "frameBorder", - contenteditable: "contentEditable" - }, - - prop: function( elem, name, value ) { - var ret, hooks, notxml, - nType = elem.nodeType; - - // don't get/set properties on text, comment and attribute nodes - if ( !elem || nType === 3 || nType === 8 || nType === 2 ) { - return; - } - - notxml = nType !== 1 || !jQuery.isXMLDoc( elem ); - - if ( notxml ) { - // Fix name and attach hooks - name = jQuery.propFix[ name ] || name; - hooks = jQuery.propHooks[ name ]; - } - - if ( value !== undefined ) { - if ( hooks && "set" in hooks && (ret = hooks.set( elem, value, name )) !== undefined ) { - return ret; - - } else { - return ( elem[ name ] = value ); - } - - } else { - if ( hooks && "get" in hooks && (ret = hooks.get( elem, name )) !== null ) { - return ret; - - } else { - return elem[ name ]; - } - } - }, - - propHooks: { - tabIndex: { - get: function( elem ) { - // elem.tabIndex doesn't always return the correct value when it hasn't been explicitly set - // http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ - var attributeNode = elem.getAttributeNode("tabindex"); - - return attributeNode && attributeNode.specified ? - parseInt( attributeNode.value, 10 ) : - rfocusable.test( elem.nodeName ) || rclickable.test( elem.nodeName ) && elem.href ? - 0 : - undefined; - } - } - } -}); - -// Hook for boolean attributes -boolHook = { - get: function( elem, name ) { - // Align boolean attributes with corresponding properties - // Fall back to attribute presence where some booleans are not supported - var attrNode, - property = jQuery.prop( elem, name ); - return property === true || typeof property !== "boolean" && ( attrNode = elem.getAttributeNode(name) ) && attrNode.nodeValue !== false ? - name.toLowerCase() : - undefined; - }, - set: function( elem, value, name ) { - var propName; - if ( value === false ) { - // Remove boolean attributes when set to false - jQuery.removeAttr( elem, name ); - } else { - // value is true since we know at this point it's type boolean and not false - // Set boolean attributes to the same name and set the DOM property - propName = jQuery.propFix[ name ] || name; - if ( propName in elem ) { - // Only set the IDL specifically if it already exists on the element - elem[ propName ] = true; - } - - elem.setAttribute( name, name.toLowerCase() ); - } - return name; - } -}; - -// IE6/7 do not support getting/setting some attributes with get/setAttribute -if ( !getSetAttribute ) { - - fixSpecified = { - name: true, - id: true, - coords: true - }; - - // Use this for any attribute in IE6/7 - // This fixes almost every IE6/7 issue - nodeHook = jQuery.valHooks.button = { - get: function( elem, name ) { - var ret; - ret = elem.getAttributeNode( name ); - return ret && ( fixSpecified[ name ] ? ret.value !== "" : ret.specified ) ? - ret.value : - undefined; - }, - set: function( elem, value, name ) { - // Set the existing or create a new attribute node - var ret = elem.getAttributeNode( name ); - if ( !ret ) { - ret = document.createAttribute( name ); - elem.setAttributeNode( ret ); - } - return ( ret.value = value + "" ); - } - }; - - // Set width and height to auto instead of 0 on empty string( Bug #8150 ) - // This is for removals - jQuery.each([ "width", "height" ], function( i, name ) { - jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], { - set: function( elem, value ) { - if ( value === "" ) { - elem.setAttribute( name, "auto" ); - return value; - } - } - }); - }); - - // Set contenteditable to false on removals(#10429) - // Setting to empty string throws an error as an invalid value - jQuery.attrHooks.contenteditable = { - get: nodeHook.get, - set: function( elem, value, name ) { - if ( value === "" ) { - value = "false"; - } - nodeHook.set( elem, value, name ); - } - }; -} - - -// Some attributes require a special call on IE -if ( !jQuery.support.hrefNormalized ) { - jQuery.each([ "href", "src", "width", "height" ], function( i, name ) { - jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], { - get: function( elem ) { - var ret = elem.getAttribute( name, 2 ); - return ret === null ? undefined : ret; - } - }); - }); -} - -if ( !jQuery.support.style ) { - jQuery.attrHooks.style = { - get: function( elem ) { - // Return undefined in the case of empty string - // Normalize to lowercase since IE uppercases css property names - return elem.style.cssText.toLowerCase() || undefined; - }, - set: function( elem, value ) { - return ( elem.style.cssText = value + "" ); - } - }; -} - -// Safari mis-reports the default selected property of an option -// Accessing the parent's selectedIndex property fixes it -if ( !jQuery.support.optSelected ) { - jQuery.propHooks.selected = jQuery.extend( jQuery.propHooks.selected, { - get: function( elem ) { - var parent = elem.parentNode; - - if ( parent ) { - parent.selectedIndex; - - // Make sure that it also works with optgroups, see #5701 - if ( parent.parentNode ) { - parent.parentNode.selectedIndex; - } - } - return null; - } - }); -} - -// IE6/7 call enctype encoding -if ( !jQuery.support.enctype ) { - jQuery.propFix.enctype = "encoding"; -} - -// Radios and checkboxes getter/setter -if ( !jQuery.support.checkOn ) { - jQuery.each([ "radio", "checkbox" ], function() { - jQuery.valHooks[ this ] = { - get: function( elem ) { - // Handle the case where in Webkit "" is returned instead of "on" if a value isn't specified - return elem.getAttribute("value") === null ? "on" : elem.value; - } - }; - }); -} -jQuery.each([ "radio", "checkbox" ], function() { - jQuery.valHooks[ this ] = jQuery.extend( jQuery.valHooks[ this ], { - set: function( elem, value ) { - if ( jQuery.isArray( value ) ) { - return ( elem.checked = jQuery.inArray( jQuery(elem).val(), value ) >= 0 ); - } - } - }); -}); -var rformElems = /^(?:textarea|input|select)$/i, - rtypenamespace = /^([^\.]*|)(?:\.(.+)|)$/, - rhoverHack = /(?:^|\s)hover(\.\S+|)\b/, - rkeyEvent = /^key/, - rmouseEvent = /^(?:mouse|contextmenu)|click/, - rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, - hoverHack = function( events ) { - return jQuery.event.special.hover ? events : events.replace( rhoverHack, "mouseenter$1 mouseleave$1" ); - }; - -/* - * Helper functions for managing events -- not part of the public interface. - * Props to Dean Edwards' addEvent library for many of the ideas. - */ -jQuery.event = { - - add: function( elem, types, handler, data, selector ) { - - var elemData, eventHandle, events, - t, tns, type, namespaces, handleObj, - handleObjIn, handlers, special; - - // Don't attach events to noData or text/comment nodes (allow plain objects tho) - if ( elem.nodeType === 3 || elem.nodeType === 8 || !types || !handler || !(elemData = jQuery._data( elem )) ) { - return; - } - - // Caller can pass in an object of custom data in lieu of the handler - if ( handler.handler ) { - handleObjIn = handler; - handler = handleObjIn.handler; - selector = handleObjIn.selector; - } - - // Make sure that the handler has a unique ID, used to find/remove it later - if ( !handler.guid ) { - handler.guid = jQuery.guid++; - } - - // Init the element's event structure and main handler, if this is the first - events = elemData.events; - if ( !events ) { - elemData.events = events = {}; - } - eventHandle = elemData.handle; - if ( !eventHandle ) { - elemData.handle = eventHandle = function( e ) { - // Discard the second event of a jQuery.event.trigger() and - // when an event is called after a page has unloaded - return typeof jQuery !== "undefined" && (!e || jQuery.event.triggered !== e.type) ? - jQuery.event.dispatch.apply( eventHandle.elem, arguments ) : - undefined; - }; - // Add elem as a property of the handle fn to prevent a memory leak with IE non-native events - eventHandle.elem = elem; - } - - // Handle multiple events separated by a space - // jQuery(...).bind("mouseover mouseout", fn); - types = jQuery.trim( hoverHack(types) ).split( " " ); - for ( t = 0; t < types.length; t++ ) { - - tns = rtypenamespace.exec( types[t] ) || []; - type = tns[1]; - namespaces = ( tns[2] || "" ).split( "." ).sort(); - - // If event changes its type, use the special event handlers for the changed type - special = jQuery.event.special[ type ] || {}; - - // If selector defined, determine special event api type, otherwise given type - type = ( selector ? special.delegateType : special.bindType ) || type; - - // Update special based on newly reset type - special = jQuery.event.special[ type ] || {}; - - // handleObj is passed to all event handlers - handleObj = jQuery.extend({ - type: type, - origType: tns[1], - data: data, - handler: handler, - guid: handler.guid, - selector: selector, - needsContext: selector && jQuery.expr.match.needsContext.test( selector ), - namespace: namespaces.join(".") - }, handleObjIn ); - - // Init the event handler queue if we're the first - handlers = events[ type ]; - if ( !handlers ) { - handlers = events[ type ] = []; - handlers.delegateCount = 0; - - // Only use addEventListener/attachEvent if the special events handler returns false - if ( !special.setup || special.setup.call( elem, data, namespaces, eventHandle ) === false ) { - // Bind the global event handler to the element - if ( elem.addEventListener ) { - elem.addEventListener( type, eventHandle, false ); - - } else if ( elem.attachEvent ) { - elem.attachEvent( "on" + type, eventHandle ); - } - } - } - - if ( special.add ) { - special.add.call( elem, handleObj ); - - if ( !handleObj.handler.guid ) { - handleObj.handler.guid = handler.guid; - } - } - - // Add to the element's handler list, delegates in front - if ( selector ) { - handlers.splice( handlers.delegateCount++, 0, handleObj ); - } else { - handlers.push( handleObj ); - } - - // Keep track of which events have ever been used, for event optimization - jQuery.event.global[ type ] = true; - } - - // Nullify elem to prevent memory leaks in IE - elem = null; - }, - - global: {}, - - // Detach an event or set of events from an element - remove: function( elem, types, handler, selector, mappedTypes ) { - - var t, tns, type, origType, namespaces, origCount, - j, events, special, eventType, handleObj, - elemData = jQuery.hasData( elem ) && jQuery._data( elem ); - - if ( !elemData || !(events = elemData.events) ) { - return; - } - - // Once for each type.namespace in types; type may be omitted - types = jQuery.trim( hoverHack( types || "" ) ).split(" "); - for ( t = 0; t < types.length; t++ ) { - tns = rtypenamespace.exec( types[t] ) || []; - type = origType = tns[1]; - namespaces = tns[2]; - - // Unbind all events (on this namespace, if provided) for the element - if ( !type ) { - for ( type in events ) { - jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); - } - continue; - } - - special = jQuery.event.special[ type ] || {}; - type = ( selector? special.delegateType : special.bindType ) || type; - eventType = events[ type ] || []; - origCount = eventType.length; - namespaces = namespaces ? new RegExp("(^|\\.)" + namespaces.split(".").sort().join("\\.(?:.*\\.|)") + "(\\.|$)") : null; - - // Remove matching events - for ( j = 0; j < eventType.length; j++ ) { - handleObj = eventType[ j ]; - - if ( ( mappedTypes || origType === handleObj.origType ) && - ( !handler || handler.guid === handleObj.guid ) && - ( !namespaces || namespaces.test( handleObj.namespace ) ) && - ( !selector || selector === handleObj.selector || selector === "**" && handleObj.selector ) ) { - eventType.splice( j--, 1 ); - - if ( handleObj.selector ) { - eventType.delegateCount--; - } - if ( special.remove ) { - special.remove.call( elem, handleObj ); - } - } - } - - // Remove generic event handler if we removed something and no more handlers exist - // (avoids potential for endless recursion during removal of special event handlers) - if ( eventType.length === 0 && origCount !== eventType.length ) { - if ( !special.teardown || special.teardown.call( elem, namespaces, elemData.handle ) === false ) { - jQuery.removeEvent( elem, type, elemData.handle ); - } - - delete events[ type ]; - } - } - - // Remove the expando if it's no longer used - if ( jQuery.isEmptyObject( events ) ) { - delete elemData.handle; - - // removeData also checks for emptiness and clears the expando if empty - // so use it instead of delete - jQuery.removeData( elem, "events", true ); - } - }, - - // Events that are safe to short-circuit if no handlers are attached. - // Native DOM events should not be added, they may have inline handlers. - customEvent: { - "getData": true, - "setData": true, - "changeData": true - }, - - trigger: function( event, data, elem, onlyHandlers ) { - // Don't do events on text and comment nodes - if ( elem && (elem.nodeType === 3 || elem.nodeType === 8) ) { - return; - } - - // Event object or event type - var cache, exclusive, i, cur, old, ontype, special, handle, eventPath, bubbleType, - type = event.type || event, - namespaces = []; - - // focus/blur morphs to focusin/out; ensure we're not firing them right now - if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { - return; - } - - if ( type.indexOf( "!" ) >= 0 ) { - // Exclusive events trigger only for the exact event (no namespaces) - type = type.slice(0, -1); - exclusive = true; - } - - if ( type.indexOf( "." ) >= 0 ) { - // Namespaced trigger; create a regexp to match event type in handle() - namespaces = type.split("."); - type = namespaces.shift(); - namespaces.sort(); - } - - if ( (!elem || jQuery.event.customEvent[ type ]) && !jQuery.event.global[ type ] ) { - // No jQuery handlers for this event type, and it can't have inline handlers - return; - } - - // Caller can pass in an Event, Object, or just an event type string - event = typeof event === "object" ? - // jQuery.Event object - event[ jQuery.expando ] ? event : - // Object literal - new jQuery.Event( type, event ) : - // Just the event type (string) - new jQuery.Event( type ); - - event.type = type; - event.isTrigger = true; - event.exclusive = exclusive; - event.namespace = namespaces.join( "." ); - event.namespace_re = event.namespace? new RegExp("(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)") : null; - ontype = type.indexOf( ":" ) < 0 ? "on" + type : ""; - - // Handle a global trigger - if ( !elem ) { - - // TODO: Stop taunting the data cache; remove global events and always attach to document - cache = jQuery.cache; - for ( i in cache ) { - if ( cache[ i ].events && cache[ i ].events[ type ] ) { - jQuery.event.trigger( event, data, cache[ i ].handle.elem, true ); - } - } - return; - } - - // Clean up the event in case it is being reused - event.result = undefined; - if ( !event.target ) { - event.target = elem; - } - - // Clone any incoming data and prepend the event, creating the handler arg list - data = data != null ? jQuery.makeArray( data ) : []; - data.unshift( event ); - - // Allow special events to draw outside the lines - special = jQuery.event.special[ type ] || {}; - if ( special.trigger && special.trigger.apply( elem, data ) === false ) { - return; - } - - // Determine event propagation path in advance, per W3C events spec (#9951) - // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) - eventPath = [[ elem, special.bindType || type ]]; - if ( !onlyHandlers && !special.noBubble && !jQuery.isWindow( elem ) ) { - - bubbleType = special.delegateType || type; - cur = rfocusMorph.test( bubbleType + type ) ? elem : elem.parentNode; - for ( old = elem; cur; cur = cur.parentNode ) { - eventPath.push([ cur, bubbleType ]); - old = cur; - } - - // Only add window if we got to document (e.g., not plain obj or detached DOM) - if ( old === (elem.ownerDocument || document) ) { - eventPath.push([ old.defaultView || old.parentWindow || window, bubbleType ]); - } - } - - // Fire handlers on the event path - for ( i = 0; i < eventPath.length && !event.isPropagationStopped(); i++ ) { - - cur = eventPath[i][0]; - event.type = eventPath[i][1]; - - handle = ( jQuery._data( cur, "events" ) || {} )[ event.type ] && jQuery._data( cur, "handle" ); - if ( handle ) { - handle.apply( cur, data ); - } - // Note that this is a bare JS function and not a jQuery handler - handle = ontype && cur[ ontype ]; - if ( handle && jQuery.acceptData( cur ) && handle.apply && handle.apply( cur, data ) === false ) { - event.preventDefault(); - } - } - event.type = type; - - // If nobody prevented the default action, do it now - if ( !onlyHandlers && !event.isDefaultPrevented() ) { - - if ( (!special._default || special._default.apply( elem.ownerDocument, data ) === false) && - !(type === "click" && jQuery.nodeName( elem, "a" )) && jQuery.acceptData( elem ) ) { - - // Call a native DOM method on the target with the same name name as the event. - // Can't use an .isFunction() check here because IE6/7 fails that test. - // Don't do default actions on window, that's where global variables be (#6170) - // IE<9 dies on focus/blur to hidden element (#1486) - if ( ontype && elem[ type ] && ((type !== "focus" && type !== "blur") || event.target.offsetWidth !== 0) && !jQuery.isWindow( elem ) ) { - - // Don't re-trigger an onFOO event when we call its FOO() method - old = elem[ ontype ]; - - if ( old ) { - elem[ ontype ] = null; - } - - // Prevent re-triggering of the same event, since we already bubbled it above - jQuery.event.triggered = type; - elem[ type ](); - jQuery.event.triggered = undefined; - - if ( old ) { - elem[ ontype ] = old; - } - } - } - } - - return event.result; - }, - - dispatch: function( event ) { - - // Make a writable jQuery.Event from the native event object - event = jQuery.event.fix( event || window.event ); - - var i, j, cur, ret, selMatch, matched, matches, handleObj, sel, related, - handlers = ( (jQuery._data( this, "events" ) || {} )[ event.type ] || []), - delegateCount = handlers.delegateCount, - args = core_slice.call( arguments ), - run_all = !event.exclusive && !event.namespace, - special = jQuery.event.special[ event.type ] || {}, - handlerQueue = []; - - // Use the fix-ed jQuery.Event rather than the (read-only) native event - args[0] = event; - event.delegateTarget = this; - - // Call the preDispatch hook for the mapped type, and let it bail if desired - if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { - return; - } - - // Determine handlers that should run if there are delegated events - // Avoid non-left-click bubbling in Firefox (#3861) - if ( delegateCount && !(event.button && event.type === "click") ) { - - for ( cur = event.target; cur != this; cur = cur.parentNode || this ) { - - // Don't process clicks (ONLY) on disabled elements (#6911, #8165, #11382, #11764) - if ( cur.disabled !== true || event.type !== "click" ) { - selMatch = {}; - matches = []; - for ( i = 0; i < delegateCount; i++ ) { - handleObj = handlers[ i ]; - sel = handleObj.selector; - - if ( selMatch[ sel ] === undefined ) { - selMatch[ sel ] = handleObj.needsContext ? - jQuery( sel, this ).index( cur ) >= 0 : - jQuery.find( sel, this, null, [ cur ] ).length; - } - if ( selMatch[ sel ] ) { - matches.push( handleObj ); - } - } - if ( matches.length ) { - handlerQueue.push({ elem: cur, matches: matches }); - } - } - } - } - - // Add the remaining (directly-bound) handlers - if ( handlers.length > delegateCount ) { - handlerQueue.push({ elem: this, matches: handlers.slice( delegateCount ) }); - } - - // Run delegates first; they may want to stop propagation beneath us - for ( i = 0; i < handlerQueue.length && !event.isPropagationStopped(); i++ ) { - matched = handlerQueue[ i ]; - event.currentTarget = matched.elem; - - for ( j = 0; j < matched.matches.length && !event.isImmediatePropagationStopped(); j++ ) { - handleObj = matched.matches[ j ]; - - // Triggered event must either 1) be non-exclusive and have no namespace, or - // 2) have namespace(s) a subset or equal to those in the bound event (both can have no namespace). - if ( run_all || (!event.namespace && !handleObj.namespace) || event.namespace_re && event.namespace_re.test( handleObj.namespace ) ) { - - event.data = handleObj.data; - event.handleObj = handleObj; - - ret = ( (jQuery.event.special[ handleObj.origType ] || {}).handle || handleObj.handler ) - .apply( matched.elem, args ); - - if ( ret !== undefined ) { - event.result = ret; - if ( ret === false ) { - event.preventDefault(); - event.stopPropagation(); - } - } - } - } - } - - // Call the postDispatch hook for the mapped type - if ( special.postDispatch ) { - special.postDispatch.call( this, event ); - } - - return event.result; - }, - - // Includes some event props shared by KeyEvent and MouseEvent - // *** attrChange attrName relatedNode srcElement are not normalized, non-W3C, deprecated, will be removed in 1.8 *** - props: "attrChange attrName relatedNode srcElement altKey bubbles cancelable ctrlKey currentTarget eventPhase metaKey relatedTarget shiftKey target timeStamp view which".split(" "), - - fixHooks: {}, - - keyHooks: { - props: "char charCode key keyCode".split(" "), - filter: function( event, original ) { - - // Add which for key events - if ( event.which == null ) { - event.which = original.charCode != null ? original.charCode : original.keyCode; - } - - return event; - } - }, - - mouseHooks: { - props: "button buttons clientX clientY fromElement offsetX offsetY pageX pageY screenX screenY toElement".split(" "), - filter: function( event, original ) { - var eventDoc, doc, body, - button = original.button, - fromElement = original.fromElement; - - // Calculate pageX/Y if missing and clientX/Y available - if ( event.pageX == null && original.clientX != null ) { - eventDoc = event.target.ownerDocument || document; - doc = eventDoc.documentElement; - body = eventDoc.body; - - event.pageX = original.clientX + ( doc && doc.scrollLeft || body && body.scrollLeft || 0 ) - ( doc && doc.clientLeft || body && body.clientLeft || 0 ); - event.pageY = original.clientY + ( doc && doc.scrollTop || body && body.scrollTop || 0 ) - ( doc && doc.clientTop || body && body.clientTop || 0 ); - } - - // Add relatedTarget, if necessary - if ( !event.relatedTarget && fromElement ) { - event.relatedTarget = fromElement === event.target ? original.toElement : fromElement; - } - - // Add which for click: 1 === left; 2 === middle; 3 === right - // Note: button is not normalized, so don't use it - if ( !event.which && button !== undefined ) { - event.which = ( button & 1 ? 1 : ( button & 2 ? 3 : ( button & 4 ? 2 : 0 ) ) ); - } - - return event; - } - }, - - fix: function( event ) { - if ( event[ jQuery.expando ] ) { - return event; - } - - // Create a writable copy of the event object and normalize some properties - var i, prop, - originalEvent = event, - fixHook = jQuery.event.fixHooks[ event.type ] || {}, - copy = fixHook.props ? this.props.concat( fixHook.props ) : this.props; - - event = jQuery.Event( originalEvent ); - - for ( i = copy.length; i; ) { - prop = copy[ --i ]; - event[ prop ] = originalEvent[ prop ]; - } - - // Fix target property, if necessary (#1925, IE 6/7/8 & Safari2) - if ( !event.target ) { - event.target = originalEvent.srcElement || document; - } - - // Target should not be a text node (#504, Safari) - if ( event.target.nodeType === 3 ) { - event.target = event.target.parentNode; - } - - // For mouse/key events, metaKey==false if it's undefined (#3368, #11328; IE6/7/8) - event.metaKey = !!event.metaKey; - - return fixHook.filter? fixHook.filter( event, originalEvent ) : event; - }, - - special: { - load: { - // Prevent triggered image.load events from bubbling to window.load - noBubble: true - }, - - focus: { - delegateType: "focusin" - }, - blur: { - delegateType: "focusout" - }, - - beforeunload: { - setup: function( data, namespaces, eventHandle ) { - // We only want to do this special case on windows - if ( jQuery.isWindow( this ) ) { - this.onbeforeunload = eventHandle; - } - }, - - teardown: function( namespaces, eventHandle ) { - if ( this.onbeforeunload === eventHandle ) { - this.onbeforeunload = null; - } - } - } - }, - - simulate: function( type, elem, event, bubble ) { - // Piggyback on a donor event to simulate a different one. - // Fake originalEvent to avoid donor's stopPropagation, but if the - // simulated event prevents default then we do the same on the donor. - var e = jQuery.extend( - new jQuery.Event(), - event, - { type: type, - isSimulated: true, - originalEvent: {} - } - ); - if ( bubble ) { - jQuery.event.trigger( e, null, elem ); - } else { - jQuery.event.dispatch.call( elem, e ); - } - if ( e.isDefaultPrevented() ) { - event.preventDefault(); - } - } -}; - -// Some plugins are using, but it's undocumented/deprecated and will be removed. -// The 1.7 special event interface should provide all the hooks needed now. -jQuery.event.handle = jQuery.event.dispatch; - -jQuery.removeEvent = document.removeEventListener ? - function( elem, type, handle ) { - if ( elem.removeEventListener ) { - elem.removeEventListener( type, handle, false ); - } - } : - function( elem, type, handle ) { - var name = "on" + type; - - if ( elem.detachEvent ) { - - // #8545, #7054, preventing memory leaks for custom events in IE6-8 - // detachEvent needed property on element, by name of that event, to properly expose it to GC - if ( typeof elem[ name ] === "undefined" ) { - elem[ name ] = null; - } - - elem.detachEvent( name, handle ); - } - }; - -jQuery.Event = function( src, props ) { - // Allow instantiation without the 'new' keyword - if ( !(this instanceof jQuery.Event) ) { - return new jQuery.Event( src, props ); - } - - // Event object - if ( src && src.type ) { - this.originalEvent = src; - this.type = src.type; - - // Events bubbling up the document may have been marked as prevented - // by a handler lower down the tree; reflect the correct value. - this.isDefaultPrevented = ( src.defaultPrevented || src.returnValue === false || - src.getPreventDefault && src.getPreventDefault() ) ? returnTrue : returnFalse; - - // Event type - } else { - this.type = src; - } - - // Put explicitly provided properties onto the event object - if ( props ) { - jQuery.extend( this, props ); - } - - // Create a timestamp if incoming event doesn't have one - this.timeStamp = src && src.timeStamp || jQuery.now(); - - // Mark it as fixed - this[ jQuery.expando ] = true; -}; - -function returnFalse() { - return false; -} -function returnTrue() { - return true; -} - -// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding -// http://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html -jQuery.Event.prototype = { - preventDefault: function() { - this.isDefaultPrevented = returnTrue; - - var e = this.originalEvent; - if ( !e ) { - return; - } - - // if preventDefault exists run it on the original event - if ( e.preventDefault ) { - e.preventDefault(); - - // otherwise set the returnValue property of the original event to false (IE) - } else { - e.returnValue = false; - } - }, - stopPropagation: function() { - this.isPropagationStopped = returnTrue; - - var e = this.originalEvent; - if ( !e ) { - return; - } - // if stopPropagation exists run it on the original event - if ( e.stopPropagation ) { - e.stopPropagation(); - } - // otherwise set the cancelBubble property of the original event to true (IE) - e.cancelBubble = true; - }, - stopImmediatePropagation: function() { - this.isImmediatePropagationStopped = returnTrue; - this.stopPropagation(); - }, - isDefaultPrevented: returnFalse, - isPropagationStopped: returnFalse, - isImmediatePropagationStopped: returnFalse -}; - -// Create mouseenter/leave events using mouseover/out and event-time checks -jQuery.each({ - mouseenter: "mouseover", - mouseleave: "mouseout" -}, function( orig, fix ) { - jQuery.event.special[ orig ] = { - delegateType: fix, - bindType: fix, - - handle: function( event ) { - var ret, - target = this, - related = event.relatedTarget, - handleObj = event.handleObj, - selector = handleObj.selector; - - // For mousenter/leave call the handler if related is outside the target. - // NB: No relatedTarget if the mouse left/entered the browser window - if ( !related || (related !== target && !jQuery.contains( target, related )) ) { - event.type = handleObj.origType; - ret = handleObj.handler.apply( this, arguments ); - event.type = fix; - } - return ret; - } - }; -}); - -// IE submit delegation -if ( !jQuery.support.submitBubbles ) { - - jQuery.event.special.submit = { - setup: function() { - // Only need this for delegated form submit events - if ( jQuery.nodeName( this, "form" ) ) { - return false; - } - - // Lazy-add a submit handler when a descendant form may potentially be submitted - jQuery.event.add( this, "click._submit keypress._submit", function( e ) { - // Node name check avoids a VML-related crash in IE (#9807) - var elem = e.target, - form = jQuery.nodeName( elem, "input" ) || jQuery.nodeName( elem, "button" ) ? elem.form : undefined; - if ( form && !jQuery._data( form, "_submit_attached" ) ) { - jQuery.event.add( form, "submit._submit", function( event ) { - event._submit_bubble = true; - }); - jQuery._data( form, "_submit_attached", true ); - } - }); - // return undefined since we don't need an event listener - }, - - postDispatch: function( event ) { - // If form was submitted by the user, bubble the event up the tree - if ( event._submit_bubble ) { - delete event._submit_bubble; - if ( this.parentNode && !event.isTrigger ) { - jQuery.event.simulate( "submit", this.parentNode, event, true ); - } - } - }, - - teardown: function() { - // Only need this for delegated form submit events - if ( jQuery.nodeName( this, "form" ) ) { - return false; - } - - // Remove delegated handlers; cleanData eventually reaps submit handlers attached above - jQuery.event.remove( this, "._submit" ); - } - }; -} - -// IE change delegation and checkbox/radio fix -if ( !jQuery.support.changeBubbles ) { - - jQuery.event.special.change = { - - setup: function() { - - if ( rformElems.test( this.nodeName ) ) { - // IE doesn't fire change on a check/radio until blur; trigger it on click - // after a propertychange. Eat the blur-change in special.change.handle. - // This still fires onchange a second time for check/radio after blur. - if ( this.type === "checkbox" || this.type === "radio" ) { - jQuery.event.add( this, "propertychange._change", function( event ) { - if ( event.originalEvent.propertyName === "checked" ) { - this._just_changed = true; - } - }); - jQuery.event.add( this, "click._change", function( event ) { - if ( this._just_changed && !event.isTrigger ) { - this._just_changed = false; - } - // Allow triggered, simulated change events (#11500) - jQuery.event.simulate( "change", this, event, true ); - }); - } - return false; - } - // Delegated event; lazy-add a change handler on descendant inputs - jQuery.event.add( this, "beforeactivate._change", function( e ) { - var elem = e.target; - - if ( rformElems.test( elem.nodeName ) && !jQuery._data( elem, "_change_attached" ) ) { - jQuery.event.add( elem, "change._change", function( event ) { - if ( this.parentNode && !event.isSimulated && !event.isTrigger ) { - jQuery.event.simulate( "change", this.parentNode, event, true ); - } - }); - jQuery._data( elem, "_change_attached", true ); - } - }); - }, - - handle: function( event ) { - var elem = event.target; - - // Swallow native change events from checkbox/radio, we already triggered them above - if ( this !== elem || event.isSimulated || event.isTrigger || (elem.type !== "radio" && elem.type !== "checkbox") ) { - return event.handleObj.handler.apply( this, arguments ); - } - }, - - teardown: function() { - jQuery.event.remove( this, "._change" ); - - return !rformElems.test( this.nodeName ); - } - }; -} - -// Create "bubbling" focus and blur events -if ( !jQuery.support.focusinBubbles ) { - jQuery.each({ focus: "focusin", blur: "focusout" }, function( orig, fix ) { - - // Attach a single capturing handler while someone wants focusin/focusout - var attaches = 0, - handler = function( event ) { - jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ), true ); - }; - - jQuery.event.special[ fix ] = { - setup: function() { - if ( attaches++ === 0 ) { - document.addEventListener( orig, handler, true ); - } - }, - teardown: function() { - if ( --attaches === 0 ) { - document.removeEventListener( orig, handler, true ); - } - } - }; - }); -} - -jQuery.fn.extend({ - - on: function( types, selector, data, fn, /*INTERNAL*/ one ) { - var origFn, type; - - // Types can be a map of types/handlers - if ( typeof types === "object" ) { - // ( types-Object, selector, data ) - if ( typeof selector !== "string" ) { // && selector != null - // ( types-Object, data ) - data = data || selector; - selector = undefined; - } - for ( type in types ) { - this.on( type, selector, data, types[ type ], one ); - } - return this; - } - - if ( data == null && fn == null ) { - // ( types, fn ) - fn = selector; - data = selector = undefined; - } else if ( fn == null ) { - if ( typeof selector === "string" ) { - // ( types, selector, fn ) - fn = data; - data = undefined; - } else { - // ( types, data, fn ) - fn = data; - data = selector; - selector = undefined; - } - } - if ( fn === false ) { - fn = returnFalse; - } else if ( !fn ) { - return this; - } - - if ( one === 1 ) { - origFn = fn; - fn = function( event ) { - // Can use an empty set, since event contains the info - jQuery().off( event ); - return origFn.apply( this, arguments ); - }; - // Use same guid so caller can remove using origFn - fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); - } - return this.each( function() { - jQuery.event.add( this, types, fn, data, selector ); - }); - }, - one: function( types, selector, data, fn ) { - return this.on( types, selector, data, fn, 1 ); - }, - off: function( types, selector, fn ) { - var handleObj, type; - if ( types && types.preventDefault && types.handleObj ) { - // ( event ) dispatched jQuery.Event - handleObj = types.handleObj; - jQuery( types.delegateTarget ).off( - handleObj.namespace ? handleObj.origType + "." + handleObj.namespace : handleObj.origType, - handleObj.selector, - handleObj.handler - ); - return this; - } - if ( typeof types === "object" ) { - // ( types-object [, selector] ) - for ( type in types ) { - this.off( type, selector, types[ type ] ); - } - return this; - } - if ( selector === false || typeof selector === "function" ) { - // ( types [, fn] ) - fn = selector; - selector = undefined; - } - if ( fn === false ) { - fn = returnFalse; - } - return this.each(function() { - jQuery.event.remove( this, types, fn, selector ); - }); - }, - - bind: function( types, data, fn ) { - return this.on( types, null, data, fn ); - }, - unbind: function( types, fn ) { - return this.off( types, null, fn ); - }, - - live: function( types, data, fn ) { - jQuery( this.context ).on( types, this.selector, data, fn ); - return this; - }, - die: function( types, fn ) { - jQuery( this.context ).off( types, this.selector || "**", fn ); - return this; - }, - - delegate: function( selector, types, data, fn ) { - return this.on( types, selector, data, fn ); - }, - undelegate: function( selector, types, fn ) { - // ( namespace ) or ( selector, types [, fn] ) - return arguments.length === 1 ? this.off( selector, "**" ) : this.off( types, selector || "**", fn ); - }, - - trigger: function( type, data ) { - return this.each(function() { - jQuery.event.trigger( type, data, this ); - }); - }, - triggerHandler: function( type, data ) { - if ( this[0] ) { - return jQuery.event.trigger( type, data, this[0], true ); - } - }, - - toggle: function( fn ) { - // Save reference to arguments for access in closure - var args = arguments, - guid = fn.guid || jQuery.guid++, - i = 0, - toggler = function( event ) { - // Figure out which function to execute - var lastToggle = ( jQuery._data( this, "lastToggle" + fn.guid ) || 0 ) % i; - jQuery._data( this, "lastToggle" + fn.guid, lastToggle + 1 ); - - // Make sure that clicks stop - event.preventDefault(); - - // and execute the function - return args[ lastToggle ].apply( this, arguments ) || false; - }; - - // link all the functions, so any of them can unbind this click handler - toggler.guid = guid; - while ( i < args.length ) { - args[ i++ ].guid = guid; - } - - return this.click( toggler ); - }, - - hover: function( fnOver, fnOut ) { - return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver ); - } -}); - -jQuery.each( ("blur focus focusin focusout load resize scroll unload click dblclick " + - "mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave " + - "change select submit keydown keypress keyup error contextmenu").split(" "), function( i, name ) { - - // Handle event binding - jQuery.fn[ name ] = function( data, fn ) { - if ( fn == null ) { - fn = data; - data = null; - } - - return arguments.length > 0 ? - this.on( name, null, data, fn ) : - this.trigger( name ); - }; - - if ( rkeyEvent.test( name ) ) { - jQuery.event.fixHooks[ name ] = jQuery.event.keyHooks; - } - - if ( rmouseEvent.test( name ) ) { - jQuery.event.fixHooks[ name ] = jQuery.event.mouseHooks; - } -}); -/*! - * Sizzle CSS Selector Engine - * Copyright 2012 jQuery Foundation and other contributors - * Released under the MIT license - * http://sizzlejs.com/ - */ -(function( window, undefined ) { - -var cachedruns, - assertGetIdNotName, - Expr, - getText, - isXML, - contains, - compile, - sortOrder, - hasDuplicate, - outermostContext, - - baseHasDuplicate = true, - strundefined = "undefined", - - expando = ( "sizcache" + Math.random() ).replace( ".", "" ), - - Token = String, - document = window.document, - docElem = document.documentElement, - dirruns = 0, - done = 0, - pop = [].pop, - push = [].push, - slice = [].slice, - // Use a stripped-down indexOf if a native one is unavailable - indexOf = [].indexOf || function( elem ) { - var i = 0, - len = this.length; - for ( ; i < len; i++ ) { - if ( this[i] === elem ) { - return i; - } - } - return -1; - }, - - // Augment a function for special use by Sizzle - markFunction = function( fn, value ) { - fn[ expando ] = value == null || value; - return fn; - }, - - createCache = function() { - var cache = {}, - keys = []; - - return markFunction(function( key, value ) { - // Only keep the most recent entries - if ( keys.push( key ) > Expr.cacheLength ) { - delete cache[ keys.shift() ]; - } - - // Retrieve with (key + " ") to avoid collision with native Object.prototype properties (see Issue #157) - return (cache[ key + " " ] = value); - }, cache ); - }, - - classCache = createCache(), - tokenCache = createCache(), - compilerCache = createCache(), - - // Regex - - // Whitespace characters http://www.w3.org/TR/css3-selectors/#whitespace - whitespace = "[\\x20\\t\\r\\n\\f]", - // http://www.w3.org/TR/css3-syntax/#characters - characterEncoding = "(?:\\\\.|[-\\w]|[^\\x00-\\xa0])+", - - // Loosely modeled on CSS identifier characters - // An unquoted value should be a CSS identifier (http://www.w3.org/TR/css3-selectors/#attribute-selectors) - // Proper syntax: http://www.w3.org/TR/CSS21/syndata.html#value-def-identifier - identifier = characterEncoding.replace( "w", "w#" ), - - // Acceptable operators http://www.w3.org/TR/selectors/#attribute-selectors - operators = "([*^$|!~]?=)", - attributes = "\\[" + whitespace + "*(" + characterEncoding + ")" + whitespace + - "*(?:" + operators + whitespace + "*(?:(['\"])((?:\\\\.|[^\\\\])*?)\\3|(" + identifier + ")|)|)" + whitespace + "*\\]", - - // Prefer arguments not in parens/brackets, - // then attribute selectors and non-pseudos (denoted by :), - // then anything else - // These preferences are here to reduce the number of selectors - // needing tokenize in the PSEUDO preFilter - pseudos = ":(" + characterEncoding + ")(?:\\((?:(['\"])((?:\\\\.|[^\\\\])*?)\\2|([^()[\\]]*|(?:(?:" + attributes + ")|[^:]|\\\\.)*|.*))\\)|)", - - // For matchExpr.POS and matchExpr.needsContext - pos = ":(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + - "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", - - // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter - rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + whitespace + "+$", "g" ), - - rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), - rcombinators = new RegExp( "^" + whitespace + "*([\\x20\\t\\r\\n\\f>+~])" + whitespace + "*" ), - rpseudo = new RegExp( pseudos ), - - // Easily-parseable/retrievable ID or TAG or CLASS selectors - rquickExpr = /^(?:#([\w\-]+)|(\w+)|\.([\w\-]+))$/, - - rnot = /^:not/, - rsibling = /[\x20\t\r\n\f]*[+~]/, - rendsWithNot = /:not\($/, - - rheader = /h\d/i, - rinputs = /input|select|textarea|button/i, - - rbackslash = /\\(?!\\)/g, - - matchExpr = { - "ID": new RegExp( "^#(" + characterEncoding + ")" ), - "CLASS": new RegExp( "^\\.(" + characterEncoding + ")" ), - "NAME": new RegExp( "^\\[name=['\"]?(" + characterEncoding + ")['\"]?\\]" ), - "TAG": new RegExp( "^(" + characterEncoding.replace( "w", "w*" ) + ")" ), - "ATTR": new RegExp( "^" + attributes ), - "PSEUDO": new RegExp( "^" + pseudos ), - "POS": new RegExp( pos, "i" ), - "CHILD": new RegExp( "^:(only|nth|first|last)-child(?:\\(" + whitespace + - "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + whitespace + - "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), - // For use in libraries implementing .is() - "needsContext": new RegExp( "^" + whitespace + "*[>+~]|" + pos, "i" ) - }, - - // Support - - // Used for testing something on an element - assert = function( fn ) { - var div = document.createElement("div"); - - try { - return fn( div ); - } catch (e) { - return false; - } finally { - // release memory in IE - div = null; - } - }, - - // Check if getElementsByTagName("*") returns only elements - assertTagNameNoComments = assert(function( div ) { - div.appendChild( document.createComment("") ); - return !div.getElementsByTagName("*").length; - }), - - // Check if getAttribute returns normalized href attributes - assertHrefNotNormalized = assert(function( div ) { - div.innerHTML = ""; - return div.firstChild && typeof div.firstChild.getAttribute !== strundefined && - div.firstChild.getAttribute("href") === "#"; - }), - - // Check if attributes should be retrieved by attribute nodes - assertAttributes = assert(function( div ) { - div.innerHTML = ""; - var type = typeof div.lastChild.getAttribute("multiple"); - // IE8 returns a string for some attributes even when not present - return type !== "boolean" && type !== "string"; - }), - - // Check if getElementsByClassName can be trusted - assertUsableClassName = assert(function( div ) { - // Opera can't find a second classname (in 9.6) - div.innerHTML = ""; - if ( !div.getElementsByClassName || !div.getElementsByClassName("e").length ) { - return false; - } - - // Safari 3.2 caches class attributes and doesn't catch changes - div.lastChild.className = "e"; - return div.getElementsByClassName("e").length === 2; - }), - - // Check if getElementById returns elements by name - // Check if getElementsByName privileges form controls or returns elements by ID - assertUsableName = assert(function( div ) { - // Inject content - div.id = expando + 0; - div.innerHTML = "
"; - docElem.insertBefore( div, docElem.firstChild ); - - // Test - var pass = document.getElementsByName && - // buggy browsers will return fewer than the correct 2 - document.getElementsByName( expando ).length === 2 + - // buggy browsers will return more than the correct 0 - document.getElementsByName( expando + 0 ).length; - assertGetIdNotName = !document.getElementById( expando ); - - // Cleanup - docElem.removeChild( div ); - - return pass; - }); - -// If slice is not available, provide a backup -try { - slice.call( docElem.childNodes, 0 )[0].nodeType; -} catch ( e ) { - slice = function( i ) { - var elem, - results = []; - for ( ; (elem = this[i]); i++ ) { - results.push( elem ); - } - return results; - }; -} - -function Sizzle( selector, context, results, seed ) { - results = results || []; - context = context || document; - var match, elem, xml, m, - nodeType = context.nodeType; - - if ( !selector || typeof selector !== "string" ) { - return results; - } - - if ( nodeType !== 1 && nodeType !== 9 ) { - return []; - } - - xml = isXML( context ); - - if ( !xml && !seed ) { - if ( (match = rquickExpr.exec( selector )) ) { - // Speed-up: Sizzle("#ID") - if ( (m = match[1]) ) { - if ( nodeType === 9 ) { - elem = context.getElementById( m ); - // Check parentNode to catch when Blackberry 4.6 returns - // nodes that are no longer in the document #6963 - if ( elem && elem.parentNode ) { - // Handle the case where IE, Opera, and Webkit return items - // by name instead of ID - if ( elem.id === m ) { - results.push( elem ); - return results; - } - } else { - return results; - } - } else { - // Context is not a document - if ( context.ownerDocument && (elem = context.ownerDocument.getElementById( m )) && - contains( context, elem ) && elem.id === m ) { - results.push( elem ); - return results; - } - } - - // Speed-up: Sizzle("TAG") - } else if ( match[2] ) { - push.apply( results, slice.call(context.getElementsByTagName( selector ), 0) ); - return results; - - // Speed-up: Sizzle(".CLASS") - } else if ( (m = match[3]) && assertUsableClassName && context.getElementsByClassName ) { - push.apply( results, slice.call(context.getElementsByClassName( m ), 0) ); - return results; - } - } - } - - // All others - return select( selector.replace( rtrim, "$1" ), context, results, seed, xml ); -} - -Sizzle.matches = function( expr, elements ) { - return Sizzle( expr, null, null, elements ); -}; - -Sizzle.matchesSelector = function( elem, expr ) { - return Sizzle( expr, null, null, [ elem ] ).length > 0; -}; - -// Returns a function to use in pseudos for input types -function createInputPseudo( type ) { - return function( elem ) { - var name = elem.nodeName.toLowerCase(); - return name === "input" && elem.type === type; - }; -} - -// Returns a function to use in pseudos for buttons -function createButtonPseudo( type ) { - return function( elem ) { - var name = elem.nodeName.toLowerCase(); - return (name === "input" || name === "button") && elem.type === type; - }; -} - -// Returns a function to use in pseudos for positionals -function createPositionalPseudo( fn ) { - return markFunction(function( argument ) { - argument = +argument; - return markFunction(function( seed, matches ) { - var j, - matchIndexes = fn( [], seed.length, argument ), - i = matchIndexes.length; - - // Match elements found at the specified indexes - while ( i-- ) { - if ( seed[ (j = matchIndexes[i]) ] ) { - seed[j] = !(matches[j] = seed[j]); - } - } - }); - }); -} - -/** - * Utility function for retrieving the text value of an array of DOM nodes - * @param {Array|Element} elem - */ -getText = Sizzle.getText = function( elem ) { - var node, - ret = "", - i = 0, - nodeType = elem.nodeType; - - if ( nodeType ) { - if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { - // Use textContent for elements - // innerText usage removed for consistency of new lines (see #11153) - if ( typeof elem.textContent === "string" ) { - return elem.textContent; - } else { - // Traverse its children - for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { - ret += getText( elem ); - } - } - } else if ( nodeType === 3 || nodeType === 4 ) { - return elem.nodeValue; - } - // Do not include comment or processing instruction nodes - } else { - - // If no nodeType, this is expected to be an array - for ( ; (node = elem[i]); i++ ) { - // Do not traverse comment nodes - ret += getText( node ); - } - } - return ret; -}; - -isXML = Sizzle.isXML = function( elem ) { - // documentElement is verified for cases where it doesn't yet exist - // (such as loading iframes in IE - #4833) - var documentElement = elem && (elem.ownerDocument || elem).documentElement; - return documentElement ? documentElement.nodeName !== "HTML" : false; -}; - -// Element contains another -contains = Sizzle.contains = docElem.contains ? - function( a, b ) { - var adown = a.nodeType === 9 ? a.documentElement : a, - bup = b && b.parentNode; - return a === bup || !!( bup && bup.nodeType === 1 && adown.contains && adown.contains(bup) ); - } : - docElem.compareDocumentPosition ? - function( a, b ) { - return b && !!( a.compareDocumentPosition( b ) & 16 ); - } : - function( a, b ) { - while ( (b = b.parentNode) ) { - if ( b === a ) { - return true; - } - } - return false; - }; - -Sizzle.attr = function( elem, name ) { - var val, - xml = isXML( elem ); - - if ( !xml ) { - name = name.toLowerCase(); - } - if ( (val = Expr.attrHandle[ name ]) ) { - return val( elem ); - } - if ( xml || assertAttributes ) { - return elem.getAttribute( name ); - } - val = elem.getAttributeNode( name ); - return val ? - typeof elem[ name ] === "boolean" ? - elem[ name ] ? name : null : - val.specified ? val.value : null : - null; -}; - -Expr = Sizzle.selectors = { - - // Can be adjusted by the user - cacheLength: 50, - - createPseudo: markFunction, - - match: matchExpr, - - // IE6/7 return a modified href - attrHandle: assertHrefNotNormalized ? - {} : - { - "href": function( elem ) { - return elem.getAttribute( "href", 2 ); - }, - "type": function( elem ) { - return elem.getAttribute("type"); - } - }, - - find: { - "ID": assertGetIdNotName ? - function( id, context, xml ) { - if ( typeof context.getElementById !== strundefined && !xml ) { - var m = context.getElementById( id ); - // Check parentNode to catch when Blackberry 4.6 returns - // nodes that are no longer in the document #6963 - return m && m.parentNode ? [m] : []; - } - } : - function( id, context, xml ) { - if ( typeof context.getElementById !== strundefined && !xml ) { - var m = context.getElementById( id ); - - return m ? - m.id === id || typeof m.getAttributeNode !== strundefined && m.getAttributeNode("id").value === id ? - [m] : - undefined : - []; - } - }, - - "TAG": assertTagNameNoComments ? - function( tag, context ) { - if ( typeof context.getElementsByTagName !== strundefined ) { - return context.getElementsByTagName( tag ); - } - } : - function( tag, context ) { - var results = context.getElementsByTagName( tag ); - - // Filter out possible comments - if ( tag === "*" ) { - var elem, - tmp = [], - i = 0; - - for ( ; (elem = results[i]); i++ ) { - if ( elem.nodeType === 1 ) { - tmp.push( elem ); - } - } - - return tmp; - } - return results; - }, - - "NAME": assertUsableName && function( tag, context ) { - if ( typeof context.getElementsByName !== strundefined ) { - return context.getElementsByName( name ); - } - }, - - "CLASS": assertUsableClassName && function( className, context, xml ) { - if ( typeof context.getElementsByClassName !== strundefined && !xml ) { - return context.getElementsByClassName( className ); - } - } - }, - - relative: { - ">": { dir: "parentNode", first: true }, - " ": { dir: "parentNode" }, - "+": { dir: "previousSibling", first: true }, - "~": { dir: "previousSibling" } - }, - - preFilter: { - "ATTR": function( match ) { - match[1] = match[1].replace( rbackslash, "" ); - - // Move the given value to match[3] whether quoted or unquoted - match[3] = ( match[4] || match[5] || "" ).replace( rbackslash, "" ); - - if ( match[2] === "~=" ) { - match[3] = " " + match[3] + " "; - } - - return match.slice( 0, 4 ); - }, - - "CHILD": function( match ) { - /* matches from matchExpr["CHILD"] - 1 type (only|nth|...) - 2 argument (even|odd|\d*|\d*n([+-]\d+)?|...) - 3 xn-component of xn+y argument ([+-]?\d*n|) - 4 sign of xn-component - 5 x of xn-component - 6 sign of y-component - 7 y of y-component - */ - match[1] = match[1].toLowerCase(); - - if ( match[1] === "nth" ) { - // nth-child requires argument - if ( !match[2] ) { - Sizzle.error( match[0] ); - } - - // numeric x and y parameters for Expr.filter.CHILD - // remember that false/true cast respectively to 0/1 - match[3] = +( match[3] ? match[4] + (match[5] || 1) : 2 * ( match[2] === "even" || match[2] === "odd" ) ); - match[4] = +( ( match[6] + match[7] ) || match[2] === "odd" ); - - // other types prohibit arguments - } else if ( match[2] ) { - Sizzle.error( match[0] ); - } - - return match; - }, - - "PSEUDO": function( match ) { - var unquoted, excess; - if ( matchExpr["CHILD"].test( match[0] ) ) { - return null; - } - - if ( match[3] ) { - match[2] = match[3]; - } else if ( (unquoted = match[4]) ) { - // Only check arguments that contain a pseudo - if ( rpseudo.test(unquoted) && - // Get excess from tokenize (recursively) - (excess = tokenize( unquoted, true )) && - // advance to the next closing parenthesis - (excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length) ) { - - // excess is a negative index - unquoted = unquoted.slice( 0, excess ); - match[0] = match[0].slice( 0, excess ); - } - match[2] = unquoted; - } - - // Return only captures needed by the pseudo filter method (type and argument) - return match.slice( 0, 3 ); - } - }, - - filter: { - "ID": assertGetIdNotName ? - function( id ) { - id = id.replace( rbackslash, "" ); - return function( elem ) { - return elem.getAttribute("id") === id; - }; - } : - function( id ) { - id = id.replace( rbackslash, "" ); - return function( elem ) { - var node = typeof elem.getAttributeNode !== strundefined && elem.getAttributeNode("id"); - return node && node.value === id; - }; - }, - - "TAG": function( nodeName ) { - if ( nodeName === "*" ) { - return function() { return true; }; - } - nodeName = nodeName.replace( rbackslash, "" ).toLowerCase(); - - return function( elem ) { - return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; - }; - }, - - "CLASS": function( className ) { - var pattern = classCache[ expando ][ className + " " ]; - - return pattern || - (pattern = new RegExp( "(^|" + whitespace + ")" + className + "(" + whitespace + "|$)" )) && - classCache( className, function( elem ) { - return pattern.test( elem.className || (typeof elem.getAttribute !== strundefined && elem.getAttribute("class")) || "" ); - }); - }, - - "ATTR": function( name, operator, check ) { - return function( elem, context ) { - var result = Sizzle.attr( elem, name ); - - if ( result == null ) { - return operator === "!="; - } - if ( !operator ) { - return true; - } - - result += ""; - - return operator === "=" ? result === check : - operator === "!=" ? result !== check : - operator === "^=" ? check && result.indexOf( check ) === 0 : - operator === "*=" ? check && result.indexOf( check ) > -1 : - operator === "$=" ? check && result.substr( result.length - check.length ) === check : - operator === "~=" ? ( " " + result + " " ).indexOf( check ) > -1 : - operator === "|=" ? result === check || result.substr( 0, check.length + 1 ) === check + "-" : - false; - }; - }, - - "CHILD": function( type, argument, first, last ) { - - if ( type === "nth" ) { - return function( elem ) { - var node, diff, - parent = elem.parentNode; - - if ( first === 1 && last === 0 ) { - return true; - } - - if ( parent ) { - diff = 0; - for ( node = parent.firstChild; node; node = node.nextSibling ) { - if ( node.nodeType === 1 ) { - diff++; - if ( elem === node ) { - break; - } - } - } - } - - // Incorporate the offset (or cast to NaN), then check against cycle size - diff -= last; - return diff === first || ( diff % first === 0 && diff / first >= 0 ); - }; - } - - return function( elem ) { - var node = elem; - - switch ( type ) { - case "only": - case "first": - while ( (node = node.previousSibling) ) { - if ( node.nodeType === 1 ) { - return false; - } - } - - if ( type === "first" ) { - return true; - } - - node = elem; - - /* falls through */ - case "last": - while ( (node = node.nextSibling) ) { - if ( node.nodeType === 1 ) { - return false; - } - } - - return true; - } - }; - }, - - "PSEUDO": function( pseudo, argument ) { - // pseudo-class names are case-insensitive - // http://www.w3.org/TR/selectors/#pseudo-classes - // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters - // Remember that setFilters inherits from pseudos - var args, - fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || - Sizzle.error( "unsupported pseudo: " + pseudo ); - - // The user may use createPseudo to indicate that - // arguments are needed to create the filter function - // just as Sizzle does - if ( fn[ expando ] ) { - return fn( argument ); - } - - // But maintain support for old signatures - if ( fn.length > 1 ) { - args = [ pseudo, pseudo, "", argument ]; - return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? - markFunction(function( seed, matches ) { - var idx, - matched = fn( seed, argument ), - i = matched.length; - while ( i-- ) { - idx = indexOf.call( seed, matched[i] ); - seed[ idx ] = !( matches[ idx ] = matched[i] ); - } - }) : - function( elem ) { - return fn( elem, 0, args ); - }; - } - - return fn; - } - }, - - pseudos: { - "not": markFunction(function( selector ) { - // Trim the selector passed to compile - // to avoid treating leading and trailing - // spaces as combinators - var input = [], - results = [], - matcher = compile( selector.replace( rtrim, "$1" ) ); - - return matcher[ expando ] ? - markFunction(function( seed, matches, context, xml ) { - var elem, - unmatched = matcher( seed, null, xml, [] ), - i = seed.length; - - // Match elements unmatched by `matcher` - while ( i-- ) { - if ( (elem = unmatched[i]) ) { - seed[i] = !(matches[i] = elem); - } - } - }) : - function( elem, context, xml ) { - input[0] = elem; - matcher( input, null, xml, results ); - return !results.pop(); - }; - }), - - "has": markFunction(function( selector ) { - return function( elem ) { - return Sizzle( selector, elem ).length > 0; - }; - }), - - "contains": markFunction(function( text ) { - return function( elem ) { - return ( elem.textContent || elem.innerText || getText( elem ) ).indexOf( text ) > -1; - }; - }), - - "enabled": function( elem ) { - return elem.disabled === false; - }, - - "disabled": function( elem ) { - return elem.disabled === true; - }, - - "checked": function( elem ) { - // In CSS3, :checked should return both checked and selected elements - // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked - var nodeName = elem.nodeName.toLowerCase(); - return (nodeName === "input" && !!elem.checked) || (nodeName === "option" && !!elem.selected); - }, - - "selected": function( elem ) { - // Accessing this property makes selected-by-default - // options in Safari work properly - if ( elem.parentNode ) { - elem.parentNode.selectedIndex; - } - - return elem.selected === true; - }, - - "parent": function( elem ) { - return !Expr.pseudos["empty"]( elem ); - }, - - "empty": function( elem ) { - // http://www.w3.org/TR/selectors/#empty-pseudo - // :empty is only affected by element nodes and content nodes(including text(3), cdata(4)), - // not comment, processing instructions, or others - // Thanks to Diego Perini for the nodeName shortcut - // Greater than "@" means alpha characters (specifically not starting with "#" or "?") - var nodeType; - elem = elem.firstChild; - while ( elem ) { - if ( elem.nodeName > "@" || (nodeType = elem.nodeType) === 3 || nodeType === 4 ) { - return false; - } - elem = elem.nextSibling; - } - return true; - }, - - "header": function( elem ) { - return rheader.test( elem.nodeName ); - }, - - "text": function( elem ) { - var type, attr; - // IE6 and 7 will map elem.type to 'text' for new HTML5 types (search, etc) - // use getAttribute instead to test this case - return elem.nodeName.toLowerCase() === "input" && - (type = elem.type) === "text" && - ( (attr = elem.getAttribute("type")) == null || attr.toLowerCase() === type ); - }, - - // Input types - "radio": createInputPseudo("radio"), - "checkbox": createInputPseudo("checkbox"), - "file": createInputPseudo("file"), - "password": createInputPseudo("password"), - "image": createInputPseudo("image"), - - "submit": createButtonPseudo("submit"), - "reset": createButtonPseudo("reset"), - - "button": function( elem ) { - var name = elem.nodeName.toLowerCase(); - return name === "input" && elem.type === "button" || name === "button"; - }, - - "input": function( elem ) { - return rinputs.test( elem.nodeName ); - }, - - "focus": function( elem ) { - var doc = elem.ownerDocument; - return elem === doc.activeElement && (!doc.hasFocus || doc.hasFocus()) && !!(elem.type || elem.href || ~elem.tabIndex); - }, - - "active": function( elem ) { - return elem === elem.ownerDocument.activeElement; - }, - - // Positional types - "first": createPositionalPseudo(function() { - return [ 0 ]; - }), - - "last": createPositionalPseudo(function( matchIndexes, length ) { - return [ length - 1 ]; - }), - - "eq": createPositionalPseudo(function( matchIndexes, length, argument ) { - return [ argument < 0 ? argument + length : argument ]; - }), - - "even": createPositionalPseudo(function( matchIndexes, length ) { - for ( var i = 0; i < length; i += 2 ) { - matchIndexes.push( i ); - } - return matchIndexes; - }), - - "odd": createPositionalPseudo(function( matchIndexes, length ) { - for ( var i = 1; i < length; i += 2 ) { - matchIndexes.push( i ); - } - return matchIndexes; - }), - - "lt": createPositionalPseudo(function( matchIndexes, length, argument ) { - for ( var i = argument < 0 ? argument + length : argument; --i >= 0; ) { - matchIndexes.push( i ); - } - return matchIndexes; - }), - - "gt": createPositionalPseudo(function( matchIndexes, length, argument ) { - for ( var i = argument < 0 ? argument + length : argument; ++i < length; ) { - matchIndexes.push( i ); - } - return matchIndexes; - }) - } -}; - -function siblingCheck( a, b, ret ) { - if ( a === b ) { - return ret; - } - - var cur = a.nextSibling; - - while ( cur ) { - if ( cur === b ) { - return -1; - } - - cur = cur.nextSibling; - } - - return 1; -} - -sortOrder = docElem.compareDocumentPosition ? - function( a, b ) { - if ( a === b ) { - hasDuplicate = true; - return 0; - } - - return ( !a.compareDocumentPosition || !b.compareDocumentPosition ? - a.compareDocumentPosition : - a.compareDocumentPosition(b) & 4 - ) ? -1 : 1; - } : - function( a, b ) { - // The nodes are identical, we can exit early - if ( a === b ) { - hasDuplicate = true; - return 0; - - // Fallback to using sourceIndex (in IE) if it's available on both nodes - } else if ( a.sourceIndex && b.sourceIndex ) { - return a.sourceIndex - b.sourceIndex; - } - - var al, bl, - ap = [], - bp = [], - aup = a.parentNode, - bup = b.parentNode, - cur = aup; - - // If the nodes are siblings (or identical) we can do a quick check - if ( aup === bup ) { - return siblingCheck( a, b ); - - // If no parents were found then the nodes are disconnected - } else if ( !aup ) { - return -1; - - } else if ( !bup ) { - return 1; - } - - // Otherwise they're somewhere else in the tree so we need - // to build up a full list of the parentNodes for comparison - while ( cur ) { - ap.unshift( cur ); - cur = cur.parentNode; - } - - cur = bup; - - while ( cur ) { - bp.unshift( cur ); - cur = cur.parentNode; - } - - al = ap.length; - bl = bp.length; - - // Start walking down the tree looking for a discrepancy - for ( var i = 0; i < al && i < bl; i++ ) { - if ( ap[i] !== bp[i] ) { - return siblingCheck( ap[i], bp[i] ); - } - } - - // We ended someplace up the tree so do a sibling check - return i === al ? - siblingCheck( a, bp[i], -1 ) : - siblingCheck( ap[i], b, 1 ); - }; - -// Always assume the presence of duplicates if sort doesn't -// pass them to our comparison function (as in Google Chrome). -[0, 0].sort( sortOrder ); -baseHasDuplicate = !hasDuplicate; - -// Document sorting and removing duplicates -Sizzle.uniqueSort = function( results ) { - var elem, - duplicates = [], - i = 1, - j = 0; - - hasDuplicate = baseHasDuplicate; - results.sort( sortOrder ); - - if ( hasDuplicate ) { - for ( ; (elem = results[i]); i++ ) { - if ( elem === results[ i - 1 ] ) { - j = duplicates.push( i ); - } - } - while ( j-- ) { - results.splice( duplicates[ j ], 1 ); - } - } - - return results; -}; - -Sizzle.error = function( msg ) { - throw new Error( "Syntax error, unrecognized expression: " + msg ); -}; - -function tokenize( selector, parseOnly ) { - var matched, match, tokens, type, - soFar, groups, preFilters, - cached = tokenCache[ expando ][ selector + " " ]; - - if ( cached ) { - return parseOnly ? 0 : cached.slice( 0 ); - } - - soFar = selector; - groups = []; - preFilters = Expr.preFilter; - - while ( soFar ) { - - // Comma and first run - if ( !matched || (match = rcomma.exec( soFar )) ) { - if ( match ) { - // Don't consume trailing commas as valid - soFar = soFar.slice( match[0].length ) || soFar; - } - groups.push( tokens = [] ); - } - - matched = false; - - // Combinators - if ( (match = rcombinators.exec( soFar )) ) { - tokens.push( matched = new Token( match.shift() ) ); - soFar = soFar.slice( matched.length ); - - // Cast descendant combinators to space - matched.type = match[0].replace( rtrim, " " ); - } - - // Filters - for ( type in Expr.filter ) { - if ( (match = matchExpr[ type ].exec( soFar )) && (!preFilters[ type ] || - (match = preFilters[ type ]( match ))) ) { - - tokens.push( matched = new Token( match.shift() ) ); - soFar = soFar.slice( matched.length ); - matched.type = type; - matched.matches = match; - } - } - - if ( !matched ) { - break; - } - } - - // Return the length of the invalid excess - // if we're just parsing - // Otherwise, throw an error or return tokens - return parseOnly ? - soFar.length : - soFar ? - Sizzle.error( selector ) : - // Cache the tokens - tokenCache( selector, groups ).slice( 0 ); -} - -function addCombinator( matcher, combinator, base ) { - var dir = combinator.dir, - checkNonElements = base && combinator.dir === "parentNode", - doneName = done++; - - return combinator.first ? - // Check against closest ancestor/preceding element - function( elem, context, xml ) { - while ( (elem = elem[ dir ]) ) { - if ( checkNonElements || elem.nodeType === 1 ) { - return matcher( elem, context, xml ); - } - } - } : - - // Check against all ancestor/preceding elements - function( elem, context, xml ) { - // We can't set arbitrary data on XML nodes, so they don't benefit from dir caching - if ( !xml ) { - var cache, - dirkey = dirruns + " " + doneName + " ", - cachedkey = dirkey + cachedruns; - while ( (elem = elem[ dir ]) ) { - if ( checkNonElements || elem.nodeType === 1 ) { - if ( (cache = elem[ expando ]) === cachedkey ) { - return elem.sizset; - } else if ( typeof cache === "string" && cache.indexOf(dirkey) === 0 ) { - if ( elem.sizset ) { - return elem; - } - } else { - elem[ expando ] = cachedkey; - if ( matcher( elem, context, xml ) ) { - elem.sizset = true; - return elem; - } - elem.sizset = false; - } - } - } - } else { - while ( (elem = elem[ dir ]) ) { - if ( checkNonElements || elem.nodeType === 1 ) { - if ( matcher( elem, context, xml ) ) { - return elem; - } - } - } - } - }; -} - -function elementMatcher( matchers ) { - return matchers.length > 1 ? - function( elem, context, xml ) { - var i = matchers.length; - while ( i-- ) { - if ( !matchers[i]( elem, context, xml ) ) { - return false; - } - } - return true; - } : - matchers[0]; -} - -function condense( unmatched, map, filter, context, xml ) { - var elem, - newUnmatched = [], - i = 0, - len = unmatched.length, - mapped = map != null; - - for ( ; i < len; i++ ) { - if ( (elem = unmatched[i]) ) { - if ( !filter || filter( elem, context, xml ) ) { - newUnmatched.push( elem ); - if ( mapped ) { - map.push( i ); - } - } - } - } - - return newUnmatched; -} - -function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { - if ( postFilter && !postFilter[ expando ] ) { - postFilter = setMatcher( postFilter ); - } - if ( postFinder && !postFinder[ expando ] ) { - postFinder = setMatcher( postFinder, postSelector ); - } - return markFunction(function( seed, results, context, xml ) { - var temp, i, elem, - preMap = [], - postMap = [], - preexisting = results.length, - - // Get initial elements from seed or context - elems = seed || multipleContexts( selector || "*", context.nodeType ? [ context ] : context, [] ), - - // Prefilter to get matcher input, preserving a map for seed-results synchronization - matcherIn = preFilter && ( seed || !selector ) ? - condense( elems, preMap, preFilter, context, xml ) : - elems, - - matcherOut = matcher ? - // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, - postFinder || ( seed ? preFilter : preexisting || postFilter ) ? - - // ...intermediate processing is necessary - [] : - - // ...otherwise use results directly - results : - matcherIn; - - // Find primary matches - if ( matcher ) { - matcher( matcherIn, matcherOut, context, xml ); - } - - // Apply postFilter - if ( postFilter ) { - temp = condense( matcherOut, postMap ); - postFilter( temp, [], context, xml ); - - // Un-match failing elements by moving them back to matcherIn - i = temp.length; - while ( i-- ) { - if ( (elem = temp[i]) ) { - matcherOut[ postMap[i] ] = !(matcherIn[ postMap[i] ] = elem); - } - } - } - - if ( seed ) { - if ( postFinder || preFilter ) { - if ( postFinder ) { - // Get the final matcherOut by condensing this intermediate into postFinder contexts - temp = []; - i = matcherOut.length; - while ( i-- ) { - if ( (elem = matcherOut[i]) ) { - // Restore matcherIn since elem is not yet a final match - temp.push( (matcherIn[i] = elem) ); - } - } - postFinder( null, (matcherOut = []), temp, xml ); - } - - // Move matched elements from seed to results to keep them synchronized - i = matcherOut.length; - while ( i-- ) { - if ( (elem = matcherOut[i]) && - (temp = postFinder ? indexOf.call( seed, elem ) : preMap[i]) > -1 ) { - - seed[temp] = !(results[temp] = elem); - } - } - } - - // Add elements to results, through postFinder if defined - } else { - matcherOut = condense( - matcherOut === results ? - matcherOut.splice( preexisting, matcherOut.length ) : - matcherOut - ); - if ( postFinder ) { - postFinder( null, results, matcherOut, xml ); - } else { - push.apply( results, matcherOut ); - } - } - }); -} - -function matcherFromTokens( tokens ) { - var checkContext, matcher, j, - len = tokens.length, - leadingRelative = Expr.relative[ tokens[0].type ], - implicitRelative = leadingRelative || Expr.relative[" "], - i = leadingRelative ? 1 : 0, - - // The foundational matcher ensures that elements are reachable from top-level context(s) - matchContext = addCombinator( function( elem ) { - return elem === checkContext; - }, implicitRelative, true ), - matchAnyContext = addCombinator( function( elem ) { - return indexOf.call( checkContext, elem ) > -1; - }, implicitRelative, true ), - matchers = [ function( elem, context, xml ) { - return ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( - (checkContext = context).nodeType ? - matchContext( elem, context, xml ) : - matchAnyContext( elem, context, xml ) ); - } ]; - - for ( ; i < len; i++ ) { - if ( (matcher = Expr.relative[ tokens[i].type ]) ) { - matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; - } else { - matcher = Expr.filter[ tokens[i].type ].apply( null, tokens[i].matches ); - - // Return special upon seeing a positional matcher - if ( matcher[ expando ] ) { - // Find the next relative operator (if any) for proper handling - j = ++i; - for ( ; j < len; j++ ) { - if ( Expr.relative[ tokens[j].type ] ) { - break; - } - } - return setMatcher( - i > 1 && elementMatcher( matchers ), - i > 1 && tokens.slice( 0, i - 1 ).join("").replace( rtrim, "$1" ), - matcher, - i < j && matcherFromTokens( tokens.slice( i, j ) ), - j < len && matcherFromTokens( (tokens = tokens.slice( j )) ), - j < len && tokens.join("") - ); - } - matchers.push( matcher ); - } - } - - return elementMatcher( matchers ); -} - -function matcherFromGroupMatchers( elementMatchers, setMatchers ) { - var bySet = setMatchers.length > 0, - byElement = elementMatchers.length > 0, - superMatcher = function( seed, context, xml, results, expandContext ) { - var elem, j, matcher, - setMatched = [], - matchedCount = 0, - i = "0", - unmatched = seed && [], - outermost = expandContext != null, - contextBackup = outermostContext, - // We must always have either seed elements or context - elems = seed || byElement && Expr.find["TAG"]( "*", expandContext && context.parentNode || context ), - // Nested matchers should use non-integer dirruns - dirrunsUnique = (dirruns += contextBackup == null ? 1 : Math.E); - - if ( outermost ) { - outermostContext = context !== document && context; - cachedruns = superMatcher.el; - } - - // Add elements passing elementMatchers directly to results - for ( ; (elem = elems[i]) != null; i++ ) { - if ( byElement && elem ) { - for ( j = 0; (matcher = elementMatchers[j]); j++ ) { - if ( matcher( elem, context, xml ) ) { - results.push( elem ); - break; - } - } - if ( outermost ) { - dirruns = dirrunsUnique; - cachedruns = ++superMatcher.el; - } - } - - // Track unmatched elements for set filters - if ( bySet ) { - // They will have gone through all possible matchers - if ( (elem = !matcher && elem) ) { - matchedCount--; - } - - // Lengthen the array for every element, matched or not - if ( seed ) { - unmatched.push( elem ); - } - } - } - - // Apply set filters to unmatched elements - matchedCount += i; - if ( bySet && i !== matchedCount ) { - for ( j = 0; (matcher = setMatchers[j]); j++ ) { - matcher( unmatched, setMatched, context, xml ); - } - - if ( seed ) { - // Reintegrate element matches to eliminate the need for sorting - if ( matchedCount > 0 ) { - while ( i-- ) { - if ( !(unmatched[i] || setMatched[i]) ) { - setMatched[i] = pop.call( results ); - } - } - } - - // Discard index placeholder values to get only actual matches - setMatched = condense( setMatched ); - } - - // Add matches to results - push.apply( results, setMatched ); - - // Seedless set matches succeeding multiple successful matchers stipulate sorting - if ( outermost && !seed && setMatched.length > 0 && - ( matchedCount + setMatchers.length ) > 1 ) { - - Sizzle.uniqueSort( results ); - } - } - - // Override manipulation of globals by nested matchers - if ( outermost ) { - dirruns = dirrunsUnique; - outermostContext = contextBackup; - } - - return unmatched; - }; - - superMatcher.el = 0; - return bySet ? - markFunction( superMatcher ) : - superMatcher; -} - -compile = Sizzle.compile = function( selector, group /* Internal Use Only */ ) { - var i, - setMatchers = [], - elementMatchers = [], - cached = compilerCache[ expando ][ selector + " " ]; - - if ( !cached ) { - // Generate a function of recursive functions that can be used to check each element - if ( !group ) { - group = tokenize( selector ); - } - i = group.length; - while ( i-- ) { - cached = matcherFromTokens( group[i] ); - if ( cached[ expando ] ) { - setMatchers.push( cached ); - } else { - elementMatchers.push( cached ); - } - } - - // Cache the compiled function - cached = compilerCache( selector, matcherFromGroupMatchers( elementMatchers, setMatchers ) ); - } - return cached; -}; - -function multipleContexts( selector, contexts, results ) { - var i = 0, - len = contexts.length; - for ( ; i < len; i++ ) { - Sizzle( selector, contexts[i], results ); - } - return results; -} - -function select( selector, context, results, seed, xml ) { - var i, tokens, token, type, find, - match = tokenize( selector ), - j = match.length; - - if ( !seed ) { - // Try to minimize operations if there is only one group - if ( match.length === 1 ) { - - // Take a shortcut and set the context if the root selector is an ID - tokens = match[0] = match[0].slice( 0 ); - if ( tokens.length > 2 && (token = tokens[0]).type === "ID" && - context.nodeType === 9 && !xml && - Expr.relative[ tokens[1].type ] ) { - - context = Expr.find["ID"]( token.matches[0].replace( rbackslash, "" ), context, xml )[0]; - if ( !context ) { - return results; - } - - selector = selector.slice( tokens.shift().length ); - } - - // Fetch a seed set for right-to-left matching - for ( i = matchExpr["POS"].test( selector ) ? -1 : tokens.length - 1; i >= 0; i-- ) { - token = tokens[i]; - - // Abort if we hit a combinator - if ( Expr.relative[ (type = token.type) ] ) { - break; - } - if ( (find = Expr.find[ type ]) ) { - // Search, expanding context for leading sibling combinators - if ( (seed = find( - token.matches[0].replace( rbackslash, "" ), - rsibling.test( tokens[0].type ) && context.parentNode || context, - xml - )) ) { - - // If seed is empty or no tokens remain, we can return early - tokens.splice( i, 1 ); - selector = seed.length && tokens.join(""); - if ( !selector ) { - push.apply( results, slice.call( seed, 0 ) ); - return results; - } - - break; - } - } - } - } - } - - // Compile and execute a filtering function - // Provide `match` to avoid retokenization if we modified the selector above - compile( selector, match )( - seed, - context, - xml, - results, - rsibling.test( selector ) - ); - return results; -} - -if ( document.querySelectorAll ) { - (function() { - var disconnectedMatch, - oldSelect = select, - rescape = /'|\\/g, - rattributeQuotes = /\=[\x20\t\r\n\f]*([^'"\]]*)[\x20\t\r\n\f]*\]/g, - - // qSa(:focus) reports false when true (Chrome 21), no need to also add to buggyMatches since matches checks buggyQSA - // A support test would require too much code (would include document ready) - rbuggyQSA = [ ":focus" ], - - // matchesSelector(:active) reports false when true (IE9/Opera 11.5) - // A support test would require too much code (would include document ready) - // just skip matchesSelector for :active - rbuggyMatches = [ ":active" ], - matches = docElem.matchesSelector || - docElem.mozMatchesSelector || - docElem.webkitMatchesSelector || - docElem.oMatchesSelector || - docElem.msMatchesSelector; - - // Build QSA regex - // Regex strategy adopted from Diego Perini - assert(function( div ) { - // Select is set to empty string on purpose - // This is to test IE's treatment of not explictly - // setting a boolean content attribute, - // since its presence should be enough - // http://bugs.jquery.com/ticket/12359 - div.innerHTML = ""; - - // IE8 - Some boolean attributes are not treated correctly - if ( !div.querySelectorAll("[selected]").length ) { - rbuggyQSA.push( "\\[" + whitespace + "*(?:checked|disabled|ismap|multiple|readonly|selected|value)" ); - } - - // Webkit/Opera - :checked should return selected option elements - // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked - // IE8 throws error here (do not put tests after this one) - if ( !div.querySelectorAll(":checked").length ) { - rbuggyQSA.push(":checked"); - } - }); - - assert(function( div ) { - - // Opera 10-12/IE9 - ^= $= *= and empty values - // Should not select anything - div.innerHTML = "

"; - if ( div.querySelectorAll("[test^='']").length ) { - rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:\"\"|'')" ); - } - - // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) - // IE8 throws error here (do not put tests after this one) - div.innerHTML = ""; - if ( !div.querySelectorAll(":enabled").length ) { - rbuggyQSA.push(":enabled", ":disabled"); - } - }); - - // rbuggyQSA always contains :focus, so no need for a length check - rbuggyQSA = /* rbuggyQSA.length && */ new RegExp( rbuggyQSA.join("|") ); - - select = function( selector, context, results, seed, xml ) { - // Only use querySelectorAll when not filtering, - // when this is not xml, - // and when no QSA bugs apply - if ( !seed && !xml && !rbuggyQSA.test( selector ) ) { - var groups, i, - old = true, - nid = expando, - newContext = context, - newSelector = context.nodeType === 9 && selector; - - // qSA works strangely on Element-rooted queries - // We can work around this by specifying an extra ID on the root - // and working up from there (Thanks to Andrew Dupont for the technique) - // IE 8 doesn't work on object elements - if ( context.nodeType === 1 && context.nodeName.toLowerCase() !== "object" ) { - groups = tokenize( selector ); - - if ( (old = context.getAttribute("id")) ) { - nid = old.replace( rescape, "\\$&" ); - } else { - context.setAttribute( "id", nid ); - } - nid = "[id='" + nid + "'] "; - - i = groups.length; - while ( i-- ) { - groups[i] = nid + groups[i].join(""); - } - newContext = rsibling.test( selector ) && context.parentNode || context; - newSelector = groups.join(","); - } - - if ( newSelector ) { - try { - push.apply( results, slice.call( newContext.querySelectorAll( - newSelector - ), 0 ) ); - return results; - } catch(qsaError) { - } finally { - if ( !old ) { - context.removeAttribute("id"); - } - } - } - } - - return oldSelect( selector, context, results, seed, xml ); - }; - - if ( matches ) { - assert(function( div ) { - // Check to see if it's possible to do matchesSelector - // on a disconnected node (IE 9) - disconnectedMatch = matches.call( div, "div" ); - - // This should fail with an exception - // Gecko does not error, returns false instead - try { - matches.call( div, "[test!='']:sizzle" ); - rbuggyMatches.push( "!=", pseudos ); - } catch ( e ) {} - }); - - // rbuggyMatches always contains :active and :focus, so no need for a length check - rbuggyMatches = /* rbuggyMatches.length && */ new RegExp( rbuggyMatches.join("|") ); - - Sizzle.matchesSelector = function( elem, expr ) { - // Make sure that attribute selectors are quoted - expr = expr.replace( rattributeQuotes, "='$1']" ); - - // rbuggyMatches always contains :active, so no need for an existence check - if ( !isXML( elem ) && !rbuggyMatches.test( expr ) && !rbuggyQSA.test( expr ) ) { - try { - var ret = matches.call( elem, expr ); - - // IE 9's matchesSelector returns false on disconnected nodes - if ( ret || disconnectedMatch || - // As well, disconnected nodes are said to be in a document - // fragment in IE 9 - elem.document && elem.document.nodeType !== 11 ) { - return ret; - } - } catch(e) {} - } - - return Sizzle( expr, null, null, [ elem ] ).length > 0; - }; - } - })(); -} - -// Deprecated -Expr.pseudos["nth"] = Expr.pseudos["eq"]; - -// Back-compat -function setFilters() {} -Expr.filters = setFilters.prototype = Expr.pseudos; -Expr.setFilters = new setFilters(); - -// Override sizzle attribute retrieval -Sizzle.attr = jQuery.attr; -jQuery.find = Sizzle; -jQuery.expr = Sizzle.selectors; -jQuery.expr[":"] = jQuery.expr.pseudos; -jQuery.unique = Sizzle.uniqueSort; -jQuery.text = Sizzle.getText; -jQuery.isXMLDoc = Sizzle.isXML; -jQuery.contains = Sizzle.contains; - - -})( window ); -var runtil = /Until$/, - rparentsprev = /^(?:parents|prev(?:Until|All))/, - isSimple = /^.[^:#\[\.,]*$/, - rneedsContext = jQuery.expr.match.needsContext, - // methods guaranteed to produce a unique set when starting from a unique set - guaranteedUnique = { - children: true, - contents: true, - next: true, - prev: true - }; - -jQuery.fn.extend({ - find: function( selector ) { - var i, l, length, n, r, ret, - self = this; - - if ( typeof selector !== "string" ) { - return jQuery( selector ).filter(function() { - for ( i = 0, l = self.length; i < l; i++ ) { - if ( jQuery.contains( self[ i ], this ) ) { - return true; - } - } - }); - } - - ret = this.pushStack( "", "find", selector ); - - for ( i = 0, l = this.length; i < l; i++ ) { - length = ret.length; - jQuery.find( selector, this[i], ret ); - - if ( i > 0 ) { - // Make sure that the results are unique - for ( n = length; n < ret.length; n++ ) { - for ( r = 0; r < length; r++ ) { - if ( ret[r] === ret[n] ) { - ret.splice(n--, 1); - break; - } - } - } - } - } - - return ret; - }, - - has: function( target ) { - var i, - targets = jQuery( target, this ), - len = targets.length; - - return this.filter(function() { - for ( i = 0; i < len; i++ ) { - if ( jQuery.contains( this, targets[i] ) ) { - return true; - } - } - }); - }, - - not: function( selector ) { - return this.pushStack( winnow(this, selector, false), "not", selector); - }, - - filter: function( selector ) { - return this.pushStack( winnow(this, selector, true), "filter", selector ); - }, - - is: function( selector ) { - return !!selector && ( - typeof selector === "string" ? - // If this is a positional/relative selector, check membership in the returned set - // so $("p:first").is("p:last") won't return true for a doc with two "p". - rneedsContext.test( selector ) ? - jQuery( selector, this.context ).index( this[0] ) >= 0 : - jQuery.filter( selector, this ).length > 0 : - this.filter( selector ).length > 0 ); - }, - - closest: function( selectors, context ) { - var cur, - i = 0, - l = this.length, - ret = [], - pos = rneedsContext.test( selectors ) || typeof selectors !== "string" ? - jQuery( selectors, context || this.context ) : - 0; - - for ( ; i < l; i++ ) { - cur = this[i]; - - while ( cur && cur.ownerDocument && cur !== context && cur.nodeType !== 11 ) { - if ( pos ? pos.index(cur) > -1 : jQuery.find.matchesSelector(cur, selectors) ) { - ret.push( cur ); - break; - } - cur = cur.parentNode; - } - } - - ret = ret.length > 1 ? jQuery.unique( ret ) : ret; - - return this.pushStack( ret, "closest", selectors ); - }, - - // Determine the position of an element within - // the matched set of elements - index: function( elem ) { - - // No argument, return index in parent - if ( !elem ) { - return ( this[0] && this[0].parentNode ) ? this.prevAll().length : -1; - } - - // index in selector - if ( typeof elem === "string" ) { - return jQuery.inArray( this[0], jQuery( elem ) ); - } - - // Locate the position of the desired element - return jQuery.inArray( - // If it receives a jQuery object, the first element is used - elem.jquery ? elem[0] : elem, this ); - }, - - add: function( selector, context ) { - var set = typeof selector === "string" ? - jQuery( selector, context ) : - jQuery.makeArray( selector && selector.nodeType ? [ selector ] : selector ), - all = jQuery.merge( this.get(), set ); - - return this.pushStack( isDisconnected( set[0] ) || isDisconnected( all[0] ) ? - all : - jQuery.unique( all ) ); - }, - - addBack: function( selector ) { - return this.add( selector == null ? - this.prevObject : this.prevObject.filter(selector) - ); - } -}); - -jQuery.fn.andSelf = jQuery.fn.addBack; - -// A painfully simple check to see if an element is disconnected -// from a document (should be improved, where feasible). -function isDisconnected( node ) { - return !node || !node.parentNode || node.parentNode.nodeType === 11; -} - -function sibling( cur, dir ) { - do { - cur = cur[ dir ]; - } while ( cur && cur.nodeType !== 1 ); - - return cur; -} - -jQuery.each({ - parent: function( elem ) { - var parent = elem.parentNode; - return parent && parent.nodeType !== 11 ? parent : null; - }, - parents: function( elem ) { - return jQuery.dir( elem, "parentNode" ); - }, - parentsUntil: function( elem, i, until ) { - return jQuery.dir( elem, "parentNode", until ); - }, - next: function( elem ) { - return sibling( elem, "nextSibling" ); - }, - prev: function( elem ) { - return sibling( elem, "previousSibling" ); - }, - nextAll: function( elem ) { - return jQuery.dir( elem, "nextSibling" ); - }, - prevAll: function( elem ) { - return jQuery.dir( elem, "previousSibling" ); - }, - nextUntil: function( elem, i, until ) { - return jQuery.dir( elem, "nextSibling", until ); - }, - prevUntil: function( elem, i, until ) { - return jQuery.dir( elem, "previousSibling", until ); - }, - siblings: function( elem ) { - return jQuery.sibling( ( elem.parentNode || {} ).firstChild, elem ); - }, - children: function( elem ) { - return jQuery.sibling( elem.firstChild ); - }, - contents: function( elem ) { - return jQuery.nodeName( elem, "iframe" ) ? - elem.contentDocument || elem.contentWindow.document : - jQuery.merge( [], elem.childNodes ); - } -}, function( name, fn ) { - jQuery.fn[ name ] = function( until, selector ) { - var ret = jQuery.map( this, fn, until ); - - if ( !runtil.test( name ) ) { - selector = until; - } - - if ( selector && typeof selector === "string" ) { - ret = jQuery.filter( selector, ret ); - } - - ret = this.length > 1 && !guaranteedUnique[ name ] ? jQuery.unique( ret ) : ret; - - if ( this.length > 1 && rparentsprev.test( name ) ) { - ret = ret.reverse(); - } - - return this.pushStack( ret, name, core_slice.call( arguments ).join(",") ); - }; -}); - -jQuery.extend({ - filter: function( expr, elems, not ) { - if ( not ) { - expr = ":not(" + expr + ")"; - } - - return elems.length === 1 ? - jQuery.find.matchesSelector(elems[0], expr) ? [ elems[0] ] : [] : - jQuery.find.matches(expr, elems); - }, - - dir: function( elem, dir, until ) { - var matched = [], - cur = elem[ dir ]; - - while ( cur && cur.nodeType !== 9 && (until === undefined || cur.nodeType !== 1 || !jQuery( cur ).is( until )) ) { - if ( cur.nodeType === 1 ) { - matched.push( cur ); - } - cur = cur[dir]; - } - return matched; - }, - - sibling: function( n, elem ) { - var r = []; - - for ( ; n; n = n.nextSibling ) { - if ( n.nodeType === 1 && n !== elem ) { - r.push( n ); - } - } - - return r; - } -}); - -// Implement the identical functionality for filter and not -function winnow( elements, qualifier, keep ) { - - // Can't pass null or undefined to indexOf in Firefox 4 - // Set to 0 to skip string check - qualifier = qualifier || 0; - - if ( jQuery.isFunction( qualifier ) ) { - return jQuery.grep(elements, function( elem, i ) { - var retVal = !!qualifier.call( elem, i, elem ); - return retVal === keep; - }); - - } else if ( qualifier.nodeType ) { - return jQuery.grep(elements, function( elem, i ) { - return ( elem === qualifier ) === keep; - }); - - } else if ( typeof qualifier === "string" ) { - var filtered = jQuery.grep(elements, function( elem ) { - return elem.nodeType === 1; - }); - - if ( isSimple.test( qualifier ) ) { - return jQuery.filter(qualifier, filtered, !keep); - } else { - qualifier = jQuery.filter( qualifier, filtered ); - } - } - - return jQuery.grep(elements, function( elem, i ) { - return ( jQuery.inArray( elem, qualifier ) >= 0 ) === keep; - }); -} -function createSafeFragment( document ) { - var list = nodeNames.split( "|" ), - safeFrag = document.createDocumentFragment(); - - if ( safeFrag.createElement ) { - while ( list.length ) { - safeFrag.createElement( - list.pop() - ); - } - } - return safeFrag; -} - -var nodeNames = "abbr|article|aside|audio|bdi|canvas|data|datalist|details|figcaption|figure|footer|" + - "header|hgroup|mark|meter|nav|output|progress|section|summary|time|video", - rinlinejQuery = / jQuery\d+="(?:null|\d+)"/g, - rleadingWhitespace = /^\s+/, - rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/gi, - rtagName = /<([\w:]+)/, - rtbody = /]", "i"), - rcheckableType = /^(?:checkbox|radio)$/, - // checked="checked" or checked - rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i, - rscriptType = /\/(java|ecma)script/i, - rcleanScript = /^\s*\s*$/g, - wrapMap = { - option: [ 1, "" ], - legend: [ 1, "
", "
" ], - thead: [ 1, "", "
" ], - tr: [ 2, "", "
" ], - td: [ 3, "", "
" ], - col: [ 2, "", "
" ], - area: [ 1, "", "" ], - _default: [ 0, "", "" ] - }, - safeFragment = createSafeFragment( document ), - fragmentDiv = safeFragment.appendChild( document.createElement("div") ); - -wrapMap.optgroup = wrapMap.option; -wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; -wrapMap.th = wrapMap.td; - -// IE6-8 can't serialize link, script, style, or any html5 (NoScope) tags, -// unless wrapped in a div with non-breaking characters in front of it. -if ( !jQuery.support.htmlSerialize ) { - wrapMap._default = [ 1, "X
", "
" ]; -} - -jQuery.fn.extend({ - text: function( value ) { - return jQuery.access( this, function( value ) { - return value === undefined ? - jQuery.text( this ) : - this.empty().append( ( this[0] && this[0].ownerDocument || document ).createTextNode( value ) ); - }, null, value, arguments.length ); - }, - - wrapAll: function( html ) { - if ( jQuery.isFunction( html ) ) { - return this.each(function(i) { - jQuery(this).wrapAll( html.call(this, i) ); - }); - } - - if ( this[0] ) { - // The elements to wrap the target around - var wrap = jQuery( html, this[0].ownerDocument ).eq(0).clone(true); - - if ( this[0].parentNode ) { - wrap.insertBefore( this[0] ); - } - - wrap.map(function() { - var elem = this; - - while ( elem.firstChild && elem.firstChild.nodeType === 1 ) { - elem = elem.firstChild; - } - - return elem; - }).append( this ); - } - - return this; - }, - - wrapInner: function( html ) { - if ( jQuery.isFunction( html ) ) { - return this.each(function(i) { - jQuery(this).wrapInner( html.call(this, i) ); - }); - } - - return this.each(function() { - var self = jQuery( this ), - contents = self.contents(); - - if ( contents.length ) { - contents.wrapAll( html ); - - } else { - self.append( html ); - } - }); - }, - - wrap: function( html ) { - var isFunction = jQuery.isFunction( html ); - - return this.each(function(i) { - jQuery( this ).wrapAll( isFunction ? html.call(this, i) : html ); - }); - }, - - unwrap: function() { - return this.parent().each(function() { - if ( !jQuery.nodeName( this, "body" ) ) { - jQuery( this ).replaceWith( this.childNodes ); - } - }).end(); - }, - - append: function() { - return this.domManip(arguments, true, function( elem ) { - if ( this.nodeType === 1 || this.nodeType === 11 ) { - this.appendChild( elem ); - } - }); - }, - - prepend: function() { - return this.domManip(arguments, true, function( elem ) { - if ( this.nodeType === 1 || this.nodeType === 11 ) { - this.insertBefore( elem, this.firstChild ); - } - }); - }, - - before: function() { - if ( !isDisconnected( this[0] ) ) { - return this.domManip(arguments, false, function( elem ) { - this.parentNode.insertBefore( elem, this ); - }); - } - - if ( arguments.length ) { - var set = jQuery.clean( arguments ); - return this.pushStack( jQuery.merge( set, this ), "before", this.selector ); - } - }, - - after: function() { - if ( !isDisconnected( this[0] ) ) { - return this.domManip(arguments, false, function( elem ) { - this.parentNode.insertBefore( elem, this.nextSibling ); - }); - } - - if ( arguments.length ) { - var set = jQuery.clean( arguments ); - return this.pushStack( jQuery.merge( this, set ), "after", this.selector ); - } - }, - - // keepData is for internal use only--do not document - remove: function( selector, keepData ) { - var elem, - i = 0; - - for ( ; (elem = this[i]) != null; i++ ) { - if ( !selector || jQuery.filter( selector, [ elem ] ).length ) { - if ( !keepData && elem.nodeType === 1 ) { - jQuery.cleanData( elem.getElementsByTagName("*") ); - jQuery.cleanData( [ elem ] ); - } - - if ( elem.parentNode ) { - elem.parentNode.removeChild( elem ); - } - } - } - - return this; - }, - - empty: function() { - var elem, - i = 0; - - for ( ; (elem = this[i]) != null; i++ ) { - // Remove element nodes and prevent memory leaks - if ( elem.nodeType === 1 ) { - jQuery.cleanData( elem.getElementsByTagName("*") ); - } - - // Remove any remaining nodes - while ( elem.firstChild ) { - elem.removeChild( elem.firstChild ); - } - } - - return this; - }, - - clone: function( dataAndEvents, deepDataAndEvents ) { - dataAndEvents = dataAndEvents == null ? false : dataAndEvents; - deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; - - return this.map( function () { - return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); - }); - }, - - html: function( value ) { - return jQuery.access( this, function( value ) { - var elem = this[0] || {}, - i = 0, - l = this.length; - - if ( value === undefined ) { - return elem.nodeType === 1 ? - elem.innerHTML.replace( rinlinejQuery, "" ) : - undefined; - } - - // See if we can take a shortcut and just use innerHTML - if ( typeof value === "string" && !rnoInnerhtml.test( value ) && - ( jQuery.support.htmlSerialize || !rnoshimcache.test( value ) ) && - ( jQuery.support.leadingWhitespace || !rleadingWhitespace.test( value ) ) && - !wrapMap[ ( rtagName.exec( value ) || ["", ""] )[1].toLowerCase() ] ) { - - value = value.replace( rxhtmlTag, "<$1>" ); - - try { - for (; i < l; i++ ) { - // Remove element nodes and prevent memory leaks - elem = this[i] || {}; - if ( elem.nodeType === 1 ) { - jQuery.cleanData( elem.getElementsByTagName( "*" ) ); - elem.innerHTML = value; - } - } - - elem = 0; - - // If using innerHTML throws an exception, use the fallback method - } catch(e) {} - } - - if ( elem ) { - this.empty().append( value ); - } - }, null, value, arguments.length ); - }, - - replaceWith: function( value ) { - if ( !isDisconnected( this[0] ) ) { - // Make sure that the elements are removed from the DOM before they are inserted - // this can help fix replacing a parent with child elements - if ( jQuery.isFunction( value ) ) { - return this.each(function(i) { - var self = jQuery(this), old = self.html(); - self.replaceWith( value.call( this, i, old ) ); - }); - } - - if ( typeof value !== "string" ) { - value = jQuery( value ).detach(); - } - - return this.each(function() { - var next = this.nextSibling, - parent = this.parentNode; - - jQuery( this ).remove(); - - if ( next ) { - jQuery(next).before( value ); - } else { - jQuery(parent).append( value ); - } - }); - } - - return this.length ? - this.pushStack( jQuery(jQuery.isFunction(value) ? value() : value), "replaceWith", value ) : - this; - }, - - detach: function( selector ) { - return this.remove( selector, true ); - }, - - domManip: function( args, table, callback ) { - - // Flatten any nested arrays - args = [].concat.apply( [], args ); - - var results, first, fragment, iNoClone, - i = 0, - value = args[0], - scripts = [], - l = this.length; - - // We can't cloneNode fragments that contain checked, in WebKit - if ( !jQuery.support.checkClone && l > 1 && typeof value === "string" && rchecked.test( value ) ) { - return this.each(function() { - jQuery(this).domManip( args, table, callback ); - }); - } - - if ( jQuery.isFunction(value) ) { - return this.each(function(i) { - var self = jQuery(this); - args[0] = value.call( this, i, table ? self.html() : undefined ); - self.domManip( args, table, callback ); - }); - } - - if ( this[0] ) { - results = jQuery.buildFragment( args, this, scripts ); - fragment = results.fragment; - first = fragment.firstChild; - - if ( fragment.childNodes.length === 1 ) { - fragment = first; - } - - if ( first ) { - table = table && jQuery.nodeName( first, "tr" ); - - // Use the original fragment for the last item instead of the first because it can end up - // being emptied incorrectly in certain situations (#8070). - // Fragments from the fragment cache must always be cloned and never used in place. - for ( iNoClone = results.cacheable || l - 1; i < l; i++ ) { - callback.call( - table && jQuery.nodeName( this[i], "table" ) ? - findOrAppend( this[i], "tbody" ) : - this[i], - i === iNoClone ? - fragment : - jQuery.clone( fragment, true, true ) - ); - } - } - - // Fix #11809: Avoid leaking memory - fragment = first = null; - - if ( scripts.length ) { - jQuery.each( scripts, function( i, elem ) { - if ( elem.src ) { - if ( jQuery.ajax ) { - jQuery.ajax({ - url: elem.src, - type: "GET", - dataType: "script", - async: false, - global: false, - "throws": true - }); - } else { - jQuery.error("no ajax"); - } - } else { - jQuery.globalEval( ( elem.text || elem.textContent || elem.innerHTML || "" ).replace( rcleanScript, "" ) ); - } - - if ( elem.parentNode ) { - elem.parentNode.removeChild( elem ); - } - }); - } - } - - return this; - } -}); - -function findOrAppend( elem, tag ) { - return elem.getElementsByTagName( tag )[0] || elem.appendChild( elem.ownerDocument.createElement( tag ) ); -} - -function cloneCopyEvent( src, dest ) { - - if ( dest.nodeType !== 1 || !jQuery.hasData( src ) ) { - return; - } - - var type, i, l, - oldData = jQuery._data( src ), - curData = jQuery._data( dest, oldData ), - events = oldData.events; - - if ( events ) { - delete curData.handle; - curData.events = {}; - - for ( type in events ) { - for ( i = 0, l = events[ type ].length; i < l; i++ ) { - jQuery.event.add( dest, type, events[ type ][ i ] ); - } - } - } - - // make the cloned public data object a copy from the original - if ( curData.data ) { - curData.data = jQuery.extend( {}, curData.data ); - } -} - -function cloneFixAttributes( src, dest ) { - var nodeName; - - // We do not need to do anything for non-Elements - if ( dest.nodeType !== 1 ) { - return; - } - - // clearAttributes removes the attributes, which we don't want, - // but also removes the attachEvent events, which we *do* want - if ( dest.clearAttributes ) { - dest.clearAttributes(); - } - - // mergeAttributes, in contrast, only merges back on the - // original attributes, not the events - if ( dest.mergeAttributes ) { - dest.mergeAttributes( src ); - } - - nodeName = dest.nodeName.toLowerCase(); - - if ( nodeName === "object" ) { - // IE6-10 improperly clones children of object elements using classid. - // IE10 throws NoModificationAllowedError if parent is null, #12132. - if ( dest.parentNode ) { - dest.outerHTML = src.outerHTML; - } - - // This path appears unavoidable for IE9. When cloning an object - // element in IE9, the outerHTML strategy above is not sufficient. - // If the src has innerHTML and the destination does not, - // copy the src.innerHTML into the dest.innerHTML. #10324 - if ( jQuery.support.html5Clone && (src.innerHTML && !jQuery.trim(dest.innerHTML)) ) { - dest.innerHTML = src.innerHTML; - } - - } else if ( nodeName === "input" && rcheckableType.test( src.type ) ) { - // IE6-8 fails to persist the checked state of a cloned checkbox - // or radio button. Worse, IE6-7 fail to give the cloned element - // a checked appearance if the defaultChecked value isn't also set - - dest.defaultChecked = dest.checked = src.checked; - - // IE6-7 get confused and end up setting the value of a cloned - // checkbox/radio button to an empty string instead of "on" - if ( dest.value !== src.value ) { - dest.value = src.value; - } - - // IE6-8 fails to return the selected option to the default selected - // state when cloning options - } else if ( nodeName === "option" ) { - dest.selected = src.defaultSelected; - - // IE6-8 fails to set the defaultValue to the correct value when - // cloning other types of input fields - } else if ( nodeName === "input" || nodeName === "textarea" ) { - dest.defaultValue = src.defaultValue; - - // IE blanks contents when cloning scripts - } else if ( nodeName === "script" && dest.text !== src.text ) { - dest.text = src.text; - } - - // Event data gets referenced instead of copied if the expando - // gets copied too - dest.removeAttribute( jQuery.expando ); -} - -jQuery.buildFragment = function( args, context, scripts ) { - var fragment, cacheable, cachehit, - first = args[ 0 ]; - - // Set context from what may come in as undefined or a jQuery collection or a node - // Updated to fix #12266 where accessing context[0] could throw an exception in IE9/10 & - // also doubles as fix for #8950 where plain objects caused createDocumentFragment exception - context = context || document; - context = !context.nodeType && context[0] || context; - context = context.ownerDocument || context; - - // Only cache "small" (1/2 KB) HTML strings that are associated with the main document - // Cloning options loses the selected state, so don't cache them - // IE 6 doesn't like it when you put or elements in a fragment - // Also, WebKit does not clone 'checked' attributes on cloneNode, so don't cache - // Lastly, IE6,7,8 will not correctly reuse cached fragments that were created from unknown elems #10501 - if ( args.length === 1 && typeof first === "string" && first.length < 512 && context === document && - first.charAt(0) === "<" && !rnocache.test( first ) && - (jQuery.support.checkClone || !rchecked.test( first )) && - (jQuery.support.html5Clone || !rnoshimcache.test( first )) ) { - - // Mark cacheable and look for a hit - cacheable = true; - fragment = jQuery.fragments[ first ]; - cachehit = fragment !== undefined; - } - - if ( !fragment ) { - fragment = context.createDocumentFragment(); - jQuery.clean( args, context, fragment, scripts ); - - // Update the cache, but only store false - // unless this is a second parsing of the same content - if ( cacheable ) { - jQuery.fragments[ first ] = cachehit && fragment; - } - } - - return { fragment: fragment, cacheable: cacheable }; -}; - -jQuery.fragments = {}; - -jQuery.each({ - appendTo: "append", - prependTo: "prepend", - insertBefore: "before", - insertAfter: "after", - replaceAll: "replaceWith" -}, function( name, original ) { - jQuery.fn[ name ] = function( selector ) { - var elems, - i = 0, - ret = [], - insert = jQuery( selector ), - l = insert.length, - parent = this.length === 1 && this[0].parentNode; - - if ( (parent == null || parent && parent.nodeType === 11 && parent.childNodes.length === 1) && l === 1 ) { - insert[ original ]( this[0] ); - return this; - } else { - for ( ; i < l; i++ ) { - elems = ( i > 0 ? this.clone(true) : this ).get(); - jQuery( insert[i] )[ original ]( elems ); - ret = ret.concat( elems ); - } - - return this.pushStack( ret, name, insert.selector ); - } - }; -}); - -function getAll( elem ) { - if ( typeof elem.getElementsByTagName !== "undefined" ) { - return elem.getElementsByTagName( "*" ); - - } else if ( typeof elem.querySelectorAll !== "undefined" ) { - return elem.querySelectorAll( "*" ); - - } else { - return []; - } -} - -// Used in clean, fixes the defaultChecked property -function fixDefaultChecked( elem ) { - if ( rcheckableType.test( elem.type ) ) { - elem.defaultChecked = elem.checked; - } -} - -jQuery.extend({ - clone: function( elem, dataAndEvents, deepDataAndEvents ) { - var srcElements, - destElements, - i, - clone; - - if ( jQuery.support.html5Clone || jQuery.isXMLDoc(elem) || !rnoshimcache.test( "<" + elem.nodeName + ">" ) ) { - clone = elem.cloneNode( true ); - - // IE<=8 does not properly clone detached, unknown element nodes - } else { - fragmentDiv.innerHTML = elem.outerHTML; - fragmentDiv.removeChild( clone = fragmentDiv.firstChild ); - } - - if ( (!jQuery.support.noCloneEvent || !jQuery.support.noCloneChecked) && - (elem.nodeType === 1 || elem.nodeType === 11) && !jQuery.isXMLDoc(elem) ) { - // IE copies events bound via attachEvent when using cloneNode. - // Calling detachEvent on the clone will also remove the events - // from the original. In order to get around this, we use some - // proprietary methods to clear the events. Thanks to MooTools - // guys for this hotness. - - cloneFixAttributes( elem, clone ); - - // Using Sizzle here is crazy slow, so we use getElementsByTagName instead - srcElements = getAll( elem ); - destElements = getAll( clone ); - - // Weird iteration because IE will replace the length property - // with an element if you are cloning the body and one of the - // elements on the page has a name or id of "length" - for ( i = 0; srcElements[i]; ++i ) { - // Ensure that the destination node is not null; Fixes #9587 - if ( destElements[i] ) { - cloneFixAttributes( srcElements[i], destElements[i] ); - } - } - } - - // Copy the events from the original to the clone - if ( dataAndEvents ) { - cloneCopyEvent( elem, clone ); - - if ( deepDataAndEvents ) { - srcElements = getAll( elem ); - destElements = getAll( clone ); - - for ( i = 0; srcElements[i]; ++i ) { - cloneCopyEvent( srcElements[i], destElements[i] ); - } - } - } - - srcElements = destElements = null; - - // Return the cloned set - return clone; - }, - - clean: function( elems, context, fragment, scripts ) { - var i, j, elem, tag, wrap, depth, div, hasBody, tbody, len, handleScript, jsTags, - safe = context === document && safeFragment, - ret = []; - - // Ensure that context is a document - if ( !context || typeof context.createDocumentFragment === "undefined" ) { - context = document; - } - - // Use the already-created safe fragment if context permits - for ( i = 0; (elem = elems[i]) != null; i++ ) { - if ( typeof elem === "number" ) { - elem += ""; - } - - if ( !elem ) { - continue; - } - - // Convert html string into DOM nodes - if ( typeof elem === "string" ) { - if ( !rhtml.test( elem ) ) { - elem = context.createTextNode( elem ); - } else { - // Ensure a safe container in which to render the html - safe = safe || createSafeFragment( context ); - div = context.createElement("div"); - safe.appendChild( div ); - - // Fix "XHTML"-style tags in all browsers - elem = elem.replace(rxhtmlTag, "<$1>"); - - // Go to html and back, then peel off extra wrappers - tag = ( rtagName.exec( elem ) || ["", ""] )[1].toLowerCase(); - wrap = wrapMap[ tag ] || wrapMap._default; - depth = wrap[0]; - div.innerHTML = wrap[1] + elem + wrap[2]; - - // Move to the right depth - while ( depth-- ) { - div = div.lastChild; - } - - // Remove IE's autoinserted from table fragments - if ( !jQuery.support.tbody ) { - - // String was a , *may* have spurious - hasBody = rtbody.test(elem); - tbody = tag === "table" && !hasBody ? - div.firstChild && div.firstChild.childNodes : - - // String was a bare or - wrap[1] === "
" && !hasBody ? - div.childNodes : - []; - - for ( j = tbody.length - 1; j >= 0 ; --j ) { - if ( jQuery.nodeName( tbody[ j ], "tbody" ) && !tbody[ j ].childNodes.length ) { - tbody[ j ].parentNode.removeChild( tbody[ j ] ); - } - } - } - - // IE completely kills leading whitespace when innerHTML is used - if ( !jQuery.support.leadingWhitespace && rleadingWhitespace.test( elem ) ) { - div.insertBefore( context.createTextNode( rleadingWhitespace.exec(elem)[0] ), div.firstChild ); - } - - elem = div.childNodes; - - // Take out of fragment container (we need a fresh div each time) - div.parentNode.removeChild( div ); - } - } - - if ( elem.nodeType ) { - ret.push( elem ); - } else { - jQuery.merge( ret, elem ); - } - } - - // Fix #11356: Clear elements from safeFragment - if ( div ) { - elem = div = safe = null; - } - - // Reset defaultChecked for any radios and checkboxes - // about to be appended to the DOM in IE 6/7 (#8060) - if ( !jQuery.support.appendChecked ) { - for ( i = 0; (elem = ret[i]) != null; i++ ) { - if ( jQuery.nodeName( elem, "input" ) ) { - fixDefaultChecked( elem ); - } else if ( typeof elem.getElementsByTagName !== "undefined" ) { - jQuery.grep( elem.getElementsByTagName("input"), fixDefaultChecked ); - } - } - } - - // Append elements to a provided document fragment - if ( fragment ) { - // Special handling of each script element - handleScript = function( elem ) { - // Check if we consider it executable - if ( !elem.type || rscriptType.test( elem.type ) ) { - // Detach the script and store it in the scripts array (if provided) or the fragment - // Return truthy to indicate that it has been handled - return scripts ? - scripts.push( elem.parentNode ? elem.parentNode.removeChild( elem ) : elem ) : - fragment.appendChild( elem ); - } - }; - - for ( i = 0; (elem = ret[i]) != null; i++ ) { - // Check if we're done after handling an executable script - if ( !( jQuery.nodeName( elem, "script" ) && handleScript( elem ) ) ) { - // Append to fragment and handle embedded scripts - fragment.appendChild( elem ); - if ( typeof elem.getElementsByTagName !== "undefined" ) { - // handleScript alters the DOM, so use jQuery.merge to ensure snapshot iteration - jsTags = jQuery.grep( jQuery.merge( [], elem.getElementsByTagName("script") ), handleScript ); - - // Splice the scripts into ret after their former ancestor and advance our index beyond them - ret.splice.apply( ret, [i + 1, 0].concat( jsTags ) ); - i += jsTags.length; - } - } - } - } - - return ret; - }, - - cleanData: function( elems, /* internal */ acceptData ) { - var data, id, elem, type, - i = 0, - internalKey = jQuery.expando, - cache = jQuery.cache, - deleteExpando = jQuery.support.deleteExpando, - special = jQuery.event.special; - - for ( ; (elem = elems[i]) != null; i++ ) { - - if ( acceptData || jQuery.acceptData( elem ) ) { - - id = elem[ internalKey ]; - data = id && cache[ id ]; - - if ( data ) { - if ( data.events ) { - for ( type in data.events ) { - if ( special[ type ] ) { - jQuery.event.remove( elem, type ); - - // This is a shortcut to avoid jQuery.event.remove's overhead - } else { - jQuery.removeEvent( elem, type, data.handle ); - } - } - } - - // Remove cache only if it was not already removed by jQuery.event.remove - if ( cache[ id ] ) { - - delete cache[ id ]; - - // IE does not allow us to delete expando properties from nodes, - // nor does it have a removeAttribute function on Document nodes; - // we must handle all of these cases - if ( deleteExpando ) { - delete elem[ internalKey ]; - - } else if ( elem.removeAttribute ) { - elem.removeAttribute( internalKey ); - - } else { - elem[ internalKey ] = null; - } - - jQuery.deletedIds.push( id ); - } - } - } - } - } -}); -// Limit scope pollution from any deprecated API -(function() { - -var matched, browser; - -// Use of jQuery.browser is frowned upon. -// More details: http://api.jquery.com/jQuery.browser -// jQuery.uaMatch maintained for back-compat -jQuery.uaMatch = function( ua ) { - ua = ua.toLowerCase(); - - var match = /(chrome)[ \/]([\w.]+)/.exec( ua ) || - /(webkit)[ \/]([\w.]+)/.exec( ua ) || - /(opera)(?:.*version|)[ \/]([\w.]+)/.exec( ua ) || - /(msie) ([\w.]+)/.exec( ua ) || - ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec( ua ) || - []; - - return { - browser: match[ 1 ] || "", - version: match[ 2 ] || "0" - }; -}; - -matched = jQuery.uaMatch( navigator.userAgent ); -browser = {}; - -if ( matched.browser ) { - browser[ matched.browser ] = true; - browser.version = matched.version; -} - -// Chrome is Webkit, but Webkit is also Safari. -if ( browser.chrome ) { - browser.webkit = true; -} else if ( browser.webkit ) { - browser.safari = true; -} - -jQuery.browser = browser; - -jQuery.sub = function() { - function jQuerySub( selector, context ) { - return new jQuerySub.fn.init( selector, context ); - } - jQuery.extend( true, jQuerySub, this ); - jQuerySub.superclass = this; - jQuerySub.fn = jQuerySub.prototype = this(); - jQuerySub.fn.constructor = jQuerySub; - jQuerySub.sub = this.sub; - jQuerySub.fn.init = function init( selector, context ) { - if ( context && context instanceof jQuery && !(context instanceof jQuerySub) ) { - context = jQuerySub( context ); - } - - return jQuery.fn.init.call( this, selector, context, rootjQuerySub ); - }; - jQuerySub.fn.init.prototype = jQuerySub.fn; - var rootjQuerySub = jQuerySub(document); - return jQuerySub; -}; - -})(); -var curCSS, iframe, iframeDoc, - ralpha = /alpha\([^)]*\)/i, - ropacity = /opacity=([^)]*)/, - rposition = /^(top|right|bottom|left)$/, - // swappable if display is none or starts with table except "table", "table-cell", or "table-caption" - // see here for display values: https://developer.mozilla.org/en-US/docs/CSS/display - rdisplayswap = /^(none|table(?!-c[ea]).+)/, - rmargin = /^margin/, - rnumsplit = new RegExp( "^(" + core_pnum + ")(.*)$", "i" ), - rnumnonpx = new RegExp( "^(" + core_pnum + ")(?!px)[a-z%]+$", "i" ), - rrelNum = new RegExp( "^([-+])=(" + core_pnum + ")", "i" ), - elemdisplay = { BODY: "block" }, - - cssShow = { position: "absolute", visibility: "hidden", display: "block" }, - cssNormalTransform = { - letterSpacing: 0, - fontWeight: 400 - }, - - cssExpand = [ "Top", "Right", "Bottom", "Left" ], - cssPrefixes = [ "Webkit", "O", "Moz", "ms" ], - - eventsToggle = jQuery.fn.toggle; - -// return a css property mapped to a potentially vendor prefixed property -function vendorPropName( style, name ) { - - // shortcut for names that are not vendor prefixed - if ( name in style ) { - return name; - } - - // check for vendor prefixed names - var capName = name.charAt(0).toUpperCase() + name.slice(1), - origName = name, - i = cssPrefixes.length; - - while ( i-- ) { - name = cssPrefixes[ i ] + capName; - if ( name in style ) { - return name; - } - } - - return origName; -} - -function isHidden( elem, el ) { - elem = el || elem; - return jQuery.css( elem, "display" ) === "none" || !jQuery.contains( elem.ownerDocument, elem ); -} - -function showHide( elements, show ) { - var elem, display, - values = [], - index = 0, - length = elements.length; - - for ( ; index < length; index++ ) { - elem = elements[ index ]; - if ( !elem.style ) { - continue; - } - values[ index ] = jQuery._data( elem, "olddisplay" ); - if ( show ) { - // Reset the inline display of this element to learn if it is - // being hidden by cascaded rules or not - if ( !values[ index ] && elem.style.display === "none" ) { - elem.style.display = ""; - } - - // Set elements which have been overridden with display: none - // in a stylesheet to whatever the default browser style is - // for such an element - if ( elem.style.display === "" && isHidden( elem ) ) { - values[ index ] = jQuery._data( elem, "olddisplay", css_defaultDisplay(elem.nodeName) ); - } - } else { - display = curCSS( elem, "display" ); - - if ( !values[ index ] && display !== "none" ) { - jQuery._data( elem, "olddisplay", display ); - } - } - } - - // Set the display of most of the elements in a second loop - // to avoid the constant reflow - for ( index = 0; index < length; index++ ) { - elem = elements[ index ]; - if ( !elem.style ) { - continue; - } - if ( !show || elem.style.display === "none" || elem.style.display === "" ) { - elem.style.display = show ? values[ index ] || "" : "none"; - } - } - - return elements; -} - -jQuery.fn.extend({ - css: function( name, value ) { - return jQuery.access( this, function( elem, name, value ) { - return value !== undefined ? - jQuery.style( elem, name, value ) : - jQuery.css( elem, name ); - }, name, value, arguments.length > 1 ); - }, - show: function() { - return showHide( this, true ); - }, - hide: function() { - return showHide( this ); - }, - toggle: function( state, fn2 ) { - var bool = typeof state === "boolean"; - - if ( jQuery.isFunction( state ) && jQuery.isFunction( fn2 ) ) { - return eventsToggle.apply( this, arguments ); - } - - return this.each(function() { - if ( bool ? state : isHidden( this ) ) { - jQuery( this ).show(); - } else { - jQuery( this ).hide(); - } - }); - } -}); - -jQuery.extend({ - // Add in style property hooks for overriding the default - // behavior of getting and setting a style property - cssHooks: { - opacity: { - get: function( elem, computed ) { - if ( computed ) { - // We should always get a number back from opacity - var ret = curCSS( elem, "opacity" ); - return ret === "" ? "1" : ret; - - } - } - } - }, - - // Exclude the following css properties to add px - cssNumber: { - "fillOpacity": true, - "fontWeight": true, - "lineHeight": true, - "opacity": true, - "orphans": true, - "widows": true, - "zIndex": true, - "zoom": true - }, - - // Add in properties whose names you wish to fix before - // setting or getting the value - cssProps: { - // normalize float css property - "float": jQuery.support.cssFloat ? "cssFloat" : "styleFloat" - }, - - // Get and set the style property on a DOM Node - style: function( elem, name, value, extra ) { - // Don't set styles on text and comment nodes - if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { - return; - } - - // Make sure that we're working with the right name - var ret, type, hooks, - origName = jQuery.camelCase( name ), - style = elem.style; - - name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( style, origName ) ); - - // gets hook for the prefixed version - // followed by the unprefixed version - hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; - - // Check if we're setting a value - if ( value !== undefined ) { - type = typeof value; - - // convert relative number strings (+= or -=) to relative numbers. #7345 - if ( type === "string" && (ret = rrelNum.exec( value )) ) { - value = ( ret[1] + 1 ) * ret[2] + parseFloat( jQuery.css( elem, name ) ); - // Fixes bug #9237 - type = "number"; - } - - // Make sure that NaN and null values aren't set. See: #7116 - if ( value == null || type === "number" && isNaN( value ) ) { - return; - } - - // If a number was passed in, add 'px' to the (except for certain CSS properties) - if ( type === "number" && !jQuery.cssNumber[ origName ] ) { - value += "px"; - } - - // If a hook was provided, use that value, otherwise just set the specified value - if ( !hooks || !("set" in hooks) || (value = hooks.set( elem, value, extra )) !== undefined ) { - // Wrapped to prevent IE from throwing errors when 'invalid' values are provided - // Fixes bug #5509 - try { - style[ name ] = value; - } catch(e) {} - } - - } else { - // If a hook was provided get the non-computed value from there - if ( hooks && "get" in hooks && (ret = hooks.get( elem, false, extra )) !== undefined ) { - return ret; - } - - // Otherwise just get the value from the style object - return style[ name ]; - } - }, - - css: function( elem, name, numeric, extra ) { - var val, num, hooks, - origName = jQuery.camelCase( name ); - - // Make sure that we're working with the right name - name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( elem.style, origName ) ); - - // gets hook for the prefixed version - // followed by the unprefixed version - hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; - - // If a hook was provided get the computed value from there - if ( hooks && "get" in hooks ) { - val = hooks.get( elem, true, extra ); - } - - // Otherwise, if a way to get the computed value exists, use that - if ( val === undefined ) { - val = curCSS( elem, name ); - } - - //convert "normal" to computed value - if ( val === "normal" && name in cssNormalTransform ) { - val = cssNormalTransform[ name ]; - } - - // Return, converting to number if forced or a qualifier was provided and val looks numeric - if ( numeric || extra !== undefined ) { - num = parseFloat( val ); - return numeric || jQuery.isNumeric( num ) ? num || 0 : val; - } - return val; - }, - - // A method for quickly swapping in/out CSS properties to get correct calculations - swap: function( elem, options, callback ) { - var ret, name, - old = {}; - - // Remember the old values, and insert the new ones - for ( name in options ) { - old[ name ] = elem.style[ name ]; - elem.style[ name ] = options[ name ]; - } - - ret = callback.call( elem ); - - // Revert the old values - for ( name in options ) { - elem.style[ name ] = old[ name ]; - } - - return ret; - } -}); - -// NOTE: To any future maintainer, we've window.getComputedStyle -// because jsdom on node.js will break without it. -if ( window.getComputedStyle ) { - curCSS = function( elem, name ) { - var ret, width, minWidth, maxWidth, - computed = window.getComputedStyle( elem, null ), - style = elem.style; - - if ( computed ) { - - // getPropertyValue is only needed for .css('filter') in IE9, see #12537 - ret = computed.getPropertyValue( name ) || computed[ name ]; - - if ( ret === "" && !jQuery.contains( elem.ownerDocument, elem ) ) { - ret = jQuery.style( elem, name ); - } - - // A tribute to the "awesome hack by Dean Edwards" - // Chrome < 17 and Safari 5.0 uses "computed value" instead of "used value" for margin-right - // Safari 5.1.7 (at least) returns percentage for a larger set of values, but width seems to be reliably pixels - // this is against the CSSOM draft spec: http://dev.w3.org/csswg/cssom/#resolved-values - if ( rnumnonpx.test( ret ) && rmargin.test( name ) ) { - width = style.width; - minWidth = style.minWidth; - maxWidth = style.maxWidth; - - style.minWidth = style.maxWidth = style.width = ret; - ret = computed.width; - - style.width = width; - style.minWidth = minWidth; - style.maxWidth = maxWidth; - } - } - - return ret; - }; -} else if ( document.documentElement.currentStyle ) { - curCSS = function( elem, name ) { - var left, rsLeft, - ret = elem.currentStyle && elem.currentStyle[ name ], - style = elem.style; - - // Avoid setting ret to empty string here - // so we don't default to auto - if ( ret == null && style && style[ name ] ) { - ret = style[ name ]; - } - - // From the awesome hack by Dean Edwards - // http://erik.eae.net/archives/2007/07/27/18.54.15/#comment-102291 - - // If we're not dealing with a regular pixel number - // but a number that has a weird ending, we need to convert it to pixels - // but not position css attributes, as those are proportional to the parent element instead - // and we can't measure the parent instead because it might trigger a "stacking dolls" problem - if ( rnumnonpx.test( ret ) && !rposition.test( name ) ) { - - // Remember the original values - left = style.left; - rsLeft = elem.runtimeStyle && elem.runtimeStyle.left; - - // Put in the new values to get a computed value out - if ( rsLeft ) { - elem.runtimeStyle.left = elem.currentStyle.left; - } - style.left = name === "fontSize" ? "1em" : ret; - ret = style.pixelLeft + "px"; - - // Revert the changed values - style.left = left; - if ( rsLeft ) { - elem.runtimeStyle.left = rsLeft; - } - } - - return ret === "" ? "auto" : ret; - }; -} - -function setPositiveNumber( elem, value, subtract ) { - var matches = rnumsplit.exec( value ); - return matches ? - Math.max( 0, matches[ 1 ] - ( subtract || 0 ) ) + ( matches[ 2 ] || "px" ) : - value; -} - -function augmentWidthOrHeight( elem, name, extra, isBorderBox ) { - var i = extra === ( isBorderBox ? "border" : "content" ) ? - // If we already have the right measurement, avoid augmentation - 4 : - // Otherwise initialize for horizontal or vertical properties - name === "width" ? 1 : 0, - - val = 0; - - for ( ; i < 4; i += 2 ) { - // both box models exclude margin, so add it if we want it - if ( extra === "margin" ) { - // we use jQuery.css instead of curCSS here - // because of the reliableMarginRight CSS hook! - val += jQuery.css( elem, extra + cssExpand[ i ], true ); - } - - // From this point on we use curCSS for maximum performance (relevant in animations) - if ( isBorderBox ) { - // border-box includes padding, so remove it if we want content - if ( extra === "content" ) { - val -= parseFloat( curCSS( elem, "padding" + cssExpand[ i ] ) ) || 0; - } - - // at this point, extra isn't border nor margin, so remove border - if ( extra !== "margin" ) { - val -= parseFloat( curCSS( elem, "border" + cssExpand[ i ] + "Width" ) ) || 0; - } - } else { - // at this point, extra isn't content, so add padding - val += parseFloat( curCSS( elem, "padding" + cssExpand[ i ] ) ) || 0; - - // at this point, extra isn't content nor padding, so add border - if ( extra !== "padding" ) { - val += parseFloat( curCSS( elem, "border" + cssExpand[ i ] + "Width" ) ) || 0; - } - } - } - - return val; -} - -function getWidthOrHeight( elem, name, extra ) { - - // Start with offset property, which is equivalent to the border-box value - var val = name === "width" ? elem.offsetWidth : elem.offsetHeight, - valueIsBorderBox = true, - isBorderBox = jQuery.support.boxSizing && jQuery.css( elem, "boxSizing" ) === "border-box"; - - // some non-html elements return undefined for offsetWidth, so check for null/undefined - // svg - https://bugzilla.mozilla.org/show_bug.cgi?id=649285 - // MathML - https://bugzilla.mozilla.org/show_bug.cgi?id=491668 - if ( val <= 0 || val == null ) { - // Fall back to computed then uncomputed css if necessary - val = curCSS( elem, name ); - if ( val < 0 || val == null ) { - val = elem.style[ name ]; - } - - // Computed unit is not pixels. Stop here and return. - if ( rnumnonpx.test(val) ) { - return val; - } - - // we need the check for style in case a browser which returns unreliable values - // for getComputedStyle silently falls back to the reliable elem.style - valueIsBorderBox = isBorderBox && ( jQuery.support.boxSizingReliable || val === elem.style[ name ] ); - - // Normalize "", auto, and prepare for extra - val = parseFloat( val ) || 0; - } - - // use the active box-sizing model to add/subtract irrelevant styles - return ( val + - augmentWidthOrHeight( - elem, - name, - extra || ( isBorderBox ? "border" : "content" ), - valueIsBorderBox - ) - ) + "px"; -} - - -// Try to determine the default display value of an element -function css_defaultDisplay( nodeName ) { - if ( elemdisplay[ nodeName ] ) { - return elemdisplay[ nodeName ]; - } - - var elem = jQuery( "<" + nodeName + ">" ).appendTo( document.body ), - display = elem.css("display"); - elem.remove(); - - // If the simple way fails, - // get element's real default display by attaching it to a temp iframe - if ( display === "none" || display === "" ) { - // Use the already-created iframe if possible - iframe = document.body.appendChild( - iframe || jQuery.extend( document.createElement("iframe"), { - frameBorder: 0, - width: 0, - height: 0 - }) - ); - - // Create a cacheable copy of the iframe document on first call. - // IE and Opera will allow us to reuse the iframeDoc without re-writing the fake HTML - // document to it; WebKit & Firefox won't allow reusing the iframe document. - if ( !iframeDoc || !iframe.createElement ) { - iframeDoc = ( iframe.contentWindow || iframe.contentDocument ).document; - iframeDoc.write(""); - iframeDoc.close(); - } - - elem = iframeDoc.body.appendChild( iframeDoc.createElement(nodeName) ); - - display = curCSS( elem, "display" ); - document.body.removeChild( iframe ); - } - - // Store the correct default display - elemdisplay[ nodeName ] = display; - - return display; -} - -jQuery.each([ "height", "width" ], function( i, name ) { - jQuery.cssHooks[ name ] = { - get: function( elem, computed, extra ) { - if ( computed ) { - // certain elements can have dimension info if we invisibly show them - // however, it must have a current display style that would benefit from this - if ( elem.offsetWidth === 0 && rdisplayswap.test( curCSS( elem, "display" ) ) ) { - return jQuery.swap( elem, cssShow, function() { - return getWidthOrHeight( elem, name, extra ); - }); - } else { - return getWidthOrHeight( elem, name, extra ); - } - } - }, - - set: function( elem, value, extra ) { - return setPositiveNumber( elem, value, extra ? - augmentWidthOrHeight( - elem, - name, - extra, - jQuery.support.boxSizing && jQuery.css( elem, "boxSizing" ) === "border-box" - ) : 0 - ); - } - }; -}); - -if ( !jQuery.support.opacity ) { - jQuery.cssHooks.opacity = { - get: function( elem, computed ) { - // IE uses filters for opacity - return ropacity.test( (computed && elem.currentStyle ? elem.currentStyle.filter : elem.style.filter) || "" ) ? - ( 0.01 * parseFloat( RegExp.$1 ) ) + "" : - computed ? "1" : ""; - }, - - set: function( elem, value ) { - var style = elem.style, - currentStyle = elem.currentStyle, - opacity = jQuery.isNumeric( value ) ? "alpha(opacity=" + value * 100 + ")" : "", - filter = currentStyle && currentStyle.filter || style.filter || ""; - - // IE has trouble with opacity if it does not have layout - // Force it by setting the zoom level - style.zoom = 1; - - // if setting opacity to 1, and no other filters exist - attempt to remove filter attribute #6652 - if ( value >= 1 && jQuery.trim( filter.replace( ralpha, "" ) ) === "" && - style.removeAttribute ) { - - // Setting style.filter to null, "" & " " still leave "filter:" in the cssText - // if "filter:" is present at all, clearType is disabled, we want to avoid this - // style.removeAttribute is IE Only, but so apparently is this code path... - style.removeAttribute( "filter" ); - - // if there there is no filter style applied in a css rule, we are done - if ( currentStyle && !currentStyle.filter ) { - return; - } - } - - // otherwise, set new filter values - style.filter = ralpha.test( filter ) ? - filter.replace( ralpha, opacity ) : - filter + " " + opacity; - } - }; -} - -// These hooks cannot be added until DOM ready because the support test -// for it is not run until after DOM ready -jQuery(function() { - if ( !jQuery.support.reliableMarginRight ) { - jQuery.cssHooks.marginRight = { - get: function( elem, computed ) { - // WebKit Bug 13343 - getComputedStyle returns wrong value for margin-right - // Work around by temporarily setting element display to inline-block - return jQuery.swap( elem, { "display": "inline-block" }, function() { - if ( computed ) { - return curCSS( elem, "marginRight" ); - } - }); - } - }; - } - - // Webkit bug: https://bugs.webkit.org/show_bug.cgi?id=29084 - // getComputedStyle returns percent when specified for top/left/bottom/right - // rather than make the css module depend on the offset module, we just check for it here - if ( !jQuery.support.pixelPosition && jQuery.fn.position ) { - jQuery.each( [ "top", "left" ], function( i, prop ) { - jQuery.cssHooks[ prop ] = { - get: function( elem, computed ) { - if ( computed ) { - var ret = curCSS( elem, prop ); - // if curCSS returns percentage, fallback to offset - return rnumnonpx.test( ret ) ? jQuery( elem ).position()[ prop ] + "px" : ret; - } - } - }; - }); - } - -}); - -if ( jQuery.expr && jQuery.expr.filters ) { - jQuery.expr.filters.hidden = function( elem ) { - return ( elem.offsetWidth === 0 && elem.offsetHeight === 0 ) || (!jQuery.support.reliableHiddenOffsets && ((elem.style && elem.style.display) || curCSS( elem, "display" )) === "none"); - }; - - jQuery.expr.filters.visible = function( elem ) { - return !jQuery.expr.filters.hidden( elem ); - }; -} - -// These hooks are used by animate to expand properties -jQuery.each({ - margin: "", - padding: "", - border: "Width" -}, function( prefix, suffix ) { - jQuery.cssHooks[ prefix + suffix ] = { - expand: function( value ) { - var i, - - // assumes a single number if not a string - parts = typeof value === "string" ? value.split(" ") : [ value ], - expanded = {}; - - for ( i = 0; i < 4; i++ ) { - expanded[ prefix + cssExpand[ i ] + suffix ] = - parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; - } - - return expanded; - } - }; - - if ( !rmargin.test( prefix ) ) { - jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; - } -}); -var r20 = /%20/g, - rbracket = /\[\]$/, - rCRLF = /\r?\n/g, - rinput = /^(?:color|date|datetime|datetime-local|email|hidden|month|number|password|range|search|tel|text|time|url|week)$/i, - rselectTextarea = /^(?:select|textarea)/i; - -jQuery.fn.extend({ - serialize: function() { - return jQuery.param( this.serializeArray() ); - }, - serializeArray: function() { - return this.map(function(){ - return this.elements ? jQuery.makeArray( this.elements ) : this; - }) - .filter(function(){ - return this.name && !this.disabled && - ( this.checked || rselectTextarea.test( this.nodeName ) || - rinput.test( this.type ) ); - }) - .map(function( i, elem ){ - var val = jQuery( this ).val(); - - return val == null ? - null : - jQuery.isArray( val ) ? - jQuery.map( val, function( val, i ){ - return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; - }) : - { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; - }).get(); - } -}); - -//Serialize an array of form elements or a set of -//key/values into a query string -jQuery.param = function( a, traditional ) { - var prefix, - s = [], - add = function( key, value ) { - // If value is a function, invoke it and return its value - value = jQuery.isFunction( value ) ? value() : ( value == null ? "" : value ); - s[ s.length ] = encodeURIComponent( key ) + "=" + encodeURIComponent( value ); - }; - - // Set traditional to true for jQuery <= 1.3.2 behavior. - if ( traditional === undefined ) { - traditional = jQuery.ajaxSettings && jQuery.ajaxSettings.traditional; - } - - // If an array was passed in, assume that it is an array of form elements. - if ( jQuery.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { - // Serialize the form elements - jQuery.each( a, function() { - add( this.name, this.value ); - }); - - } else { - // If traditional, encode the "old" way (the way 1.3.2 or older - // did it), otherwise encode params recursively. - for ( prefix in a ) { - buildParams( prefix, a[ prefix ], traditional, add ); - } - } - - // Return the resulting serialization - return s.join( "&" ).replace( r20, "+" ); -}; - -function buildParams( prefix, obj, traditional, add ) { - var name; - - if ( jQuery.isArray( obj ) ) { - // Serialize array item. - jQuery.each( obj, function( i, v ) { - if ( traditional || rbracket.test( prefix ) ) { - // Treat each array item as a scalar. - add( prefix, v ); - - } else { - // If array item is non-scalar (array or object), encode its - // numeric index to resolve deserialization ambiguity issues. - // Note that rack (as of 1.0.0) can't currently deserialize - // nested arrays properly, and attempting to do so may cause - // a server error. Possible fixes are to modify rack's - // deserialization algorithm or to provide an option or flag - // to force array serialization to be shallow. - buildParams( prefix + "[" + ( typeof v === "object" ? i : "" ) + "]", v, traditional, add ); - } - }); - - } else if ( !traditional && jQuery.type( obj ) === "object" ) { - // Serialize object item. - for ( name in obj ) { - buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); - } - - } else { - // Serialize scalar item. - add( prefix, obj ); - } -} -var - // Document location - ajaxLocParts, - ajaxLocation, - - rhash = /#.*$/, - rheaders = /^(.*?):[ \t]*([^\r\n]*)\r?$/mg, // IE leaves an \r character at EOL - // #7653, #8125, #8152: local protocol detection - rlocalProtocol = /^(?:about|app|app\-storage|.+\-extension|file|res|widget):$/, - rnoContent = /^(?:GET|HEAD)$/, - rprotocol = /^\/\//, - rquery = /\?/, - rscript = /)<[^<]*)*<\/script>/gi, - rts = /([?&])_=[^&]*/, - rurl = /^([\w\+\.\-]+:)(?:\/\/([^\/?#:]*)(?::(\d+)|)|)/, - - // Keep a copy of the old load method - _load = jQuery.fn.load, - - /* Prefilters - * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) - * 2) These are called: - * - BEFORE asking for a transport - * - AFTER param serialization (s.data is a string if s.processData is true) - * 3) key is the dataType - * 4) the catchall symbol "*" can be used - * 5) execution will start with transport dataType and THEN continue down to "*" if needed - */ - prefilters = {}, - - /* Transports bindings - * 1) key is the dataType - * 2) the catchall symbol "*" can be used - * 3) selection will start with transport dataType and THEN go to "*" if needed - */ - transports = {}, - - // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression - allTypes = ["*/"] + ["*"]; - -// #8138, IE may throw an exception when accessing -// a field from window.location if document.domain has been set -try { - ajaxLocation = location.href; -} catch( e ) { - // Use the href attribute of an A element - // since IE will modify it given document.location - ajaxLocation = document.createElement( "a" ); - ajaxLocation.href = ""; - ajaxLocation = ajaxLocation.href; -} - -// Segment location into parts -ajaxLocParts = rurl.exec( ajaxLocation.toLowerCase() ) || []; - -// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport -function addToPrefiltersOrTransports( structure ) { - - // dataTypeExpression is optional and defaults to "*" - return function( dataTypeExpression, func ) { - - if ( typeof dataTypeExpression !== "string" ) { - func = dataTypeExpression; - dataTypeExpression = "*"; - } - - var dataType, list, placeBefore, - dataTypes = dataTypeExpression.toLowerCase().split( core_rspace ), - i = 0, - length = dataTypes.length; - - if ( jQuery.isFunction( func ) ) { - // For each dataType in the dataTypeExpression - for ( ; i < length; i++ ) { - dataType = dataTypes[ i ]; - // We control if we're asked to add before - // any existing element - placeBefore = /^\+/.test( dataType ); - if ( placeBefore ) { - dataType = dataType.substr( 1 ) || "*"; - } - list = structure[ dataType ] = structure[ dataType ] || []; - // then we add to the structure accordingly - list[ placeBefore ? "unshift" : "push" ]( func ); - } - } - }; -} - -// Base inspection function for prefilters and transports -function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR, - dataType /* internal */, inspected /* internal */ ) { - - dataType = dataType || options.dataTypes[ 0 ]; - inspected = inspected || {}; - - inspected[ dataType ] = true; - - var selection, - list = structure[ dataType ], - i = 0, - length = list ? list.length : 0, - executeOnly = ( structure === prefilters ); - - for ( ; i < length && ( executeOnly || !selection ); i++ ) { - selection = list[ i ]( options, originalOptions, jqXHR ); - // If we got redirected to another dataType - // we try there if executing only and not done already - if ( typeof selection === "string" ) { - if ( !executeOnly || inspected[ selection ] ) { - selection = undefined; - } else { - options.dataTypes.unshift( selection ); - selection = inspectPrefiltersOrTransports( - structure, options, originalOptions, jqXHR, selection, inspected ); - } - } - } - // If we're only executing or nothing was selected - // we try the catchall dataType if not done already - if ( ( executeOnly || !selection ) && !inspected[ "*" ] ) { - selection = inspectPrefiltersOrTransports( - structure, options, originalOptions, jqXHR, "*", inspected ); - } - // unnecessary when only executing (prefilters) - // but it'll be ignored by the caller in that case - return selection; -} - -// A special extend for ajax options -// that takes "flat" options (not to be deep extended) -// Fixes #9887 -function ajaxExtend( target, src ) { - var key, deep, - flatOptions = jQuery.ajaxSettings.flatOptions || {}; - for ( key in src ) { - if ( src[ key ] !== undefined ) { - ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; - } - } - if ( deep ) { - jQuery.extend( true, target, deep ); - } -} - -jQuery.fn.load = function( url, params, callback ) { - if ( typeof url !== "string" && _load ) { - return _load.apply( this, arguments ); - } - - // Don't do a request if no elements are being requested - if ( !this.length ) { - return this; - } - - var selector, type, response, - self = this, - off = url.indexOf(" "); - - if ( off >= 0 ) { - selector = url.slice( off, url.length ); - url = url.slice( 0, off ); - } - - // If it's a function - if ( jQuery.isFunction( params ) ) { - - // We assume that it's the callback - callback = params; - params = undefined; - - // Otherwise, build a param string - } else if ( params && typeof params === "object" ) { - type = "POST"; - } - - // Request the remote document - jQuery.ajax({ - url: url, - - // if "type" variable is undefined, then "GET" method will be used - type: type, - dataType: "html", - data: params, - complete: function( jqXHR, status ) { - if ( callback ) { - self.each( callback, response || [ jqXHR.responseText, status, jqXHR ] ); - } - } - }).done(function( responseText ) { - - // Save response for use in complete callback - response = arguments; - - // See if a selector was specified - self.html( selector ? - - // Create a dummy div to hold the results - jQuery("
") - - // inject the contents of the document in, removing the scripts - // to avoid any 'Permission Denied' errors in IE - .append( responseText.replace( rscript, "" ) ) - - // Locate the specified elements - .find( selector ) : - - // If not, just inject the full result - responseText ); - - }); - - return this; -}; - -// Attach a bunch of functions for handling common AJAX events -jQuery.each( "ajaxStart ajaxStop ajaxComplete ajaxError ajaxSuccess ajaxSend".split( " " ), function( i, o ){ - jQuery.fn[ o ] = function( f ){ - return this.on( o, f ); - }; -}); - -jQuery.each( [ "get", "post" ], function( i, method ) { - jQuery[ method ] = function( url, data, callback, type ) { - // shift arguments if data argument was omitted - if ( jQuery.isFunction( data ) ) { - type = type || callback; - callback = data; - data = undefined; - } - - return jQuery.ajax({ - type: method, - url: url, - data: data, - success: callback, - dataType: type - }); - }; -}); - -jQuery.extend({ - - getScript: function( url, callback ) { - return jQuery.get( url, undefined, callback, "script" ); - }, - - getJSON: function( url, data, callback ) { - return jQuery.get( url, data, callback, "json" ); - }, - - // Creates a full fledged settings object into target - // with both ajaxSettings and settings fields. - // If target is omitted, writes into ajaxSettings. - ajaxSetup: function( target, settings ) { - if ( settings ) { - // Building a settings object - ajaxExtend( target, jQuery.ajaxSettings ); - } else { - // Extending ajaxSettings - settings = target; - target = jQuery.ajaxSettings; - } - ajaxExtend( target, settings ); - return target; - }, - - ajaxSettings: { - url: ajaxLocation, - isLocal: rlocalProtocol.test( ajaxLocParts[ 1 ] ), - global: true, - type: "GET", - contentType: "application/x-www-form-urlencoded; charset=UTF-8", - processData: true, - async: true, - /* - timeout: 0, - data: null, - dataType: null, - username: null, - password: null, - cache: null, - throws: false, - traditional: false, - headers: {}, - */ - - accepts: { - xml: "application/xml, text/xml", - html: "text/html", - text: "text/plain", - json: "application/json, text/javascript", - "*": allTypes - }, - - contents: { - xml: /xml/, - html: /html/, - json: /json/ - }, - - responseFields: { - xml: "responseXML", - text: "responseText" - }, - - // List of data converters - // 1) key format is "source_type destination_type" (a single space in-between) - // 2) the catchall symbol "*" can be used for source_type - converters: { - - // Convert anything to text - "* text": window.String, - - // Text to html (true = no transformation) - "text html": true, - - // Evaluate text as a json expression - "text json": jQuery.parseJSON, - - // Parse text as xml - "text xml": jQuery.parseXML - }, - - // For options that shouldn't be deep extended: - // you can add your own custom options here if - // and when you create one that shouldn't be - // deep extended (see ajaxExtend) - flatOptions: { - context: true, - url: true - } - }, - - ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), - ajaxTransport: addToPrefiltersOrTransports( transports ), - - // Main method - ajax: function( url, options ) { - - // If url is an object, simulate pre-1.5 signature - if ( typeof url === "object" ) { - options = url; - url = undefined; - } - - // Force options to be an object - options = options || {}; - - var // ifModified key - ifModifiedKey, - // Response headers - responseHeadersString, - responseHeaders, - // transport - transport, - // timeout handle - timeoutTimer, - // Cross-domain detection vars - parts, - // To know if global events are to be dispatched - fireGlobals, - // Loop variable - i, - // Create the final options object - s = jQuery.ajaxSetup( {}, options ), - // Callbacks context - callbackContext = s.context || s, - // Context for global events - // It's the callbackContext if one was provided in the options - // and if it's a DOM node or a jQuery collection - globalEventContext = callbackContext !== s && - ( callbackContext.nodeType || callbackContext instanceof jQuery ) ? - jQuery( callbackContext ) : jQuery.event, - // Deferreds - deferred = jQuery.Deferred(), - completeDeferred = jQuery.Callbacks( "once memory" ), - // Status-dependent callbacks - statusCode = s.statusCode || {}, - // Headers (they are sent all at once) - requestHeaders = {}, - requestHeadersNames = {}, - // The jqXHR state - state = 0, - // Default abort message - strAbort = "canceled", - // Fake xhr - jqXHR = { - - readyState: 0, - - // Caches the header - setRequestHeader: function( name, value ) { - if ( !state ) { - var lname = name.toLowerCase(); - name = requestHeadersNames[ lname ] = requestHeadersNames[ lname ] || name; - requestHeaders[ name ] = value; - } - return this; - }, - - // Raw string - getAllResponseHeaders: function() { - return state === 2 ? responseHeadersString : null; - }, - - // Builds headers hashtable if needed - getResponseHeader: function( key ) { - var match; - if ( state === 2 ) { - if ( !responseHeaders ) { - responseHeaders = {}; - while( ( match = rheaders.exec( responseHeadersString ) ) ) { - responseHeaders[ match[1].toLowerCase() ] = match[ 2 ]; - } - } - match = responseHeaders[ key.toLowerCase() ]; - } - return match === undefined ? null : match; - }, - - // Overrides response content-type header - overrideMimeType: function( type ) { - if ( !state ) { - s.mimeType = type; - } - return this; - }, - - // Cancel the request - abort: function( statusText ) { - statusText = statusText || strAbort; - if ( transport ) { - transport.abort( statusText ); - } - done( 0, statusText ); - return this; - } - }; - - // Callback for when everything is done - // It is defined here because jslint complains if it is declared - // at the end of the function (which would be more logical and readable) - function done( status, nativeStatusText, responses, headers ) { - var isSuccess, success, error, response, modified, - statusText = nativeStatusText; - - // Called once - if ( state === 2 ) { - return; - } - - // State is "done" now - state = 2; - - // Clear timeout if it exists - if ( timeoutTimer ) { - clearTimeout( timeoutTimer ); - } - - // Dereference transport for early garbage collection - // (no matter how long the jqXHR object will be used) - transport = undefined; - - // Cache response headers - responseHeadersString = headers || ""; - - // Set readyState - jqXHR.readyState = status > 0 ? 4 : 0; - - // Get response data - if ( responses ) { - response = ajaxHandleResponses( s, jqXHR, responses ); - } - - // If successful, handle type chaining - if ( status >= 200 && status < 300 || status === 304 ) { - - // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. - if ( s.ifModified ) { - - modified = jqXHR.getResponseHeader("Last-Modified"); - if ( modified ) { - jQuery.lastModified[ ifModifiedKey ] = modified; - } - modified = jqXHR.getResponseHeader("Etag"); - if ( modified ) { - jQuery.etag[ ifModifiedKey ] = modified; - } - } - - // If not modified - if ( status === 304 ) { - - statusText = "notmodified"; - isSuccess = true; - - // If we have data - } else { - - isSuccess = ajaxConvert( s, response ); - statusText = isSuccess.state; - success = isSuccess.data; - error = isSuccess.error; - isSuccess = !error; - } - } else { - // We extract error from statusText - // then normalize statusText and status for non-aborts - error = statusText; - if ( !statusText || status ) { - statusText = "error"; - if ( status < 0 ) { - status = 0; - } - } - } - - // Set data for the fake xhr object - jqXHR.status = status; - jqXHR.statusText = ( nativeStatusText || statusText ) + ""; - - // Success/Error - if ( isSuccess ) { - deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); - } else { - deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); - } - - // Status-dependent callbacks - jqXHR.statusCode( statusCode ); - statusCode = undefined; - - if ( fireGlobals ) { - globalEventContext.trigger( "ajax" + ( isSuccess ? "Success" : "Error" ), - [ jqXHR, s, isSuccess ? success : error ] ); - } - - // Complete - completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); - - if ( fireGlobals ) { - globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); - // Handle the global AJAX counter - if ( !( --jQuery.active ) ) { - jQuery.event.trigger( "ajaxStop" ); - } - } - } - - // Attach deferreds - deferred.promise( jqXHR ); - jqXHR.success = jqXHR.done; - jqXHR.error = jqXHR.fail; - jqXHR.complete = completeDeferred.add; - - // Status-dependent callbacks - jqXHR.statusCode = function( map ) { - if ( map ) { - var tmp; - if ( state < 2 ) { - for ( tmp in map ) { - statusCode[ tmp ] = [ statusCode[tmp], map[tmp] ]; - } - } else { - tmp = map[ jqXHR.status ]; - jqXHR.always( tmp ); - } - } - return this; - }; - - // Remove hash character (#7531: and string promotion) - // Add protocol if not provided (#5866: IE7 issue with protocol-less urls) - // We also use the url parameter if available - s.url = ( ( url || s.url ) + "" ).replace( rhash, "" ).replace( rprotocol, ajaxLocParts[ 1 ] + "//" ); - - // Extract dataTypes list - s.dataTypes = jQuery.trim( s.dataType || "*" ).toLowerCase().split( core_rspace ); - - // A cross-domain request is in order when we have a protocol:host:port mismatch - if ( s.crossDomain == null ) { - parts = rurl.exec( s.url.toLowerCase() ); - s.crossDomain = !!( parts && - ( parts[ 1 ] !== ajaxLocParts[ 1 ] || parts[ 2 ] !== ajaxLocParts[ 2 ] || - ( parts[ 3 ] || ( parts[ 1 ] === "http:" ? 80 : 443 ) ) != - ( ajaxLocParts[ 3 ] || ( ajaxLocParts[ 1 ] === "http:" ? 80 : 443 ) ) ) - ); - } - - // Convert data if not already a string - if ( s.data && s.processData && typeof s.data !== "string" ) { - s.data = jQuery.param( s.data, s.traditional ); - } - - // Apply prefilters - inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); - - // If request was aborted inside a prefilter, stop there - if ( state === 2 ) { - return jqXHR; - } - - // We can fire global events as of now if asked to - fireGlobals = s.global; - - // Uppercase the type - s.type = s.type.toUpperCase(); - - // Determine if request has content - s.hasContent = !rnoContent.test( s.type ); - - // Watch for a new set of requests - if ( fireGlobals && jQuery.active++ === 0 ) { - jQuery.event.trigger( "ajaxStart" ); - } - - // More options handling for requests with no content - if ( !s.hasContent ) { - - // If data is available, append data to url - if ( s.data ) { - s.url += ( rquery.test( s.url ) ? "&" : "?" ) + s.data; - // #9682: remove data so that it's not used in an eventual retry - delete s.data; - } - - // Get ifModifiedKey before adding the anti-cache parameter - ifModifiedKey = s.url; - - // Add anti-cache in url if needed - if ( s.cache === false ) { - - var ts = jQuery.now(), - // try replacing _= if it is there - ret = s.url.replace( rts, "$1_=" + ts ); - - // if nothing was replaced, add timestamp to the end - s.url = ret + ( ( ret === s.url ) ? ( rquery.test( s.url ) ? "&" : "?" ) + "_=" + ts : "" ); - } - } - - // Set the correct header, if data is being sent - if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { - jqXHR.setRequestHeader( "Content-Type", s.contentType ); - } - - // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. - if ( s.ifModified ) { - ifModifiedKey = ifModifiedKey || s.url; - if ( jQuery.lastModified[ ifModifiedKey ] ) { - jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ ifModifiedKey ] ); - } - if ( jQuery.etag[ ifModifiedKey ] ) { - jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ ifModifiedKey ] ); - } - } - - // Set the Accepts header for the server, depending on the dataType - jqXHR.setRequestHeader( - "Accept", - s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[0] ] ? - s.accepts[ s.dataTypes[0] ] + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : - s.accepts[ "*" ] - ); - - // Check for headers option - for ( i in s.headers ) { - jqXHR.setRequestHeader( i, s.headers[ i ] ); - } - - // Allow custom headers/mimetypes and early abort - if ( s.beforeSend && ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || state === 2 ) ) { - // Abort if not done already and return - return jqXHR.abort(); - - } - - // aborting is no longer a cancellation - strAbort = "abort"; - - // Install callbacks on deferreds - for ( i in { success: 1, error: 1, complete: 1 } ) { - jqXHR[ i ]( s[ i ] ); - } - - // Get transport - transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); - - // If no transport, we auto-abort - if ( !transport ) { - done( -1, "No Transport" ); - } else { - jqXHR.readyState = 1; - // Send global event - if ( fireGlobals ) { - globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); - } - // Timeout - if ( s.async && s.timeout > 0 ) { - timeoutTimer = setTimeout( function(){ - jqXHR.abort( "timeout" ); - }, s.timeout ); - } - - try { - state = 1; - transport.send( requestHeaders, done ); - } catch (e) { - // Propagate exception as error if not done - if ( state < 2 ) { - done( -1, e ); - // Simply rethrow otherwise - } else { - throw e; - } - } - } - - return jqXHR; - }, - - // Counter for holding the number of active queries - active: 0, - - // Last-Modified header cache for next request - lastModified: {}, - etag: {} - -}); - -/* Handles responses to an ajax request: - * - sets all responseXXX fields accordingly - * - finds the right dataType (mediates between content-type and expected dataType) - * - returns the corresponding response - */ -function ajaxHandleResponses( s, jqXHR, responses ) { - - var ct, type, finalDataType, firstDataType, - contents = s.contents, - dataTypes = s.dataTypes, - responseFields = s.responseFields; - - // Fill responseXXX fields - for ( type in responseFields ) { - if ( type in responses ) { - jqXHR[ responseFields[type] ] = responses[ type ]; - } - } - - // Remove auto dataType and get content-type in the process - while( dataTypes[ 0 ] === "*" ) { - dataTypes.shift(); - if ( ct === undefined ) { - ct = s.mimeType || jqXHR.getResponseHeader( "content-type" ); - } - } - - // Check if we're dealing with a known content-type - if ( ct ) { - for ( type in contents ) { - if ( contents[ type ] && contents[ type ].test( ct ) ) { - dataTypes.unshift( type ); - break; - } - } - } - - // Check to see if we have a response for the expected dataType - if ( dataTypes[ 0 ] in responses ) { - finalDataType = dataTypes[ 0 ]; - } else { - // Try convertible dataTypes - for ( type in responses ) { - if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[0] ] ) { - finalDataType = type; - break; - } - if ( !firstDataType ) { - firstDataType = type; - } - } - // Or just use first one - finalDataType = finalDataType || firstDataType; - } - - // If we found a dataType - // We add the dataType to the list if needed - // and return the corresponding response - if ( finalDataType ) { - if ( finalDataType !== dataTypes[ 0 ] ) { - dataTypes.unshift( finalDataType ); - } - return responses[ finalDataType ]; - } -} - -// Chain conversions given the request and the original response -function ajaxConvert( s, response ) { - - var conv, conv2, current, tmp, - // Work with a copy of dataTypes in case we need to modify it for conversion - dataTypes = s.dataTypes.slice(), - prev = dataTypes[ 0 ], - converters = {}, - i = 0; - - // Apply the dataFilter if provided - if ( s.dataFilter ) { - response = s.dataFilter( response, s.dataType ); - } - - // Create converters map with lowercased keys - if ( dataTypes[ 1 ] ) { - for ( conv in s.converters ) { - converters[ conv.toLowerCase() ] = s.converters[ conv ]; - } - } - - // Convert to each sequential dataType, tolerating list modification - for ( ; (current = dataTypes[++i]); ) { - - // There's only work to do if current dataType is non-auto - if ( current !== "*" ) { - - // Convert response if prev dataType is non-auto and differs from current - if ( prev !== "*" && prev !== current ) { - - // Seek a direct converter - conv = converters[ prev + " " + current ] || converters[ "* " + current ]; - - // If none found, seek a pair - if ( !conv ) { - for ( conv2 in converters ) { - - // If conv2 outputs current - tmp = conv2.split(" "); - if ( tmp[ 1 ] === current ) { - - // If prev can be converted to accepted input - conv = converters[ prev + " " + tmp[ 0 ] ] || - converters[ "* " + tmp[ 0 ] ]; - if ( conv ) { - // Condense equivalence converters - if ( conv === true ) { - conv = converters[ conv2 ]; - - // Otherwise, insert the intermediate dataType - } else if ( converters[ conv2 ] !== true ) { - current = tmp[ 0 ]; - dataTypes.splice( i--, 0, current ); - } - - break; - } - } - } - } - - // Apply converter (if not an equivalence) - if ( conv !== true ) { - - // Unless errors are allowed to bubble, catch and return them - if ( conv && s["throws"] ) { - response = conv( response ); - } else { - try { - response = conv( response ); - } catch ( e ) { - return { state: "parsererror", error: conv ? e : "No conversion from " + prev + " to " + current }; - } - } - } - } - - // Update prev for next iteration - prev = current; - } - } - - return { state: "success", data: response }; -} -var oldCallbacks = [], - rquestion = /\?/, - rjsonp = /(=)\?(?=&|$)|\?\?/, - nonce = jQuery.now(); - -// Default jsonp settings -jQuery.ajaxSetup({ - jsonp: "callback", - jsonpCallback: function() { - var callback = oldCallbacks.pop() || ( jQuery.expando + "_" + ( nonce++ ) ); - this[ callback ] = true; - return callback; - } -}); - -// Detect, normalize options and install callbacks for jsonp requests -jQuery.ajaxPrefilter( "json jsonp", function( s, originalSettings, jqXHR ) { - - var callbackName, overwritten, responseContainer, - data = s.data, - url = s.url, - hasCallback = s.jsonp !== false, - replaceInUrl = hasCallback && rjsonp.test( url ), - replaceInData = hasCallback && !replaceInUrl && typeof data === "string" && - !( s.contentType || "" ).indexOf("application/x-www-form-urlencoded") && - rjsonp.test( data ); - - // Handle iff the expected data type is "jsonp" or we have a parameter to set - if ( s.dataTypes[ 0 ] === "jsonp" || replaceInUrl || replaceInData ) { - - // Get callback name, remembering preexisting value associated with it - callbackName = s.jsonpCallback = jQuery.isFunction( s.jsonpCallback ) ? - s.jsonpCallback() : - s.jsonpCallback; - overwritten = window[ callbackName ]; - - // Insert callback into url or form data - if ( replaceInUrl ) { - s.url = url.replace( rjsonp, "$1" + callbackName ); - } else if ( replaceInData ) { - s.data = data.replace( rjsonp, "$1" + callbackName ); - } else if ( hasCallback ) { - s.url += ( rquestion.test( url ) ? "&" : "?" ) + s.jsonp + "=" + callbackName; - } - - // Use data converter to retrieve json after script execution - s.converters["script json"] = function() { - if ( !responseContainer ) { - jQuery.error( callbackName + " was not called" ); - } - return responseContainer[ 0 ]; - }; - - // force json dataType - s.dataTypes[ 0 ] = "json"; - - // Install callback - window[ callbackName ] = function() { - responseContainer = arguments; - }; - - // Clean-up function (fires after converters) - jqXHR.always(function() { - // Restore preexisting value - window[ callbackName ] = overwritten; - - // Save back as free - if ( s[ callbackName ] ) { - // make sure that re-using the options doesn't screw things around - s.jsonpCallback = originalSettings.jsonpCallback; - - // save the callback name for future use - oldCallbacks.push( callbackName ); - } - - // Call if it was a function and we have a response - if ( responseContainer && jQuery.isFunction( overwritten ) ) { - overwritten( responseContainer[ 0 ] ); - } - - responseContainer = overwritten = undefined; - }); - - // Delegate to script - return "script"; - } -}); -// Install script dataType -jQuery.ajaxSetup({ - accepts: { - script: "text/javascript, application/javascript, application/ecmascript, application/x-ecmascript" - }, - contents: { - script: /javascript|ecmascript/ - }, - converters: { - "text script": function( text ) { - jQuery.globalEval( text ); - return text; - } - } -}); - -// Handle cache's special case and global -jQuery.ajaxPrefilter( "script", function( s ) { - if ( s.cache === undefined ) { - s.cache = false; - } - if ( s.crossDomain ) { - s.type = "GET"; - s.global = false; - } -}); - -// Bind script tag hack transport -jQuery.ajaxTransport( "script", function(s) { - - // This transport only deals with cross domain requests - if ( s.crossDomain ) { - - var script, - head = document.head || document.getElementsByTagName( "head" )[0] || document.documentElement; - - return { - - send: function( _, callback ) { - - script = document.createElement( "script" ); - - script.async = "async"; - - if ( s.scriptCharset ) { - script.charset = s.scriptCharset; - } - - script.src = s.url; - - // Attach handlers for all browsers - script.onload = script.onreadystatechange = function( _, isAbort ) { - - if ( isAbort || !script.readyState || /loaded|complete/.test( script.readyState ) ) { - - // Handle memory leak in IE - script.onload = script.onreadystatechange = null; - - // Remove the script - if ( head && script.parentNode ) { - head.removeChild( script ); - } - - // Dereference the script - script = undefined; - - // Callback if not abort - if ( !isAbort ) { - callback( 200, "success" ); - } - } - }; - // Use insertBefore instead of appendChild to circumvent an IE6 bug. - // This arises when a base node is used (#2709 and #4378). - head.insertBefore( script, head.firstChild ); - }, - - abort: function() { - if ( script ) { - script.onload( 0, 1 ); - } - } - }; - } -}); -var xhrCallbacks, - // #5280: Internet Explorer will keep connections alive if we don't abort on unload - xhrOnUnloadAbort = window.ActiveXObject ? function() { - // Abort all pending requests - for ( var key in xhrCallbacks ) { - xhrCallbacks[ key ]( 0, 1 ); - } - } : false, - xhrId = 0; - -// Functions to create xhrs -function createStandardXHR() { - try { - return new window.XMLHttpRequest(); - } catch( e ) {} -} - -function createActiveXHR() { - try { - return new window.ActiveXObject( "Microsoft.XMLHTTP" ); - } catch( e ) {} -} - -// Create the request object -// (This is still attached to ajaxSettings for backward compatibility) -jQuery.ajaxSettings.xhr = window.ActiveXObject ? - /* Microsoft failed to properly - * implement the XMLHttpRequest in IE7 (can't request local files), - * so we use the ActiveXObject when it is available - * Additionally XMLHttpRequest can be disabled in IE7/IE8 so - * we need a fallback. - */ - function() { - return !this.isLocal && createStandardXHR() || createActiveXHR(); - } : - // For all other browsers, use the standard XMLHttpRequest object - createStandardXHR; - -// Determine support properties -(function( xhr ) { - jQuery.extend( jQuery.support, { - ajax: !!xhr, - cors: !!xhr && ( "withCredentials" in xhr ) - }); -})( jQuery.ajaxSettings.xhr() ); - -// Create transport if the browser can provide an xhr -if ( jQuery.support.ajax ) { - - jQuery.ajaxTransport(function( s ) { - // Cross domain only allowed if supported through XMLHttpRequest - if ( !s.crossDomain || jQuery.support.cors ) { - - var callback; - - return { - send: function( headers, complete ) { - - // Get a new xhr - var handle, i, - xhr = s.xhr(); - - // Open the socket - // Passing null username, generates a login popup on Opera (#2865) - if ( s.username ) { - xhr.open( s.type, s.url, s.async, s.username, s.password ); - } else { - xhr.open( s.type, s.url, s.async ); - } - - // Apply custom fields if provided - if ( s.xhrFields ) { - for ( i in s.xhrFields ) { - xhr[ i ] = s.xhrFields[ i ]; - } - } - - // Override mime type if needed - if ( s.mimeType && xhr.overrideMimeType ) { - xhr.overrideMimeType( s.mimeType ); - } - - // X-Requested-With header - // For cross-domain requests, seeing as conditions for a preflight are - // akin to a jigsaw puzzle, we simply never set it to be sure. - // (it can always be set on a per-request basis or even using ajaxSetup) - // For same-domain requests, won't change header if already provided. - if ( !s.crossDomain && !headers["X-Requested-With"] ) { - headers[ "X-Requested-With" ] = "XMLHttpRequest"; - } - - // Need an extra try/catch for cross domain requests in Firefox 3 - try { - for ( i in headers ) { - xhr.setRequestHeader( i, headers[ i ] ); - } - } catch( _ ) {} - - // Do send the request - // This may raise an exception which is actually - // handled in jQuery.ajax (so no try/catch here) - xhr.send( ( s.hasContent && s.data ) || null ); - - // Listener - callback = function( _, isAbort ) { - - var status, - statusText, - responseHeaders, - responses, - xml; - - // Firefox throws exceptions when accessing properties - // of an xhr when a network error occurred - // http://helpful.knobs-dials.com/index.php/Component_returned_failure_code:_0x80040111_(NS_ERROR_NOT_AVAILABLE) - try { - - // Was never called and is aborted or complete - if ( callback && ( isAbort || xhr.readyState === 4 ) ) { - - // Only called once - callback = undefined; - - // Do not keep as active anymore - if ( handle ) { - xhr.onreadystatechange = jQuery.noop; - if ( xhrOnUnloadAbort ) { - delete xhrCallbacks[ handle ]; - } - } - - // If it's an abort - if ( isAbort ) { - // Abort it manually if needed - if ( xhr.readyState !== 4 ) { - xhr.abort(); - } - } else { - status = xhr.status; - responseHeaders = xhr.getAllResponseHeaders(); - responses = {}; - xml = xhr.responseXML; - - // Construct response list - if ( xml && xml.documentElement /* #4958 */ ) { - responses.xml = xml; - } - - // When requesting binary data, IE6-9 will throw an exception - // on any attempt to access responseText (#11426) - try { - responses.text = xhr.responseText; - } catch( e ) { - } - - // Firefox throws an exception when accessing - // statusText for faulty cross-domain requests - try { - statusText = xhr.statusText; - } catch( e ) { - // We normalize with Webkit giving an empty statusText - statusText = ""; - } - - // Filter status for non standard behaviors - - // If the request is local and we have data: assume a success - // (success with no data won't get notified, that's the best we - // can do given current implementations) - if ( !status && s.isLocal && !s.crossDomain ) { - status = responses.text ? 200 : 404; - // IE - #1450: sometimes returns 1223 when it should be 204 - } else if ( status === 1223 ) { - status = 204; - } - } - } - } catch( firefoxAccessException ) { - if ( !isAbort ) { - complete( -1, firefoxAccessException ); - } - } - - // Call complete if needed - if ( responses ) { - complete( status, statusText, responses, responseHeaders ); - } - }; - - if ( !s.async ) { - // if we're in sync mode we fire the callback - callback(); - } else if ( xhr.readyState === 4 ) { - // (IE6 & IE7) if it's in cache and has been - // retrieved directly we need to fire the callback - setTimeout( callback, 0 ); - } else { - handle = ++xhrId; - if ( xhrOnUnloadAbort ) { - // Create the active xhrs callbacks list if needed - // and attach the unload handler - if ( !xhrCallbacks ) { - xhrCallbacks = {}; - jQuery( window ).unload( xhrOnUnloadAbort ); - } - // Add to list of active xhrs callbacks - xhrCallbacks[ handle ] = callback; - } - xhr.onreadystatechange = callback; - } - }, - - abort: function() { - if ( callback ) { - callback(0,1); - } - } - }; - } - }); -} -var fxNow, timerId, - rfxtypes = /^(?:toggle|show|hide)$/, - rfxnum = new RegExp( "^(?:([-+])=|)(" + core_pnum + ")([a-z%]*)$", "i" ), - rrun = /queueHooks$/, - animationPrefilters = [ defaultPrefilter ], - tweeners = { - "*": [function( prop, value ) { - var end, unit, - tween = this.createTween( prop, value ), - parts = rfxnum.exec( value ), - target = tween.cur(), - start = +target || 0, - scale = 1, - maxIterations = 20; - - if ( parts ) { - end = +parts[2]; - unit = parts[3] || ( jQuery.cssNumber[ prop ] ? "" : "px" ); - - // We need to compute starting value - if ( unit !== "px" && start ) { - // Iteratively approximate from a nonzero starting point - // Prefer the current property, because this process will be trivial if it uses the same units - // Fallback to end or a simple constant - start = jQuery.css( tween.elem, prop, true ) || end || 1; - - do { - // If previous iteration zeroed out, double until we get *something* - // Use a string for doubling factor so we don't accidentally see scale as unchanged below - scale = scale || ".5"; - - // Adjust and apply - start = start / scale; - jQuery.style( tween.elem, prop, start + unit ); - - // Update scale, tolerating zero or NaN from tween.cur() - // And breaking the loop if scale is unchanged or perfect, or if we've just had enough - } while ( scale !== (scale = tween.cur() / target) && scale !== 1 && --maxIterations ); - } - - tween.unit = unit; - tween.start = start; - // If a +=/-= token was provided, we're doing a relative animation - tween.end = parts[1] ? start + ( parts[1] + 1 ) * end : end; - } - return tween; - }] - }; - -// Animations created synchronously will run synchronously -function createFxNow() { - setTimeout(function() { - fxNow = undefined; - }, 0 ); - return ( fxNow = jQuery.now() ); -} - -function createTweens( animation, props ) { - jQuery.each( props, function( prop, value ) { - var collection = ( tweeners[ prop ] || [] ).concat( tweeners[ "*" ] ), - index = 0, - length = collection.length; - for ( ; index < length; index++ ) { - if ( collection[ index ].call( animation, prop, value ) ) { - - // we're done with this property - return; - } - } - }); -} - -function Animation( elem, properties, options ) { - var result, - index = 0, - tweenerIndex = 0, - length = animationPrefilters.length, - deferred = jQuery.Deferred().always( function() { - // don't match elem in the :animated selector - delete tick.elem; - }), - tick = function() { - var currentTime = fxNow || createFxNow(), - remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), - // archaic crash bug won't allow us to use 1 - ( 0.5 || 0 ) (#12497) - temp = remaining / animation.duration || 0, - percent = 1 - temp, - index = 0, - length = animation.tweens.length; - - for ( ; index < length ; index++ ) { - animation.tweens[ index ].run( percent ); - } - - deferred.notifyWith( elem, [ animation, percent, remaining ]); - - if ( percent < 1 && length ) { - return remaining; - } else { - deferred.resolveWith( elem, [ animation ] ); - return false; - } - }, - animation = deferred.promise({ - elem: elem, - props: jQuery.extend( {}, properties ), - opts: jQuery.extend( true, { specialEasing: {} }, options ), - originalProperties: properties, - originalOptions: options, - startTime: fxNow || createFxNow(), - duration: options.duration, - tweens: [], - createTween: function( prop, end, easing ) { - var tween = jQuery.Tween( elem, animation.opts, prop, end, - animation.opts.specialEasing[ prop ] || animation.opts.easing ); - animation.tweens.push( tween ); - return tween; - }, - stop: function( gotoEnd ) { - var index = 0, - // if we are going to the end, we want to run all the tweens - // otherwise we skip this part - length = gotoEnd ? animation.tweens.length : 0; - - for ( ; index < length ; index++ ) { - animation.tweens[ index ].run( 1 ); - } - - // resolve when we played the last frame - // otherwise, reject - if ( gotoEnd ) { - deferred.resolveWith( elem, [ animation, gotoEnd ] ); - } else { - deferred.rejectWith( elem, [ animation, gotoEnd ] ); - } - return this; - } - }), - props = animation.props; - - propFilter( props, animation.opts.specialEasing ); - - for ( ; index < length ; index++ ) { - result = animationPrefilters[ index ].call( animation, elem, props, animation.opts ); - if ( result ) { - return result; - } - } - - createTweens( animation, props ); - - if ( jQuery.isFunction( animation.opts.start ) ) { - animation.opts.start.call( elem, animation ); - } - - jQuery.fx.timer( - jQuery.extend( tick, { - anim: animation, - queue: animation.opts.queue, - elem: elem - }) - ); - - // attach callbacks from options - return animation.progress( animation.opts.progress ) - .done( animation.opts.done, animation.opts.complete ) - .fail( animation.opts.fail ) - .always( animation.opts.always ); -} - -function propFilter( props, specialEasing ) { - var index, name, easing, value, hooks; - - // camelCase, specialEasing and expand cssHook pass - for ( index in props ) { - name = jQuery.camelCase( index ); - easing = specialEasing[ name ]; - value = props[ index ]; - if ( jQuery.isArray( value ) ) { - easing = value[ 1 ]; - value = props[ index ] = value[ 0 ]; - } - - if ( index !== name ) { - props[ name ] = value; - delete props[ index ]; - } - - hooks = jQuery.cssHooks[ name ]; - if ( hooks && "expand" in hooks ) { - value = hooks.expand( value ); - delete props[ name ]; - - // not quite $.extend, this wont overwrite keys already present. - // also - reusing 'index' from above because we have the correct "name" - for ( index in value ) { - if ( !( index in props ) ) { - props[ index ] = value[ index ]; - specialEasing[ index ] = easing; - } - } - } else { - specialEasing[ name ] = easing; - } - } -} - -jQuery.Animation = jQuery.extend( Animation, { - - tweener: function( props, callback ) { - if ( jQuery.isFunction( props ) ) { - callback = props; - props = [ "*" ]; - } else { - props = props.split(" "); - } - - var prop, - index = 0, - length = props.length; - - for ( ; index < length ; index++ ) { - prop = props[ index ]; - tweeners[ prop ] = tweeners[ prop ] || []; - tweeners[ prop ].unshift( callback ); - } - }, - - prefilter: function( callback, prepend ) { - if ( prepend ) { - animationPrefilters.unshift( callback ); - } else { - animationPrefilters.push( callback ); - } - } -}); - -function defaultPrefilter( elem, props, opts ) { - var index, prop, value, length, dataShow, toggle, tween, hooks, oldfire, - anim = this, - style = elem.style, - orig = {}, - handled = [], - hidden = elem.nodeType && isHidden( elem ); - - // handle queue: false promises - if ( !opts.queue ) { - hooks = jQuery._queueHooks( elem, "fx" ); - if ( hooks.unqueued == null ) { - hooks.unqueued = 0; - oldfire = hooks.empty.fire; - hooks.empty.fire = function() { - if ( !hooks.unqueued ) { - oldfire(); - } - }; - } - hooks.unqueued++; - - anim.always(function() { - // doing this makes sure that the complete handler will be called - // before this completes - anim.always(function() { - hooks.unqueued--; - if ( !jQuery.queue( elem, "fx" ).length ) { - hooks.empty.fire(); - } - }); - }); - } - - // height/width overflow pass - if ( elem.nodeType === 1 && ( "height" in props || "width" in props ) ) { - // Make sure that nothing sneaks out - // Record all 3 overflow attributes because IE does not - // change the overflow attribute when overflowX and - // overflowY are set to the same value - opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; - - // Set display property to inline-block for height/width - // animations on inline elements that are having width/height animated - if ( jQuery.css( elem, "display" ) === "inline" && - jQuery.css( elem, "float" ) === "none" ) { - - // inline-level elements accept inline-block; - // block-level elements need to be inline with layout - if ( !jQuery.support.inlineBlockNeedsLayout || css_defaultDisplay( elem.nodeName ) === "inline" ) { - style.display = "inline-block"; - - } else { - style.zoom = 1; - } - } - } - - if ( opts.overflow ) { - style.overflow = "hidden"; - if ( !jQuery.support.shrinkWrapBlocks ) { - anim.done(function() { - style.overflow = opts.overflow[ 0 ]; - style.overflowX = opts.overflow[ 1 ]; - style.overflowY = opts.overflow[ 2 ]; - }); - } - } - - - // show/hide pass - for ( index in props ) { - value = props[ index ]; - if ( rfxtypes.exec( value ) ) { - delete props[ index ]; - toggle = toggle || value === "toggle"; - if ( value === ( hidden ? "hide" : "show" ) ) { - continue; - } - handled.push( index ); - } - } - - length = handled.length; - if ( length ) { - dataShow = jQuery._data( elem, "fxshow" ) || jQuery._data( elem, "fxshow", {} ); - if ( "hidden" in dataShow ) { - hidden = dataShow.hidden; - } - - // store state if its toggle - enables .stop().toggle() to "reverse" - if ( toggle ) { - dataShow.hidden = !hidden; - } - if ( hidden ) { - jQuery( elem ).show(); - } else { - anim.done(function() { - jQuery( elem ).hide(); - }); - } - anim.done(function() { - var prop; - jQuery.removeData( elem, "fxshow", true ); - for ( prop in orig ) { - jQuery.style( elem, prop, orig[ prop ] ); - } - }); - for ( index = 0 ; index < length ; index++ ) { - prop = handled[ index ]; - tween = anim.createTween( prop, hidden ? dataShow[ prop ] : 0 ); - orig[ prop ] = dataShow[ prop ] || jQuery.style( elem, prop ); - - if ( !( prop in dataShow ) ) { - dataShow[ prop ] = tween.start; - if ( hidden ) { - tween.end = tween.start; - tween.start = prop === "width" || prop === "height" ? 1 : 0; - } - } - } - } -} - -function Tween( elem, options, prop, end, easing ) { - return new Tween.prototype.init( elem, options, prop, end, easing ); -} -jQuery.Tween = Tween; - -Tween.prototype = { - constructor: Tween, - init: function( elem, options, prop, end, easing, unit ) { - this.elem = elem; - this.prop = prop; - this.easing = easing || "swing"; - this.options = options; - this.start = this.now = this.cur(); - this.end = end; - this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); - }, - cur: function() { - var hooks = Tween.propHooks[ this.prop ]; - - return hooks && hooks.get ? - hooks.get( this ) : - Tween.propHooks._default.get( this ); - }, - run: function( percent ) { - var eased, - hooks = Tween.propHooks[ this.prop ]; - - if ( this.options.duration ) { - this.pos = eased = jQuery.easing[ this.easing ]( - percent, this.options.duration * percent, 0, 1, this.options.duration - ); - } else { - this.pos = eased = percent; - } - this.now = ( this.end - this.start ) * eased + this.start; - - if ( this.options.step ) { - this.options.step.call( this.elem, this.now, this ); - } - - if ( hooks && hooks.set ) { - hooks.set( this ); - } else { - Tween.propHooks._default.set( this ); - } - return this; - } -}; - -Tween.prototype.init.prototype = Tween.prototype; - -Tween.propHooks = { - _default: { - get: function( tween ) { - var result; - - if ( tween.elem[ tween.prop ] != null && - (!tween.elem.style || tween.elem.style[ tween.prop ] == null) ) { - return tween.elem[ tween.prop ]; - } - - // passing any value as a 4th parameter to .css will automatically - // attempt a parseFloat and fallback to a string if the parse fails - // so, simple values such as "10px" are parsed to Float. - // complex values such as "rotate(1rad)" are returned as is. - result = jQuery.css( tween.elem, tween.prop, false, "" ); - // Empty strings, null, undefined and "auto" are converted to 0. - return !result || result === "auto" ? 0 : result; - }, - set: function( tween ) { - // use step hook for back compat - use cssHook if its there - use .style if its - // available and use plain properties where available - if ( jQuery.fx.step[ tween.prop ] ) { - jQuery.fx.step[ tween.prop ]( tween ); - } else if ( tween.elem.style && ( tween.elem.style[ jQuery.cssProps[ tween.prop ] ] != null || jQuery.cssHooks[ tween.prop ] ) ) { - jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); - } else { - tween.elem[ tween.prop ] = tween.now; - } - } - } -}; - -// Remove in 2.0 - this supports IE8's panic based approach -// to setting things on disconnected nodes - -Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { - set: function( tween ) { - if ( tween.elem.nodeType && tween.elem.parentNode ) { - tween.elem[ tween.prop ] = tween.now; - } - } -}; - -jQuery.each([ "toggle", "show", "hide" ], function( i, name ) { - var cssFn = jQuery.fn[ name ]; - jQuery.fn[ name ] = function( speed, easing, callback ) { - return speed == null || typeof speed === "boolean" || - // special check for .toggle( handler, handler, ... ) - ( !i && jQuery.isFunction( speed ) && jQuery.isFunction( easing ) ) ? - cssFn.apply( this, arguments ) : - this.animate( genFx( name, true ), speed, easing, callback ); - }; -}); - -jQuery.fn.extend({ - fadeTo: function( speed, to, easing, callback ) { - - // show any hidden elements after setting opacity to 0 - return this.filter( isHidden ).css( "opacity", 0 ).show() - - // animate to the value specified - .end().animate({ opacity: to }, speed, easing, callback ); - }, - animate: function( prop, speed, easing, callback ) { - var empty = jQuery.isEmptyObject( prop ), - optall = jQuery.speed( speed, easing, callback ), - doAnimation = function() { - // Operate on a copy of prop so per-property easing won't be lost - var anim = Animation( this, jQuery.extend( {}, prop ), optall ); - - // Empty animations resolve immediately - if ( empty ) { - anim.stop( true ); - } - }; - - return empty || optall.queue === false ? - this.each( doAnimation ) : - this.queue( optall.queue, doAnimation ); - }, - stop: function( type, clearQueue, gotoEnd ) { - var stopQueue = function( hooks ) { - var stop = hooks.stop; - delete hooks.stop; - stop( gotoEnd ); - }; - - if ( typeof type !== "string" ) { - gotoEnd = clearQueue; - clearQueue = type; - type = undefined; - } - if ( clearQueue && type !== false ) { - this.queue( type || "fx", [] ); - } - - return this.each(function() { - var dequeue = true, - index = type != null && type + "queueHooks", - timers = jQuery.timers, - data = jQuery._data( this ); - - if ( index ) { - if ( data[ index ] && data[ index ].stop ) { - stopQueue( data[ index ] ); - } - } else { - for ( index in data ) { - if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { - stopQueue( data[ index ] ); - } - } - } - - for ( index = timers.length; index--; ) { - if ( timers[ index ].elem === this && (type == null || timers[ index ].queue === type) ) { - timers[ index ].anim.stop( gotoEnd ); - dequeue = false; - timers.splice( index, 1 ); - } - } - - // start the next in the queue if the last step wasn't forced - // timers currently will call their complete callbacks, which will dequeue - // but only if they were gotoEnd - if ( dequeue || !gotoEnd ) { - jQuery.dequeue( this, type ); - } - }); - } -}); - -// Generate parameters to create a standard animation -function genFx( type, includeWidth ) { - var which, - attrs = { height: type }, - i = 0; - - // if we include width, step value is 1 to do all cssExpand values, - // if we don't include width, step value is 2 to skip over Left and Right - includeWidth = includeWidth? 1 : 0; - for( ; i < 4 ; i += 2 - includeWidth ) { - which = cssExpand[ i ]; - attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; - } - - if ( includeWidth ) { - attrs.opacity = attrs.width = type; - } - - return attrs; -} - -// Generate shortcuts for custom animations -jQuery.each({ - slideDown: genFx("show"), - slideUp: genFx("hide"), - slideToggle: genFx("toggle"), - fadeIn: { opacity: "show" }, - fadeOut: { opacity: "hide" }, - fadeToggle: { opacity: "toggle" } -}, function( name, props ) { - jQuery.fn[ name ] = function( speed, easing, callback ) { - return this.animate( props, speed, easing, callback ); - }; -}); - -jQuery.speed = function( speed, easing, fn ) { - var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { - complete: fn || !fn && easing || - jQuery.isFunction( speed ) && speed, - duration: speed, - easing: fn && easing || easing && !jQuery.isFunction( easing ) && easing - }; - - opt.duration = jQuery.fx.off ? 0 : typeof opt.duration === "number" ? 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- this : - this.each(function( i ) { - jQuery.offset.setOffset( this, options, i ); - }); - } - - var docElem, body, win, clientTop, clientLeft, scrollTop, scrollLeft, - box = { top: 0, left: 0 }, - elem = this[ 0 ], - doc = elem && elem.ownerDocument; - - if ( !doc ) { - return; - } - - if ( (body = doc.body) === elem ) { - return jQuery.offset.bodyOffset( elem ); - } - - docElem = doc.documentElement; - - // Make sure it's not a disconnected DOM node - if ( !jQuery.contains( docElem, elem ) ) { - return box; - } - - // If we don't have gBCR, just use 0,0 rather than error - // BlackBerry 5, iOS 3 (original iPhone) - if ( typeof elem.getBoundingClientRect !== "undefined" ) { - box = elem.getBoundingClientRect(); - } - win = getWindow( doc ); - clientTop = docElem.clientTop || body.clientTop || 0; - clientLeft = docElem.clientLeft || body.clientLeft || 0; - scrollTop = win.pageYOffset || docElem.scrollTop; - scrollLeft = win.pageXOffset || docElem.scrollLeft; - return { - top: box.top + scrollTop - clientTop, - left: box.left + scrollLeft - clientLeft - }; -}; - -jQuery.offset = { - - bodyOffset: function( body ) { - var top = body.offsetTop, - left = body.offsetLeft; - - if ( jQuery.support.doesNotIncludeMarginInBodyOffset ) { - top += parseFloat( jQuery.css(body, "marginTop") ) || 0; - left += parseFloat( jQuery.css(body, "marginLeft") ) || 0; - } - - return { top: top, left: left }; - }, - - setOffset: function( elem, options, i ) { - var position = jQuery.css( elem, "position" ); - - // set position first, in-case top/left are set even on static elem - if ( position === "static" ) { - elem.style.position = "relative"; - } - - var curElem = jQuery( elem ), - curOffset = curElem.offset(), - curCSSTop = jQuery.css( elem, "top" ), - curCSSLeft = jQuery.css( elem, "left" ), - calculatePosition = ( position === "absolute" || position === "fixed" ) && jQuery.inArray("auto", [curCSSTop, curCSSLeft]) > -1, - props = {}, curPosition = {}, curTop, curLeft; - - // need to be able to calculate position if either top or left is auto and position is either absolute or fixed - if ( calculatePosition ) { - curPosition = curElem.position(); - curTop = curPosition.top; - curLeft = curPosition.left; - } else { - curTop = parseFloat( curCSSTop ) || 0; - curLeft = parseFloat( curCSSLeft ) || 0; - } - - if ( jQuery.isFunction( options ) ) { - options = options.call( elem, i, curOffset ); - } - - if ( options.top != null ) { - props.top = ( options.top - curOffset.top ) + curTop; - } - if ( options.left != null ) { - props.left = ( options.left - curOffset.left ) + curLeft; - } - - if ( "using" in options ) { - options.using.call( elem, props ); - } else { - curElem.css( props ); - } - } -}; - - -jQuery.fn.extend({ - - position: function() { - if ( !this[0] ) { - return; - } - - var elem = this[0], - - // Get *real* offsetParent - offsetParent = this.offsetParent(), - - // Get correct offsets - offset = this.offset(), - parentOffset = rroot.test(offsetParent[0].nodeName) ? { top: 0, left: 0 } : offsetParent.offset(); - - // Subtract element margins - // note: when an element has margin: auto the offsetLeft and marginLeft - // are the same in Safari causing offset.left to incorrectly be 0 - offset.top -= parseFloat( jQuery.css(elem, "marginTop") ) || 0; - offset.left -= parseFloat( jQuery.css(elem, "marginLeft") ) || 0; - - // Add offsetParent borders - parentOffset.top += parseFloat( jQuery.css(offsetParent[0], "borderTopWidth") ) || 0; - parentOffset.left += parseFloat( jQuery.css(offsetParent[0], "borderLeftWidth") ) || 0; - - // Subtract the two offsets - return { - top: offset.top - parentOffset.top, - left: offset.left - parentOffset.left - }; - }, - - offsetParent: function() { - return this.map(function() { - var offsetParent = this.offsetParent || document.body; - while ( offsetParent && (!rroot.test(offsetParent.nodeName) && jQuery.css(offsetParent, "position") === "static") ) { - offsetParent = offsetParent.offsetParent; - } - return offsetParent || document.body; - }); - } -}); - - -// Create scrollLeft and scrollTop methods -jQuery.each( {scrollLeft: "pageXOffset", scrollTop: "pageYOffset"}, function( method, prop ) { - var top = /Y/.test( prop ); - - jQuery.fn[ method ] = function( val ) { - return jQuery.access( this, function( elem, method, val ) { - var win = getWindow( elem ); - - if ( val === undefined ) { - return win ? (prop in win) ? win[ prop ] : - win.document.documentElement[ method ] : - elem[ method ]; - } - - if ( win ) { - win.scrollTo( - !top ? val : jQuery( win ).scrollLeft(), - top ? val : jQuery( win ).scrollTop() - ); - - } else { - elem[ method ] = val; - } - }, method, val, arguments.length, null ); - }; -}); - -function getWindow( elem ) { - return jQuery.isWindow( elem ) ? - elem : - elem.nodeType === 9 ? - elem.defaultView || elem.parentWindow : - false; -} -// Create innerHeight, innerWidth, height, width, outerHeight and outerWidth methods -jQuery.each( { Height: "height", Width: "width" }, function( name, type ) { - jQuery.each( { padding: "inner" + name, content: type, "": "outer" + name }, function( defaultExtra, funcName ) { - // margin is only for outerHeight, outerWidth - jQuery.fn[ funcName ] = function( margin, value ) { - var chainable = arguments.length && ( defaultExtra || typeof margin !== "boolean" ), - extra = defaultExtra || ( margin === true || value === true ? "margin" : "border" ); - - return jQuery.access( this, function( elem, type, value ) { - var doc; - - if ( jQuery.isWindow( elem ) ) { - // As of 5/8/2012 this will yield incorrect results for Mobile Safari, but there - // isn't a whole lot we can do. See pull request at this URL for discussion: - // https://github.com/jquery/jquery/pull/764 - return elem.document.documentElement[ "client" + name ]; - } - - // Get document width or height - if ( elem.nodeType === 9 ) { - doc = elem.documentElement; - - // Either scroll[Width/Height] or offset[Width/Height] or client[Width/Height], whichever is greatest - // unfortunately, this causes bug #3838 in IE6/8 only, but there is currently no good, small way to fix it. - return Math.max( - elem.body[ "scroll" + name ], doc[ "scroll" + name ], - elem.body[ "offset" + name ], doc[ "offset" + name ], - doc[ "client" + name ] - ); - } - - return value === undefined ? - // Get width or height on the element, requesting but not forcing parseFloat - jQuery.css( elem, type, value, extra ) : - - // Set width or height on the element - jQuery.style( elem, type, value, extra ); - }, type, chainable ? margin : undefined, chainable, null ); - }; - }); -}); -// Expose jQuery to the global object -window.jQuery = window.$ = jQuery; - -// Expose jQuery as an AMD module, but only for AMD loaders that -// understand the issues with loading multiple versions of jQuery -// in a page that all might call define(). The loader will indicate -// they have special allowances for multiple jQuery versions by -// specifying define.amd.jQuery = true. Register as a named module, -// since jQuery can be concatenated with other files that may use define, -// but not use a proper concatenation script that understands anonymous -// AMD modules. A named AMD is safest and most robust way to register. -// Lowercase jquery is used because AMD module names are derived from -// file names, and jQuery is normally delivered in a lowercase file name. -// Do this after creating the global so that if an AMD module wants to call -// noConflict to hide this version of jQuery, it will work. -if ( typeof define === "function" && define.amd && define.amd.jQuery ) { - define( "jquery", [], function () { return jQuery; } ); -} - -})( window ); diff --git a/arduino/Betas/RGB_V1.5/main/i2c.ino b/arduino/Betas/RGB_V1.5/main/i2c.ino deleted file mode 100644 index dacc412..0000000 --- a/arduino/Betas/RGB_V1.5/main/i2c.ino +++ /dev/null @@ -1,63 +0,0 @@ -/* 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 -} diff --git a/arduino/Betas/RGB_V1.5/main/main.ino b/arduino/Betas/RGB_V1.5/main/main.ino deleted file mode 100644 index 0e571c5..0000000 --- a/arduino/Betas/RGB_V1.5/main/main.ino +++ /dev/null @@ -1,1321 +0,0 @@ -/** - 自平衡莱洛三角形 RGB版 HW:Ver 1.5 FW:Ver 1.2.1 - 立创EDA https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy - RGB版本程序 https://gitee.com/muyan3000/RGBFOC 基于45°(https://gitee.com/coll45/foc/)程序修改 - 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 - V1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 - V2电机是2715 -*/ -#include -#include "Command.h" -#include -#include //引用以使用异步UDP -#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter -#include "EEPROM.h" - -#include -#include -#include -#include -#include "SPIFFS.h" -#include -#define timezone 8 - -#include -#define DATA_PIN 16 //RGB pin -#define LED_TYPE WS2812B -#define COLOR_ORDER GRB -#define NUM_LEDS 21 //LED数量 -int rgb_brightness = 25; //初始化亮度 -CRGB leds[NUM_LEDS]; - -unsigned long TenthSecondsSinceStart = 0; -void TenthSecondsSinceStartTask(); -void OnTenthSecond(); -void OnSecond(); -void StartWebServer(); - -#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 = 68000; //68K -const double R2_VOLTAGE = 10000; //10K -const double min_voltage = 9.5; //电池检测最低电压 -double bat_voltage; - -const int threshold_top = 20; //触摸顶部阈值 -const int threshold_bottom = 1; //触摸底部阈值，越接近数值越小 -const int threshold_count = 4; //触摸计数器有效值，通常会有意外的自动触发 - -int touchread[4] = {100, 100, 100, 100}; //初始化触摸读取值为100，无触摸 -int touchDetected[4] = {}; //通过touchdetected持续计数判断是否按键，防止无触碰触发 - -bool touch_touched[4] = {}; //单击判断 -int touch_touched_times[4] = {}; //单击次数，单击切换模式，双击 -int touch_touching_time[4] = {}; //持续触摸秒数，用于判断长按事件，长按关闭，长按开启，开启状态长按调光， -bool touch_STATE[4] = {1, 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 - -const char *username = "admin"; //web用户名 -const char *userpassword = "reuleaux123"; //web用户密码 -const char *ServerName = "ESP32-Reuleaux-RGB"; -char mac_tmp[6]; -const char *ssid = mac_tmp; -const char *password = "Reul12345678"; -char DateTimeStr[20] = "1970-01-01 00:00:00"; -char Debug_Log[255][255]; -uint32_t loop_time_begin = millis(); -int debug_times; -bool log_control = 0, debug_log_control = 0; - -WebServer ESP32Server(80); - -Kalman kalmanZ; -#define gyroZ_OFF -0.19 -/* ----IMU Data---- */ - -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 -float pendulum_angle; - -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); - -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}; - -//倒立摇摆参数 -//3和4是速度控制稳定前和后 -float LQR_K3_1 = 10; //速度控制摇摆到平衡 -float LQR_K3_2 = 1.7; // -float LQR_K3_3 = 1.75; // - -float LQR_K4_1 = 2.4; //速度控制平衡态 -float LQR_K4_2 = 1.5; // -float LQR_K4_3 = 1.42; // - -//电机参数 -BLDCMotor motor = BLDCMotor(5); //电机极数 -BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); -float target_velocity = 0; //目标速度 -float target_angle = 89.3; //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 = 1.8; //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 = 20; //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 = 20; //非稳态速度环I -float v_p_1 = 0.5; //非稳态速度环P -float v_i_2 = 10; //稳态速度环I -float v_p_2 = 0.2; //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 - 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 Debug_Log_func(String debuglog, bool debug_control = debug_log_control) { - if (debug_control) { - uint32_t tmp_loop_time_begin = millis(); - sprintf(Debug_Log[debug_times], "%s\r\nBegin time:%d\tEnd time:%d\tProcessed in %d ms\tFreeHeap:%d\r\n%s", Debug_Log[debug_times], loop_time_begin, tmp_loop_time_begin, (tmp_loop_time_begin - loop_time_begin), ESP.getFreeHeap(), debuglog.c_str()); - loop_time_begin = tmp_loop_time_begin; - debug_times++; - } -} - -bool AutoWifiConfig() -{ - //wifi初始化 - 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(); -} - -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() { - Debug_Log_func("Before setup", 1); - Serial.begin(115200); - - pinMode(ACTIVE_PIN, OUTPUT); - digitalWrite(ACTIVE_PIN, HIGH); - - 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()); - - 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); - - // tell FastLED about the LED strip configuration - FastLED.addLeds(leds, NUM_LEDS) - .setCorrection(TypicalLEDStrip) - .setDither(rgb_brightness < 255); - // set master brightness control - FastLED.setBrightness(rgb_brightness); - - CRGB c_rgb[5]; - c_rgb[0] = CRGB::White; - c_rgb[2] = CRGB::Red; - c_rgb[1] = CRGB::Green; - c_rgb[3] = CRGB::Blue; - c_rgb[4] = CRGB::Purple; - - for ( int j = 0; j < 5; j++) { - for ( int i = 0; i < NUM_LEDS; i++) { - leds[i] = c_rgb[j]; - FastLED.show(); - delay(15); - } - delay(300); - } - - 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 ( touch_STATE[3] ) { - AutoWifiConfig(); - StartWebServer(); - } - - - // 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); // Set starting angle - 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::velocity; - - //速度PI环设置 - motor.PID_velocity.P = v_p_1; - motor.PID_velocity.I = v_i_1; - - //最大电机限制电压 - motor.voltage_limit = 12; // [V]s - - //速度低通滤波时间常数 - motor.LPF_velocity.Tf = 0.02; - - // angle P controller - motor.P_angle.P = 20; - - //设置最大速度限制 - motor.velocity_limit = 180; // [rad/s] - - 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:")); - - - // 启动闪存文件系统 - if (SPIFFS.begin()) - { - Serial.println("SPIFFS Started."); - } - else - { - Serial.println("SPIFFS Failed to Start."); - } - - - Serial.print("System is ready \t Free Heap: "); - Serial.println(ESP.getFreeHeap()); - Serial.println("-----------------------------------------------"); - Serial.println(""); - - Debug_Log_func("setup", 1); -} - -char buf[255]; -long loop_count = 0; -double last_pitch; -void loop() { - Debug_Log_func("loop"); - if ( touch_STATE[3] ) { - ESP32Server.handleClient(); - //delay(1);//allow the cpu to switch to other tasks - ArduinoOTA.handle(); - } - motor.loopFOC(); - - 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 pitch2 = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG; - 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; // Calculate gyro angle without any filter - compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; // Calculate the angle using a Complimentary filter - - // Reset the gyro angle when it has drifted too much - if (gyroZangle < -180 || gyroZangle > 180) - gyroZangle = kalAngleZ; - - pendulum_angle = constrainAngle(fmod(kalAngleZ, 120) - target_angle); //摆角计算 - - // 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) > motor.velocity_limit) - target_velocity = _sign(target_velocity) * motor.velocity_limit; - - 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 0 - - Serial.print(accX); Serial.print("\t"); - Serial.print(accY); Serial.print("\t"); - Serial.print(atan(accX / accY) / 1.570796 * 90); Serial.print("\t"); - Serial.print(pitch); Serial.print("\t"); - Serial.print(gyroZangle); Serial.print("\t"); - Serial.print(compAngleZ); Serial.print("\t"); - Serial.print(kalAngleZ); Serial.print("\t"); - - Serial.print(target_voltage); Serial.print("\t"); - // Serial.print(target_velocity);Serial.print("\t"); - Serial.print(motor.shaft_velocity); 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 - // motor.move(target_velocity); - //可以使用该方法wifi发送udp信息 - if (wifi_flag) - { - digitalWrite(ACTIVE_PIN, LOW); - memset(buf, 0, strlen(buf)); - - wifi_print("v", motor.shaftVelocity()); - 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("BAT", driver.voltage_power_supply); - - udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192, 168, 4, 2), localUdpPort); //广播数据 - digitalWrite(ACTIVE_PIN, HIGH); - } - - //触摸感应处理 - touchAttach(1, T2); - touchAttach(2, T3); - touchAttach(3, T4); - - - //单击事件处理 - if (touch_touched[1]) { - //Serial.print("\nLight1 touched "); - //Serial.println(touch_touched_times[1]); - touch_touched[1] = false; - } - - if (touch_touched[2]) { - //Serial.print("\nLight2 touched "); - //Serial.println(touch_touched_times[2]); - - touch_touched[2] = false; - } - - if (touch_touched[3]) { - //Serial.print("\nLight2 touched "); - //Serial.println(touch_touched_times[2]); - - touch_touched[3] = false; - } - - //灯光及按键处理 - if ( touch_STATE[1] ) { - pride(); - addGlitter(15); - FastLED.show(); - } else { - FastLED.clearData(); - FastLED.show(); - } - - TenthSecondsSinceStartTask(); -} - -/* 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 angle controllable - // calculate the control law - // LQR controller u = k*x - // - k = [40, 7, 0.3] - // - k = [13.3, 21, 0.3] - // - x = [pendulum angle, pendulum velocity, motor velocity]' - - if (abs(p_angle) > 2.5) //摆角大于2.5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) > 3 && abs(target_velocity) < 10) { //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"); -} - - -unsigned long LastMillis = 0; -void TenthSecondsSinceStartTask() //100ms -{ - unsigned long CurrentMillis = millis(); - if (abs(int(CurrentMillis - LastMillis)) > 100) - { - LastMillis = CurrentMillis; - TenthSecondsSinceStart++; - OnTenthSecond(); - } -} - -void OnSecond() -{ - time_t now = time(nullptr); //获取当前时间 - - //转换成年月日的数字，可以更加自由的显示。 - struct tm* timenow; - timenow = localtime(&now); - unsigned char tempHour = timenow->tm_hour; - unsigned char tempMinute = timenow->tm_min; - unsigned char tempSecond = timenow->tm_sec; - unsigned char tempDay = timenow->tm_mday; - unsigned char tempMonth = timenow->tm_mon + 1; - unsigned int tempYear = timenow->tm_year + 1900; - unsigned char tempWeek = timenow->tm_wday; - - - //生成 年月日时分秒 字符串。 - sprintf(DateTimeStr, "%d-%02d-%02d %02d:%02d:%02d" - , tempYear - , tempMonth - , tempDay - , tempHour - , tempMinute - , tempSecond - ); - - //Serial.println(DateTimeStr); - -#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) - { - FastLED.clearData(); - FastLED.show(); - //motor.loopFOC(); - //motor.move(0); - 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 - - for (byte i = 0; i < 4; i++) { - if (touchDetected[i] > 0) { //检测到触摸中，一秒计数一次，未触摸则清零 - touch_touching_time[i]++; - //长按事件处理 - if (touch_touching_time[i] % 2 == 0) { //按住大于2秒 - switch (i) { - case 0: - - break; - case 1: - touch_STATE[i] = !touch_STATE[i]; //灯光状态反处理 - Serial.println("LIGHTS_ON/OFF"); - break; - case 3: - digitalWrite(ACTIVE_PIN, 1); - delay(500); - if(touch_STATE[i]==1){ - ESP32Server.close();//关闭网络服务 - WiFi.disconnect(); - WiFi.mode(WIFI_OFF); - Serial.println("WIFI_OFF"); - }else{ - AutoWifiConfig(); - StartWebServer(); - Serial.println("WIFI_ON"); - } - touch_STATE[i] = !touch_STATE[i]; //状态反处理 - - break; - } - } - } - } -} - -void OnTenthSecond() // 100ms 十分之一秒 -{ - - if (TenthSecondsSinceStart % 3 == 0) //0.3S刷新 - { - if ( touch_touching_time[2] > 1) { //按键2长按大于1秒处理调光 - if ( touch_touched_times[2] == 0 || touch_touched_times[2] % 2 == 0 ) { //第0，2,4,6..次按加亮度，1,3,5...则减 - rgb_brightness = rgb_brightness + 5; - } else { - rgb_brightness = rgb_brightness - 5; - } - //Serial.println(rgb_brightness); - FastLED.setBrightness(rgb_brightness); - } - - } - - if (TenthSecondsSinceStart % 10 == 0) //10次为1秒 - { - OnSecond(); - } -} - -String TimeString(int TimeMillis) { - char stringTime[10]; - int sec = TimeMillis; - int min = sec / 60; - int hr = min / 60; - - sprintf(stringTime, "%02d:%02d:%02d", - hr, min % 60, sec % 60 - ); - return stringTime; -} - -String ProcessUpdate() //页面更新 -{ - //自动生成一串用“,”隔开的字符串。 - //HTML脚本会按照“, ”分割，形成一个字符串数组。 - //并把这个数组填个表格的相应部分。 - String ReturnString; - ReturnString = DateTimeStr; - - ReturnString += ","; - ReturnString += TimeString(millis() / 1000); - - ReturnString += ","; - ReturnString += log_control; - ReturnString += ","; - ReturnString += debug_log_control; - ReturnString += ","; - ReturnString += test_flag; - ReturnString += ","; - ReturnString += EEPROM.readFloat(0); - ReturnString += ","; - ReturnString += swing_up_voltage; - ReturnString += ","; - ReturnString += swing_up_angle; - ReturnString += ","; - ReturnString += v_i_1; - ReturnString += ","; - ReturnString += v_p_1; - ReturnString += ","; - ReturnString += v_i_2; - ReturnString += ","; - ReturnString += v_p_2; - ReturnString += ","; - ReturnString += bat_voltage; - - if (log_control) { - ReturnString += ","; - ReturnString += motor.shaftVelocity(); - ReturnString += ","; - ReturnString += motor.voltage.q; - ReturnString += ","; - ReturnString += target_velocity; - ReturnString += ","; - ReturnString += pendulum_angle; - ReturnString += ","; - ReturnString += target_angle; - ReturnString += ","; - ReturnString += last_pitch; - ReturnString += ","; - ReturnString += kalAngleZ; - ReturnString += ","; - ReturnString += gyroZangle; - } else { - ReturnString += "0,0,0,0,0,0,0,0,0"; - } - - ReturnString += ","; - if (debug_log_control) { - Debug_Log_func("debug print begin", 1); - int i = 0; - while (strlen(Debug_Log[debug_times - 1]) != 0) { - ReturnString += Debug_Log[i]; - memset( Debug_Log[i], 0, strlen(Debug_Log[i]) ); - i++; - } - debug_times = 0; - Debug_Log_func("debug print end", 1); - } - - //Serial.println(ReturnString); - return ReturnString; -} - -/* - DeviceType =0 - DeviceType =1 - - OPERATION_ON 0,3,6,9 - OPERATION_OFF 1,4,7,10 - OPERATION_ON_OFF 2,5,8,11 -*/ -void PocessControl(int DeviceType, int DeviceIndex, int Operation, float Operation2) -{ - String ReturnString; - char do_commd[20]; - int SysIndex = 6; - - if (DeviceType == 0) //系统操作：开关灯，调节亮度，重启 - { - if (DeviceIndex == 0) - { - if (Operation % SysIndex == 0) - { - touch_STATE[1] = true; - ReturnString += "开灯 亮度 "; - ReturnString += String(rgb_brightness); - } - else if (Operation % SysIndex == 3) //操作off - { - touch_STATE[1] = false; - ReturnString += "关灯"; - } - else if (Operation % SysIndex == 1) //操作+ - { - rgb_brightness = (rgb_brightness + 5) % 260; - FastLED.setBrightness(rgb_brightness); - ReturnString += "亮度增加至 "; - ReturnString += String(rgb_brightness); - if (!touch_STATE[1]) - ReturnString += " 【灯光已关闭】"; - } - else if (Operation % SysIndex == 2) //操作- - { - if (rgb_brightness == 0) - rgb_brightness = 255; - else - rgb_brightness = rgb_brightness - 5; - FastLED.setBrightness(rgb_brightness); - ReturnString += "亮度降低至 "; - ReturnString += String(rgb_brightness); - if (!touch_STATE[1]) - ReturnString += " 【灯光已关闭】"; - } - else if (Operation % SysIndex == 4) - { - ReturnString += "系统重启，请等待重新连接"; - ESP32Server.send(200, "text/plain", ReturnString); - printf("Reboot..."); - esp_restart(); - } - } else if (DeviceIndex == 5) { //参数记录输出控制 - if (Operation % SysIndex == 0) - log_control = 0; - else if (Operation % SysIndex == 1) - log_control = 1; - } else if (DeviceIndex == 6) { //DEBUG输出控制 - if (Operation % SysIndex == 0) { - debug_log_control = 0; - } else if (Operation % SysIndex == 1) { - Debug_Log_func("DEBUG OUT", 1); - debug_log_control = 1; - } - } - } - - if (DeviceType == 1) //调参 - { - if (Operation == 0) - { - sprintf(do_commd, "%.2f", Operation2); - //Serial.println(do_commd); - switch (DeviceIndex) { - case 0: //期望角度TA - do_TA(do_commd); - break; - case 1: //摇摆电压SV - do_SV(do_commd); - break; - case 2: //摇摆角度SA - do_SA(do_commd); - break; - case 3: //速度环P1 - do_vp1(do_commd); - break; - case 4: //速度环I1 - do_vi1(do_commd); - break; - case 5: //速度环P2 - do_vp2(do_commd); - break; - case 6: //速度环I2 - do_vi2(do_commd); - break; - case 7: //do_VQ - do_VQ(do_commd); - break; - case 8: //do_VV - do_VV(do_commd); - break; - case 77: //TVQ - do_TVQ(do_commd); - if (test_flag == 1) - ReturnString += "打开电机电压测试"; - else - ReturnString += "关闭电机电压测试"; - break; - case 88: //TVV - do_TVV(do_commd); - if (test_flag == 2) - ReturnString += "打开电机速度测试"; - else - ReturnString += "关闭电机速度测试"; - break; - case 99: //电机启停 - do_MOTOR(do_commd); - if (!Motor_enable_flag) - ReturnString += "电机启动..."; - else - ReturnString += "电机停机..."; - break; - } - EEPROM.commit(); - } - } - ESP32Server.send(200, "text/plain", ReturnString); -} - - -bool handleFileRead(String path) { //处理主页访问 - String contentType = "text/html"; - - if (SPIFFS.exists(path)) { // 如果访问的文件可以在SPIFFS中找到 - File file = SPIFFS.open(path, "r"); // 则尝试打开该文件 - ESP32Server.streamFile(file, contentType); // 并且将该文件返回给浏览器 - file.close(); // 并且关闭文件 - return true; // 返回true - } - return false; // 如果文件未找到，则返回false -} - -void handleNotFound() -{ - // 获取用户请求网址信息 - String webAddress = ESP32Server.uri(); - int AutheTimes = 0; - - if (!ESP32Server.authenticate(username, userpassword)) //校验用户是否登录 - { - if (AutheTimes == 3) { - ESP32Server.send(404, "text/plain", "Bye"); - } else { - AutheTimes++; - return ESP32Server.requestAuthentication(); //请求进行用户登录认证 - } - } - - //打印出请求 - if (webAddress != "/update") - { - printf("%s\n", webAddress.c_str()); - } - - //如果是主页请求，则发送FLASH中的index.html文件 - if (webAddress.endsWith("/")) { // 如果访问地址以"/"为结尾 - webAddress = "/index.html"; // 则将访问地址修改为/index.html便于SPIFFS访问 - - // 通过handleFileRead函数处处理用户访问 - handleFileRead(webAddress); - } - else if (webAddress.endsWith("jquery.js")) { - webAddress = "/jquery.js"; - - // 通过handleFileRead函数处处理用户访问 - handleFileRead(webAddress); - } - else if (webAddress.endsWith("highcharts.js")) { - webAddress = "/highcharts.js"; - - // 通过handleFileRead函数处处理用户访问 - handleFileRead(webAddress); - } - else if (webAddress.endsWith("update")) - { - ESP32Server.send(200, "text/plain", ProcessUpdate()); - } - else if (webAddress.startsWith("/Control")) - { - if (ESP32Server.args() == 3) - { - int DeviceType = ESP32Server.arg(0).toInt(); - int DeviceIndex = ESP32Server.arg(1).toInt(); - int Operation = ESP32Server.arg(2).toInt(); - float Operation2 = ESP32Server.arg(2).toFloat(); - if (DeviceType == 1) { - Operation = 0; - } - - printf("DeviceType:%d DeviceIndex:%d Operation:%d Operation2:%.2f\n", DeviceType, DeviceIndex, Operation, Operation2 ); - - PocessControl(DeviceType, DeviceIndex, Operation, Operation2); - } - else - { - ESP32Server.send(404, "text/plain", "404 Not Found"); - } - } - else - { - ESP32Server.send(404, "text/plain", "404 Not Found"); - } -} - -void StartWebServer() -{ - ESP32Server.begin(); - ESP32Server.onNotFound(handleNotFound);//将所有请求导向自己处理的代码 -} - - -// This function draws rainbows with an ever-changing, -// widely-varying set of parameters. -void pride() -{ - static uint16_t sPseudotime = 0; - static uint16_t sLastMillis = 0; - static uint16_t sHue16 = 0; - - uint8_t sat8 = beatsin88( 87, 220, 250); - uint8_t brightdepth = beatsin88( 341, 96, 224); - uint16_t brightnessthetainc16 = beatsin88( 203, (25 * 256), (40 * 256)); - uint8_t msmultiplier = beatsin88(147, 23, 60); - - uint16_t hue16 = sHue16;//gHue * 256; - uint16_t hueinc16 = beatsin88(113, 1, 3000); - - uint16_t ms = millis(); - uint16_t deltams = ms - sLastMillis ; - sLastMillis = ms; - sPseudotime += deltams * msmultiplier; - sHue16 += deltams * beatsin88( 400, 5, 9); - uint16_t brightnesstheta16 = sPseudotime; - - for ( uint16_t i = 0 ; i < NUM_LEDS; i++) { - hue16 += hueinc16; - uint8_t hue8 = hue16 / 256; - - brightnesstheta16 += brightnessthetainc16; - uint16_t b16 = sin16( brightnesstheta16 ) + 32768; - - uint16_t bri16 = (uint32_t)((uint32_t)b16 * (uint32_t)b16) / 65536; - uint8_t bri8 = (uint32_t)(((uint32_t)bri16) * brightdepth) / 65536; - bri8 += (255 - brightdepth); - - CRGB newcolor = CHSV( hue8, sat8, bri8); - - uint16_t pixelnumber = i; - pixelnumber = (NUM_LEDS - 1) - pixelnumber; - - nblend( leds[pixelnumber], newcolor, 64); - } -} - -void addGlitter( fract8 chanceOfGlitter) -{ - if ( random8() < chanceOfGlitter) { - leds[ random16(NUM_LEDS) ] += CRGB::White; - } -} - -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; -} - -//触摸感应处理 -void touchAttach(int touchID, uint8_t touchPin) { - touchread[touchID] = touchRead(touchPin); - if ( touchread[touchID] <= threshold_top && touchread[touchID] > threshold_bottom ) { //达到触发值的计数 - //delay(38); // 0.038秒 - touchDetected[touchID]++; //持续触摸计数 - if ( (touchDetected[touchID] >= threshold_count) && digitalRead(ACTIVE_PIN) == HIGH ) { //达到触发值的，灯不亮则亮灯 - digitalWrite(ACTIVE_PIN, LOW); - } - } else if (touchread[touchID] > threshold_top) { //无触摸处理 - if ( digitalRead(ACTIVE_PIN) == LOW ) { //灭触摸灯 - digitalWrite(ACTIVE_PIN, HIGH); - } - if ( touchDetected[touchID] >= threshold_count ) { //检测无触摸之前的有效计数，触摸过则标记 - touch_touched[touchID] = true; - touch_touched_times[touchID]++; //触摸计数+1 - } - touch_touching_time[touchID] = 0; //持续触摸时间清零 - touchDetected[touchID] = 0; //持续触摸计数清零 - } -} diff --git a/arduino/Betas/RGB_V2/.keep b/arduino/Betas/RGB_V2/.keep deleted file mode 100644 index e69de29..0000000 diff --git a/arduino/Betas/RGB_V2/main/.keep b/arduino/Betas/RGB_V2/main/.keep deleted file mode 100644 index e69de29..0000000 diff --git a/arduino/Betas/RGB_V2/main/main/Command.cpp b/arduino/Betas/RGB_V2/main/main/Command.cpp deleted file mode 100644 index 323d99a..0000000 --- a/arduino/Betas/RGB_V2/main/main/Command.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#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; -} diff --git a/arduino/Betas/RGB_V2/main/main/Command.h b/arduino/Betas/RGB_V2/main/main/Command.h deleted file mode 100644 index 04c8397..0000000 --- a/arduino/Betas/RGB_V2/main/main/Command.h +++ /dev/null @@ -1,17 +0,0 @@ -#include -// 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 - -}; diff --git a/arduino/Betas/RGB_V2/main/main/Kalman.cpp b/arduino/Betas/RGB_V2/main/main/Kalman.cpp deleted file mode 100644 index a7c70c1..0000000 --- a/arduino/Betas/RGB_V2/main/main/Kalman.cpp +++ /dev/null @@ -1,93 +0,0 @@ -/* 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; }; diff --git a/arduino/Betas/RGB_V2/main/main/Kalman.h b/arduino/Betas/RGB_V2/main/main/Kalman.h deleted file mode 100644 index eef6cdb..0000000 --- a/arduino/Betas/RGB_V2/main/main/Kalman.h +++ /dev/null @@ -1,59 +0,0 @@ -/* 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); 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e=n.createElementNS(c,"tspan");e.textContent="\u200b";["x","y"].forEach(function(b){var c=d.getAttribute(b);c&&e.setAttribute(b,c)});m.appendChild(e);d.insertBefore(m,d.firstChild)}};a.prototype.attr=function(b,d,c,g){var m=this.element,e=this.symbolCustomAttribs,L,l=this,E,a;if("string"===typeof b&&"undefined"!==typeof d){var K=b;b={};b[K]=d}"string"===typeof b?l=(this[b+"Getter"]||this._defaultGetter).call(this,b,m):(D(b,function(d,c){E=!1;g||A(this,c);this.symbolName&&-1!== -e.indexOf(c)&&(L||(this.symbolAttr(b),L=!0),E=!0);!this.rotation||"x"!==c&&"y"!==c||(this.doTransform=!0);E||(a=this[c+"Setter"]||this._defaultSetter,a.call(this,d,c,m),!this.styledMode&&this.shadows&&/^(width|height|visibility|x|y|d|transform|cx|cy|r)$/.test(c)&&this.updateShadows(c,d,a))},this),this.afterSetters());c&&c.call(this);return l};a.prototype.clip=function(b){return this.attr("clip-path",b?"url("+this.renderer.url+"#"+b.id+")":"none")};a.prototype.crisp=function(b,d){d=d||b.strokeWidth|| -0;var 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-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, -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&&ba)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.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=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.softMinthis.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.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.tickIntervalthis.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+ga&&(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(mc&&(this.tickInterval*=2,this.setTickPositions());if(p(e)){for(d= -b=a.length;d--;)(3===e&&1===d%2||2>=e&&0l&&(d=l)),p(e)&&(gl&&(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:dd?b.align="right":195d&&(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=1f&&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){x=h(Math.abs(l.h/Math.sin(e*b)));var d=x+Math.abs(b/360);dc.step)return c.rotation?0:(this.staggerLines||1)*this.len/e;if(!a){b=c.style.width; -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)}); -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= -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=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, --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&& -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&&ce&&(!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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-1;if(a&&h){if(e){var p=a.toString()===h.toString();c=0}for(e=0;en-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;ma-e?l=!1:g[b]=ma-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||1a})&&(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+aba&&(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&&ad[0]?Math.max(Math.abs(d[0]),e.width-d[0]):Math.max(Math.abs(d[0]), 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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+", 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-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++);hm+h&&(q=m+h),Bf+r&&(B=f+r),this.hasDragged=Math.sqrt(Math.pow(k-q,2)+Math.pow(p-B,2)),10a.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;2x.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]; 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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&&f1.5*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);0g&&!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=Math.max(l+g,p.pos)&&h<=Math.min(l+g+e.width,p.pos+p.len)||(b.isInsidePlot=!1)}!c.ignoreY&& -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&& -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&& -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); -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=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=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, -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= -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}, -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]&& -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"=== -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.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;ca?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]E)h=[],l=[];else if(this.yData&&(h[0]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],0b&&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=c){h=Math.max(0,f-e);break}for(c=f;cd){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=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=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;fD.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=-1p?"left":"right";r=0>p?"right":"left";b[t]&&(t=d(a,b[t],c+1,k),n=t[l]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;hf&&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(); -(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)&&0a&&v>c?(v=Math.max(a,c),t=2*c-v):vk&&t>c?(t=Math.max(k,c),v=2*c-t):t=Math.abs(c)&&.5a.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?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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c?(b=c.operator,a=a[c.property],c=c.value,">"===b&&a>c||"<"===b&&a="===b&&a>=c||"<="===b&&a<=c||"=="===b&&a==c||"==="===b&&a===c?!0:!1):!0}function u(){var a=this,b=a.chart,g=a.options,d=a.points,f=a.hasRendered||0,n=b.renderer,p=g.dataLabels,r,t=p.animation;t=p.defer?v(b, -t,a):{defer:0,duration:0};p=z(z(b.options.plotOptions&&b.options.plotOptions.series&&b.options.plotOptions.series.dataLabels,b.options.plotOptions&&b.options.plotOptions[a.type]&&b.options.plotOptions[a.type].dataLabels),p);A(this,"drawDataLabels");if(q(p)||p.enabled||a._hasPointLabels){var u=a.plotGroup("dataLabelsGroup","data-labels",f?"inherit":"hidden",p.zIndex||6);u.attr({opacity:+f});!f&&(f=a.dataLabelsGroup)&&(a.visible&&u.show(!0),f[g.animation?"animate":"attr"]({opacity:1},t));d.forEach(function(d){r= -c(z(p,d.dlOptions||d.options&&d.options.dataLabels));r.forEach(function(c,f){var l=c.enabled&&(!d.isNull||d.dataLabelOnNull)&&h(d,c),m=d.connectors?d.connectors[f]:d.connector,p=d.dataLabels?d.dataLabels[f]:d.dataLabel,r=e(c.distance,d.labelDistance),q=!p;if(l){var t=d.getLabelConfig();var v=e(c[d.formatPrefix+"Format"],c.format);t=G(v)?y(v,t,b):(c[d.formatPrefix+"Formatter"]||c.formatter).call(t,c);v=c.style;var w=c.rotation;b.styledMode||(v.color=e(c.color,v.color,a.color,"#000000"),"contrast"=== -v.color?(d.contrastColor=n.getContrast(d.color||a.color),v.color=!G(r)&&c.inside||0>r||g.stacking?d.contrastColor:"#000000"):delete d.contrastColor,g.cursor&&(v.cursor=g.cursor));var C={r:c.borderRadius||0,rotation:w,padding:c.padding,zIndex:1};b.styledMode||(C.fill=c.backgroundColor,C.stroke=c.borderColor,C["stroke-width"]=c.borderWidth);k(C,function(a,b){"undefined"===typeof a&&delete C[b]})}!p||l&&G(t)&&!!p.div===!!c.useHTML||(d.dataLabel=p=d.dataLabel&&d.dataLabel.destroy(),d.dataLabels&&(1=== -d.dataLabels.length?delete d.dataLabels:delete d.dataLabels[f]),f||delete d.dataLabel,m&&(d.connector=d.connector.destroy(),d.connectors&&(1===d.connectors.length?delete d.connectors:delete d.connectors[f])));l&&G(t)&&(p?C.text=t:(d.dataLabels=d.dataLabels||[],p=d.dataLabels[f]=w?n.text(t,0,-9999,c.useHTML).addClass("highcharts-data-label"):n.label(t,0,-9999,c.shape,null,null,c.useHTML,null,"data-label"),f||(d.dataLabel=p),p.addClass(" highcharts-data-label-color-"+d.colorIndex+" "+(c.className|| -"")+(c.useHTML?" highcharts-tracker":""))),p.options=c,p.attr(C),b.styledMode||p.css(v).shadow(c.shadow),p.added||p.add(u),c.textPath&&!c.useHTML&&(p.setTextPath(d.getDataLabelPath&&d.getDataLabelPath(p)||d.graphic,c.textPath),d.dataLabelPath&&!c.textPath.enabled&&(d.dataLabelPath=d.dataLabelPath.destroy())),a.alignDataLabel(d,p,c,null,q))})})}A(this,"afterDrawDataLabels")}function t(a,b,c,d,e,f){var g=this.chart,h=b.align,k=b.verticalAlign,l=a.box?0:a.padding||0,m=b.x;m=void 0===m?0:m;var n=b.y; -n=void 0===n?0:n;var p=(c.x||0)+l;if(0>p){"right"===h&&0<=m?(b.align="left",b.inside=!0):m-=p;var r=!0}p=(c.x||0)+d.width-l;p>g.plotWidth&&("left"===h&&0>=m?(b.align="right",b.inside=!0):m+=g.plotWidth-p,r=!0);p=c.y+l;0>p&&("bottom"===k&&0<=n?(b.verticalAlign="top",b.inside=!0):n-=p,r=!0);p=(c.y||0)+d.height-l;p>g.plotHeight&&("top"===k&&0>=n?(b.verticalAlign="bottom",b.inside=!0):n+=g.plotHeight-p,r=!0);r&&(b.x=m,b.y=n,a.placed=!f,a.align(b,void 0,e));return r}function z(a,b){var c=[],d;if(q(a)&& -!q(b))c=a.map(function(a){return n(a,b)});else if(q(b)&&!q(a))c=b.map(function(b){return n(a,b)});else if(q(a)||q(b))for(d=Math.max(a.length,b.length);d--;)c[d]=n(a[d],b[d]);else c=n(a,b);return c}function C(a,b,c,d,e){var g=this.chart,f=g.inverted,h=this.xAxis,k=h.reversed,l=f?b.height/2:b.width/2;a=(a=a.pointWidth)?a/2:0;b.startXPos=f?e.x:k?-l-a:h.width-l+a;b.startYPos=f?k?this.yAxis.height-l+a:-l-a:e.y;d?"hidden"===b.visibility&&(b.show(),b.attr({opacity:0}).animate({opacity:1})):b.attr({opacity:1}).animate({opacity:0}, -void 0,b.hide);g.hasRendered&&(c&&b.attr({x:b.startXPos,y:b.startYPos}),b.placed=!0)}var r=[];a.compose=function(a){if(-1===r.indexOf(a)){var b=a.prototype;r.push(a);b.alignDataLabel=f;b.drawDataLabels=u;b.justifyDataLabel=t;b.setDataLabelStartPos=C}}})(h||(h={}));"";return h});M(a,"Series/Column/ColumnDataLabel.js",[a["Core/Series/DataLabel.js"],a["Core/Series/SeriesRegistry.js"],a["Core/Utilities.js"]],function(a,u,z){var v=u.series,y=z.merge,G=z.pick,H;(function(u){function q(a,e,c,h,f){var k= -this.chart.inverted,n=a.series,q=(n.xAxis?n.xAxis.len:this.chart.plotSizeX)||0;n=(n.yAxis?n.yAxis.len:this.chart.plotSizeY)||0;var t=a.dlBox||a.shapeArgs,u=G(a.below,a.plotY>G(this.translatedThreshold,n)),C=G(c.inside,!!this.options.stacking);t&&(h=y(t),0>h.y&&(h.height+=h.y,h.y=0),t=h.y+h.height-n,0\u25cf {series.name}
', -pointFormat:"x: {point.x}
y: {point.y}
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a};a.getStartAndEndRadians=function(a,k){a=y(a)?a:0;k=y(k)&&k>a&&360>k-a?k:a+360;return{start:v*(a+-90),end:v*(k+-90)}}})(A||(A={}));"";return A});M(a,"Series/Pie/PiePoint.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/Series/Point.js"],a["Core/Utilities.js"]],function(a,u,z){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)}}(),y=a.setAnimation,G=z.addEvent,H=z.defined;a=z.extend;var A=z.isNumber,q=z.pick,n=z.relativeLength;u=function(a){function e(){var c=null!==a&&a.apply(this,arguments)||this;c.labelDistance=void 0;c.options=void 0;c.series=void 0;return c}v(e,a);e.prototype.getConnectorPath=function(){var a=this.labelPosition,e=this.series.options.dataLabels, 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context[0] : context; - doc = ( context && context.nodeType ? context.ownerDocument || context : document ); - - // scripts is true for back-compat - selector = jQuery.parseHTML( match[1], doc, true ); - if ( rsingleTag.test( match[1] ) && jQuery.isPlainObject( context ) ) { - this.attr.call( selector, context, true ); - } - - return jQuery.merge( this, selector ); - - // HANDLE: $(#id) - } else { - elem = document.getElementById( match[2] ); - - // Check parentNode to catch when Blackberry 4.6 returns - // nodes that are no longer in the document #6963 - if ( elem && elem.parentNode ) { - // Handle the case where IE and Opera return items - // by name instead of ID - if ( elem.id !== match[2] ) { - return rootjQuery.find( selector ); - } - - // Otherwise, we inject the element directly into the jQuery object - this.length = 1; - this[0] = elem; - } - - this.context = document; - this.selector = selector; - return this; - } - - // HANDLE: $(expr, $(...)) - } else if ( !context || context.jquery ) { - return ( context || rootjQuery ).find( selector ); - - // HANDLE: $(expr, context) - // (which is just equivalent to: $(context).find(expr) - } else { - return this.constructor( context ).find( selector ); - } - - // HANDLE: $(function) - // Shortcut for document ready - } else if ( jQuery.isFunction( selector ) ) { - return rootjQuery.ready( selector ); - } - - if ( selector.selector !== undefined ) { - this.selector = selector.selector; - this.context = selector.context; - } - - return jQuery.makeArray( selector, this ); - }, - - // Start with an empty selector - selector: "", - - // The current version of jQuery being used - jquery: "1.8.3", - - // The default length of a jQuery object is 0 - length: 0, - - // The number of elements contained in the matched element set - size: function() { - return this.length; - }, - - toArray: function() { - return core_slice.call( this ); - }, - - // Get the Nth element in the matched element set OR - // Get the whole matched element set as a clean array - get: function( num ) { - return num == null ? 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" " : "" ) + selector; - } else if ( name ) { - ret.selector = this.selector + "." + name + "(" + selector + ")"; - } - - // Return the newly-formed element set - return ret; - }, - - // Execute a callback for every element in the matched set. - // (You can seed the arguments with an array of args, but this is - // only used internally.) - each: function( callback, args ) { - return jQuery.each( this, callback, args ); - }, - - ready: function( fn ) { - // Add the callback - jQuery.ready.promise().done( fn ); - - return this; - }, - - eq: function( i ) { - i = +i; - return i === -1 ? - this.slice( i ) : - this.slice( i, i + 1 ); - }, - - first: function() { - return this.eq( 0 ); - }, - - last: function() { - return this.eq( -1 ); - }, - - slice: function() { - return this.pushStack( core_slice.apply( this, arguments ), - "slice", core_slice.call(arguments).join(",") ); - }, - - map: function( callback ) { - return this.pushStack( jQuery.map(this, function( elem, i ) { - return callback.call( elem, i, elem ); - })); - }, - - end: function() { - return this.prevObject || this.constructor(null); - }, - - // For internal use only. - // Behaves like an Array's method, not like a jQuery method. - push: core_push, - sort: [].sort, - splice: [].splice -}; - -// Give the init function the jQuery prototype for later instantiation -jQuery.fn.init.prototype = jQuery.fn; - -jQuery.extend = jQuery.fn.extend = function() { - var options, name, src, copy, copyIsArray, clone, - target = arguments[0] || {}, - i = 1, - length = arguments.length, - deep = false; - - // Handle a deep copy situation - if ( typeof target === "boolean" ) { - deep = target; - target = arguments[1] || {}; - // skip the boolean and the target - i = 2; - } - - // Handle case when target is a string or something (possible in deep copy) - if ( typeof target !== "object" && !jQuery.isFunction(target) ) { - target = {}; - } - - // extend jQuery itself if only one argument is passed - if ( length === i ) { - target = this; - --i; - } - - for ( ; i < length; i++ ) { - // Only deal with non-null/undefined values - if ( (options = arguments[ i ]) != null ) { - // Extend the base object - for ( name in options ) { - src = target[ name ]; - copy = options[ name ]; - - // Prevent never-ending loop - if ( target === copy ) { - continue; - } - - // Recurse if we're merging plain objects or arrays - if ( deep && copy && ( jQuery.isPlainObject(copy) || (copyIsArray = jQuery.isArray(copy)) ) ) { - if ( copyIsArray ) { - copyIsArray = false; - clone = src && jQuery.isArray(src) ? src : []; - - } else { - clone = src && jQuery.isPlainObject(src) ? src : {}; - } - - // Never move original objects, clone them - target[ name ] = jQuery.extend( deep, clone, copy ); - - // Don't bring in undefined values - } else if ( copy !== undefined ) { - target[ name ] = copy; - } - } - } - } - - // Return the modified object - return target; -}; - -jQuery.extend({ - noConflict: function( deep ) { - if ( window.$ === jQuery ) { - window.$ = _$; - } - - if ( deep && window.jQuery === jQuery ) { - window.jQuery = _jQuery; - } - - return jQuery; - }, - - // Is the DOM ready to be used? Set to true once it occurs. - isReady: false, - - // A counter to track how many items to wait for before - // the ready event fires. See #6781 - readyWait: 1, - - // Hold (or release) the ready event - holdReady: function( hold ) { - if ( hold ) { - jQuery.readyWait++; - } else { - jQuery.ready( true ); - } - }, - - // Handle when the DOM is ready - ready: function( wait ) { - - // Abort if there are pending holds or we're already ready - if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { - return; - } - - // Make sure body exists, at least, in case IE gets a little overzealous (ticket #5443). - if ( !document.body ) { - return setTimeout( jQuery.ready, 1 ); - } - - // Remember that the DOM is ready - jQuery.isReady = true; - - // If a normal DOM Ready event fired, decrement, and wait if need be - if ( wait !== true && --jQuery.readyWait > 0 ) { - return; - } - - // If there are functions bound, to execute - readyList.resolveWith( document, [ jQuery ] ); - - // Trigger any bound ready events - if ( jQuery.fn.trigger ) { - jQuery( document ).trigger("ready").off("ready"); - } - }, - - // See test/unit/core.js for details concerning isFunction. - // Since version 1.3, DOM methods and functions like alert - // aren't supported. They return false on IE (#2968). - isFunction: function( obj ) { - return jQuery.type(obj) === "function"; - }, - - isArray: Array.isArray || function( obj ) { - return jQuery.type(obj) === "array"; - }, - - isWindow: function( obj ) { - return obj != null && obj == obj.window; - }, - - isNumeric: function( obj ) { - return !isNaN( parseFloat(obj) ) && isFinite( obj ); - }, - - type: function( obj ) { - return obj == null ? - String( obj ) : - class2type[ core_toString.call(obj) ] || "object"; - }, - - isPlainObject: function( obj ) { - // Must be an Object. - // Because of IE, we also have to check the presence of the constructor property. - // Make sure that DOM nodes and window objects don't pass through, as well - if ( !obj || jQuery.type(obj) !== "object" || obj.nodeType || jQuery.isWindow( obj ) ) { - return false; - } - - try { - // Not own constructor property must be Object - if ( obj.constructor && - !core_hasOwn.call(obj, "constructor") && - !core_hasOwn.call(obj.constructor.prototype, "isPrototypeOf") ) { - return false; - } - } catch ( e ) { - // IE8,9 Will throw exceptions on certain host objects #9897 - return false; - } - - // Own properties are enumerated firstly, so to speed up, - // if last one is own, then all properties are own. - - var key; - for ( key in obj ) {} - - return key === undefined || core_hasOwn.call( obj, key ); - }, - - isEmptyObject: function( obj ) { - var name; - for ( name in obj ) { - return false; - } - return true; - }, - - error: function( msg ) { - throw new Error( msg ); - }, - - // data: string of html - // context (optional): If specified, the fragment will be created in this context, defaults to document - // scripts (optional): If true, will include scripts passed in the html string - parseHTML: function( data, context, scripts ) { - var parsed; - if ( !data || typeof data !== "string" ) { - return null; - } - if ( typeof context === "boolean" ) { - scripts = context; - context = 0; - } - context = context || document; - - // Single tag - if ( (parsed = rsingleTag.exec( data )) ) { - return [ context.createElement( parsed[1] ) ]; - } - - parsed = jQuery.buildFragment( [ data ], context, scripts ? null : [] ); - return jQuery.merge( [], - (parsed.cacheable ? jQuery.clone( parsed.fragment ) : parsed.fragment).childNodes ); - }, - - parseJSON: function( data ) { - if ( !data || typeof data !== "string") { - return null; - } - - // Make sure leading/trailing whitespace is removed (IE can't handle it) - data = jQuery.trim( data ); - - // Attempt to parse using the native JSON parser first - if ( window.JSON && window.JSON.parse ) { - return window.JSON.parse( data ); - } - - // Make sure the incoming data is actual JSON - // Logic borrowed from http://json.org/json2.js - if ( rvalidchars.test( data.replace( rvalidescape, "@" ) - .replace( rvalidtokens, "]" ) - .replace( rvalidbraces, "")) ) { - - return ( new Function( "return " + data ) )(); - - } - jQuery.error( "Invalid JSON: " + data ); - }, - - // Cross-browser xml parsing - parseXML: function( data ) { - var xml, tmp; - if ( !data || typeof data !== "string" ) { - return null; - } - try { - if ( window.DOMParser ) { // Standard - tmp = new DOMParser(); - xml = tmp.parseFromString( data , "text/xml" ); - } else { // IE - xml = new ActiveXObject( "Microsoft.XMLDOM" ); - xml.async = "false"; - xml.loadXML( data ); - } - } catch( e ) { - xml = undefined; - } - if ( !xml || !xml.documentElement || xml.getElementsByTagName( "parsererror" ).length ) { - jQuery.error( "Invalid XML: " + data ); - } - return xml; - }, - - noop: function() {}, - - // Evaluates a script in a global context - // Workarounds based on findings by Jim Driscoll - // http://weblogs.java.net/blog/driscoll/archive/2009/09/08/eval-javascript-global-context - globalEval: function( data ) { - if ( data && core_rnotwhite.test( data ) ) { - // We use execScript on Internet Explorer - // We use an anonymous function so that context is window - // rather than jQuery in Firefox - ( window.execScript || function( data ) { - window[ "eval" ].call( window, data ); - } )( data ); - } - }, - - // Convert dashed to camelCase; used by the css and data modules - // Microsoft forgot to hump their vendor prefix (#9572) - camelCase: function( string ) { - return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); - }, - - nodeName: function( elem, name ) { - return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); - }, - - // args is for internal usage only - each: function( obj, callback, args ) { - var name, - i = 0, - length = obj.length, - isObj = length === undefined || jQuery.isFunction( obj ); - - if ( args ) { - if ( isObj ) { - for ( name in obj ) { - if ( callback.apply( obj[ name ], args ) === false ) { - break; - } - } - } else { - for ( ; i < length; ) { - if ( callback.apply( obj[ i++ ], args ) === false ) { - break; - } - } - } - - // A special, fast, case for the most common use of each - } else { - if ( isObj ) { - for ( name in obj ) { - if ( callback.call( obj[ name ], name, obj[ name ] ) === false ) { - break; - } - } - } else { - for ( ; i < length; ) { - if ( callback.call( obj[ i ], i, obj[ i++ ] ) === false ) { - break; - } - } - } - } - - return obj; - }, - - // Use native String.trim function wherever possible - trim: core_trim && !core_trim.call("\uFEFF\xA0") ? - function( text ) { - return text == null ? - "" : - core_trim.call( text ); - } : - - // Otherwise use our own trimming functionality - function( text ) { - return text == null ? - "" : - ( text + "" ).replace( rtrim, "" ); - }, - - // results is for internal usage only - makeArray: function( arr, results ) { - var type, - ret = results || []; - - if ( arr != null ) { - // The window, strings (and functions) also have 'length' - // Tweaked logic slightly to handle Blackberry 4.7 RegExp issues #6930 - type = jQuery.type( arr ); - - if ( arr.length == null || type === "string" || type === "function" || type === "regexp" || jQuery.isWindow( arr ) ) { - core_push.call( ret, arr ); - } else { - jQuery.merge( ret, arr ); - } - } - - return ret; - }, - - inArray: function( elem, arr, i ) { - var len; - - if ( arr ) { - if ( core_indexOf ) { - return core_indexOf.call( arr, elem, i ); - } - - len = arr.length; - i = i ? i < 0 ? Math.max( 0, len + i ) : i : 0; - - for ( ; i < len; i++ ) { - // Skip accessing in sparse arrays - if ( i in arr && arr[ i ] === elem ) { - return i; - } - } - } - - return -1; - }, - - merge: function( first, second ) { - var l = second.length, - i = first.length, - j = 0; - - if ( typeof l === "number" ) { - for ( ; j < l; j++ ) { - first[ i++ ] = second[ j ]; - } - - } else { - while ( second[j] !== undefined ) { - first[ i++ ] = second[ j++ ]; - } - } - - first.length = i; - - return first; - }, - - grep: function( elems, callback, inv ) { - var retVal, - ret = [], - i = 0, - length = elems.length; - inv = !!inv; - - // Go through the array, only saving the items - // that pass the validator function - for ( ; i < length; i++ ) { - retVal = !!callback( elems[ i ], i ); - if ( inv !== retVal ) { - ret.push( elems[ i ] ); - } - } - - return ret; - }, - - // arg is for internal usage only - map: function( elems, callback, arg ) { - var value, key, - ret = [], - i = 0, - length = elems.length, - // jquery objects are treated as arrays - isArray = elems instanceof jQuery || length !== undefined && typeof length === "number" && ( ( length > 0 && elems[ 0 ] && elems[ length -1 ] ) || length === 0 || jQuery.isArray( elems ) ) ; - - // Go through the array, translating each of the items to their - if ( isArray ) { - for ( ; i < length; i++ ) { - value = callback( elems[ i ], i, arg ); - - if ( value != null ) { - ret[ ret.length ] = value; - } - } - - // Go through every key on the object, - } else { - for ( key in elems ) { - value = callback( elems[ key ], key, arg ); - - if ( value != null ) { - ret[ ret.length ] = value; - } - } - } - - // Flatten any nested arrays - return ret.concat.apply( [], ret ); - }, - - // A global GUID counter for objects - guid: 1, - - // Bind a function to a context, optionally partially applying any - // arguments. - proxy: function( fn, context ) { - var tmp, args, proxy; - - if ( typeof context === "string" ) { - tmp = fn[ context ]; - context = fn; - fn = tmp; - } - - // Quick check to determine if target is callable, in the spec - // this throws a TypeError, but we will just return undefined. - if ( !jQuery.isFunction( fn ) ) { - return undefined; - } - - // Simulated bind - args = core_slice.call( arguments, 2 ); - proxy = function() { - return fn.apply( context, args.concat( core_slice.call( arguments ) ) ); - }; - - // Set the guid of unique handler to the same of original handler, so it can be removed - proxy.guid = fn.guid = fn.guid || jQuery.guid++; - - return proxy; - }, - - // Multifunctional method to get and set values of a collection - // The value/s can optionally be executed if it's a function - access: function( elems, fn, key, value, chainable, emptyGet, pass ) { - var exec, - bulk = key == null, - i = 0, - length = elems.length; - - // Sets many values - if ( key && typeof key === "object" ) { - for ( i in key ) { - jQuery.access( elems, fn, i, key[i], 1, emptyGet, value ); - } - chainable = 1; - - // Sets one value - } else if ( value !== undefined ) { - // Optionally, function values get executed if exec is true - exec = pass === undefined && jQuery.isFunction( value ); - - if ( bulk ) { - // Bulk operations only iterate when executing function values - if ( exec ) { - exec = fn; - fn = function( elem, key, value ) { - return exec.call( jQuery( elem ), value ); - }; - - // Otherwise they run against the entire set - } else { - fn.call( elems, value ); - fn = null; - } - } - - if ( fn ) { - for (; i < length; i++ ) { - fn( elems[i], key, exec ? value.call( elems[i], i, fn( elems[i], key ) ) : value, pass ); - } - } - - chainable = 1; - } - - return chainable ? - elems : - - // Gets - bulk ? - fn.call( elems ) : - length ? fn( elems[0], key ) : emptyGet; - }, - - now: function() { - return ( new Date() ).getTime(); - } -}); - -jQuery.ready.promise = function( obj ) { - if ( !readyList ) { - - readyList = jQuery.Deferred(); - - // Catch cases where $(document).ready() is called after the browser event has already occurred. - // we once tried to use readyState "interactive" here, but it caused issues like the one - // discovered by ChrisS here: http://bugs.jquery.com/ticket/12282#comment:15 - if ( document.readyState === "complete" ) { - // Handle it asynchronously to allow scripts the opportunity to delay ready - setTimeout( jQuery.ready, 1 ); - - // Standards-based browsers support DOMContentLoaded - } else if ( document.addEventListener ) { - // Use the handy event callback - document.addEventListener( "DOMContentLoaded", DOMContentLoaded, false ); - - // A fallback to window.onload, that will always work - window.addEventListener( "load", jQuery.ready, false ); - - // If IE event model is used - } else { - // Ensure firing before onload, maybe late but safe also for iframes - document.attachEvent( "onreadystatechange", DOMContentLoaded ); - - // A fallback to window.onload, that will always work - window.attachEvent( "onload", jQuery.ready ); - - // If IE and not a frame - // continually check to see if the document is ready - var top = false; - - try { - top = window.frameElement == null && document.documentElement; - } catch(e) {} - - if ( top && top.doScroll ) { - (function doScrollCheck() { - if ( !jQuery.isReady ) { - - try { - // Use the trick by Diego Perini - // http://javascript.nwbox.com/IEContentLoaded/ - top.doScroll("left"); - } catch(e) { - return setTimeout( doScrollCheck, 50 ); - } - - // and execute any waiting functions - jQuery.ready(); - } - })(); - } - } - } - return readyList.promise( obj ); -}; - -// Populate the class2type map -jQuery.each("Boolean Number String Function Array Date RegExp Object".split(" "), function(i, name) { - class2type[ "[object " + name + "]" ] = name.toLowerCase(); -}); - -// All jQuery objects should point back to these -rootjQuery = jQuery(document); -// String to Object options format cache -var optionsCache = {}; - -// Convert String-formatted options into Object-formatted ones and store in cache -function createOptions( options ) { - var object = optionsCache[ options ] = {}; - jQuery.each( options.split( core_rspace ), function( _, flag ) { - object[ flag ] = true; - }); - return object; -} - -/* - * Create a callback list using the following parameters: - * - * options: an optional list of space-separated options that will change how - * the callback list behaves or a more traditional option object - * - * By default a callback list will act like an event callback list and can be - * "fired" multiple times. - * - * Possible options: - * - * once: will ensure the callback list can only be fired once (like a Deferred) - * - * memory: will keep track of previous values and will call any callback added - * after the list has been fired right away with the latest "memorized" - * values (like a Deferred) - * - * unique: will ensure a callback can only be added once (no duplicate in the list) - * - * stopOnFalse: interrupt callings when a callback returns false - * - */ -jQuery.Callbacks = function( options ) { - - // Convert options from String-formatted to Object-formatted if needed - // (we check in cache first) - options = typeof options === "string" ? - ( optionsCache[ options ] || createOptions( options ) ) : - jQuery.extend( {}, options ); - - var // Last fire value (for non-forgettable lists) - memory, - // Flag to know if list was already fired - fired, - // Flag to know if list is currently firing - firing, - // First callback to fire (used internally by add and fireWith) - firingStart, - // End of the loop when firing - firingLength, - // Index of currently firing callback (modified by remove if needed) - firingIndex, - // Actual callback list - list = [], - // Stack of fire calls for repeatable lists - stack = !options.once && [], - // Fire callbacks - fire = function( data ) { - memory = options.memory && data; - fired = true; - firingIndex = firingStart || 0; - firingStart = 0; - firingLength = list.length; - firing = true; - for ( ; list && firingIndex < firingLength; firingIndex++ ) { - if ( list[ firingIndex ].apply( data[ 0 ], data[ 1 ] ) === false && options.stopOnFalse ) { - memory = false; // To prevent further calls using add - break; - } - } - firing = false; - if ( list ) { - if ( stack ) { - if ( stack.length ) { - fire( stack.shift() ); - } - } else if ( memory ) { - list = []; - } else { - self.disable(); - } - } - }, - // Actual Callbacks object - self = { - // Add a callback or a collection of callbacks to the list - add: function() { - if ( list ) { - // First, we save the current length - var start = list.length; - (function add( args ) { - jQuery.each( args, function( _, arg ) { - var type = jQuery.type( arg ); - if ( type === "function" ) { - if ( !options.unique || !self.has( arg ) ) { - list.push( arg ); - } - } else if ( arg && arg.length && type !== "string" ) { - // Inspect recursively - add( arg ); - } - }); - })( arguments ); - // Do we need to add the callbacks to the - // current firing batch? - if ( firing ) { - firingLength = list.length; - // With memory, if we're not firing then - // we should call right away - } else if ( memory ) { - firingStart = start; - fire( memory ); - } - } - return this; - }, - // Remove a callback from the list - remove: function() { - if ( list ) { - jQuery.each( arguments, function( _, arg ) { - var index; - while( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { - list.splice( index, 1 ); - // Handle firing indexes - if ( firing ) { - if ( index <= firingLength ) { - firingLength--; - } - if ( index <= firingIndex ) { - firingIndex--; - } - } - } - }); - } - return this; - }, - // Control if a given callback is in the list - has: function( fn ) { - return jQuery.inArray( fn, list ) > -1; - }, - // Remove all callbacks from the list - empty: function() { - list = []; - return this; - }, - // Have the list do nothing anymore - disable: function() { - list = stack = memory = undefined; - return this; - }, - // Is it disabled? - disabled: function() { - return !list; - }, - // Lock the list in its current state - lock: function() { - stack = undefined; - if ( !memory ) { - self.disable(); - } - return this; - }, - // Is it locked? - locked: function() { - return !stack; - }, - // Call all callbacks with the given context and arguments - fireWith: function( context, args ) { - args = args || []; - args = [ context, args.slice ? args.slice() : args ]; - if ( list && ( !fired || stack ) ) { - if ( firing ) { - stack.push( args ); - } else { - fire( args ); - } - } - return this; - }, - // Call all the callbacks with the given arguments - fire: function() { - self.fireWith( this, arguments ); - return this; - }, - // To know if the callbacks have already been called at least once - fired: function() { - return !!fired; - } - }; - - return self; -}; -jQuery.extend({ - - Deferred: function( func ) { - var tuples = [ - // action, add listener, listener list, final state - [ "resolve", "done", jQuery.Callbacks("once memory"), "resolved" ], - [ "reject", "fail", jQuery.Callbacks("once memory"), "rejected" ], - [ "notify", "progress", jQuery.Callbacks("memory") ] - ], - state = "pending", - promise = { - state: function() { - return state; - }, - always: function() { - deferred.done( arguments ).fail( arguments ); - return this; - }, - then: function( /* fnDone, fnFail, fnProgress */ ) { - var fns = arguments; - return jQuery.Deferred(function( newDefer ) { - jQuery.each( tuples, function( i, tuple ) { - var action = tuple[ 0 ], - fn = fns[ i ]; - // deferred[ done | fail | progress ] for forwarding actions to newDefer - deferred[ tuple[1] ]( jQuery.isFunction( fn ) ? - function() { - var returned = fn.apply( this, arguments ); - if ( returned && jQuery.isFunction( returned.promise ) ) { - returned.promise() - .done( newDefer.resolve ) - .fail( newDefer.reject ) - .progress( newDefer.notify ); - } else { - newDefer[ action + "With" ]( this === deferred ? newDefer : this, [ returned ] ); - } - } : - newDefer[ action ] - ); - }); - fns = null; - }).promise(); - }, - // Get a promise for this deferred - // If obj is provided, the promise aspect is added to the object - promise: function( obj ) { - return obj != null ? jQuery.extend( obj, promise ) : promise; - } - }, - deferred = {}; - - // Keep pipe for back-compat - promise.pipe = promise.then; - - // Add list-specific methods - jQuery.each( tuples, function( i, tuple ) { - var list = tuple[ 2 ], - stateString = tuple[ 3 ]; - - // promise[ done | fail | progress ] = list.add - promise[ tuple[1] ] = list.add; - - // Handle state - if ( stateString ) { - list.add(function() { - // state = [ resolved | rejected ] - state = stateString; - - // [ reject_list | resolve_list ].disable; progress_list.lock - }, tuples[ i ^ 1 ][ 2 ].disable, tuples[ 2 ][ 2 ].lock ); - } - - // deferred[ resolve | reject | notify ] = list.fire - deferred[ tuple[0] ] = list.fire; - deferred[ tuple[0] + "With" ] = list.fireWith; - }); - - // Make the deferred a promise - promise.promise( deferred ); - - // Call given func if any - if ( func ) { - func.call( deferred, deferred ); - } - - // All done! - return deferred; - }, - - // Deferred helper - when: function( subordinate /* , ..., subordinateN */ ) { - var i = 0, - resolveValues = core_slice.call( arguments ), - length = resolveValues.length, - - // the count of uncompleted subordinates - remaining = length !== 1 || ( subordinate && jQuery.isFunction( subordinate.promise ) ) ? length : 0, - - // the master Deferred. If resolveValues consist of only a single Deferred, just use that. - deferred = remaining === 1 ? subordinate : jQuery.Deferred(), - - // Update function for both resolve and progress values - updateFunc = function( i, contexts, values ) { - return function( value ) { - contexts[ i ] = this; - values[ i ] = arguments.length > 1 ? core_slice.call( arguments ) : value; - if( values === progressValues ) { - deferred.notifyWith( contexts, values ); - } else if ( !( --remaining ) ) { - deferred.resolveWith( contexts, values ); - } - }; - }, - - progressValues, progressContexts, resolveContexts; - - // add listeners to Deferred subordinates; treat others as resolved - if ( length > 1 ) { - progressValues = new Array( length ); - progressContexts = new Array( length ); - resolveContexts = new Array( length ); - for ( ; i < length; i++ ) { - if ( resolveValues[ i ] && jQuery.isFunction( resolveValues[ i ].promise ) ) { - resolveValues[ i ].promise() - .done( updateFunc( i, resolveContexts, resolveValues ) ) - .fail( deferred.reject ) - .progress( updateFunc( i, progressContexts, progressValues ) ); - } else { - --remaining; - } - } - } - - // if we're not waiting on anything, resolve the master - if ( !remaining ) { - deferred.resolveWith( resolveContexts, resolveValues ); - } - - return deferred.promise(); - } -}); -jQuery.support = (function() { - - var support, - all, - a, - select, - opt, - input, - fragment, - eventName, - i, - isSupported, - clickFn, - div = document.createElement("div"); - - // Setup - div.setAttribute( "className", "t" ); - div.innerHTML = "
a"; - - // Support tests won't run in some limited or non-browser environments - all = div.getElementsByTagName("*"); - a = div.getElementsByTagName("a")[ 0 ]; - if ( !all || !a || !all.length ) { - return {}; - } - - // First batch of tests - select = document.createElement("select"); - opt = select.appendChild( document.createElement("option") ); - input = div.getElementsByTagName("input")[ 0 ]; - - a.style.cssText = "top:1px;float:left;opacity:.5"; - support = { - // IE strips leading whitespace when .innerHTML is used - leadingWhitespace: ( div.firstChild.nodeType === 3 ), - - // Make sure that tbody elements aren't automatically inserted - // IE will insert them into empty tables - tbody: !div.getElementsByTagName("tbody").length, - - // Make sure that link elements get serialized correctly by innerHTML - // This requires a wrapper element in IE - htmlSerialize: !!div.getElementsByTagName("link").length, - - // Get the style information from getAttribute - // (IE uses .cssText instead) - style: /top/.test( a.getAttribute("style") ), - - // Make sure that URLs aren't manipulated - // (IE normalizes it by default) - hrefNormalized: ( a.getAttribute("href") === "/a" ), - - // Make sure that element opacity exists - // (IE uses filter instead) - // Use a regex to work around a WebKit issue. See #5145 - opacity: /^0.5/.test( a.style.opacity ), - - // Verify style float existence - // (IE uses styleFloat instead of cssFloat) - cssFloat: !!a.style.cssFloat, - - // Make sure that if no value is specified for a checkbox - // that it defaults to "on". - // (WebKit defaults to "" instead) - checkOn: ( input.value === "on" ), - - // Make sure that a selected-by-default option has a working selected property. - // (WebKit defaults to false instead of true, IE too, if it's in an optgroup) - optSelected: opt.selected, - - // Test setAttribute on camelCase class. If it works, we need attrFixes when doing get/setAttribute (ie6/7) - getSetAttribute: div.className !== "t", - - // Tests for enctype support on a form (#6743) - enctype: !!document.createElement("form").enctype, - - // Makes sure cloning an html5 element does not cause problems - // Where outerHTML is undefined, this still works - html5Clone: document.createElement("nav").cloneNode( true ).outerHTML !== "<:nav>", - - // jQuery.support.boxModel DEPRECATED in 1.8 since we don't support Quirks Mode - boxModel: ( document.compatMode === "CSS1Compat" ), - - // Will be defined later - submitBubbles: true, - changeBubbles: true, - focusinBubbles: false, - deleteExpando: true, - noCloneEvent: true, - inlineBlockNeedsLayout: false, - shrinkWrapBlocks: false, - reliableMarginRight: true, - boxSizingReliable: true, - pixelPosition: false - }; - - // Make sure checked status is properly cloned - input.checked = true; - support.noCloneChecked = input.cloneNode( true ).checked; - - // Make sure that the options inside disabled selects aren't marked as disabled - // (WebKit marks them as disabled) - select.disabled = true; - support.optDisabled = !opt.disabled; - - // Test to see if it's possible to delete an expando from an element - // Fails in Internet Explorer - try { - delete div.test; - } catch( e ) { - support.deleteExpando = false; - } - - if ( !div.addEventListener && div.attachEvent && div.fireEvent ) { - div.attachEvent( "onclick", clickFn = function() { - // Cloning a node shouldn't copy over any - // bound event handlers (IE does this) - support.noCloneEvent = false; - }); - div.cloneNode( true ).fireEvent("onclick"); - div.detachEvent( "onclick", clickFn ); - } - - // Check if a radio maintains its value - // after being appended to the DOM - input = document.createElement("input"); - input.value = "t"; - input.setAttribute( "type", "radio" ); - support.radioValue = input.value === "t"; - - input.setAttribute( "checked", "checked" ); - - // #11217 - WebKit loses check when the name is after the checked attribute - input.setAttribute( "name", "t" ); - - div.appendChild( input ); - fragment = document.createDocumentFragment(); - fragment.appendChild( div.lastChild ); - - // WebKit doesn't clone checked state correctly in fragments - support.checkClone = fragment.cloneNode( true ).cloneNode( true ).lastChild.checked; - - // Check if a disconnected checkbox will retain its checked - // value of true after appended to the DOM (IE6/7) - support.appendChecked = input.checked; - - fragment.removeChild( input ); - fragment.appendChild( div ); - - // Technique from Juriy Zaytsev - // http://perfectionkills.com/detecting-event-support-without-browser-sniffing/ - // We only care about the case where non-standard event systems - // are used, namely in IE. Short-circuiting here helps us to - // avoid an eval call (in setAttribute) which can cause CSP - // to go haywire. See: https://developer.mozilla.org/en/Security/CSP - if ( div.attachEvent ) { - for ( i in { - submit: true, - change: true, - focusin: true - }) { - eventName = "on" + i; - isSupported = ( eventName in div ); - if ( !isSupported ) { - div.setAttribute( eventName, "return;" ); - isSupported = ( typeof div[ eventName ] === "function" ); - } - support[ i + "Bubbles" ] = isSupported; - } - } - - // Run tests that need a body at doc ready - jQuery(function() { - var container, div, tds, marginDiv, - divReset = "padding:0;margin:0;border:0;display:block;overflow:hidden;", - body = document.getElementsByTagName("body")[0]; - - if ( !body ) { - // Return for frameset docs that don't have a body - return; - } - - container = document.createElement("div"); - container.style.cssText = "visibility:hidden;border:0;width:0;height:0;position:static;top:0;margin-top:1px"; - body.insertBefore( container, body.firstChild ); - - // Construct the test element - div = document.createElement("div"); - container.appendChild( div ); - - // Check if table cells still have offsetWidth/Height when they are set - // to display:none and there are still other visible table cells in a - // table row; if so, offsetWidth/Height are not reliable for use when - // determining if an element has been hidden directly using - // display:none (it is still safe to use offsets if a parent element is - // hidden; don safety goggles and see bug #4512 for more information). - // (only IE 8 fails this test) - div.innerHTML = "
t
"; - tds = div.getElementsByTagName("td"); - tds[ 0 ].style.cssText = "padding:0;margin:0;border:0;display:none"; - isSupported = ( tds[ 0 ].offsetHeight === 0 ); - - tds[ 0 ].style.display = ""; - tds[ 1 ].style.display = "none"; - - // Check if empty table cells still have offsetWidth/Height - // (IE <= 8 fail this test) - support.reliableHiddenOffsets = isSupported && ( tds[ 0 ].offsetHeight === 0 ); - - // Check box-sizing and margin behavior - div.innerHTML = ""; - div.style.cssText = "box-sizing:border-box;-moz-box-sizing:border-box;-webkit-box-sizing:border-box;padding:1px;border:1px;display:block;width:4px;margin-top:1%;position:absolute;top:1%;"; - support.boxSizing = ( div.offsetWidth === 4 ); - support.doesNotIncludeMarginInBodyOffset = ( body.offsetTop !== 1 ); - - // NOTE: To any future maintainer, we've window.getComputedStyle - // because jsdom on node.js will break without it. - if ( window.getComputedStyle ) { - support.pixelPosition = ( window.getComputedStyle( div, null ) || {} ).top !== "1%"; - support.boxSizingReliable = ( window.getComputedStyle( div, null ) || { width: "4px" } ).width === "4px"; - - // Check if div with explicit width and no margin-right incorrectly - // gets computed margin-right based on width of container. For more - // info see bug #3333 - // Fails in WebKit before Feb 2011 nightlies - // WebKit Bug 13343 - getComputedStyle returns wrong value for margin-right - marginDiv = document.createElement("div"); - marginDiv.style.cssText = div.style.cssText = divReset; - marginDiv.style.marginRight = marginDiv.style.width = "0"; - div.style.width = "1px"; - div.appendChild( marginDiv ); - support.reliableMarginRight = - !parseFloat( ( window.getComputedStyle( marginDiv, null ) || {} ).marginRight ); - } - - if ( typeof div.style.zoom !== "undefined" ) { - // Check if natively block-level elements act like inline-block - // elements when setting their display to 'inline' and giving - // them layout - // (IE < 8 does this) - div.innerHTML = ""; - div.style.cssText = divReset + "width:1px;padding:1px;display:inline;zoom:1"; - support.inlineBlockNeedsLayout = ( div.offsetWidth === 3 ); - - // Check if elements with layout shrink-wrap their children - // (IE 6 does this) - div.style.display = "block"; - div.style.overflow = "visible"; - div.innerHTML = "
"; - div.firstChild.style.width = "5px"; - support.shrinkWrapBlocks = ( div.offsetWidth !== 3 ); - - container.style.zoom = 1; - } - - // Null elements to avoid leaks in IE - body.removeChild( container ); - container = div = tds = marginDiv = null; - }); - - // Null elements to avoid leaks in IE - fragment.removeChild( div ); - all = a = select = opt = input = fragment = div = null; - - return support; -})(); -var rbrace = /(?:\{[\s\S]*\}|\[[\s\S]*\])$/, - rmultiDash = /([A-Z])/g; - -jQuery.extend({ - cache: {}, - - deletedIds: [], - - // Remove at next major release (1.9/2.0) - uuid: 0, - - // Unique for each copy of jQuery on the page - // Non-digits removed to match rinlinejQuery - expando: "jQuery" + ( jQuery.fn.jquery + Math.random() ).replace( /\D/g, "" ), - - // The following elements throw uncatchable exceptions if you - // attempt to add expando properties to them. - noData: { - "embed": true, - // Ban all objects except for Flash (which handle expandos) - "object": "clsid:D27CDB6E-AE6D-11cf-96B8-444553540000", - "applet": true - }, - - hasData: function( elem ) { - elem = elem.nodeType ? jQuery.cache[ elem[jQuery.expando] ] : elem[ jQuery.expando ]; - return !!elem && !isEmptyDataObject( elem ); - }, - - data: function( elem, name, data, pvt /* Internal Use Only */ ) { - if ( !jQuery.acceptData( elem ) ) { - return; - } - - var thisCache, ret, - internalKey = jQuery.expando, - getByName = typeof name === "string", - - // We have to handle DOM nodes and JS objects differently because IE6-7 - // can't GC object references properly across the DOM-JS boundary - isNode = elem.nodeType, - - // Only DOM nodes need the global jQuery cache; JS object data is - // attached directly to the object so GC can occur automatically - cache = isNode ? jQuery.cache : elem, - - // Only defining an ID for JS objects if its cache already exists allows - // the code to shortcut on the same path as a DOM node with no cache - id = isNode ? elem[ internalKey ] : elem[ internalKey ] && internalKey; - - // Avoid doing any more work than we need to when trying to get data on an - // object that has no data at all - if ( (!id || !cache[id] || (!pvt && !cache[id].data)) && getByName && data === undefined ) { - return; - } - - if ( !id ) { - // Only DOM nodes need a new unique ID for each element since their data - // ends up in the global cache - if ( isNode ) { - elem[ internalKey ] = id = jQuery.deletedIds.pop() || jQuery.guid++; - } else { - id = internalKey; - } - } - - if ( !cache[ id ] ) { - cache[ id ] = {}; - - // Avoids exposing jQuery metadata on plain JS objects when the object - // is serialized using JSON.stringify - if ( !isNode ) { - cache[ id ].toJSON = jQuery.noop; - } - } - - // An object can be passed to jQuery.data instead of a key/value pair; this gets - // shallow copied over onto the existing cache - if ( typeof name === "object" || typeof name === "function" ) { - if ( pvt ) { - cache[ id ] = jQuery.extend( cache[ id ], name ); - } else { - cache[ id ].data = jQuery.extend( cache[ id ].data, name ); - } - } - - thisCache = cache[ id ]; - - // jQuery data() is stored in a separate object inside the object's internal data - // cache in order to avoid key collisions between internal data and user-defined - // data. - if ( !pvt ) { - if ( !thisCache.data ) { - thisCache.data = {}; - } - - thisCache = thisCache.data; - } - - if ( data !== undefined ) { - thisCache[ jQuery.camelCase( name ) ] = data; - } - - // Check for both converted-to-camel and non-converted data property names - // If a data property was specified - if ( getByName ) { - - // First Try to find as-is property data - ret = thisCache[ name ]; - - // Test for null|undefined property data - if ( ret == null ) { - - // Try to find the camelCased property - ret = thisCache[ jQuery.camelCase( name ) ]; - } - } else { - ret = thisCache; - } - - return ret; - }, - - removeData: function( elem, name, pvt /* Internal Use Only */ ) { - if ( !jQuery.acceptData( elem ) ) { - return; - } - - var thisCache, i, l, - - isNode = elem.nodeType, - - // See jQuery.data for more information - cache = isNode ? jQuery.cache : elem, - id = isNode ? elem[ jQuery.expando ] : jQuery.expando; - - // If there is already no cache entry for this object, there is no - // purpose in continuing - if ( !cache[ id ] ) { - return; - } - - if ( name ) { - - thisCache = pvt ? cache[ id ] : cache[ id ].data; - - if ( thisCache ) { - - // Support array or space separated string names for data keys - if ( !jQuery.isArray( name ) ) { - - // try the string as a key before any manipulation - if ( name in thisCache ) { - name = [ name ]; - } else { - - // split the camel cased version by spaces unless a key with the spaces exists - name = jQuery.camelCase( name ); - if ( name in thisCache ) { - name = [ name ]; - } else { - name = name.split(" "); - } - } - } - - for ( i = 0, l = name.length; i < l; i++ ) { - delete thisCache[ name[i] ]; - } - - // If there is no data left in the cache, we want to continue - // and let the cache object itself get destroyed - if ( !( pvt ? isEmptyDataObject : jQuery.isEmptyObject )( thisCache ) ) { - return; - } - } - } - - // See jQuery.data for more information - if ( !pvt ) { - delete cache[ id ].data; - - // Don't destroy the parent cache unless the internal data object - // had been the only thing left in it - if ( !isEmptyDataObject( cache[ id ] ) ) { - return; - } - } - - // Destroy the cache - if ( isNode ) { - jQuery.cleanData( [ elem ], true ); - - // Use delete when supported for expandos or `cache` is not a window per isWindow (#10080) - } else if ( jQuery.support.deleteExpando || cache != cache.window ) { - delete cache[ id ]; - - // When all else fails, null - } else { - cache[ id ] = null; - } - }, - - // For internal use only. - _data: function( elem, name, data ) { - return jQuery.data( elem, name, data, true ); - }, - - // A method for determining if a DOM node can handle the data expando - acceptData: function( elem ) { - var noData = elem.nodeName && jQuery.noData[ elem.nodeName.toLowerCase() ]; - - // nodes accept data unless otherwise specified; rejection can be conditional - return !noData || noData !== true && elem.getAttribute("classid") === noData; - } -}); - -jQuery.fn.extend({ - data: function( key, value ) { - var parts, part, attr, name, l, - elem = this[0], - i = 0, - data = null; - - // Gets all values - if ( key === undefined ) { - if ( this.length ) { - data = jQuery.data( elem ); - - if ( elem.nodeType === 1 && !jQuery._data( elem, "parsedAttrs" ) ) { - attr = elem.attributes; - for ( l = attr.length; i < l; i++ ) { - name = attr[i].name; - - if ( !name.indexOf( "data-" ) ) { - name = jQuery.camelCase( name.substring(5) ); - - dataAttr( elem, name, data[ name ] ); - } - } - jQuery._data( elem, "parsedAttrs", true ); - } - } - - return data; - } - - // Sets multiple values - if ( typeof key === "object" ) { - return this.each(function() { - jQuery.data( this, key ); - }); - } - - parts = key.split( ".", 2 ); - parts[1] = parts[1] ? "." + parts[1] : ""; - part = parts[1] + "!"; - - return jQuery.access( this, function( value ) { - - if ( value === undefined ) { - data = this.triggerHandler( "getData" + part, [ parts[0] ] ); - - // Try to fetch any internally stored data first - if ( data === undefined && elem ) { - data = jQuery.data( elem, key ); - data = dataAttr( elem, key, data ); - } - - return data === undefined && parts[1] ? - this.data( parts[0] ) : - data; - } - - parts[1] = value; - this.each(function() { - var self = jQuery( this ); - - self.triggerHandler( "setData" + part, parts ); - jQuery.data( this, key, value ); - self.triggerHandler( "changeData" + part, parts ); - }); - }, null, value, arguments.length > 1, null, false ); - }, - - removeData: function( key ) { - return this.each(function() { - jQuery.removeData( this, key ); - }); - } -}); - -function dataAttr( elem, key, data ) { - // If nothing was found internally, try to fetch any - // data from the HTML5 data-* attribute - if ( data === undefined && elem.nodeType === 1 ) { - - var name = "data-" + key.replace( rmultiDash, "-$1" ).toLowerCase(); - - data = elem.getAttribute( name ); - - if ( typeof data === "string" ) { - try { - data = data === "true" ? true : - data === "false" ? false : - data === "null" ? null : - // Only convert to a number if it doesn't change the string - +data + "" === data ? +data : - rbrace.test( data ) ? jQuery.parseJSON( data ) : - data; - } catch( e ) {} - - // Make sure we set the data so it isn't changed later - jQuery.data( elem, key, data ); - - } else { - data = undefined; - } - } - - return data; -} - -// checks a cache object for emptiness -function isEmptyDataObject( obj ) { - var name; - for ( name in obj ) { - - // if the public data object is empty, the private is still empty - if ( name === "data" && jQuery.isEmptyObject( obj[name] ) ) { - continue; - } - if ( name !== "toJSON" ) { - return false; - } - } - - return true; -} -jQuery.extend({ - queue: function( elem, type, data ) { - var queue; - - if ( elem ) { - type = ( type || "fx" ) + "queue"; - queue = jQuery._data( elem, type ); - - // Speed up dequeue by getting out quickly if this is just a lookup - if ( data ) { - if ( !queue || jQuery.isArray(data) ) { - queue = jQuery._data( elem, type, jQuery.makeArray(data) ); - } else { - queue.push( data ); - } - } - return queue || []; - } - }, - - dequeue: function( elem, type ) { - type = type || "fx"; - - var queue = jQuery.queue( elem, type ), - startLength = queue.length, - fn = queue.shift(), - hooks = jQuery._queueHooks( elem, type ), - next = function() { - jQuery.dequeue( elem, type ); - }; - - // If the fx queue is dequeued, always remove the progress sentinel - if ( fn === "inprogress" ) { - fn = queue.shift(); - startLength--; - } - - if ( fn ) { - - // Add a progress sentinel to prevent the fx queue from being - // automatically dequeued - if ( type === "fx" ) { - queue.unshift( "inprogress" ); - } - - // clear up the last queue stop function - delete hooks.stop; - fn.call( elem, next, hooks ); - } - - if ( !startLength && hooks ) { - hooks.empty.fire(); - } - }, - - // not intended for public consumption - generates a queueHooks object, or returns the current one - _queueHooks: function( elem, type ) { - var key = type + "queueHooks"; - return jQuery._data( elem, key ) || jQuery._data( elem, key, { - empty: jQuery.Callbacks("once memory").add(function() { - jQuery.removeData( elem, type + "queue", true ); - jQuery.removeData( elem, key, true ); - }) - }); - } -}); - -jQuery.fn.extend({ - queue: function( type, data ) { - var setter = 2; - - if ( typeof type !== "string" ) { - data = type; - type = "fx"; - setter--; - } - - if ( arguments.length < setter ) { - return jQuery.queue( this[0], type ); - } - - return data === undefined ? - this : - this.each(function() { - var queue = jQuery.queue( this, type, data ); - - // ensure a hooks for this queue - jQuery._queueHooks( this, type ); - - if ( type === "fx" && queue[0] !== "inprogress" ) { - jQuery.dequeue( this, type ); - } - }); - }, - dequeue: function( type ) { - return this.each(function() { - jQuery.dequeue( this, type ); - }); - }, - // Based off of the plugin by Clint Helfers, with permission. - // http://blindsignals.com/index.php/2009/07/jquery-delay/ - delay: function( time, type ) { - time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; - type = type || "fx"; - - return this.queue( type, function( next, hooks ) { - var timeout = setTimeout( next, time ); - hooks.stop = function() { - clearTimeout( timeout ); - }; - }); - }, - clearQueue: function( type ) { - return this.queue( type || "fx", [] ); - }, - // Get a promise resolved when queues of a certain type - // are emptied (fx is the type by default) - promise: function( type, obj ) { - var tmp, - count = 1, - defer = jQuery.Deferred(), - elements = this, - i = this.length, - resolve = function() { - if ( !( --count ) ) { - defer.resolveWith( elements, [ elements ] ); - } - }; - - if ( typeof type !== "string" ) { - obj = type; - type = undefined; - } - type = type || "fx"; - - while( i-- ) { - tmp = jQuery._data( elements[ i ], type + "queueHooks" ); - if ( tmp && tmp.empty ) { - count++; - tmp.empty.add( resolve ); - } - } - resolve(); - return defer.promise( obj ); - } -}); -var nodeHook, boolHook, fixSpecified, - rclass = /[\t\r\n]/g, - rreturn = /\r/g, - rtype = /^(?:button|input)$/i, - rfocusable = /^(?:button|input|object|select|textarea)$/i, - rclickable = /^a(?:rea|)$/i, - rboolean = /^(?:autofocus|autoplay|async|checked|controls|defer|disabled|hidden|loop|multiple|open|readonly|required|scoped|selected)$/i, - getSetAttribute = jQuery.support.getSetAttribute; - -jQuery.fn.extend({ - attr: function( name, value ) { - return jQuery.access( this, jQuery.attr, name, value, arguments.length > 1 ); - }, - - removeAttr: function( name ) { - return this.each(function() { - jQuery.removeAttr( this, name ); - }); - }, - - prop: function( name, value ) { - return jQuery.access( this, jQuery.prop, name, value, arguments.length > 1 ); - }, - - removeProp: function( name ) { - name = jQuery.propFix[ name ] || name; - return this.each(function() { - // try/catch handles cases where IE balks (such as removing a property on window) - try { - this[ name ] = undefined; - delete this[ name ]; - } catch( e ) {} - }); - }, - - addClass: function( value ) { - var classNames, i, l, elem, - setClass, c, cl; - - if ( jQuery.isFunction( value ) ) { - return this.each(function( j ) { - jQuery( this ).addClass( value.call(this, j, this.className) ); - }); - } - - if ( value && typeof value === "string" ) { - classNames = value.split( core_rspace ); - - for ( i = 0, l = this.length; i < l; i++ ) { - elem = this[ i ]; - - if ( elem.nodeType === 1 ) { - if ( !elem.className && classNames.length === 1 ) { - elem.className = value; - - } else { - setClass = " " + elem.className + " "; - - for ( c = 0, cl = classNames.length; c < cl; c++ ) { - if ( setClass.indexOf( " " + classNames[ c ] + " " ) < 0 ) { - setClass += classNames[ c ] + " "; - } - } - elem.className = jQuery.trim( setClass ); - } - } - } - } - - return this; - }, - - removeClass: function( value ) { - var removes, className, elem, c, cl, i, l; - - if ( jQuery.isFunction( value ) ) { - return this.each(function( j ) { - jQuery( this ).removeClass( value.call(this, j, this.className) ); - }); - } - if ( (value && typeof value === "string") || value === undefined ) { - removes = ( value || "" ).split( core_rspace ); - - for ( i = 0, l = this.length; i < l; i++ ) { - elem = this[ i ]; - if ( elem.nodeType === 1 && elem.className ) { - - className = (" " + elem.className + " ").replace( rclass, " " ); - - // loop over each item in the removal list - for ( c = 0, cl = removes.length; c < cl; c++ ) { - // Remove until there is nothing to remove, - while ( className.indexOf(" " + removes[ c ] + " ") >= 0 ) { - className = className.replace( " " + removes[ c ] + " " , " " ); - } - } - elem.className = value ? jQuery.trim( className ) : ""; - } - } - } - - return this; - }, - - toggleClass: function( value, stateVal ) { - var type = typeof value, - isBool = typeof stateVal === "boolean"; - - if ( jQuery.isFunction( value ) ) { - return this.each(function( i ) { - jQuery( this ).toggleClass( value.call(this, i, this.className, stateVal), stateVal ); - }); - } - - return this.each(function() { - if ( type === "string" ) { - // toggle individual class names - var className, - i = 0, - self = jQuery( this ), - state = stateVal, - classNames = value.split( core_rspace ); - - while ( (className = classNames[ i++ ]) ) { - // check each className given, space separated list - state = isBool ? state : !self.hasClass( className ); - self[ state ? "addClass" : "removeClass" ]( className ); - } - - } else if ( type === "undefined" || type === "boolean" ) { - if ( this.className ) { - // store className if set - jQuery._data( this, "__className__", this.className ); - } - - // toggle whole className - this.className = this.className || value === false ? "" : jQuery._data( this, "__className__" ) || ""; - } - }); - }, - - hasClass: function( selector ) { - var className = " " + selector + " ", - i = 0, - l = this.length; - for ( ; i < l; i++ ) { - if ( this[i].nodeType === 1 && (" " + this[i].className + " ").replace(rclass, " ").indexOf( className ) >= 0 ) { - return true; - } - } - - return false; - }, - - val: function( value ) { - var hooks, ret, isFunction, - elem = this[0]; - - if ( !arguments.length ) { - if ( elem ) { - hooks = jQuery.valHooks[ elem.type ] || jQuery.valHooks[ elem.nodeName.toLowerCase() ]; - - if ( hooks && "get" in hooks && (ret = hooks.get( elem, "value" )) !== undefined ) { - return ret; - } - - ret = elem.value; - - return typeof ret === "string" ? - // handle most common string cases - ret.replace(rreturn, "") : - // handle cases where value is null/undef or number - ret == null ? "" : ret; - } - - return; - } - - isFunction = jQuery.isFunction( value ); - - return this.each(function( i ) { - var val, - self = jQuery(this); - - if ( this.nodeType !== 1 ) { - return; - } - - if ( isFunction ) { - val = value.call( this, i, self.val() ); - } else { - val = value; - } - - // Treat null/undefined as ""; convert numbers to string - if ( val == null ) { - val = ""; - } else if ( typeof val === "number" ) { - val += ""; - } else if ( jQuery.isArray( val ) ) { - val = jQuery.map(val, function ( value ) { - return value == null ? "" : value + ""; - }); - } - - hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; - - // If set returns undefined, fall back to normal setting - if ( !hooks || !("set" in hooks) || hooks.set( this, val, "value" ) === undefined ) { - this.value = val; - } - }); - } -}); - -jQuery.extend({ - valHooks: { - option: { - get: function( elem ) { - // attributes.value is undefined in Blackberry 4.7 but - // uses .value. See #6932 - var val = elem.attributes.value; - return !val || val.specified ? elem.value : elem.text; - } - }, - select: { - get: function( elem ) { - var value, option, - options = elem.options, - index = elem.selectedIndex, - one = elem.type === "select-one" || index < 0, - values = one ? null : [], - max = one ? index + 1 : options.length, - i = index < 0 ? - max : - one ? index : 0; - - // Loop through all the selected options - for ( ; i < max; i++ ) { - option = options[ i ]; - - // oldIE doesn't update selected after form reset (#2551) - if ( ( option.selected || i === index ) && - // Don't return options that are disabled or in a disabled optgroup - ( jQuery.support.optDisabled ? !option.disabled : option.getAttribute("disabled") === null ) && - ( !option.parentNode.disabled || !jQuery.nodeName( option.parentNode, "optgroup" ) ) ) { - - // Get the specific value for the option - value = jQuery( option ).val(); - - // We don't need an array for one selects - if ( one ) { - return value; - } - - // Multi-Selects return an array - values.push( value ); - } - } - - return values; - }, - - set: function( elem, value ) { - var values = jQuery.makeArray( value ); - - jQuery(elem).find("option").each(function() { - this.selected = jQuery.inArray( jQuery(this).val(), values ) >= 0; - }); - - if ( !values.length ) { - elem.selectedIndex = -1; - } - return values; - } - } - }, - - // Unused in 1.8, left in so attrFn-stabbers won't die; remove in 1.9 - attrFn: {}, - - attr: function( elem, name, value, pass ) { - var ret, hooks, notxml, - nType = elem.nodeType; - - // don't get/set attributes on text, comment and attribute nodes - if ( !elem || nType === 3 || nType === 8 || nType === 2 ) { - return; - } - - if ( pass && jQuery.isFunction( jQuery.fn[ name ] ) ) { - return jQuery( elem )[ name ]( value ); - } - - // Fallback to prop when attributes are not supported - if ( typeof elem.getAttribute === "undefined" ) { - return jQuery.prop( elem, name, value ); - } - - notxml = nType !== 1 || !jQuery.isXMLDoc( elem ); - - // All attributes are lowercase - // Grab necessary hook if one is defined - if ( notxml ) { - name = name.toLowerCase(); - hooks = jQuery.attrHooks[ name ] || ( rboolean.test( name ) ? boolHook : nodeHook ); - } - - if ( value !== undefined ) { - - if ( value === null ) { - jQuery.removeAttr( elem, name ); - return; - - } else if ( hooks && "set" in hooks && notxml && (ret = hooks.set( elem, value, name )) !== undefined ) { - return ret; - - } else { - elem.setAttribute( name, value + "" ); - return value; - } - - } else if ( hooks && "get" in hooks && notxml && (ret = hooks.get( elem, name )) !== null ) { - return ret; - - } else { - - ret = elem.getAttribute( name ); - - // Non-existent attributes return null, we normalize to undefined - return ret === null ? - undefined : - ret; - } - }, - - removeAttr: function( elem, value ) { - var propName, attrNames, name, isBool, - i = 0; - - if ( value && elem.nodeType === 1 ) { - - attrNames = value.split( core_rspace ); - - for ( ; i < attrNames.length; i++ ) { - name = attrNames[ i ]; - - if ( name ) { - propName = jQuery.propFix[ name ] || name; - isBool = rboolean.test( name ); - - // See #9699 for explanation of this approach (setting first, then removal) - // Do not do this for boolean attributes (see #10870) - if ( !isBool ) { - jQuery.attr( elem, name, "" ); - } - elem.removeAttribute( getSetAttribute ? name : propName ); - - // Set corresponding property to false for boolean attributes - if ( isBool && propName in elem ) { - elem[ propName ] = false; - } - } - } - } - }, - - attrHooks: { - type: { - set: function( elem, value ) { - // We can't allow the type property to be changed (since it causes problems in IE) - if ( rtype.test( elem.nodeName ) && elem.parentNode ) { - jQuery.error( "type property can't be changed" ); - } else if ( !jQuery.support.radioValue && value === "radio" && jQuery.nodeName(elem, "input") ) { - // Setting the type on a radio button after the value resets the value in IE6-9 - // Reset value to it's default in case type is set after value - // This is for element creation - var val = elem.value; - elem.setAttribute( "type", value ); - if ( val ) { - elem.value = val; - } - return value; - } - } - }, - // Use the value property for back compat - // Use the nodeHook for button elements in IE6/7 (#1954) - value: { - get: function( elem, name ) { - if ( nodeHook && jQuery.nodeName( elem, "button" ) ) { - return nodeHook.get( elem, name ); - } - return name in elem ? - elem.value : - null; - }, - set: function( elem, value, name ) { - if ( nodeHook && jQuery.nodeName( elem, "button" ) ) { - return nodeHook.set( elem, value, name ); - } - // Does not return so that setAttribute is also used - elem.value = value; - } - } - }, - - propFix: { - tabindex: "tabIndex", - readonly: "readOnly", - "for": "htmlFor", - "class": "className", - maxlength: "maxLength", - cellspacing: "cellSpacing", - cellpadding: "cellPadding", - rowspan: "rowSpan", - colspan: "colSpan", - usemap: "useMap", - frameborder: "frameBorder", - contenteditable: "contentEditable" - }, - - prop: function( elem, name, value ) { - var ret, hooks, notxml, - nType = elem.nodeType; - - // don't get/set properties on text, comment and attribute nodes - if ( !elem || nType === 3 || nType === 8 || nType === 2 ) { - return; - } - - notxml = nType !== 1 || !jQuery.isXMLDoc( elem ); - - if ( notxml ) { - // Fix name and attach hooks - name = jQuery.propFix[ name ] || name; - hooks = jQuery.propHooks[ name ]; - } - - if ( value !== undefined ) { - if ( hooks && "set" in hooks && (ret = hooks.set( elem, value, name )) !== undefined ) { - return ret; - - } else { - return ( elem[ name ] = value ); - } - - } else { - if ( hooks && "get" in hooks && (ret = hooks.get( elem, name )) !== null ) { - return ret; - - } else { - return elem[ name ]; - } - } - }, - - propHooks: { - tabIndex: { - get: function( elem ) { - // elem.tabIndex doesn't always return the correct value when it hasn't been explicitly set - // http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ - var attributeNode = elem.getAttributeNode("tabindex"); - - return attributeNode && attributeNode.specified ? - parseInt( attributeNode.value, 10 ) : - rfocusable.test( elem.nodeName ) || rclickable.test( elem.nodeName ) && elem.href ? - 0 : - undefined; - } - } - } -}); - -// Hook for boolean attributes -boolHook = { - get: function( elem, name ) { - // Align boolean attributes with corresponding properties - // Fall back to attribute presence where some booleans are not supported - var attrNode, - property = jQuery.prop( elem, name ); - return property === true || typeof property !== "boolean" && ( attrNode = elem.getAttributeNode(name) ) && attrNode.nodeValue !== false ? - name.toLowerCase() : - undefined; - }, - set: function( elem, value, name ) { - var propName; - if ( value === false ) { - // Remove boolean attributes when set to false - jQuery.removeAttr( elem, name ); - } else { - // value is true since we know at this point it's type boolean and not false - // Set boolean attributes to the same name and set the DOM property - propName = jQuery.propFix[ name ] || name; - if ( propName in elem ) { - // Only set the IDL specifically if it already exists on the element - elem[ propName ] = true; - } - - elem.setAttribute( name, name.toLowerCase() ); - } - return name; - } -}; - -// IE6/7 do not support getting/setting some attributes with get/setAttribute -if ( !getSetAttribute ) { - - fixSpecified = { - name: true, - id: true, - coords: true - }; - - // Use this for any attribute in IE6/7 - // This fixes almost every IE6/7 issue - nodeHook = jQuery.valHooks.button = { - get: function( elem, name ) { - var ret; - ret = elem.getAttributeNode( name ); - return ret && ( fixSpecified[ name ] ? ret.value !== "" : ret.specified ) ? - ret.value : - undefined; - }, - set: function( elem, value, name ) { - // Set the existing or create a new attribute node - var ret = elem.getAttributeNode( name ); - if ( !ret ) { - ret = document.createAttribute( name ); - elem.setAttributeNode( ret ); - } - return ( ret.value = value + "" ); - } - }; - - // Set width and height to auto instead of 0 on empty string( Bug #8150 ) - // This is for removals - jQuery.each([ "width", "height" ], function( i, name ) { - jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], { - set: function( elem, value ) { - if ( value === "" ) { - elem.setAttribute( name, "auto" ); - return value; - } - } - }); - }); - - // Set contenteditable to false on removals(#10429) - // Setting to empty string throws an error as an invalid value - jQuery.attrHooks.contenteditable = { - get: nodeHook.get, - set: function( elem, value, name ) { - if ( value === "" ) { - value = "false"; - } - nodeHook.set( elem, value, name ); - } - }; -} - - -// Some attributes require a special call on IE -if ( !jQuery.support.hrefNormalized ) { - jQuery.each([ "href", "src", "width", "height" ], function( i, name ) { - jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], { - get: function( elem ) { - var ret = elem.getAttribute( name, 2 ); - return ret === null ? undefined : ret; - } - }); - }); -} - -if ( !jQuery.support.style ) { - jQuery.attrHooks.style = { - get: function( elem ) { - // Return undefined in the case of empty string - // Normalize to lowercase since IE uppercases css property names - return elem.style.cssText.toLowerCase() || undefined; - }, - set: function( elem, value ) { - return ( elem.style.cssText = value + "" ); - } - }; -} - -// Safari mis-reports the default selected property of an option -// Accessing the parent's selectedIndex property fixes it -if ( !jQuery.support.optSelected ) { - jQuery.propHooks.selected = jQuery.extend( jQuery.propHooks.selected, { - get: function( elem ) { - var parent = elem.parentNode; - - if ( parent ) { - parent.selectedIndex; - - // Make sure that it also works with optgroups, see #5701 - if ( parent.parentNode ) { - parent.parentNode.selectedIndex; - } - } - return null; - } - }); -} - -// IE6/7 call enctype encoding -if ( !jQuery.support.enctype ) { - jQuery.propFix.enctype = "encoding"; -} - -// Radios and checkboxes getter/setter -if ( !jQuery.support.checkOn ) { - jQuery.each([ "radio", "checkbox" ], function() { - jQuery.valHooks[ this ] = { - get: function( elem ) { - // Handle the case where in Webkit "" is returned instead of "on" if a value isn't specified - return elem.getAttribute("value") === null ? "on" : elem.value; - } - }; - }); -} -jQuery.each([ "radio", "checkbox" ], function() { - jQuery.valHooks[ this ] = jQuery.extend( jQuery.valHooks[ this ], { - set: function( elem, value ) { - if ( jQuery.isArray( value ) ) { - return ( elem.checked = jQuery.inArray( jQuery(elem).val(), value ) >= 0 ); - } - } - }); -}); -var rformElems = /^(?:textarea|input|select)$/i, - rtypenamespace = /^([^\.]*|)(?:\.(.+)|)$/, - rhoverHack = /(?:^|\s)hover(\.\S+|)\b/, - rkeyEvent = /^key/, - rmouseEvent = /^(?:mouse|contextmenu)|click/, - rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, - hoverHack = function( events ) { - return jQuery.event.special.hover ? events : events.replace( rhoverHack, "mouseenter$1 mouseleave$1" ); - }; - -/* - * Helper functions for managing events -- not part of the public interface. - * Props to Dean Edwards' addEvent library for many of the ideas. - */ -jQuery.event = { - - add: function( elem, types, handler, data, selector ) { - - var elemData, eventHandle, events, - t, tns, type, namespaces, handleObj, - handleObjIn, handlers, special; - - // Don't attach events to noData or text/comment nodes (allow plain objects tho) - if ( elem.nodeType === 3 || elem.nodeType === 8 || !types || !handler || !(elemData = jQuery._data( elem )) ) { - return; - } - - // Caller can pass in an object of custom data in lieu of the handler - if ( handler.handler ) { - handleObjIn = handler; - handler = handleObjIn.handler; - selector = handleObjIn.selector; - } - - // Make sure that the handler has a unique ID, used to find/remove it later - if ( !handler.guid ) { - handler.guid = jQuery.guid++; - } - - // Init the element's event structure and main handler, if this is the first - events = elemData.events; - if ( !events ) { - elemData.events = events = {}; - } - eventHandle = elemData.handle; - if ( !eventHandle ) { - elemData.handle = eventHandle = function( e ) { - // Discard the second event of a jQuery.event.trigger() and - // when an event is called after a page has unloaded - return typeof jQuery !== "undefined" && (!e || jQuery.event.triggered !== e.type) ? - jQuery.event.dispatch.apply( eventHandle.elem, arguments ) : - undefined; - }; - // Add elem as a property of the handle fn to prevent a memory leak with IE non-native events - eventHandle.elem = elem; - } - - // Handle multiple events separated by a space - // jQuery(...).bind("mouseover mouseout", fn); - types = jQuery.trim( hoverHack(types) ).split( " " ); - for ( t = 0; t < types.length; t++ ) { - - tns = rtypenamespace.exec( types[t] ) || []; - type = tns[1]; - namespaces = ( tns[2] || "" ).split( "." ).sort(); - - // If event changes its type, use the special event handlers for the changed type - special = jQuery.event.special[ type ] || {}; - - // If selector defined, determine special event api type, otherwise given type - type = ( selector ? special.delegateType : special.bindType ) || type; - - // Update special based on newly reset type - special = jQuery.event.special[ type ] || {}; - - // handleObj is passed to all event handlers - handleObj = jQuery.extend({ - type: type, - origType: tns[1], - data: data, - handler: handler, - guid: handler.guid, - selector: selector, - needsContext: selector && jQuery.expr.match.needsContext.test( selector ), - namespace: namespaces.join(".") - }, handleObjIn ); - - // Init the event handler queue if we're the first - handlers = events[ type ]; - if ( !handlers ) { - handlers = events[ type ] = []; - handlers.delegateCount = 0; - - // Only use addEventListener/attachEvent if the special events handler returns false - if ( !special.setup || special.setup.call( elem, data, namespaces, eventHandle ) === false ) { - // Bind the global event handler to the element - if ( elem.addEventListener ) { - elem.addEventListener( type, eventHandle, false ); - - } else if ( elem.attachEvent ) { - elem.attachEvent( "on" + type, eventHandle ); - } - } - } - - if ( special.add ) { - special.add.call( elem, handleObj ); - - if ( !handleObj.handler.guid ) { - handleObj.handler.guid = handler.guid; - } - } - - // Add to the element's handler list, delegates in front - if ( selector ) { - handlers.splice( handlers.delegateCount++, 0, handleObj ); - } else { - handlers.push( handleObj ); - } - - // Keep track of which events have ever been used, for event optimization - jQuery.event.global[ type ] = true; - } - - // Nullify elem to prevent memory leaks in IE - elem = null; - }, - - global: {}, - - // Detach an event or set of events from an element - remove: function( elem, types, handler, selector, mappedTypes ) { - - var t, tns, type, origType, namespaces, origCount, - j, events, special, eventType, handleObj, - elemData = jQuery.hasData( elem ) && jQuery._data( elem ); - - if ( !elemData || !(events = elemData.events) ) { - return; - } - - // Once for each type.namespace in types; type may be omitted - types = jQuery.trim( hoverHack( types || "" ) ).split(" "); - for ( t = 0; t < types.length; t++ ) { - tns = rtypenamespace.exec( types[t] ) || []; - type = origType = tns[1]; - namespaces = tns[2]; - - // Unbind all events (on this namespace, if provided) for the element - if ( !type ) { - for ( type in events ) { - jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); - } - continue; - } - - special = jQuery.event.special[ type ] || {}; - type = ( selector? special.delegateType : special.bindType ) || type; - eventType = events[ type ] || []; - origCount = eventType.length; - namespaces = namespaces ? new RegExp("(^|\\.)" + namespaces.split(".").sort().join("\\.(?:.*\\.|)") + "(\\.|$)") : null; - - // Remove matching events - for ( j = 0; j < eventType.length; j++ ) { - handleObj = eventType[ j ]; - - if ( ( mappedTypes || origType === handleObj.origType ) && - ( !handler || handler.guid === handleObj.guid ) && - ( !namespaces || namespaces.test( handleObj.namespace ) ) && - ( !selector || selector === handleObj.selector || selector === "**" && handleObj.selector ) ) { - eventType.splice( j--, 1 ); - - if ( handleObj.selector ) { - eventType.delegateCount--; - } - if ( special.remove ) { - special.remove.call( elem, handleObj ); - } - } - } - - // Remove generic event handler if we removed something and no more handlers exist - // (avoids potential for endless recursion during removal of special event handlers) - if ( eventType.length === 0 && origCount !== eventType.length ) { - if ( !special.teardown || special.teardown.call( elem, namespaces, elemData.handle ) === false ) { - jQuery.removeEvent( elem, type, elemData.handle ); - } - - delete events[ type ]; - } - } - - // Remove the expando if it's no longer used - if ( jQuery.isEmptyObject( events ) ) { - delete elemData.handle; - - // removeData also checks for emptiness and clears the expando if empty - // so use it instead of delete - jQuery.removeData( elem, "events", true ); - } - }, - - // Events that are safe to short-circuit if no handlers are attached. - // Native DOM events should not be added, they may have inline handlers. - customEvent: { - "getData": true, - "setData": true, - "changeData": true - }, - - trigger: function( event, data, elem, onlyHandlers ) { - // Don't do events on text and comment nodes - if ( elem && (elem.nodeType === 3 || elem.nodeType === 8) ) { - return; - } - - // Event object or event type - var cache, exclusive, i, cur, old, ontype, special, handle, eventPath, bubbleType, - type = event.type || event, - namespaces = []; - - // focus/blur morphs to focusin/out; ensure we're not firing them right now - if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { - return; - } - - if ( type.indexOf( "!" ) >= 0 ) { - // Exclusive events trigger only for the exact event (no namespaces) - type = type.slice(0, -1); - exclusive = true; - } - - if ( type.indexOf( "." ) >= 0 ) { - // Namespaced trigger; create a regexp to match event type in handle() - namespaces = type.split("."); - type = namespaces.shift(); - namespaces.sort(); - } - - if ( (!elem || jQuery.event.customEvent[ type ]) && !jQuery.event.global[ type ] ) { - // No jQuery handlers for this event type, and it can't have inline handlers - return; - } - - // Caller can pass in an Event, Object, or just an event type string - event = typeof event === "object" ? - // jQuery.Event object - event[ jQuery.expando ] ? event : - // Object literal - new jQuery.Event( type, event ) : - // Just the event type (string) - new jQuery.Event( type ); - - event.type = type; - event.isTrigger = true; - event.exclusive = exclusive; - event.namespace = namespaces.join( "." ); - event.namespace_re = event.namespace? new RegExp("(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)") : null; - ontype = type.indexOf( ":" ) < 0 ? "on" + type : ""; - - // Handle a global trigger - if ( !elem ) { - - // TODO: Stop taunting the data cache; remove global events and always attach to document - cache = jQuery.cache; - for ( i in cache ) { - if ( cache[ i ].events && cache[ i ].events[ type ] ) { - jQuery.event.trigger( event, data, cache[ i ].handle.elem, true ); - } - } - return; - } - - // Clean up the event in case it is being reused - event.result = undefined; - if ( !event.target ) { - event.target = elem; - } - - // Clone any incoming data and prepend the event, creating the handler arg list - data = data != null ? jQuery.makeArray( data ) : []; - data.unshift( event ); - - // Allow special events to draw outside the lines - special = jQuery.event.special[ type ] || {}; - if ( special.trigger && special.trigger.apply( elem, data ) === false ) { - return; - } - - // Determine event propagation path in advance, per W3C events spec (#9951) - // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) - eventPath = [[ elem, special.bindType || type ]]; - if ( !onlyHandlers && !special.noBubble && !jQuery.isWindow( elem ) ) { - - bubbleType = special.delegateType || type; - cur = rfocusMorph.test( bubbleType + type ) ? elem : elem.parentNode; - for ( old = elem; cur; cur = cur.parentNode ) { - eventPath.push([ cur, bubbleType ]); - old = cur; - } - - // Only add window if we got to document (e.g., not plain obj or detached DOM) - if ( old === (elem.ownerDocument || document) ) { - eventPath.push([ old.defaultView || old.parentWindow || window, bubbleType ]); - } - } - - // Fire handlers on the event path - for ( i = 0; i < eventPath.length && !event.isPropagationStopped(); i++ ) { - - cur = eventPath[i][0]; - event.type = eventPath[i][1]; - - handle = ( jQuery._data( cur, "events" ) || {} )[ event.type ] && jQuery._data( cur, "handle" ); - if ( handle ) { - handle.apply( cur, data ); - } - // Note that this is a bare JS function and not a jQuery handler - handle = ontype && cur[ ontype ]; - if ( handle && jQuery.acceptData( cur ) && handle.apply && handle.apply( cur, data ) === false ) { - event.preventDefault(); - } - } - event.type = type; - - // If nobody prevented the default action, do it now - if ( !onlyHandlers && !event.isDefaultPrevented() ) { - - if ( (!special._default || special._default.apply( elem.ownerDocument, data ) === false) && - !(type === "click" && jQuery.nodeName( elem, "a" )) && jQuery.acceptData( elem ) ) { - - // Call a native DOM method on the target with the same name name as the event. - // Can't use an .isFunction() check here because IE6/7 fails that test. - // Don't do default actions on window, that's where global variables be (#6170) - // IE<9 dies on focus/blur to hidden element (#1486) - if ( ontype && elem[ type ] && ((type !== "focus" && type !== "blur") || event.target.offsetWidth !== 0) && !jQuery.isWindow( elem ) ) { - - // Don't re-trigger an onFOO event when we call its FOO() method - old = elem[ ontype ]; - - if ( old ) { - elem[ ontype ] = null; - } - - // Prevent re-triggering of the same event, since we already bubbled it above - jQuery.event.triggered = type; - elem[ type ](); - jQuery.event.triggered = undefined; - - if ( old ) { - elem[ ontype ] = old; - } - } - } - } - - return event.result; - }, - - dispatch: function( event ) { - - // Make a writable jQuery.Event from the native event object - event = jQuery.event.fix( event || window.event ); - - var i, j, cur, ret, selMatch, matched, matches, handleObj, sel, related, - handlers = ( (jQuery._data( this, "events" ) || {} )[ event.type ] || []), - delegateCount = handlers.delegateCount, - args = core_slice.call( arguments ), - run_all = !event.exclusive && !event.namespace, - special = jQuery.event.special[ event.type ] || {}, - handlerQueue = []; - - // Use the fix-ed jQuery.Event rather than the (read-only) native event - args[0] = event; - event.delegateTarget = this; - - // Call the preDispatch hook for the mapped type, and let it bail if desired - if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { - return; - } - - // Determine handlers that should run if there are delegated events - // Avoid non-left-click bubbling in Firefox (#3861) - if ( delegateCount && !(event.button && event.type === "click") ) { - - for ( cur = event.target; cur != this; cur = cur.parentNode || this ) { - - // Don't process clicks (ONLY) on disabled elements (#6911, #8165, #11382, #11764) - if ( cur.disabled !== true || event.type !== "click" ) { - selMatch = {}; - matches = []; - for ( i = 0; i < delegateCount; i++ ) { - handleObj = handlers[ i ]; - sel = handleObj.selector; - - if ( selMatch[ sel ] === undefined ) { - selMatch[ sel ] = handleObj.needsContext ? - jQuery( sel, this ).index( cur ) >= 0 : - jQuery.find( sel, this, null, [ cur ] ).length; - } - if ( selMatch[ sel ] ) { - matches.push( handleObj ); - } - } - if ( matches.length ) { - handlerQueue.push({ elem: cur, matches: matches }); - } - } - } - } - - // Add the remaining (directly-bound) handlers - if ( handlers.length > delegateCount ) { - handlerQueue.push({ elem: this, matches: handlers.slice( delegateCount ) }); - } - - // Run delegates first; they may want to stop propagation beneath us - for ( i = 0; i < handlerQueue.length && !event.isPropagationStopped(); i++ ) { - matched = handlerQueue[ i ]; - event.currentTarget = matched.elem; - - for ( j = 0; j < matched.matches.length && !event.isImmediatePropagationStopped(); j++ ) { - handleObj = matched.matches[ j ]; - - // Triggered event must either 1) be non-exclusive and have no namespace, or - // 2) have namespace(s) a subset or equal to those in the bound event (both can have no namespace). - if ( run_all || (!event.namespace && !handleObj.namespace) || event.namespace_re && event.namespace_re.test( handleObj.namespace ) ) { - - event.data = handleObj.data; - event.handleObj = handleObj; - - ret = ( (jQuery.event.special[ handleObj.origType ] || {}).handle || handleObj.handler ) - .apply( matched.elem, args ); - - if ( ret !== undefined ) { - event.result = ret; - if ( ret === false ) { - event.preventDefault(); - event.stopPropagation(); - } - } - } - } - } - - // Call the postDispatch hook for the mapped type - if ( special.postDispatch ) { - special.postDispatch.call( this, event ); - } - - return event.result; - }, - - // Includes some event props shared by KeyEvent and MouseEvent - // *** attrChange attrName relatedNode srcElement are not normalized, non-W3C, deprecated, will be removed in 1.8 *** - props: "attrChange attrName relatedNode srcElement altKey bubbles cancelable ctrlKey currentTarget eventPhase metaKey relatedTarget shiftKey target timeStamp view which".split(" "), - - fixHooks: {}, - - keyHooks: { - props: "char charCode key keyCode".split(" "), - filter: function( event, original ) { - - // Add which for key events - if ( event.which == null ) { - event.which = original.charCode != null ? original.charCode : original.keyCode; - } - - return event; - } - }, - - mouseHooks: { - props: "button buttons clientX clientY fromElement offsetX offsetY pageX pageY screenX screenY toElement".split(" "), - filter: function( event, original ) { - var eventDoc, doc, body, - button = original.button, - fromElement = original.fromElement; - - // Calculate pageX/Y if missing and clientX/Y available - if ( event.pageX == null && original.clientX != null ) { - eventDoc = event.target.ownerDocument || document; - doc = eventDoc.documentElement; - body = eventDoc.body; - - event.pageX = original.clientX + ( doc && doc.scrollLeft || body && body.scrollLeft || 0 ) - ( doc && doc.clientLeft || body && body.clientLeft || 0 ); - event.pageY = original.clientY + ( doc && doc.scrollTop || body && body.scrollTop || 0 ) - ( doc && doc.clientTop || body && body.clientTop || 0 ); - } - - // Add relatedTarget, if necessary - if ( !event.relatedTarget && fromElement ) { - event.relatedTarget = fromElement === event.target ? original.toElement : fromElement; - } - - // Add which for click: 1 === left; 2 === middle; 3 === right - // Note: button is not normalized, so don't use it - if ( !event.which && button !== undefined ) { - event.which = ( button & 1 ? 1 : ( button & 2 ? 3 : ( button & 4 ? 2 : 0 ) ) ); - } - - return event; - } - }, - - fix: function( event ) { - if ( event[ jQuery.expando ] ) { - return event; - } - - // Create a writable copy of the event object and normalize some properties - var i, prop, - originalEvent = event, - fixHook = jQuery.event.fixHooks[ event.type ] || {}, - copy = fixHook.props ? this.props.concat( fixHook.props ) : this.props; - - event = jQuery.Event( originalEvent ); - - for ( i = copy.length; i; ) { - prop = copy[ --i ]; - event[ prop ] = originalEvent[ prop ]; - } - - // Fix target property, if necessary (#1925, IE 6/7/8 & Safari2) - if ( !event.target ) { - event.target = originalEvent.srcElement || document; - } - - // Target should not be a text node (#504, Safari) - if ( event.target.nodeType === 3 ) { - event.target = event.target.parentNode; - } - - // For mouse/key events, metaKey==false if it's undefined (#3368, #11328; IE6/7/8) - event.metaKey = !!event.metaKey; - - return fixHook.filter? fixHook.filter( event, originalEvent ) : event; - }, - - special: { - load: { - // Prevent triggered image.load events from bubbling to window.load - noBubble: true - }, - - focus: { - delegateType: "focusin" - }, - blur: { - delegateType: "focusout" - }, - - beforeunload: { - setup: function( data, namespaces, eventHandle ) { - // We only want to do this special case on windows - if ( jQuery.isWindow( this ) ) { - this.onbeforeunload = eventHandle; - } - }, - - teardown: function( namespaces, eventHandle ) { - if ( this.onbeforeunload === eventHandle ) { - this.onbeforeunload = null; - } - } - } - }, - - simulate: function( type, elem, event, bubble ) { - // Piggyback on a donor event to simulate a different one. - // Fake originalEvent to avoid donor's stopPropagation, but if the - // simulated event prevents default then we do the same on the donor. - var e = jQuery.extend( - new jQuery.Event(), - event, - { type: type, - isSimulated: true, - originalEvent: {} - } - ); - if ( bubble ) { - jQuery.event.trigger( e, null, elem ); - } else { - jQuery.event.dispatch.call( elem, e ); - } - if ( e.isDefaultPrevented() ) { - event.preventDefault(); - } - } -}; - -// Some plugins are using, but it's undocumented/deprecated and will be removed. -// The 1.7 special event interface should provide all the hooks needed now. -jQuery.event.handle = jQuery.event.dispatch; - -jQuery.removeEvent = document.removeEventListener ? - function( elem, type, handle ) { - if ( elem.removeEventListener ) { - elem.removeEventListener( type, handle, false ); - } - } : - function( elem, type, handle ) { - var name = "on" + type; - - if ( elem.detachEvent ) { - - // #8545, #7054, preventing memory leaks for custom events in IE6-8 - // detachEvent needed property on element, by name of that event, to properly expose it to GC - if ( typeof elem[ name ] === "undefined" ) { - elem[ name ] = null; - } - - elem.detachEvent( name, handle ); - } - }; - -jQuery.Event = function( src, props ) { - // Allow instantiation without the 'new' keyword - if ( !(this instanceof jQuery.Event) ) { - return new jQuery.Event( src, props ); - } - - // Event object - if ( src && src.type ) { - this.originalEvent = src; - this.type = src.type; - - // Events bubbling up the document may have been marked as prevented - // by a handler lower down the tree; reflect the correct value. - this.isDefaultPrevented = ( src.defaultPrevented || src.returnValue === false || - src.getPreventDefault && src.getPreventDefault() ) ? returnTrue : returnFalse; - - // Event type - } else { - this.type = src; - } - - // Put explicitly provided properties onto the event object - if ( props ) { - jQuery.extend( this, props ); - } - - // Create a timestamp if incoming event doesn't have one - this.timeStamp = src && src.timeStamp || jQuery.now(); - - // Mark it as fixed - this[ jQuery.expando ] = true; -}; - -function returnFalse() { - return false; -} -function returnTrue() { - return true; -} - -// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding -// http://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html -jQuery.Event.prototype = { - preventDefault: function() { - this.isDefaultPrevented = returnTrue; - - var e = this.originalEvent; - if ( !e ) { - return; - } - - // if preventDefault exists run it on the original event - if ( e.preventDefault ) { - e.preventDefault(); - - // otherwise set the returnValue property of the original event to false (IE) - } else { - e.returnValue = false; - } - }, - stopPropagation: function() { - this.isPropagationStopped = returnTrue; - - var e = this.originalEvent; - if ( !e ) { - return; - } - // if stopPropagation exists run it on the original event - if ( e.stopPropagation ) { - e.stopPropagation(); - } - // otherwise set the cancelBubble property of the original event to true (IE) - e.cancelBubble = true; - }, - stopImmediatePropagation: function() { - this.isImmediatePropagationStopped = returnTrue; - this.stopPropagation(); - }, - isDefaultPrevented: returnFalse, - isPropagationStopped: returnFalse, - isImmediatePropagationStopped: returnFalse -}; - -// Create mouseenter/leave events using mouseover/out and event-time checks -jQuery.each({ - mouseenter: "mouseover", - mouseleave: "mouseout" -}, function( orig, fix ) { - jQuery.event.special[ orig ] = { - delegateType: fix, - bindType: fix, - - handle: function( event ) { - var ret, - target = this, - related = event.relatedTarget, - handleObj = event.handleObj, - selector = handleObj.selector; - - // For mousenter/leave call the handler if related is outside the target. - // NB: No relatedTarget if the mouse left/entered the browser window - if ( !related || (related !== target && !jQuery.contains( target, related )) ) { - event.type = handleObj.origType; - ret = handleObj.handler.apply( this, arguments ); - event.type = fix; - } - return ret; - } - }; -}); - -// IE submit delegation -if ( !jQuery.support.submitBubbles ) { - - jQuery.event.special.submit = { - setup: function() { - // Only need this for delegated form submit events - if ( jQuery.nodeName( this, "form" ) ) { - return false; - } - - // Lazy-add a submit handler when a descendant form may potentially be submitted - jQuery.event.add( this, "click._submit keypress._submit", function( e ) { - // Node name check avoids a VML-related crash in IE (#9807) - var elem = e.target, - form = jQuery.nodeName( elem, "input" ) || jQuery.nodeName( elem, "button" ) ? elem.form : undefined; - if ( form && !jQuery._data( form, "_submit_attached" ) ) { - jQuery.event.add( form, "submit._submit", function( event ) { - event._submit_bubble = true; - }); - jQuery._data( form, "_submit_attached", true ); - } - }); - // return undefined since we don't need an event listener - }, - - postDispatch: function( event ) { - // If form was submitted by the user, bubble the event up the tree - if ( event._submit_bubble ) { - delete event._submit_bubble; - if ( this.parentNode && !event.isTrigger ) { - jQuery.event.simulate( "submit", this.parentNode, event, true ); - } - } - }, - - teardown: function() { - // Only need this for delegated form submit events - if ( jQuery.nodeName( this, "form" ) ) { - return false; - } - - // Remove delegated handlers; cleanData eventually reaps submit handlers attached above - jQuery.event.remove( this, "._submit" ); - } - }; -} - -// IE change delegation and checkbox/radio fix -if ( !jQuery.support.changeBubbles ) { - - jQuery.event.special.change = { - - setup: function() { - - if ( rformElems.test( this.nodeName ) ) { - // IE doesn't fire change on a check/radio until blur; trigger it on click - // after a propertychange. Eat the blur-change in special.change.handle. - // This still fires onchange a second time for check/radio after blur. - if ( this.type === "checkbox" || this.type === "radio" ) { - jQuery.event.add( this, "propertychange._change", function( event ) { - if ( event.originalEvent.propertyName === "checked" ) { - this._just_changed = true; - } - }); - jQuery.event.add( this, "click._change", function( event ) { - if ( this._just_changed && !event.isTrigger ) { - this._just_changed = false; - } - // Allow triggered, simulated change events (#11500) - jQuery.event.simulate( "change", this, event, true ); - }); - } - return false; - } - // Delegated event; lazy-add a change handler on descendant inputs - jQuery.event.add( this, "beforeactivate._change", function( e ) { - var elem = e.target; - - if ( rformElems.test( elem.nodeName ) && !jQuery._data( elem, "_change_attached" ) ) { - jQuery.event.add( elem, "change._change", function( event ) { - if ( this.parentNode && !event.isSimulated && !event.isTrigger ) { - jQuery.event.simulate( "change", this.parentNode, event, true ); - } - }); - jQuery._data( elem, "_change_attached", true ); - } - }); - }, - - handle: function( event ) { - var elem = event.target; - - // Swallow native change events from checkbox/radio, we already triggered them above - if ( this !== elem || event.isSimulated || event.isTrigger || (elem.type !== "radio" && elem.type !== "checkbox") ) { - return event.handleObj.handler.apply( this, arguments ); - } - }, - - teardown: function() { - jQuery.event.remove( this, "._change" ); - - return !rformElems.test( this.nodeName ); - } - }; -} - -// Create "bubbling" focus and blur events -if ( !jQuery.support.focusinBubbles ) { - jQuery.each({ focus: "focusin", blur: "focusout" }, function( orig, fix ) { - - // Attach a single capturing handler while someone wants focusin/focusout - var attaches = 0, - handler = function( event ) { - jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ), true ); - }; - - jQuery.event.special[ fix ] = { - setup: function() { - if ( attaches++ === 0 ) { - document.addEventListener( orig, handler, true ); - } - }, - teardown: function() { - if ( --attaches === 0 ) { - document.removeEventListener( orig, handler, true ); - } - } - }; - }); -} - -jQuery.fn.extend({ - - on: function( types, selector, data, fn, /*INTERNAL*/ one ) { - var origFn, type; - - // Types can be a map of types/handlers - if ( typeof types === "object" ) { - // ( types-Object, selector, data ) - if ( typeof selector !== "string" ) { // && selector != null - // ( types-Object, data ) - data = data || selector; - selector = undefined; - } - for ( type in types ) { - this.on( type, selector, data, types[ type ], one ); - } - return this; - } - - if ( data == null && fn == null ) { - // ( types, fn ) - fn = selector; - data = selector = undefined; - } else if ( fn == null ) { - if ( typeof selector === "string" ) { - // ( types, selector, fn ) - fn = data; - data = undefined; - } else { - // ( types, data, fn ) - fn = data; - data = selector; - selector = undefined; - } - } - if ( fn === false ) { - fn = returnFalse; - } else if ( !fn ) { - return this; - } - - if ( one === 1 ) { - origFn = fn; - fn = function( event ) { - // Can use an empty set, since event contains the info - jQuery().off( event ); - return origFn.apply( this, arguments ); - }; - // Use same guid so caller can remove using origFn - fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); - } - return this.each( function() { - jQuery.event.add( this, types, fn, data, selector ); - }); - }, - one: function( types, selector, data, fn ) { - return this.on( types, selector, data, fn, 1 ); - }, - off: function( types, selector, fn ) { - var handleObj, type; - if ( types && types.preventDefault && types.handleObj ) { - // ( event ) dispatched jQuery.Event - handleObj = types.handleObj; - jQuery( types.delegateTarget ).off( - handleObj.namespace ? handleObj.origType + "." + handleObj.namespace : handleObj.origType, - handleObj.selector, - handleObj.handler - ); - return this; - } - if ( typeof types === "object" ) { - // ( types-object [, selector] ) - for ( type in types ) { - this.off( type, selector, types[ type ] ); - } - return this; - } - if ( selector === false || typeof selector === "function" ) { - // ( types [, fn] ) - fn = selector; - selector = undefined; - } - if ( fn === false ) { - fn = returnFalse; - } - return this.each(function() { - jQuery.event.remove( this, types, fn, selector ); - }); - }, - - bind: function( types, data, fn ) { - return this.on( types, null, data, fn ); - }, - unbind: function( types, fn ) { - return this.off( types, null, fn ); - }, - - live: function( types, data, fn ) { - jQuery( this.context ).on( types, this.selector, data, fn ); - return this; - }, - die: function( types, fn ) { - jQuery( this.context ).off( types, this.selector || "**", fn ); - return this; - }, - - delegate: function( selector, types, data, fn ) { - return this.on( types, selector, data, fn ); - }, - undelegate: function( selector, types, fn ) { - // ( namespace ) or ( selector, types [, fn] ) - return arguments.length === 1 ? this.off( selector, "**" ) : this.off( types, selector || "**", fn ); - }, - - trigger: function( type, data ) { - return this.each(function() { - jQuery.event.trigger( type, data, this ); - }); - }, - triggerHandler: function( type, data ) { - if ( this[0] ) { - return jQuery.event.trigger( type, data, this[0], true ); - } - }, - - toggle: function( fn ) { - // Save reference to arguments for access in closure - var args = arguments, - guid = fn.guid || jQuery.guid++, - i = 0, - toggler = function( event ) { - // Figure out which function to execute - var lastToggle = ( jQuery._data( this, "lastToggle" + fn.guid ) || 0 ) % i; - jQuery._data( this, "lastToggle" + fn.guid, lastToggle + 1 ); - - // Make sure that clicks stop - event.preventDefault(); - - // and execute the function - return args[ lastToggle ].apply( this, arguments ) || false; - }; - - // link all the functions, so any of them can unbind this click handler - toggler.guid = guid; - while ( i < args.length ) { - args[ i++ ].guid = guid; - } - - return this.click( toggler ); - }, - - hover: function( fnOver, fnOut ) { - return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver ); - } -}); - -jQuery.each( ("blur focus focusin focusout load resize scroll unload click dblclick " + - "mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave " + - "change select submit keydown keypress keyup error contextmenu").split(" "), function( i, name ) { - - // Handle event binding - jQuery.fn[ name ] = function( data, fn ) { - if ( fn == null ) { - fn = data; - data = null; - } - - return arguments.length > 0 ? - this.on( name, null, data, fn ) : - this.trigger( name ); - }; - - if ( rkeyEvent.test( name ) ) { - jQuery.event.fixHooks[ name ] = jQuery.event.keyHooks; - } - - if ( rmouseEvent.test( name ) ) { - jQuery.event.fixHooks[ name ] = jQuery.event.mouseHooks; - } -}); -/*! - * Sizzle CSS Selector Engine - * Copyright 2012 jQuery Foundation and other contributors - * Released under the MIT license - * http://sizzlejs.com/ - */ -(function( window, undefined ) { - -var cachedruns, - assertGetIdNotName, - Expr, - getText, - isXML, - contains, - compile, - sortOrder, - hasDuplicate, - outermostContext, - - baseHasDuplicate = true, - strundefined = "undefined", - - expando = ( "sizcache" + Math.random() ).replace( ".", "" ), - - Token = String, - document = window.document, - docElem = document.documentElement, - dirruns = 0, - done = 0, - pop = [].pop, - push = [].push, - slice = [].slice, - // Use a stripped-down indexOf if a native one is unavailable - indexOf = [].indexOf || function( elem ) { - var i = 0, - len = this.length; - for ( ; i < len; i++ ) { - if ( this[i] === elem ) { - return i; - } - } - return -1; - }, - - // Augment a function for special use by Sizzle - markFunction = function( fn, value ) { - fn[ expando ] = value == null || value; - return fn; - }, - - createCache = function() { - var cache = {}, - keys = []; - - return markFunction(function( key, value ) { - // Only keep the most recent entries - if ( keys.push( key ) > Expr.cacheLength ) { - delete cache[ keys.shift() ]; - } - - // Retrieve with (key + " ") to avoid collision with native Object.prototype properties (see Issue #157) - return (cache[ key + " " ] = value); - }, cache ); - }, - - classCache = createCache(), - tokenCache = createCache(), - compilerCache = createCache(), - - // Regex - - // Whitespace characters http://www.w3.org/TR/css3-selectors/#whitespace - whitespace = "[\\x20\\t\\r\\n\\f]", - // http://www.w3.org/TR/css3-syntax/#characters - characterEncoding = "(?:\\\\.|[-\\w]|[^\\x00-\\xa0])+", - - // Loosely modeled on CSS identifier characters - // An unquoted value should be a CSS identifier (http://www.w3.org/TR/css3-selectors/#attribute-selectors) - // Proper syntax: http://www.w3.org/TR/CSS21/syndata.html#value-def-identifier - identifier = characterEncoding.replace( "w", "w#" ), - - // Acceptable operators http://www.w3.org/TR/selectors/#attribute-selectors - operators = "([*^$|!~]?=)", - attributes = "\\[" + whitespace + "*(" + characterEncoding + ")" + whitespace + - "*(?:" + operators + whitespace + "*(?:(['\"])((?:\\\\.|[^\\\\])*?)\\3|(" + identifier + ")|)|)" + whitespace + "*\\]", - - // Prefer arguments not in parens/brackets, - // then attribute selectors and non-pseudos (denoted by :), - // then anything else - // These preferences are here to reduce the number of selectors - // needing tokenize in the PSEUDO preFilter - pseudos = ":(" + characterEncoding + ")(?:\\((?:(['\"])((?:\\\\.|[^\\\\])*?)\\2|([^()[\\]]*|(?:(?:" + attributes + ")|[^:]|\\\\.)*|.*))\\)|)", - - // For matchExpr.POS and matchExpr.needsContext - pos = ":(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + - "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", - - // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter - rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + whitespace + "+$", "g" ), - - rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), - rcombinators = new RegExp( "^" + whitespace + "*([\\x20\\t\\r\\n\\f>+~])" + whitespace + "*" ), - rpseudo = new RegExp( pseudos ), - - // Easily-parseable/retrievable ID or TAG or CLASS selectors - rquickExpr = /^(?:#([\w\-]+)|(\w+)|\.([\w\-]+))$/, - - rnot = /^:not/, - rsibling = /[\x20\t\r\n\f]*[+~]/, - rendsWithNot = /:not\($/, - - rheader = /h\d/i, - rinputs = /input|select|textarea|button/i, - - rbackslash = /\\(?!\\)/g, - - matchExpr = { - "ID": new RegExp( "^#(" + characterEncoding + ")" ), - "CLASS": new RegExp( "^\\.(" + characterEncoding + ")" ), - "NAME": new RegExp( "^\\[name=['\"]?(" + characterEncoding + ")['\"]?\\]" ), - "TAG": new RegExp( "^(" + characterEncoding.replace( "w", "w*" ) + ")" ), - "ATTR": new RegExp( "^" + attributes ), - "PSEUDO": new RegExp( "^" + pseudos ), - "POS": new RegExp( pos, "i" ), - "CHILD": new RegExp( "^:(only|nth|first|last)-child(?:\\(" + whitespace + - "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + whitespace + - "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), - // For use in libraries implementing .is() - "needsContext": new RegExp( "^" + whitespace + "*[>+~]|" + pos, "i" ) - }, - - // Support - - // Used for testing something on an element - assert = function( fn ) { - var div = document.createElement("div"); - - try { - return fn( div ); - } catch (e) { - return false; - } finally { - // release memory in IE - div = null; - } - }, - - // Check if getElementsByTagName("*") returns only elements - assertTagNameNoComments = assert(function( div ) { - div.appendChild( document.createComment("") ); - return !div.getElementsByTagName("*").length; - }), - - // Check if getAttribute returns normalized href attributes - assertHrefNotNormalized = assert(function( div ) { - div.innerHTML = ""; - return div.firstChild && typeof div.firstChild.getAttribute !== strundefined && - div.firstChild.getAttribute("href") === "#"; - }), - - // Check if attributes should be retrieved by attribute nodes - assertAttributes = assert(function( div ) { - div.innerHTML = ""; - var type = typeof div.lastChild.getAttribute("multiple"); - // IE8 returns a string for some attributes even when not present - return type !== "boolean" && type !== "string"; - }), - - // Check if getElementsByClassName can be trusted - assertUsableClassName = assert(function( div ) { - // Opera can't find a second classname (in 9.6) - div.innerHTML = ""; - if ( !div.getElementsByClassName || !div.getElementsByClassName("e").length ) { - return false; - } - - // Safari 3.2 caches class attributes and doesn't catch changes - div.lastChild.className = "e"; - return div.getElementsByClassName("e").length === 2; - }), - - // Check if getElementById returns elements by name - // Check if getElementsByName privileges form controls or returns elements by ID - assertUsableName = assert(function( div ) { - // Inject content - div.id = expando + 0; - div.innerHTML = "
"; - docElem.insertBefore( div, docElem.firstChild ); - - // Test - var pass = document.getElementsByName && - // buggy browsers will return fewer than the correct 2 - document.getElementsByName( expando ).length === 2 + - // buggy browsers will return more than the correct 0 - document.getElementsByName( expando + 0 ).length; - assertGetIdNotName = !document.getElementById( expando ); - - // Cleanup - docElem.removeChild( div ); - - return pass; - }); - -// If slice is not available, provide a backup -try { - slice.call( docElem.childNodes, 0 )[0].nodeType; -} catch ( e ) { - slice = function( i ) { - var elem, - results = []; - for ( ; (elem = this[i]); i++ ) { - results.push( elem ); - } - return results; - }; -} - -function Sizzle( selector, context, results, seed ) { - results = results || []; - context = context || document; - var match, elem, xml, m, - nodeType = context.nodeType; - - if ( !selector || typeof selector !== "string" ) { - return results; - } - - if ( nodeType !== 1 && nodeType !== 9 ) { - return []; - } - - xml = isXML( context ); - - if ( !xml && !seed ) { - if ( (match = rquickExpr.exec( selector )) ) { - // Speed-up: Sizzle("#ID") - if ( (m = match[1]) ) { - if ( nodeType === 9 ) { - elem = context.getElementById( m ); - // Check parentNode to catch when Blackberry 4.6 returns - // nodes that are no longer in the document #6963 - if ( elem && elem.parentNode ) { - // Handle the case where IE, Opera, and Webkit return items - // by name instead of ID - if ( elem.id === m ) { - results.push( elem ); - return results; - } - } else { - return results; - } - } else { - // Context is not a document - if ( context.ownerDocument && (elem = context.ownerDocument.getElementById( m )) && - contains( context, elem ) && elem.id === m ) { - results.push( elem ); - return results; - } - } - - // Speed-up: Sizzle("TAG") - } else if ( match[2] ) { - push.apply( results, slice.call(context.getElementsByTagName( selector ), 0) ); - return results; - - // Speed-up: Sizzle(".CLASS") - } else if ( (m = match[3]) && assertUsableClassName && context.getElementsByClassName ) { - push.apply( results, slice.call(context.getElementsByClassName( m ), 0) ); - return results; - } - } - } - - // All others - return select( selector.replace( rtrim, "$1" ), context, results, seed, xml ); -} - -Sizzle.matches = function( expr, elements ) { - return Sizzle( expr, null, null, elements ); -}; - -Sizzle.matchesSelector = function( elem, expr ) { - return Sizzle( expr, null, null, [ elem ] ).length > 0; -}; - -// Returns a function to use in pseudos for input types -function createInputPseudo( type ) { - return function( elem ) { - var name = elem.nodeName.toLowerCase(); - return name === "input" && elem.type === type; - }; -} - -// Returns a function to use in pseudos for buttons -function createButtonPseudo( type ) { - return function( elem ) { - var name = elem.nodeName.toLowerCase(); - return (name === "input" || name === "button") && elem.type === type; - }; -} - -// Returns a function to use in pseudos for positionals -function createPositionalPseudo( fn ) { - return markFunction(function( argument ) { - argument = +argument; - return markFunction(function( seed, matches ) { - var j, - matchIndexes = fn( [], seed.length, argument ), - i = matchIndexes.length; - - // Match elements found at the specified indexes - while ( i-- ) { - if ( seed[ (j = matchIndexes[i]) ] ) { - seed[j] = !(matches[j] = seed[j]); - } - } - }); - }); -} - -/** - * Utility function for retrieving the text value of an array of DOM nodes - * @param {Array|Element} elem - */ -getText = Sizzle.getText = function( elem ) { - var node, - ret = "", - i = 0, - nodeType = elem.nodeType; - - if ( nodeType ) { - if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { - // Use textContent for elements - // innerText usage removed for consistency of new lines (see #11153) - if ( typeof elem.textContent === "string" ) { - return elem.textContent; - } else { - // Traverse its children - for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { - ret += getText( elem ); - } - } - } else if ( nodeType === 3 || nodeType === 4 ) { - return elem.nodeValue; - } - // Do not include comment or processing instruction nodes - } else { - - // If no nodeType, this is expected to be an array - for ( ; (node = elem[i]); i++ ) { - // Do not traverse comment nodes - ret += getText( node ); - } - } - return ret; -}; - -isXML = Sizzle.isXML = function( elem ) { - // documentElement is verified for cases where it doesn't yet exist - // (such as loading iframes in IE - #4833) - var documentElement = elem && (elem.ownerDocument || elem).documentElement; - return documentElement ? documentElement.nodeName !== "HTML" : false; -}; - -// Element contains another -contains = Sizzle.contains = docElem.contains ? - function( a, b ) { - var adown = a.nodeType === 9 ? a.documentElement : a, - bup = b && b.parentNode; - return a === bup || !!( bup && bup.nodeType === 1 && adown.contains && adown.contains(bup) ); - } : - docElem.compareDocumentPosition ? - function( a, b ) { - return b && !!( a.compareDocumentPosition( b ) & 16 ); - } : - function( a, b ) { - while ( (b = b.parentNode) ) { - if ( b === a ) { - return true; - } - } - return false; - }; - -Sizzle.attr = function( elem, name ) { - var val, - xml = isXML( elem ); - - if ( !xml ) { - name = name.toLowerCase(); - } - if ( (val = Expr.attrHandle[ name ]) ) { - return val( elem ); - } - if ( xml || assertAttributes ) { - return elem.getAttribute( name ); - } - val = elem.getAttributeNode( name ); - return val ? - typeof elem[ name ] === "boolean" ? - elem[ name ] ? name : null : - val.specified ? val.value : null : - null; -}; - -Expr = Sizzle.selectors = { - - // Can be adjusted by the user - cacheLength: 50, - - createPseudo: markFunction, - - match: matchExpr, - - // IE6/7 return a modified href - attrHandle: assertHrefNotNormalized ? - {} : - { - "href": function( elem ) { - return elem.getAttribute( "href", 2 ); - }, - "type": function( elem ) { - return elem.getAttribute("type"); - } - }, - - find: { - "ID": assertGetIdNotName ? - function( id, context, xml ) { - if ( typeof context.getElementById !== strundefined && !xml ) { - var m = context.getElementById( id ); - // Check parentNode to catch when Blackberry 4.6 returns - // nodes that are no longer in the document #6963 - return m && m.parentNode ? [m] : []; - } - } : - function( id, context, xml ) { - if ( typeof context.getElementById !== strundefined && !xml ) { - var m = context.getElementById( id ); - - return m ? - m.id === id || typeof m.getAttributeNode !== strundefined && m.getAttributeNode("id").value === id ? - [m] : - undefined : - []; - } - }, - - "TAG": assertTagNameNoComments ? - function( tag, context ) { - if ( typeof context.getElementsByTagName !== strundefined ) { - return context.getElementsByTagName( tag ); - } - } : - function( tag, context ) { - var results = context.getElementsByTagName( tag ); - - // Filter out possible comments - if ( tag === "*" ) { - var elem, - tmp = [], - i = 0; - - for ( ; (elem = results[i]); i++ ) { - if ( elem.nodeType === 1 ) { - tmp.push( elem ); - } - } - - return tmp; - } - return results; - }, - - "NAME": assertUsableName && function( tag, context ) { - if ( typeof context.getElementsByName !== strundefined ) { - return context.getElementsByName( name ); - } - }, - - "CLASS": assertUsableClassName && function( className, context, xml ) { - if ( typeof context.getElementsByClassName !== strundefined && !xml ) { - return context.getElementsByClassName( className ); - } - } - }, - - relative: { - ">": { dir: "parentNode", first: true }, - " ": { dir: "parentNode" }, - "+": { dir: "previousSibling", first: true }, - "~": { dir: "previousSibling" } - }, - - preFilter: { - "ATTR": function( match ) { - match[1] = match[1].replace( rbackslash, "" ); - - // Move the given value to match[3] whether quoted or unquoted - match[3] = ( match[4] || match[5] || "" ).replace( rbackslash, "" ); - - if ( match[2] === "~=" ) { - match[3] = " " + match[3] + " "; - } - - return match.slice( 0, 4 ); - }, - - "CHILD": function( match ) { - /* matches from matchExpr["CHILD"] - 1 type (only|nth|...) - 2 argument (even|odd|\d*|\d*n([+-]\d+)?|...) - 3 xn-component of xn+y argument ([+-]?\d*n|) - 4 sign of xn-component - 5 x of xn-component - 6 sign of y-component - 7 y of y-component - */ - match[1] = match[1].toLowerCase(); - - if ( match[1] === "nth" ) { - // nth-child requires argument - if ( !match[2] ) { - Sizzle.error( match[0] ); - } - - // numeric x and y parameters for Expr.filter.CHILD - // remember that false/true cast respectively to 0/1 - match[3] = +( match[3] ? match[4] + (match[5] || 1) : 2 * ( match[2] === "even" || match[2] === "odd" ) ); - match[4] = +( ( match[6] + match[7] ) || match[2] === "odd" ); - - // other types prohibit arguments - } else if ( match[2] ) { - Sizzle.error( match[0] ); - } - - return match; - }, - - "PSEUDO": function( match ) { - var unquoted, excess; - if ( matchExpr["CHILD"].test( match[0] ) ) { - return null; - } - - if ( match[3] ) { - match[2] = match[3]; - } else if ( (unquoted = match[4]) ) { - // Only check arguments that contain a pseudo - if ( rpseudo.test(unquoted) && - // Get excess from tokenize (recursively) - (excess = tokenize( unquoted, true )) && - // advance to the next closing parenthesis - (excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length) ) { - - // excess is a negative index - unquoted = unquoted.slice( 0, excess ); - match[0] = match[0].slice( 0, excess ); - } - match[2] = unquoted; - } - - // Return only captures needed by the pseudo filter method (type and argument) - return match.slice( 0, 3 ); - } - }, - - filter: { - "ID": assertGetIdNotName ? - function( id ) { - id = id.replace( rbackslash, "" ); - return function( elem ) { - return elem.getAttribute("id") === id; - }; - } : - function( id ) { - id = id.replace( rbackslash, "" ); - return function( elem ) { - var node = typeof elem.getAttributeNode !== strundefined && elem.getAttributeNode("id"); - return node && node.value === id; - }; - }, - - "TAG": function( nodeName ) { - if ( nodeName === "*" ) { - return function() { return true; }; - } - nodeName = nodeName.replace( rbackslash, "" ).toLowerCase(); - - return function( elem ) { - return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; - }; - }, - - "CLASS": function( className ) { - var pattern = classCache[ expando ][ className + " " ]; - - return pattern || - (pattern = new RegExp( "(^|" + whitespace + ")" + className + "(" + whitespace + "|$)" )) && - classCache( className, function( elem ) { - return pattern.test( elem.className || (typeof elem.getAttribute !== strundefined && elem.getAttribute("class")) || "" ); - }); - }, - - "ATTR": function( name, operator, check ) { - return function( elem, context ) { - var result = Sizzle.attr( elem, name ); - - if ( result == null ) { - return operator === "!="; - } - if ( !operator ) { - return true; - } - - result += ""; - - return operator === "=" ? result === check : - operator === "!=" ? result !== check : - operator === "^=" ? check && result.indexOf( check ) === 0 : - operator === "*=" ? check && result.indexOf( check ) > -1 : - operator === "$=" ? check && result.substr( result.length - check.length ) === check : - operator === "~=" ? ( " " + result + " " ).indexOf( check ) > -1 : - operator === "|=" ? result === check || result.substr( 0, check.length + 1 ) === check + "-" : - false; - }; - }, - - "CHILD": function( type, argument, first, last ) { - - if ( type === "nth" ) { - return function( elem ) { - var node, diff, - parent = elem.parentNode; - - if ( first === 1 && last === 0 ) { - return true; - } - - if ( parent ) { - diff = 0; - for ( node = parent.firstChild; node; node = node.nextSibling ) { - if ( node.nodeType === 1 ) { - diff++; - if ( elem === node ) { - break; - } - } - } - } - - // Incorporate the offset (or cast to NaN), then check against cycle size - diff -= last; - return diff === first || ( diff % first === 0 && diff / first >= 0 ); - }; - } - - return function( elem ) { - var node = elem; - - switch ( type ) { - case "only": - case "first": - while ( (node = node.previousSibling) ) { - if ( node.nodeType === 1 ) { - return false; - } - } - - if ( type === "first" ) { - return true; - } - - node = elem; - - /* falls through */ - case "last": - while ( (node = node.nextSibling) ) { - if ( node.nodeType === 1 ) { - return false; - } - } - - return true; - } - }; - }, - - "PSEUDO": function( pseudo, argument ) { - // pseudo-class names are case-insensitive - // http://www.w3.org/TR/selectors/#pseudo-classes - // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters - // Remember that setFilters inherits from pseudos - var args, - fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || - Sizzle.error( "unsupported pseudo: " + pseudo ); - - // The user may use createPseudo to indicate that - // arguments are needed to create the filter function - // just as Sizzle does - if ( fn[ expando ] ) { - return fn( argument ); - } - - // But maintain support for old signatures - if ( fn.length > 1 ) { - args = [ pseudo, pseudo, "", argument ]; - return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? - markFunction(function( seed, matches ) { - var idx, - matched = fn( seed, argument ), - i = matched.length; - while ( i-- ) { - idx = indexOf.call( seed, matched[i] ); - seed[ idx ] = !( matches[ idx ] = matched[i] ); - } - }) : - function( elem ) { - return fn( elem, 0, args ); - }; - } - - return fn; - } - }, - - pseudos: { - "not": markFunction(function( selector ) { - // Trim the selector passed to compile - // to avoid treating leading and trailing - // spaces as combinators - var input = [], - results = [], - matcher = compile( selector.replace( rtrim, "$1" ) ); - - return matcher[ expando ] ? - markFunction(function( seed, matches, context, xml ) { - var elem, - unmatched = matcher( seed, null, xml, [] ), - i = seed.length; - - // Match elements unmatched by `matcher` - while ( i-- ) { - if ( (elem = unmatched[i]) ) { - seed[i] = !(matches[i] = elem); - } - } - }) : - function( elem, context, xml ) { - input[0] = elem; - matcher( input, null, xml, results ); - return !results.pop(); - }; - }), - - "has": markFunction(function( selector ) { - return function( elem ) { - return Sizzle( selector, elem ).length > 0; - }; - }), - - "contains": markFunction(function( text ) { - return function( elem ) { - return ( elem.textContent || elem.innerText || getText( elem ) ).indexOf( text ) > -1; - }; - }), - - "enabled": function( elem ) { - return elem.disabled === false; - }, - - "disabled": function( elem ) { - return elem.disabled === true; - }, - - "checked": function( elem ) { - // In CSS3, :checked should return both checked and selected elements - // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked - var nodeName = elem.nodeName.toLowerCase(); - return (nodeName === "input" && !!elem.checked) || (nodeName === "option" && !!elem.selected); - }, - - "selected": function( elem ) { - // Accessing this property makes selected-by-default - // options in Safari work properly - if ( elem.parentNode ) { - elem.parentNode.selectedIndex; - } - - return elem.selected === true; - }, - - "parent": function( elem ) { - return !Expr.pseudos["empty"]( elem ); - }, - - "empty": function( elem ) { - // http://www.w3.org/TR/selectors/#empty-pseudo - // :empty is only affected by element nodes and content nodes(including text(3), cdata(4)), - // not comment, processing instructions, or others - // Thanks to Diego Perini for the nodeName shortcut - // Greater than "@" means alpha characters (specifically not starting with "#" or "?") - var nodeType; - elem = elem.firstChild; - while ( elem ) { - if ( elem.nodeName > "@" || (nodeType = elem.nodeType) === 3 || nodeType === 4 ) { - return false; - } - elem = elem.nextSibling; - } - return true; - }, - - "header": function( elem ) { - return rheader.test( elem.nodeName ); - }, - - "text": function( elem ) { - var type, attr; - // IE6 and 7 will map elem.type to 'text' for new HTML5 types (search, etc) - // use getAttribute instead to test this case - return elem.nodeName.toLowerCase() === "input" && - (type = elem.type) === "text" && - ( (attr = elem.getAttribute("type")) == null || attr.toLowerCase() === type ); - }, - - // Input types - "radio": createInputPseudo("radio"), - "checkbox": createInputPseudo("checkbox"), - "file": createInputPseudo("file"), - "password": createInputPseudo("password"), - "image": createInputPseudo("image"), - - "submit": createButtonPseudo("submit"), - "reset": createButtonPseudo("reset"), - - "button": function( elem ) { - var name = elem.nodeName.toLowerCase(); - return name === "input" && elem.type === "button" || name === "button"; - }, - - "input": function( elem ) { - return rinputs.test( elem.nodeName ); - }, - - "focus": function( elem ) { - var doc = elem.ownerDocument; - return elem === doc.activeElement && (!doc.hasFocus || doc.hasFocus()) && !!(elem.type || elem.href || ~elem.tabIndex); - }, - - "active": function( elem ) { - return elem === elem.ownerDocument.activeElement; - }, - - // Positional types - "first": createPositionalPseudo(function() { - return [ 0 ]; - }), - - "last": createPositionalPseudo(function( matchIndexes, length ) { - return [ length - 1 ]; - }), - - "eq": createPositionalPseudo(function( matchIndexes, length, argument ) { - return [ argument < 0 ? argument + length : argument ]; - }), - - "even": createPositionalPseudo(function( matchIndexes, length ) { - for ( var i = 0; i < length; i += 2 ) { - matchIndexes.push( i ); - } - return matchIndexes; - }), - - "odd": createPositionalPseudo(function( matchIndexes, length ) { - for ( var i = 1; i < length; i += 2 ) { - matchIndexes.push( i ); - } - return matchIndexes; - }), - - "lt": createPositionalPseudo(function( matchIndexes, length, argument ) { - for ( var i = argument < 0 ? argument + length : argument; --i >= 0; ) { - matchIndexes.push( i ); - } - return matchIndexes; - }), - - "gt": createPositionalPseudo(function( matchIndexes, length, argument ) { - for ( var i = argument < 0 ? argument + length : argument; ++i < length; ) { - matchIndexes.push( i ); - } - return matchIndexes; - }) - } -}; - -function siblingCheck( a, b, ret ) { - if ( a === b ) { - return ret; - } - - var cur = a.nextSibling; - - while ( cur ) { - if ( cur === b ) { - return -1; - } - - cur = cur.nextSibling; - } - - return 1; -} - -sortOrder = docElem.compareDocumentPosition ? - function( a, b ) { - if ( a === b ) { - hasDuplicate = true; - return 0; - } - - return ( !a.compareDocumentPosition || !b.compareDocumentPosition ? - a.compareDocumentPosition : - a.compareDocumentPosition(b) & 4 - ) ? -1 : 1; - } : - function( a, b ) { - // The nodes are identical, we can exit early - if ( a === b ) { - hasDuplicate = true; - return 0; - - // Fallback to using sourceIndex (in IE) if it's available on both nodes - } else if ( a.sourceIndex && b.sourceIndex ) { - return a.sourceIndex - b.sourceIndex; - } - - var al, bl, - ap = [], - bp = [], - aup = a.parentNode, - bup = b.parentNode, - cur = aup; - - // If the nodes are siblings (or identical) we can do a quick check - if ( aup === bup ) { - return siblingCheck( a, b ); - - // If no parents were found then the nodes are disconnected - } else if ( !aup ) { - return -1; - - } else if ( !bup ) { - return 1; - } - - // Otherwise they're somewhere else in the tree so we need - // to build up a full list of the parentNodes for comparison - while ( cur ) { - ap.unshift( cur ); - cur = cur.parentNode; - } - - cur = bup; - - while ( cur ) { - bp.unshift( cur ); - cur = cur.parentNode; - } - - al = ap.length; - bl = bp.length; - - // Start walking down the tree looking for a discrepancy - for ( var i = 0; i < al && i < bl; i++ ) { - if ( ap[i] !== bp[i] ) { - return siblingCheck( ap[i], bp[i] ); - } - } - - // We ended someplace up the tree so do a sibling check - return i === al ? - siblingCheck( a, bp[i], -1 ) : - siblingCheck( ap[i], b, 1 ); - }; - -// Always assume the presence of duplicates if sort doesn't -// pass them to our comparison function (as in Google Chrome). -[0, 0].sort( sortOrder ); -baseHasDuplicate = !hasDuplicate; - -// Document sorting and removing duplicates -Sizzle.uniqueSort = function( results ) { - var elem, - duplicates = [], - i = 1, - j = 0; - - hasDuplicate = baseHasDuplicate; - results.sort( sortOrder ); - - if ( hasDuplicate ) { - for ( ; (elem = results[i]); i++ ) { - if ( elem === results[ i - 1 ] ) { - j = duplicates.push( i ); - } - } - while ( j-- ) { - results.splice( duplicates[ j ], 1 ); - } - } - - return results; -}; - -Sizzle.error = function( msg ) { - throw new Error( "Syntax error, unrecognized expression: " + msg ); -}; - -function tokenize( selector, parseOnly ) { - var matched, match, tokens, type, - soFar, groups, preFilters, - cached = tokenCache[ expando ][ selector + " " ]; - - if ( cached ) { - return parseOnly ? 0 : cached.slice( 0 ); - } - - soFar = selector; - groups = []; - preFilters = Expr.preFilter; - - while ( soFar ) { - - // Comma and first run - if ( !matched || (match = rcomma.exec( soFar )) ) { - if ( match ) { - // Don't consume trailing commas as valid - soFar = soFar.slice( match[0].length ) || soFar; - } - groups.push( tokens = [] ); - } - - matched = false; - - // Combinators - if ( (match = rcombinators.exec( soFar )) ) { - tokens.push( matched = new Token( match.shift() ) ); - soFar = soFar.slice( matched.length ); - - // Cast descendant combinators to space - matched.type = match[0].replace( rtrim, " " ); - } - - // Filters - for ( type in Expr.filter ) { - if ( (match = matchExpr[ type ].exec( soFar )) && (!preFilters[ type ] || - (match = preFilters[ type ]( match ))) ) { - - tokens.push( matched = new Token( match.shift() ) ); - soFar = soFar.slice( matched.length ); - matched.type = type; - matched.matches = match; - } - } - - if ( !matched ) { - break; - } - } - - // Return the length of the invalid excess - // if we're just parsing - // Otherwise, throw an error or return tokens - return parseOnly ? - soFar.length : - soFar ? - Sizzle.error( selector ) : - // Cache the tokens - tokenCache( selector, groups ).slice( 0 ); -} - -function addCombinator( matcher, combinator, base ) { - var dir = combinator.dir, - checkNonElements = base && combinator.dir === "parentNode", - doneName = done++; - - return combinator.first ? - // Check against closest ancestor/preceding element - function( elem, context, xml ) { - while ( (elem = elem[ dir ]) ) { - if ( checkNonElements || elem.nodeType === 1 ) { - return matcher( elem, context, xml ); - } - } - } : - - // Check against all ancestor/preceding elements - function( elem, context, xml ) { - // We can't set arbitrary data on XML nodes, so they don't benefit from dir caching - if ( !xml ) { - var cache, - dirkey = dirruns + " " + doneName + " ", - cachedkey = dirkey + cachedruns; - while ( (elem = elem[ dir ]) ) { - if ( checkNonElements || elem.nodeType === 1 ) { - if ( (cache = elem[ expando ]) === cachedkey ) { - return elem.sizset; - } else if ( typeof cache === "string" && cache.indexOf(dirkey) === 0 ) { - if ( elem.sizset ) { - return elem; - } - } else { - elem[ expando ] = cachedkey; - if ( matcher( elem, context, xml ) ) { - elem.sizset = true; - return elem; - } - elem.sizset = false; - } - } - } - } else { - while ( (elem = elem[ dir ]) ) { - if ( checkNonElements || elem.nodeType === 1 ) { - if ( matcher( elem, context, xml ) ) { - return elem; - } - } - } - } - }; -} - -function elementMatcher( matchers ) { - return matchers.length > 1 ? - function( elem, context, xml ) { - var i = matchers.length; - while ( i-- ) { - if ( !matchers[i]( elem, context, xml ) ) { - return false; - } - } - return true; - } : - matchers[0]; -} - -function condense( unmatched, map, filter, context, xml ) { - var elem, - newUnmatched = [], - i = 0, - len = unmatched.length, - mapped = map != null; - - for ( ; i < len; i++ ) { - if ( (elem = unmatched[i]) ) { - if ( !filter || filter( elem, context, xml ) ) { - newUnmatched.push( elem ); - if ( mapped ) { - map.push( i ); - } - } - } - } - - return newUnmatched; -} - -function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { - if ( postFilter && !postFilter[ expando ] ) { - postFilter = setMatcher( postFilter ); - } - if ( postFinder && !postFinder[ expando ] ) { - postFinder = setMatcher( postFinder, postSelector ); - } - return markFunction(function( seed, results, context, xml ) { - var temp, i, elem, - preMap = [], - postMap = [], - preexisting = results.length, - - // Get initial elements from seed or context - elems = seed || multipleContexts( selector || "*", context.nodeType ? [ context ] : context, [] ), - - // Prefilter to get matcher input, preserving a map for seed-results synchronization - matcherIn = preFilter && ( seed || !selector ) ? - condense( elems, preMap, preFilter, context, xml ) : - elems, - - matcherOut = matcher ? - // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, - postFinder || ( seed ? preFilter : preexisting || postFilter ) ? - - // ...intermediate processing is necessary - [] : - - // ...otherwise use results directly - results : - matcherIn; - - // Find primary matches - if ( matcher ) { - matcher( matcherIn, matcherOut, context, xml ); - } - - // Apply postFilter - if ( postFilter ) { - temp = condense( matcherOut, postMap ); - postFilter( temp, [], context, xml ); - - // Un-match failing elements by moving them back to matcherIn - i = temp.length; - while ( i-- ) { - if ( (elem = temp[i]) ) { - matcherOut[ postMap[i] ] = !(matcherIn[ postMap[i] ] = elem); - } - } - } - - if ( seed ) { - if ( postFinder || preFilter ) { - if ( postFinder ) { - // Get the final matcherOut by condensing this intermediate into postFinder contexts - temp = []; - i = matcherOut.length; - while ( i-- ) { - if ( (elem = matcherOut[i]) ) { - // Restore matcherIn since elem is not yet a final match - temp.push( (matcherIn[i] = elem) ); - } - } - postFinder( null, (matcherOut = []), temp, xml ); - } - - // Move matched elements from seed to results to keep them synchronized - i = matcherOut.length; - while ( i-- ) { - if ( (elem = matcherOut[i]) && - (temp = postFinder ? indexOf.call( seed, elem ) : preMap[i]) > -1 ) { - - seed[temp] = !(results[temp] = elem); - } - } - } - - // Add elements to results, through postFinder if defined - } else { - matcherOut = condense( - matcherOut === results ? - matcherOut.splice( preexisting, matcherOut.length ) : - matcherOut - ); - if ( postFinder ) { - postFinder( null, results, matcherOut, xml ); - } else { - push.apply( results, matcherOut ); - } - } - }); -} - -function matcherFromTokens( tokens ) { - var checkContext, matcher, j, - len = tokens.length, - leadingRelative = Expr.relative[ tokens[0].type ], - implicitRelative = leadingRelative || Expr.relative[" "], - i = leadingRelative ? 1 : 0, - - // The foundational matcher ensures that elements are reachable from top-level context(s) - matchContext = addCombinator( function( elem ) { - return elem === checkContext; - }, implicitRelative, true ), - matchAnyContext = addCombinator( function( elem ) { - return indexOf.call( checkContext, elem ) > -1; - }, implicitRelative, true ), - matchers = [ function( elem, context, xml ) { - return ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( - (checkContext = context).nodeType ? - matchContext( elem, context, xml ) : - matchAnyContext( elem, context, xml ) ); - } ]; - - for ( ; i < len; i++ ) { - if ( (matcher = Expr.relative[ tokens[i].type ]) ) { - matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; - } else { - matcher = Expr.filter[ tokens[i].type ].apply( null, tokens[i].matches ); - - // Return special upon seeing a positional matcher - if ( matcher[ expando ] ) { - // Find the next relative operator (if any) for proper handling - j = ++i; - for ( ; j < len; j++ ) { - if ( Expr.relative[ tokens[j].type ] ) { - break; - } - } - return setMatcher( - i > 1 && elementMatcher( matchers ), - i > 1 && tokens.slice( 0, i - 1 ).join("").replace( rtrim, "$1" ), - matcher, - i < j && matcherFromTokens( tokens.slice( i, j ) ), - j < len && matcherFromTokens( (tokens = tokens.slice( j )) ), - j < len && tokens.join("") - ); - } - matchers.push( matcher ); - } - } - - return elementMatcher( matchers ); -} - -function matcherFromGroupMatchers( elementMatchers, setMatchers ) { - var bySet = setMatchers.length > 0, - byElement = elementMatchers.length > 0, - superMatcher = function( seed, context, xml, results, expandContext ) { - var elem, j, matcher, - setMatched = [], - matchedCount = 0, - i = "0", - unmatched = seed && [], - outermost = expandContext != null, - contextBackup = outermostContext, - // We must always have either seed elements or context - elems = seed || byElement && Expr.find["TAG"]( "*", expandContext && context.parentNode || context ), - // Nested matchers should use non-integer dirruns - dirrunsUnique = (dirruns += contextBackup == null ? 1 : Math.E); - - if ( outermost ) { - outermostContext = context !== document && context; - cachedruns = superMatcher.el; - } - - // Add elements passing elementMatchers directly to results - for ( ; (elem = elems[i]) != null; i++ ) { - if ( byElement && elem ) { - for ( j = 0; (matcher = elementMatchers[j]); j++ ) { - if ( matcher( elem, context, xml ) ) { - results.push( elem ); - break; - } - } - if ( outermost ) { - dirruns = dirrunsUnique; - cachedruns = ++superMatcher.el; - } - } - - // Track unmatched elements for set filters - if ( bySet ) { - // They will have gone through all possible matchers - if ( (elem = !matcher && elem) ) { - matchedCount--; - } - - // Lengthen the array for every element, matched or not - if ( seed ) { - unmatched.push( elem ); - } - } - } - - // Apply set filters to unmatched elements - matchedCount += i; - if ( bySet && i !== matchedCount ) { - for ( j = 0; (matcher = setMatchers[j]); j++ ) { - matcher( unmatched, setMatched, context, xml ); - } - - if ( seed ) { - // Reintegrate element matches to eliminate the need for sorting - if ( matchedCount > 0 ) { - while ( i-- ) { - if ( !(unmatched[i] || setMatched[i]) ) { - setMatched[i] = pop.call( results ); - } - } - } - - // Discard index placeholder values to get only actual matches - setMatched = condense( setMatched ); - } - - // Add matches to results - push.apply( results, setMatched ); - - // Seedless set matches succeeding multiple successful matchers stipulate sorting - if ( outermost && !seed && setMatched.length > 0 && - ( matchedCount + setMatchers.length ) > 1 ) { - - Sizzle.uniqueSort( results ); - } - } - - // Override manipulation of globals by nested matchers - if ( outermost ) { - dirruns = dirrunsUnique; - outermostContext = contextBackup; - } - - return unmatched; - }; - - superMatcher.el = 0; - return bySet ? - markFunction( superMatcher ) : - superMatcher; -} - -compile = Sizzle.compile = function( selector, group /* Internal Use Only */ ) { - var i, - setMatchers = [], - elementMatchers = [], - cached = compilerCache[ expando ][ selector + " " ]; - - if ( !cached ) { - // Generate a function of recursive functions that can be used to check each element - if ( !group ) { - group = tokenize( selector ); - } - i = group.length; - while ( i-- ) { - cached = matcherFromTokens( group[i] ); - if ( cached[ expando ] ) { - setMatchers.push( cached ); - } else { - elementMatchers.push( cached ); - } - } - - // Cache the compiled function - cached = compilerCache( selector, matcherFromGroupMatchers( elementMatchers, setMatchers ) ); - } - return cached; -}; - -function multipleContexts( selector, contexts, results ) { - var i = 0, - len = contexts.length; - for ( ; i < len; i++ ) { - Sizzle( selector, contexts[i], results ); - } - return results; -} - -function select( selector, context, results, seed, xml ) { - var i, tokens, token, type, find, - match = tokenize( selector ), - j = match.length; - - if ( !seed ) { - // Try to minimize operations if there is only one group - if ( match.length === 1 ) { - - // Take a shortcut and set the context if the root selector is an ID - tokens = match[0] = match[0].slice( 0 ); - if ( tokens.length > 2 && (token = tokens[0]).type === "ID" && - context.nodeType === 9 && !xml && - Expr.relative[ tokens[1].type ] ) { - - context = Expr.find["ID"]( token.matches[0].replace( rbackslash, "" ), context, xml )[0]; - if ( !context ) { - return results; - } - - selector = selector.slice( tokens.shift().length ); - } - - // Fetch a seed set for right-to-left matching - for ( i = matchExpr["POS"].test( selector ) ? -1 : tokens.length - 1; i >= 0; i-- ) { - token = tokens[i]; - - // Abort if we hit a combinator - if ( Expr.relative[ (type = token.type) ] ) { - break; - } - if ( (find = Expr.find[ type ]) ) { - // Search, expanding context for leading sibling combinators - if ( (seed = find( - token.matches[0].replace( rbackslash, "" ), - rsibling.test( tokens[0].type ) && context.parentNode || context, - xml - )) ) { - - // If seed is empty or no tokens remain, we can return early - tokens.splice( i, 1 ); - selector = seed.length && tokens.join(""); - if ( !selector ) { - push.apply( results, slice.call( seed, 0 ) ); - return results; - } - - break; - } - } - } - } - } - - // Compile and execute a filtering function - // Provide `match` to avoid retokenization if we modified the selector above - compile( selector, match )( - seed, - context, - xml, - results, - rsibling.test( selector ) - ); - return results; -} - -if ( document.querySelectorAll ) { - (function() { - var disconnectedMatch, - oldSelect = select, - rescape = /'|\\/g, - rattributeQuotes = /\=[\x20\t\r\n\f]*([^'"\]]*)[\x20\t\r\n\f]*\]/g, - - // qSa(:focus) reports false when true (Chrome 21), no need to also add to buggyMatches since matches checks buggyQSA - // A support test would require too much code (would include document ready) - rbuggyQSA = [ ":focus" ], - - // matchesSelector(:active) reports false when true (IE9/Opera 11.5) - // A support test would require too much code (would include document ready) - // just skip matchesSelector for :active - rbuggyMatches = [ ":active" ], - matches = docElem.matchesSelector || - docElem.mozMatchesSelector || - docElem.webkitMatchesSelector || - docElem.oMatchesSelector || - docElem.msMatchesSelector; - - // Build QSA regex - // Regex strategy adopted from Diego Perini - assert(function( div ) { - // Select is set to empty string on purpose - // This is to test IE's treatment of not explictly - // setting a boolean content attribute, - // since its presence should be enough - // http://bugs.jquery.com/ticket/12359 - div.innerHTML = ""; - - // IE8 - Some boolean attributes are not treated correctly - if ( !div.querySelectorAll("[selected]").length ) { - rbuggyQSA.push( "\\[" + whitespace + "*(?:checked|disabled|ismap|multiple|readonly|selected|value)" ); - } - - // Webkit/Opera - :checked should return selected option elements - // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked - // IE8 throws error here (do not put tests after this one) - if ( !div.querySelectorAll(":checked").length ) { - rbuggyQSA.push(":checked"); - } - }); - - assert(function( div ) { - - // Opera 10-12/IE9 - ^= $= *= and empty values - // Should not select anything - div.innerHTML = "

"; - if ( div.querySelectorAll("[test^='']").length ) { - rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:\"\"|'')" ); - } - - // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) - // IE8 throws error here (do not put tests after this one) - div.innerHTML = ""; - if ( !div.querySelectorAll(":enabled").length ) { - rbuggyQSA.push(":enabled", ":disabled"); - } - }); - - // rbuggyQSA always contains :focus, so no need for a length check - rbuggyQSA = /* rbuggyQSA.length && */ new RegExp( rbuggyQSA.join("|") ); - - select = function( selector, context, results, seed, xml ) { - // Only use querySelectorAll when not filtering, - // when this is not xml, - // and when no QSA bugs apply - if ( !seed && !xml && !rbuggyQSA.test( selector ) ) { - var groups, i, - old = true, - nid = expando, - newContext = context, - newSelector = context.nodeType === 9 && selector; - - // qSA works strangely on Element-rooted queries - // We can work around this by specifying an extra ID on the root - // and working up from there (Thanks to Andrew Dupont for the technique) - // IE 8 doesn't work on object elements - if ( context.nodeType === 1 && context.nodeName.toLowerCase() !== "object" ) { - groups = tokenize( selector ); - - if ( (old = context.getAttribute("id")) ) { - nid = old.replace( rescape, "\\$&" ); - } else { - context.setAttribute( "id", nid ); - } - nid = "[id='" + nid + "'] "; - - i = groups.length; - while ( i-- ) { - groups[i] = nid + groups[i].join(""); - } - newContext = rsibling.test( selector ) && context.parentNode || context; - newSelector = groups.join(","); - } - - if ( newSelector ) { - try { - push.apply( results, slice.call( newContext.querySelectorAll( - newSelector - ), 0 ) ); - return results; - } catch(qsaError) { - } finally { - if ( !old ) { - context.removeAttribute("id"); - } - } - } - } - - return oldSelect( selector, context, results, seed, xml ); - }; - - if ( matches ) { - assert(function( div ) { - // Check to see if it's possible to do matchesSelector - // on a disconnected node (IE 9) - disconnectedMatch = matches.call( div, "div" ); - - // This should fail with an exception - // Gecko does not error, returns false instead - try { - matches.call( div, "[test!='']:sizzle" ); - rbuggyMatches.push( "!=", pseudos ); - } catch ( e ) {} - }); - - // rbuggyMatches always contains :active and :focus, so no need for a length check - rbuggyMatches = /* rbuggyMatches.length && */ new RegExp( rbuggyMatches.join("|") ); - - Sizzle.matchesSelector = function( elem, expr ) { - // Make sure that attribute selectors are quoted - expr = expr.replace( rattributeQuotes, "='$1']" ); - - // rbuggyMatches always contains :active, so no need for an existence check - if ( !isXML( elem ) && !rbuggyMatches.test( expr ) && !rbuggyQSA.test( expr ) ) { - try { - var ret = matches.call( elem, expr ); - - // IE 9's matchesSelector returns false on disconnected nodes - if ( ret || disconnectedMatch || - // As well, disconnected nodes are said to be in a document - // fragment in IE 9 - elem.document && elem.document.nodeType !== 11 ) { - return ret; - } - } catch(e) {} - } - - return Sizzle( expr, null, null, [ elem ] ).length > 0; - }; - } - })(); -} - -// Deprecated -Expr.pseudos["nth"] = Expr.pseudos["eq"]; - -// Back-compat -function setFilters() {} -Expr.filters = setFilters.prototype = Expr.pseudos; -Expr.setFilters = new setFilters(); - -// Override sizzle attribute retrieval -Sizzle.attr = jQuery.attr; -jQuery.find = Sizzle; -jQuery.expr = Sizzle.selectors; -jQuery.expr[":"] = jQuery.expr.pseudos; -jQuery.unique = Sizzle.uniqueSort; -jQuery.text = Sizzle.getText; -jQuery.isXMLDoc = Sizzle.isXML; -jQuery.contains = Sizzle.contains; - - -})( window ); -var runtil = /Until$/, - rparentsprev = /^(?:parents|prev(?:Until|All))/, - isSimple = /^.[^:#\[\.,]*$/, - rneedsContext = jQuery.expr.match.needsContext, - // methods guaranteed to produce a unique set when starting from a unique set - guaranteedUnique = { - children: true, - contents: true, - next: true, - prev: true - }; - -jQuery.fn.extend({ - find: function( selector ) { - var i, l, length, n, r, ret, - self = this; - - if ( typeof selector !== "string" ) { - return jQuery( selector ).filter(function() { - for ( i = 0, l = self.length; i < l; i++ ) { - if ( jQuery.contains( self[ i ], this ) ) { - return true; - } - } - }); - } - - ret = this.pushStack( "", "find", selector ); - - for ( i = 0, l = this.length; i < l; i++ ) { - length = ret.length; - jQuery.find( selector, this[i], ret ); - - if ( i > 0 ) { - // Make sure that the results are unique - for ( n = length; n < ret.length; n++ ) { - for ( r = 0; r < length; r++ ) { - if ( ret[r] === ret[n] ) { - ret.splice(n--, 1); - break; - } - } - } - } - } - - return ret; - }, - - has: function( target ) { - var i, - targets = jQuery( target, this ), - len = targets.length; - - return this.filter(function() { - for ( i = 0; i < len; i++ ) { - if ( jQuery.contains( this, targets[i] ) ) { - return true; - } - } - }); - }, - - not: function( selector ) { - return this.pushStack( winnow(this, selector, false), "not", selector); - }, - - filter: function( selector ) { - return this.pushStack( winnow(this, selector, true), "filter", selector ); - }, - - is: function( selector ) { - return !!selector && ( - typeof selector === "string" ? - // If this is a positional/relative selector, check membership in the returned set - // so $("p:first").is("p:last") won't return true for a doc with two "p". - rneedsContext.test( selector ) ? - jQuery( selector, this.context ).index( this[0] ) >= 0 : - jQuery.filter( selector, this ).length > 0 : - this.filter( selector ).length > 0 ); - }, - - closest: function( selectors, context ) { - var cur, - i = 0, - l = this.length, - ret = [], - pos = rneedsContext.test( selectors ) || typeof selectors !== "string" ? - jQuery( selectors, context || this.context ) : - 0; - - for ( ; i < l; i++ ) { - cur = this[i]; - - while ( cur && cur.ownerDocument && cur !== context && cur.nodeType !== 11 ) { - if ( pos ? pos.index(cur) > -1 : jQuery.find.matchesSelector(cur, selectors) ) { - ret.push( cur ); - break; - } - cur = cur.parentNode; - } - } - - ret = ret.length > 1 ? jQuery.unique( ret ) : ret; - - return this.pushStack( ret, "closest", selectors ); - }, - - // Determine the position of an element within - // the matched set of elements - index: function( elem ) { - - // No argument, return index in parent - if ( !elem ) { - return ( this[0] && this[0].parentNode ) ? this.prevAll().length : -1; - } - - // index in selector - if ( typeof elem === "string" ) { - return jQuery.inArray( this[0], jQuery( elem ) ); - } - - // Locate the position of the desired element - return jQuery.inArray( - // If it receives a jQuery object, the first element is used - elem.jquery ? elem[0] : elem, this ); - }, - - add: function( selector, context ) { - var set = typeof selector === "string" ? - jQuery( selector, context ) : - jQuery.makeArray( selector && selector.nodeType ? [ selector ] : selector ), - all = jQuery.merge( this.get(), set ); - - return this.pushStack( isDisconnected( set[0] ) || isDisconnected( all[0] ) ? - all : - jQuery.unique( all ) ); - }, - - addBack: function( selector ) { - return this.add( selector == null ? - this.prevObject : this.prevObject.filter(selector) - ); - } -}); - -jQuery.fn.andSelf = jQuery.fn.addBack; - -// A painfully simple check to see if an element is disconnected -// from a document (should be improved, where feasible). -function isDisconnected( node ) { - return !node || !node.parentNode || node.parentNode.nodeType === 11; -} - -function sibling( cur, dir ) { - do { - cur = cur[ dir ]; - } while ( cur && cur.nodeType !== 1 ); - - return cur; -} - -jQuery.each({ - parent: function( elem ) { - var parent = elem.parentNode; - return parent && parent.nodeType !== 11 ? parent : null; - }, - parents: function( elem ) { - return jQuery.dir( elem, "parentNode" ); - }, - parentsUntil: function( elem, i, until ) { - return jQuery.dir( elem, "parentNode", until ); - }, - next: function( elem ) { - return sibling( elem, "nextSibling" ); - }, - prev: function( elem ) { - return sibling( elem, "previousSibling" ); - }, - nextAll: function( elem ) { - return jQuery.dir( elem, "nextSibling" ); - }, - prevAll: function( elem ) { - return jQuery.dir( elem, "previousSibling" ); - }, - nextUntil: function( elem, i, until ) { - return jQuery.dir( elem, "nextSibling", until ); - }, - prevUntil: function( elem, i, until ) { - return jQuery.dir( elem, "previousSibling", until ); - }, - siblings: function( elem ) { - return jQuery.sibling( ( elem.parentNode || {} ).firstChild, elem ); - }, - children: function( elem ) { - return jQuery.sibling( elem.firstChild ); - }, - contents: function( elem ) { - return jQuery.nodeName( elem, "iframe" ) ? - elem.contentDocument || elem.contentWindow.document : - jQuery.merge( [], elem.childNodes ); - } -}, function( name, fn ) { - jQuery.fn[ name ] = function( until, selector ) { - var ret = jQuery.map( this, fn, until ); - - if ( !runtil.test( name ) ) { - selector = until; - } - - if ( selector && typeof selector === "string" ) { - ret = jQuery.filter( selector, ret ); - } - - ret = this.length > 1 && !guaranteedUnique[ name ] ? jQuery.unique( ret ) : ret; - - if ( this.length > 1 && rparentsprev.test( name ) ) { - ret = ret.reverse(); - } - - return this.pushStack( ret, name, core_slice.call( arguments ).join(",") ); - }; -}); - -jQuery.extend({ - filter: function( expr, elems, not ) { - if ( not ) { - expr = ":not(" + expr + ")"; - } - - return elems.length === 1 ? - jQuery.find.matchesSelector(elems[0], expr) ? [ elems[0] ] : [] : - jQuery.find.matches(expr, elems); - }, - - dir: function( elem, dir, until ) { - var matched = [], - cur = elem[ dir ]; - - while ( cur && cur.nodeType !== 9 && (until === undefined || cur.nodeType !== 1 || !jQuery( cur ).is( until )) ) { - if ( cur.nodeType === 1 ) { - matched.push( cur ); - } - cur = cur[dir]; - } - return matched; - }, - - sibling: function( n, elem ) { - var r = []; - - for ( ; n; n = n.nextSibling ) { - if ( n.nodeType === 1 && n !== elem ) { - r.push( n ); - } - } - - return r; - } -}); - -// Implement the identical functionality for filter and not -function winnow( elements, qualifier, keep ) { - - // Can't pass null or undefined to indexOf in Firefox 4 - // Set to 0 to skip string check - qualifier = qualifier || 0; - - if ( jQuery.isFunction( qualifier ) ) { - return jQuery.grep(elements, function( elem, i ) { - var retVal = !!qualifier.call( elem, i, elem ); - return retVal === keep; - }); - - } else if ( qualifier.nodeType ) { - return jQuery.grep(elements, function( elem, i ) { - return ( elem === qualifier ) === keep; - }); - - } else if ( typeof qualifier === "string" ) { - var filtered = jQuery.grep(elements, function( elem ) { - return elem.nodeType === 1; - }); - - if ( isSimple.test( qualifier ) ) { - return jQuery.filter(qualifier, filtered, !keep); - } else { - qualifier = jQuery.filter( qualifier, filtered ); - } - } - - return jQuery.grep(elements, function( elem, i ) { - return ( jQuery.inArray( elem, qualifier ) >= 0 ) === keep; - }); -} -function createSafeFragment( document ) { - var list = nodeNames.split( "|" ), - safeFrag = document.createDocumentFragment(); - - if ( safeFrag.createElement ) { - while ( list.length ) { - safeFrag.createElement( - list.pop() - ); - } - } - return safeFrag; -} - -var nodeNames = "abbr|article|aside|audio|bdi|canvas|data|datalist|details|figcaption|figure|footer|" + - "header|hgroup|mark|meter|nav|output|progress|section|summary|time|video", - rinlinejQuery = / jQuery\d+="(?:null|\d+)"/g, - rleadingWhitespace = /^\s+/, - rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/gi, - rtagName = /<([\w:]+)/, - rtbody = /]", "i"), - rcheckableType = /^(?:checkbox|radio)$/, - // checked="checked" or checked - rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i, - rscriptType = /\/(java|ecma)script/i, - rcleanScript = /^\s*\s*$/g, - wrapMap = { - option: [ 1, "" ], - legend: [ 1, "
", "
" ], - thead: [ 1, "", "
" ], - tr: [ 2, "", "
" ], - td: [ 3, "", "
" ], - col: [ 2, "", "
" ], - area: [ 1, "", "" ], - _default: [ 0, "", "" ] - }, - safeFragment = createSafeFragment( document ), - fragmentDiv = safeFragment.appendChild( document.createElement("div") ); - -wrapMap.optgroup = wrapMap.option; -wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; -wrapMap.th = wrapMap.td; - -// IE6-8 can't serialize link, script, style, or any html5 (NoScope) tags, -// unless wrapped in a div with non-breaking characters in front of it. -if ( !jQuery.support.htmlSerialize ) { - wrapMap._default = [ 1, "X
", "
" ]; -} - -jQuery.fn.extend({ - text: function( value ) { - return jQuery.access( this, function( value ) { - return value === undefined ? - jQuery.text( this ) : - this.empty().append( ( this[0] && this[0].ownerDocument || document ).createTextNode( value ) ); - }, null, value, arguments.length ); - }, - - wrapAll: function( html ) { - if ( jQuery.isFunction( html ) ) { - return this.each(function(i) { - jQuery(this).wrapAll( html.call(this, i) ); - }); - } - - if ( this[0] ) { - // The elements to wrap the target around - var wrap = jQuery( html, this[0].ownerDocument ).eq(0).clone(true); - - if ( this[0].parentNode ) { - wrap.insertBefore( this[0] ); - } - - wrap.map(function() { - var elem = this; - - while ( elem.firstChild && elem.firstChild.nodeType === 1 ) { - elem = elem.firstChild; - } - - return elem; - }).append( this ); - } - - return this; - }, - - wrapInner: function( html ) { - if ( jQuery.isFunction( html ) ) { - return this.each(function(i) { - jQuery(this).wrapInner( html.call(this, i) ); - }); - } - - return this.each(function() { - var self = jQuery( this ), - contents = self.contents(); - - if ( contents.length ) { - contents.wrapAll( html ); - - } else { - self.append( html ); - } - }); - }, - - wrap: function( html ) { - var isFunction = jQuery.isFunction( html ); - - return this.each(function(i) { - jQuery( this ).wrapAll( isFunction ? html.call(this, i) : html ); - }); - }, - - unwrap: function() { - return this.parent().each(function() { - if ( !jQuery.nodeName( this, "body" ) ) { - jQuery( this ).replaceWith( this.childNodes ); - } - }).end(); - }, - - append: function() { - return this.domManip(arguments, true, function( elem ) { - if ( this.nodeType === 1 || this.nodeType === 11 ) { - this.appendChild( elem ); - } - }); - }, - - prepend: function() { - return this.domManip(arguments, true, function( elem ) { - if ( this.nodeType === 1 || this.nodeType === 11 ) { - this.insertBefore( elem, this.firstChild ); - } - }); - }, - - before: function() { - if ( !isDisconnected( this[0] ) ) { - return this.domManip(arguments, false, function( elem ) { - this.parentNode.insertBefore( elem, this ); - }); - } - - if ( arguments.length ) { - var set = jQuery.clean( arguments ); - return this.pushStack( jQuery.merge( set, this ), "before", this.selector ); - } - }, - - after: function() { - if ( !isDisconnected( this[0] ) ) { - return this.domManip(arguments, false, function( elem ) { - this.parentNode.insertBefore( elem, this.nextSibling ); - }); - } - - if ( arguments.length ) { - var set = jQuery.clean( arguments ); - return this.pushStack( jQuery.merge( this, set ), "after", this.selector ); - } - }, - - // keepData is for internal use only--do not document - remove: function( selector, keepData ) { - var elem, - i = 0; - - for ( ; (elem = this[i]) != null; i++ ) { - if ( !selector || jQuery.filter( selector, [ elem ] ).length ) { - if ( !keepData && elem.nodeType === 1 ) { - jQuery.cleanData( elem.getElementsByTagName("*") ); - jQuery.cleanData( [ elem ] ); - } - - if ( elem.parentNode ) { - elem.parentNode.removeChild( elem ); - } - } - } - - return this; - }, - - empty: function() { - var elem, - i = 0; - - for ( ; (elem = this[i]) != null; i++ ) { - // Remove element nodes and prevent memory leaks - if ( elem.nodeType === 1 ) { - jQuery.cleanData( elem.getElementsByTagName("*") ); - } - - // Remove any remaining nodes - while ( elem.firstChild ) { - elem.removeChild( elem.firstChild ); - } - } - - return this; - }, - - clone: function( dataAndEvents, deepDataAndEvents ) { - dataAndEvents = dataAndEvents == null ? false : dataAndEvents; - deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; - - return this.map( function () { - return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); - }); - }, - - html: function( value ) { - return jQuery.access( this, function( value ) { - var elem = this[0] || {}, - i = 0, - l = this.length; - - if ( value === undefined ) { - return elem.nodeType === 1 ? - elem.innerHTML.replace( rinlinejQuery, "" ) : - undefined; - } - - // See if we can take a shortcut and just use innerHTML - if ( typeof value === "string" && !rnoInnerhtml.test( value ) && - ( jQuery.support.htmlSerialize || !rnoshimcache.test( value ) ) && - ( jQuery.support.leadingWhitespace || !rleadingWhitespace.test( value ) ) && - !wrapMap[ ( rtagName.exec( value ) || ["", ""] )[1].toLowerCase() ] ) { - - value = value.replace( rxhtmlTag, "<$1>" ); - - try { - for (; i < l; i++ ) { - // Remove element nodes and prevent memory leaks - elem = this[i] || {}; - if ( elem.nodeType === 1 ) { - jQuery.cleanData( elem.getElementsByTagName( "*" ) ); - elem.innerHTML = value; - } - } - - elem = 0; - - // If using innerHTML throws an exception, use the fallback method - } catch(e) {} - } - - if ( elem ) { - this.empty().append( value ); - } - }, null, value, arguments.length ); - }, - - replaceWith: function( value ) { - if ( !isDisconnected( this[0] ) ) { - // Make sure that the elements are removed from the DOM before they are inserted - // this can help fix replacing a parent with child elements - if ( jQuery.isFunction( value ) ) { - return this.each(function(i) { - var self = jQuery(this), old = self.html(); - self.replaceWith( value.call( this, i, old ) ); - }); - } - - if ( typeof value !== "string" ) { - value = jQuery( value ).detach(); - } - - return this.each(function() { - var next = this.nextSibling, - parent = this.parentNode; - - jQuery( this ).remove(); - - if ( next ) { - jQuery(next).before( value ); - } else { - jQuery(parent).append( value ); - } - }); - } - - return this.length ? - this.pushStack( jQuery(jQuery.isFunction(value) ? value() : value), "replaceWith", value ) : - this; - }, - - detach: function( selector ) { - return this.remove( selector, true ); - }, - - domManip: function( args, table, callback ) { - - // Flatten any nested arrays - args = [].concat.apply( [], args ); - - var results, first, fragment, iNoClone, - i = 0, - value = args[0], - scripts = [], - l = this.length; - - // We can't cloneNode fragments that contain checked, in WebKit - if ( !jQuery.support.checkClone && l > 1 && typeof value === "string" && rchecked.test( value ) ) { - return this.each(function() { - jQuery(this).domManip( args, table, callback ); - }); - } - - if ( jQuery.isFunction(value) ) { - return this.each(function(i) { - var self = jQuery(this); - args[0] = value.call( this, i, table ? self.html() : undefined ); - self.domManip( args, table, callback ); - }); - } - - if ( this[0] ) { - results = jQuery.buildFragment( args, this, scripts ); - fragment = results.fragment; - first = fragment.firstChild; - - if ( fragment.childNodes.length === 1 ) { - fragment = first; - } - - if ( first ) { - table = table && jQuery.nodeName( first, "tr" ); - - // Use the original fragment for the last item instead of the first because it can end up - // being emptied incorrectly in certain situations (#8070). - // Fragments from the fragment cache must always be cloned and never used in place. - for ( iNoClone = results.cacheable || l - 1; i < l; i++ ) { - callback.call( - table && jQuery.nodeName( this[i], "table" ) ? - findOrAppend( this[i], "tbody" ) : - this[i], - i === iNoClone ? - fragment : - jQuery.clone( fragment, true, true ) - ); - } - } - - // Fix #11809: Avoid leaking memory - fragment = first = null; - - if ( scripts.length ) { - jQuery.each( scripts, function( i, elem ) { - if ( elem.src ) { - if ( jQuery.ajax ) { - jQuery.ajax({ - url: elem.src, - type: "GET", - dataType: "script", - async: false, - global: false, - "throws": true - }); - } else { - jQuery.error("no ajax"); - } - } else { - jQuery.globalEval( ( elem.text || elem.textContent || elem.innerHTML || "" ).replace( rcleanScript, "" ) ); - } - - if ( elem.parentNode ) { - elem.parentNode.removeChild( elem ); - } - }); - } - } - - return this; - } -}); - -function findOrAppend( elem, tag ) { - return elem.getElementsByTagName( tag )[0] || elem.appendChild( elem.ownerDocument.createElement( tag ) ); -} - -function cloneCopyEvent( src, dest ) { - - if ( dest.nodeType !== 1 || !jQuery.hasData( src ) ) { - return; - } - - var type, i, l, - oldData = jQuery._data( src ), - curData = jQuery._data( dest, oldData ), - events = oldData.events; - - if ( events ) { - delete curData.handle; - curData.events = {}; - - for ( type in events ) { - for ( i = 0, l = events[ type ].length; i < l; i++ ) { - jQuery.event.add( dest, type, events[ type ][ i ] ); - } - } - } - - // make the cloned public data object a copy from the original - if ( curData.data ) { - curData.data = jQuery.extend( {}, curData.data ); - } -} - -function cloneFixAttributes( src, dest ) { - var nodeName; - - // We do not need to do anything for non-Elements - if ( dest.nodeType !== 1 ) { - return; - } - - // clearAttributes removes the attributes, which we don't want, - // but also removes the attachEvent events, which we *do* want - if ( dest.clearAttributes ) { - dest.clearAttributes(); - } - - // mergeAttributes, in contrast, only merges back on the - // original attributes, not the events - if ( dest.mergeAttributes ) { - dest.mergeAttributes( src ); - } - - nodeName = dest.nodeName.toLowerCase(); - - if ( nodeName === "object" ) { - // IE6-10 improperly clones children of object elements using classid. - // IE10 throws NoModificationAllowedError if parent is null, #12132. - if ( dest.parentNode ) { - dest.outerHTML = src.outerHTML; - } - - // This path appears unavoidable for IE9. When cloning an object - // element in IE9, the outerHTML strategy above is not sufficient. - // If the src has innerHTML and the destination does not, - // copy the src.innerHTML into the dest.innerHTML. #10324 - if ( jQuery.support.html5Clone && (src.innerHTML && !jQuery.trim(dest.innerHTML)) ) { - dest.innerHTML = src.innerHTML; - } - - } else if ( nodeName === "input" && rcheckableType.test( src.type ) ) { - // IE6-8 fails to persist the checked state of a cloned checkbox - // or radio button. Worse, IE6-7 fail to give the cloned element - // a checked appearance if the defaultChecked value isn't also set - - dest.defaultChecked = dest.checked = src.checked; - - // IE6-7 get confused and end up setting the value of a cloned - // checkbox/radio button to an empty string instead of "on" - if ( dest.value !== src.value ) { - dest.value = src.value; - } - - // IE6-8 fails to return the selected option to the default selected - // state when cloning options - } else if ( nodeName === "option" ) { - dest.selected = src.defaultSelected; - - // IE6-8 fails to set the defaultValue to the correct value when - // cloning other types of input fields - } else if ( nodeName === "input" || nodeName === "textarea" ) { - dest.defaultValue = src.defaultValue; - - // IE blanks contents when cloning scripts - } else if ( nodeName === "script" && dest.text !== src.text ) { - dest.text = src.text; - } - - // Event data gets referenced instead of copied if the expando - // gets copied too - dest.removeAttribute( jQuery.expando ); -} - -jQuery.buildFragment = function( args, context, scripts ) { - var fragment, cacheable, cachehit, - first = args[ 0 ]; - - // Set context from what may come in as undefined or a jQuery collection or a node - // Updated to fix #12266 where accessing context[0] could throw an exception in IE9/10 & - // also doubles as fix for #8950 where plain objects caused createDocumentFragment exception - context = context || document; - context = !context.nodeType && context[0] || context; - context = context.ownerDocument || context; - - // Only cache "small" (1/2 KB) HTML strings that are associated with the main document - // Cloning options loses the selected state, so don't cache them - // IE 6 doesn't like it when you put or elements in a fragment - // Also, WebKit does not clone 'checked' attributes on cloneNode, so don't cache - // Lastly, IE6,7,8 will not correctly reuse cached fragments that were created from unknown elems #10501 - if ( args.length === 1 && typeof first === "string" && first.length < 512 && context === document && - first.charAt(0) === "<" && !rnocache.test( first ) && - (jQuery.support.checkClone || !rchecked.test( first )) && - (jQuery.support.html5Clone || !rnoshimcache.test( first )) ) { - - // Mark cacheable and look for a hit - cacheable = true; - fragment = jQuery.fragments[ first ]; - cachehit = fragment !== undefined; - } - - if ( !fragment ) { - fragment = context.createDocumentFragment(); - jQuery.clean( args, context, fragment, scripts ); - - // Update the cache, but only store false - // unless this is a second parsing of the same content - if ( cacheable ) { - jQuery.fragments[ first ] = cachehit && fragment; - } - } - - return { fragment: fragment, cacheable: cacheable }; -}; - -jQuery.fragments = {}; - -jQuery.each({ - appendTo: "append", - prependTo: "prepend", - insertBefore: "before", - insertAfter: "after", - replaceAll: "replaceWith" -}, function( name, original ) { - jQuery.fn[ name ] = function( selector ) { - var elems, - i = 0, - ret = [], - insert = jQuery( selector ), - l = insert.length, - parent = this.length === 1 && this[0].parentNode; - - if ( (parent == null || parent && parent.nodeType === 11 && parent.childNodes.length === 1) && l === 1 ) { - insert[ original ]( this[0] ); - return this; - } else { - for ( ; i < l; i++ ) { - elems = ( i > 0 ? this.clone(true) : this ).get(); - jQuery( insert[i] )[ original ]( elems ); - ret = ret.concat( elems ); - } - - return this.pushStack( ret, name, insert.selector ); - } - }; -}); - -function getAll( elem ) { - if ( typeof elem.getElementsByTagName !== "undefined" ) { - return elem.getElementsByTagName( "*" ); - - } else if ( typeof elem.querySelectorAll !== "undefined" ) { - return elem.querySelectorAll( "*" ); - - } else { - return []; - } -} - -// Used in clean, fixes the defaultChecked property -function fixDefaultChecked( elem ) { - if ( rcheckableType.test( elem.type ) ) { - elem.defaultChecked = elem.checked; - } -} - -jQuery.extend({ - clone: function( elem, dataAndEvents, deepDataAndEvents ) { - var srcElements, - destElements, - i, - clone; - - if ( jQuery.support.html5Clone || jQuery.isXMLDoc(elem) || !rnoshimcache.test( "<" + elem.nodeName + ">" ) ) { - clone = elem.cloneNode( true ); - - // IE<=8 does not properly clone detached, unknown element nodes - } else { - fragmentDiv.innerHTML = elem.outerHTML; - fragmentDiv.removeChild( clone = fragmentDiv.firstChild ); - } - - if ( (!jQuery.support.noCloneEvent || !jQuery.support.noCloneChecked) && - (elem.nodeType === 1 || elem.nodeType === 11) && !jQuery.isXMLDoc(elem) ) { - // IE copies events bound via attachEvent when using cloneNode. - // Calling detachEvent on the clone will also remove the events - // from the original. In order to get around this, we use some - // proprietary methods to clear the events. Thanks to MooTools - // guys for this hotness. - - cloneFixAttributes( elem, clone ); - - // Using Sizzle here is crazy slow, so we use getElementsByTagName instead - srcElements = getAll( elem ); - destElements = getAll( clone ); - - // Weird iteration because IE will replace the length property - // with an element if you are cloning the body and one of the - // elements on the page has a name or id of "length" - for ( i = 0; srcElements[i]; ++i ) { - // Ensure that the destination node is not null; Fixes #9587 - if ( destElements[i] ) { - cloneFixAttributes( srcElements[i], destElements[i] ); - } - } - } - - // Copy the events from the original to the clone - if ( dataAndEvents ) { - cloneCopyEvent( elem, clone ); - - if ( deepDataAndEvents ) { - srcElements = getAll( elem ); - destElements = getAll( clone ); - - for ( i = 0; srcElements[i]; ++i ) { - cloneCopyEvent( srcElements[i], destElements[i] ); - } - } - } - - srcElements = destElements = null; - - // Return the cloned set - return clone; - }, - - clean: function( elems, context, fragment, scripts ) { - var i, j, elem, tag, wrap, depth, div, hasBody, tbody, len, handleScript, jsTags, - safe = context === document && safeFragment, - ret = []; - - // Ensure that context is a document - if ( !context || typeof context.createDocumentFragment === "undefined" ) { - context = document; - } - - // Use the already-created safe fragment if context permits - for ( i = 0; (elem = elems[i]) != null; i++ ) { - if ( typeof elem === "number" ) { - elem += ""; - } - - if ( !elem ) { - continue; - } - - // Convert html string into DOM nodes - if ( typeof elem === "string" ) { - if ( !rhtml.test( elem ) ) { - elem = context.createTextNode( elem ); - } else { - // Ensure a safe container in which to render the html - safe = safe || createSafeFragment( context ); - div = context.createElement("div"); - safe.appendChild( div ); - - // Fix "XHTML"-style tags in all browsers - elem = elem.replace(rxhtmlTag, "<$1>"); - - // Go to html and back, then peel off extra wrappers - tag = ( rtagName.exec( elem ) || ["", ""] )[1].toLowerCase(); - wrap = wrapMap[ tag ] || wrapMap._default; - depth = wrap[0]; - div.innerHTML = wrap[1] + elem + wrap[2]; - - // Move to the right depth - while ( depth-- ) { - div = div.lastChild; - } - - // Remove IE's autoinserted from table fragments - if ( !jQuery.support.tbody ) { - - // String was a , *may* have spurious - hasBody = rtbody.test(elem); - tbody = tag === "table" && !hasBody ? - div.firstChild && div.firstChild.childNodes : - - // String was a bare or - wrap[1] === "
" && !hasBody ? - div.childNodes : - []; - - for ( j = tbody.length - 1; j >= 0 ; --j ) { - if ( jQuery.nodeName( tbody[ j ], "tbody" ) && !tbody[ j ].childNodes.length ) { - tbody[ j ].parentNode.removeChild( tbody[ j ] ); - } - } - } - - // IE completely kills leading whitespace when innerHTML is used - if ( !jQuery.support.leadingWhitespace && rleadingWhitespace.test( elem ) ) { - div.insertBefore( context.createTextNode( rleadingWhitespace.exec(elem)[0] ), div.firstChild ); - } - - elem = div.childNodes; - - // Take out of fragment container (we need a fresh div each time) - div.parentNode.removeChild( div ); - } - } - - if ( elem.nodeType ) { - ret.push( elem ); - } else { - jQuery.merge( ret, elem ); - } - } - - // Fix #11356: Clear elements from safeFragment - if ( div ) { - elem = div = safe = null; - } - - // Reset defaultChecked for any radios and checkboxes - // about to be appended to the DOM in IE 6/7 (#8060) - if ( !jQuery.support.appendChecked ) { - for ( i = 0; (elem = ret[i]) != null; i++ ) { - if ( jQuery.nodeName( elem, "input" ) ) { - fixDefaultChecked( elem ); - } else if ( typeof elem.getElementsByTagName !== "undefined" ) { - jQuery.grep( elem.getElementsByTagName("input"), fixDefaultChecked ); - } - } - } - - // Append elements to a provided document fragment - if ( fragment ) { - // Special handling of each script element - handleScript = function( elem ) { - // Check if we consider it executable - if ( !elem.type || rscriptType.test( elem.type ) ) { - // Detach the script and store it in the scripts array (if provided) or the fragment - // Return truthy to indicate that it has been handled - return scripts ? - scripts.push( elem.parentNode ? elem.parentNode.removeChild( elem ) : elem ) : - fragment.appendChild( elem ); - } - }; - - for ( i = 0; (elem = ret[i]) != null; i++ ) { - // Check if we're done after handling an executable script - if ( !( jQuery.nodeName( elem, "script" ) && handleScript( elem ) ) ) { - // Append to fragment and handle embedded scripts - fragment.appendChild( elem ); - if ( typeof elem.getElementsByTagName !== "undefined" ) { - // handleScript alters the DOM, so use jQuery.merge to ensure snapshot iteration - jsTags = jQuery.grep( jQuery.merge( [], elem.getElementsByTagName("script") ), handleScript ); - - // Splice the scripts into ret after their former ancestor and advance our index beyond them - ret.splice.apply( ret, [i + 1, 0].concat( jsTags ) ); - i += jsTags.length; - } - } - } - } - - return ret; - }, - - cleanData: function( elems, /* internal */ acceptData ) { - var data, id, elem, type, - i = 0, - internalKey = jQuery.expando, - cache = jQuery.cache, - deleteExpando = jQuery.support.deleteExpando, - special = jQuery.event.special; - - for ( ; (elem = elems[i]) != null; i++ ) { - - if ( acceptData || jQuery.acceptData( elem ) ) { - - id = elem[ internalKey ]; - data = id && cache[ id ]; - - if ( data ) { - if ( data.events ) { - for ( type in data.events ) { - if ( special[ type ] ) { - jQuery.event.remove( elem, type ); - - // This is a shortcut to avoid jQuery.event.remove's overhead - } else { - jQuery.removeEvent( elem, type, data.handle ); - } - } - } - - // Remove cache only if it was not already removed by jQuery.event.remove - if ( cache[ id ] ) { - - delete cache[ id ]; - - // IE does not allow us to delete expando properties from nodes, - // nor does it have a removeAttribute function on Document nodes; - // we must handle all of these cases - if ( deleteExpando ) { - delete elem[ internalKey ]; - - } else if ( elem.removeAttribute ) { - elem.removeAttribute( internalKey ); - - } else { - elem[ internalKey ] = null; - } - - jQuery.deletedIds.push( id ); - } - } - } - } - } -}); -// Limit scope pollution from any deprecated API -(function() { - -var matched, browser; - -// Use of jQuery.browser is frowned upon. -// More details: http://api.jquery.com/jQuery.browser -// jQuery.uaMatch maintained for back-compat -jQuery.uaMatch = function( ua ) { - ua = ua.toLowerCase(); - - var match = /(chrome)[ \/]([\w.]+)/.exec( ua ) || - /(webkit)[ \/]([\w.]+)/.exec( ua ) || - /(opera)(?:.*version|)[ \/]([\w.]+)/.exec( ua ) || - /(msie) ([\w.]+)/.exec( ua ) || - ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec( ua ) || - []; - - return { - browser: match[ 1 ] || "", - version: match[ 2 ] || "0" - }; -}; - -matched = jQuery.uaMatch( navigator.userAgent ); -browser = {}; - -if ( matched.browser ) { - browser[ matched.browser ] = true; - browser.version = matched.version; -} - -// Chrome is Webkit, but Webkit is also Safari. -if ( browser.chrome ) { - browser.webkit = true; -} else if ( browser.webkit ) { - browser.safari = true; -} - -jQuery.browser = browser; - -jQuery.sub = function() { - function jQuerySub( selector, context ) { - return new jQuerySub.fn.init( selector, context ); - } - jQuery.extend( true, jQuerySub, this ); - jQuerySub.superclass = this; - jQuerySub.fn = jQuerySub.prototype = this(); - jQuerySub.fn.constructor = jQuerySub; - jQuerySub.sub = this.sub; - jQuerySub.fn.init = function init( selector, context ) { - if ( context && context instanceof jQuery && !(context instanceof jQuerySub) ) { - context = jQuerySub( context ); - } - - return jQuery.fn.init.call( this, selector, context, rootjQuerySub ); - }; - jQuerySub.fn.init.prototype = jQuerySub.fn; - var rootjQuerySub = jQuerySub(document); - return jQuerySub; -}; - -})(); -var curCSS, iframe, iframeDoc, - ralpha = /alpha\([^)]*\)/i, - ropacity = /opacity=([^)]*)/, - rposition = /^(top|right|bottom|left)$/, - // swappable if display is none or starts with table except "table", "table-cell", or "table-caption" - // see here for display values: https://developer.mozilla.org/en-US/docs/CSS/display - rdisplayswap = /^(none|table(?!-c[ea]).+)/, - rmargin = /^margin/, - rnumsplit = new RegExp( "^(" + core_pnum + ")(.*)$", "i" ), - rnumnonpx = new RegExp( "^(" + core_pnum + ")(?!px)[a-z%]+$", "i" ), - rrelNum = new RegExp( "^([-+])=(" + core_pnum + ")", "i" ), - elemdisplay = { BODY: "block" }, - - cssShow = { position: "absolute", visibility: "hidden", display: "block" }, - cssNormalTransform = { - letterSpacing: 0, - fontWeight: 400 - }, - - cssExpand = [ "Top", "Right", "Bottom", "Left" ], - cssPrefixes = [ "Webkit", "O", "Moz", "ms" ], - - eventsToggle = jQuery.fn.toggle; - -// return a css property mapped to a potentially vendor prefixed property -function vendorPropName( style, name ) { - - // shortcut for names that are not vendor prefixed - if ( name in style ) { - return name; - } - - // check for vendor prefixed names - var capName = name.charAt(0).toUpperCase() + name.slice(1), - origName = name, - i = cssPrefixes.length; - - while ( i-- ) { - name = cssPrefixes[ i ] + capName; - if ( name in style ) { - return name; - } - } - - return origName; -} - -function isHidden( elem, el ) { - elem = el || elem; - return jQuery.css( elem, "display" ) === "none" || !jQuery.contains( elem.ownerDocument, elem ); -} - -function showHide( elements, show ) { - var elem, display, - values = [], - index = 0, - length = elements.length; - - for ( ; index < length; index++ ) { - elem = elements[ index ]; - if ( !elem.style ) { - continue; - } - values[ index ] = jQuery._data( elem, "olddisplay" ); - if ( show ) { - // Reset the inline display of this element to learn if it is - // being hidden by cascaded rules or not - if ( !values[ index ] && elem.style.display === "none" ) { - elem.style.display = ""; - } - - // Set elements which have been overridden with display: none - // in a stylesheet to whatever the default browser style is - // for such an element - if ( elem.style.display === "" && isHidden( elem ) ) { - values[ index ] = jQuery._data( elem, "olddisplay", css_defaultDisplay(elem.nodeName) ); - } - } else { - display = curCSS( elem, "display" ); - - if ( !values[ index ] && display !== "none" ) { - jQuery._data( elem, "olddisplay", display ); - } - } - } - - // Set the display of most of the elements in a second loop - // to avoid the constant reflow - for ( index = 0; index < length; index++ ) { - elem = elements[ index ]; - if ( !elem.style ) { - continue; - } - if ( !show || elem.style.display === "none" || elem.style.display === "" ) { - elem.style.display = show ? values[ index ] || "" : "none"; - } - } - - return elements; -} - -jQuery.fn.extend({ - css: function( name, value ) { - return jQuery.access( this, function( elem, name, value ) { - return value !== undefined ? - jQuery.style( elem, name, value ) : - jQuery.css( elem, name ); - }, name, value, arguments.length > 1 ); - }, - show: function() { - return showHide( this, true ); - }, - hide: function() { - return showHide( this ); - }, - toggle: function( state, fn2 ) { - var bool = typeof state === "boolean"; - - if ( jQuery.isFunction( state ) && jQuery.isFunction( fn2 ) ) { - return eventsToggle.apply( this, arguments ); - } - - return this.each(function() { - if ( bool ? state : isHidden( this ) ) { - jQuery( this ).show(); - } else { - jQuery( this ).hide(); - } - }); - } -}); - -jQuery.extend({ - // Add in style property hooks for overriding the default - // behavior of getting and setting a style property - cssHooks: { - opacity: { - get: function( elem, computed ) { - if ( computed ) { - // We should always get a number back from opacity - var ret = curCSS( elem, "opacity" ); - return ret === "" ? "1" : ret; - - } - } - } - }, - - // Exclude the following css properties to add px - cssNumber: { - "fillOpacity": true, - "fontWeight": true, - "lineHeight": true, - "opacity": true, - "orphans": true, - "widows": true, - "zIndex": true, - "zoom": true - }, - - // Add in properties whose names you wish to fix before - // setting or getting the value - cssProps: { - // normalize float css property - "float": jQuery.support.cssFloat ? "cssFloat" : "styleFloat" - }, - - // Get and set the style property on a DOM Node - style: function( elem, name, value, extra ) { - // Don't set styles on text and comment nodes - if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { - return; - } - - // Make sure that we're working with the right name - var ret, type, hooks, - origName = jQuery.camelCase( name ), - style = elem.style; - - name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( style, origName ) ); - - // gets hook for the prefixed version - // followed by the unprefixed version - hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; - - // Check if we're setting a value - if ( value !== undefined ) { - type = typeof value; - - // convert relative number strings (+= or -=) to relative numbers. #7345 - if ( type === "string" && (ret = rrelNum.exec( value )) ) { - value = ( ret[1] + 1 ) * ret[2] + parseFloat( jQuery.css( elem, name ) ); - // Fixes bug #9237 - type = "number"; - } - - // Make sure that NaN and null values aren't set. See: #7116 - if ( value == null || type === "number" && isNaN( value ) ) { - return; - } - - // If a number was passed in, add 'px' to the (except for certain CSS properties) - if ( type === "number" && !jQuery.cssNumber[ origName ] ) { - value += "px"; - } - - // If a hook was provided, use that value, otherwise just set the specified value - if ( !hooks || !("set" in hooks) || (value = hooks.set( elem, value, extra )) !== undefined ) { - // Wrapped to prevent IE from throwing errors when 'invalid' values are provided - // Fixes bug #5509 - try { - style[ name ] = value; - } catch(e) {} - } - - } else { - // If a hook was provided get the non-computed value from there - if ( hooks && "get" in hooks && (ret = hooks.get( elem, false, extra )) !== undefined ) { - return ret; - } - - // Otherwise just get the value from the style object - return style[ name ]; - } - }, - - css: function( elem, name, numeric, extra ) { - var val, num, hooks, - origName = jQuery.camelCase( name ); - - // Make sure that we're working with the right name - name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( elem.style, origName ) ); - - // gets hook for the prefixed version - // followed by the unprefixed version - hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; - - // If a hook was provided get the computed value from there - if ( hooks && "get" in hooks ) { - val = hooks.get( elem, true, extra ); - } - - // Otherwise, if a way to get the computed value exists, use that - if ( val === undefined ) { - val = curCSS( elem, name ); - } - - //convert "normal" to computed value - if ( val === "normal" && name in cssNormalTransform ) { - val = cssNormalTransform[ name ]; - } - - // Return, converting to number if forced or a qualifier was provided and val looks numeric - if ( numeric || extra !== undefined ) { - num = parseFloat( val ); - return numeric || jQuery.isNumeric( num ) ? num || 0 : val; - } - return val; - }, - - // A method for quickly swapping in/out CSS properties to get correct calculations - swap: function( elem, options, callback ) { - var ret, name, - old = {}; - - // Remember the old values, and insert the new ones - for ( name in options ) { - old[ name ] = elem.style[ name ]; - elem.style[ name ] = options[ name ]; - } - - ret = callback.call( elem ); - - // Revert the old values - for ( name in options ) { - elem.style[ name ] = old[ name ]; - } - - return ret; - } -}); - -// NOTE: To any future maintainer, we've window.getComputedStyle -// because jsdom on node.js will break without it. -if ( window.getComputedStyle ) { - curCSS = function( elem, name ) { - var ret, width, minWidth, maxWidth, - computed = window.getComputedStyle( elem, null ), - style = elem.style; - - if ( computed ) { - - // getPropertyValue is only needed for .css('filter') in IE9, see #12537 - ret = computed.getPropertyValue( name ) || computed[ name ]; - - if ( ret === "" && !jQuery.contains( elem.ownerDocument, elem ) ) { - ret = jQuery.style( elem, name ); - } - - // A tribute to the "awesome hack by Dean Edwards" - // Chrome < 17 and Safari 5.0 uses "computed value" instead of "used value" for margin-right - // Safari 5.1.7 (at least) returns percentage for a larger set of values, but width seems to be reliably pixels - // this is against the CSSOM draft spec: http://dev.w3.org/csswg/cssom/#resolved-values - if ( rnumnonpx.test( ret ) && rmargin.test( name ) ) { - width = style.width; - minWidth = style.minWidth; - maxWidth = style.maxWidth; - - style.minWidth = style.maxWidth = style.width = ret; - ret = computed.width; - - style.width = width; - style.minWidth = minWidth; - style.maxWidth = maxWidth; - } - } - - return ret; - }; -} else if ( document.documentElement.currentStyle ) { - curCSS = function( elem, name ) { - var left, rsLeft, - ret = elem.currentStyle && elem.currentStyle[ name ], - style = elem.style; - - // Avoid setting ret to empty string here - // so we don't default to auto - if ( ret == null && style && style[ name ] ) { - ret = style[ name ]; - } - - // From the awesome hack by Dean Edwards - // http://erik.eae.net/archives/2007/07/27/18.54.15/#comment-102291 - - // If we're not dealing with a regular pixel number - // but a number that has a weird ending, we need to convert it to pixels - // but not position css attributes, as those are proportional to the parent element instead - // and we can't measure the parent instead because it might trigger a "stacking dolls" problem - if ( rnumnonpx.test( ret ) && !rposition.test( name ) ) { - - // Remember the original values - left = style.left; - rsLeft = elem.runtimeStyle && elem.runtimeStyle.left; - - // Put in the new values to get a computed value out - if ( rsLeft ) { - elem.runtimeStyle.left = elem.currentStyle.left; - } - style.left = name === "fontSize" ? "1em" : ret; - ret = style.pixelLeft + "px"; - - // Revert the changed values - style.left = left; - if ( rsLeft ) { - elem.runtimeStyle.left = rsLeft; - } - } - - return ret === "" ? "auto" : ret; - }; -} - -function setPositiveNumber( elem, value, subtract ) { - var matches = rnumsplit.exec( value ); - return matches ? - Math.max( 0, matches[ 1 ] - ( subtract || 0 ) ) + ( matches[ 2 ] || "px" ) : - value; -} - -function augmentWidthOrHeight( elem, name, extra, isBorderBox ) { - var i = extra === ( isBorderBox ? "border" : "content" ) ? - // If we already have the right measurement, avoid augmentation - 4 : - // Otherwise initialize for horizontal or vertical properties - name === "width" ? 1 : 0, - - val = 0; - - for ( ; i < 4; i += 2 ) { - // both box models exclude margin, so add it if we want it - if ( extra === "margin" ) { - // we use jQuery.css instead of curCSS here - // because of the reliableMarginRight CSS hook! - val += jQuery.css( elem, extra + cssExpand[ i ], true ); - } - - // From this point on we use curCSS for maximum performance (relevant in animations) - if ( isBorderBox ) { - // border-box includes padding, so remove it if we want content - if ( extra === "content" ) { - val -= parseFloat( curCSS( elem, "padding" + cssExpand[ i ] ) ) || 0; - } - - // at this point, extra isn't border nor margin, so remove border - if ( extra !== "margin" ) { - val -= parseFloat( curCSS( elem, "border" + cssExpand[ i ] + "Width" ) ) || 0; - } - } else { - // at this point, extra isn't content, so add padding - val += parseFloat( curCSS( elem, "padding" + cssExpand[ i ] ) ) || 0; - - // at this point, extra isn't content nor padding, so add border - if ( extra !== "padding" ) { - val += parseFloat( curCSS( elem, "border" + cssExpand[ i ] + "Width" ) ) || 0; - } - } - } - - return val; -} - -function getWidthOrHeight( elem, name, extra ) { - - // Start with offset property, which is equivalent to the border-box value - var val = name === "width" ? elem.offsetWidth : elem.offsetHeight, - valueIsBorderBox = true, - isBorderBox = jQuery.support.boxSizing && jQuery.css( elem, "boxSizing" ) === "border-box"; - - // some non-html elements return undefined for offsetWidth, so check for null/undefined - // svg - https://bugzilla.mozilla.org/show_bug.cgi?id=649285 - // MathML - https://bugzilla.mozilla.org/show_bug.cgi?id=491668 - if ( val <= 0 || val == null ) { - // Fall back to computed then uncomputed css if necessary - val = curCSS( elem, name ); - if ( val < 0 || val == null ) { - val = elem.style[ name ]; - } - - // Computed unit is not pixels. Stop here and return. - if ( rnumnonpx.test(val) ) { - return val; - } - - // we need the check for style in case a browser which returns unreliable values - // for getComputedStyle silently falls back to the reliable elem.style - valueIsBorderBox = isBorderBox && ( jQuery.support.boxSizingReliable || val === elem.style[ name ] ); - - // Normalize "", auto, and prepare for extra - val = parseFloat( val ) || 0; - } - - // use the active box-sizing model to add/subtract irrelevant styles - return ( val + - augmentWidthOrHeight( - elem, - name, - extra || ( isBorderBox ? "border" : "content" ), - valueIsBorderBox - ) - ) + "px"; -} - - -// Try to determine the default display value of an element -function css_defaultDisplay( nodeName ) { - if ( elemdisplay[ nodeName ] ) { - return elemdisplay[ nodeName ]; - } - - var elem = jQuery( "<" + nodeName + ">" ).appendTo( document.body ), - display = elem.css("display"); - elem.remove(); - - // If the simple way fails, - // get element's real default display by attaching it to a temp iframe - if ( display === "none" || display === "" ) { - // Use the already-created iframe if possible - iframe = document.body.appendChild( - iframe || jQuery.extend( document.createElement("iframe"), { - frameBorder: 0, - width: 0, - height: 0 - }) - ); - - // Create a cacheable copy of the iframe document on first call. - // IE and Opera will allow us to reuse the iframeDoc without re-writing the fake HTML - // document to it; WebKit & Firefox won't allow reusing the iframe document. - if ( !iframeDoc || !iframe.createElement ) { - iframeDoc = ( iframe.contentWindow || iframe.contentDocument ).document; - iframeDoc.write(""); - iframeDoc.close(); - } - - elem = iframeDoc.body.appendChild( iframeDoc.createElement(nodeName) ); - - display = curCSS( elem, "display" ); - document.body.removeChild( iframe ); - } - - // Store the correct default display - elemdisplay[ nodeName ] = display; - - return display; -} - -jQuery.each([ "height", "width" ], function( i, name ) { - jQuery.cssHooks[ name ] = { - get: function( elem, computed, extra ) { - if ( computed ) { - // certain elements can have dimension info if we invisibly show them - // however, it must have a current display style that would benefit from this - if ( elem.offsetWidth === 0 && rdisplayswap.test( curCSS( elem, "display" ) ) ) { - return jQuery.swap( elem, cssShow, function() { - return getWidthOrHeight( elem, name, extra ); - }); - } else { - return getWidthOrHeight( elem, name, extra ); - } - } - }, - - set: function( elem, value, extra ) { - return setPositiveNumber( elem, value, extra ? - augmentWidthOrHeight( - elem, - name, - extra, - jQuery.support.boxSizing && jQuery.css( elem, "boxSizing" ) === "border-box" - ) : 0 - ); - } - }; -}); - -if ( !jQuery.support.opacity ) { - jQuery.cssHooks.opacity = { - get: function( elem, computed ) { - // IE uses filters for opacity - return ropacity.test( (computed && elem.currentStyle ? elem.currentStyle.filter : elem.style.filter) || "" ) ? - ( 0.01 * parseFloat( RegExp.$1 ) ) + "" : - computed ? "1" : ""; - }, - - set: function( elem, value ) { - var style = elem.style, - currentStyle = elem.currentStyle, - opacity = jQuery.isNumeric( value ) ? "alpha(opacity=" + value * 100 + ")" : "", - filter = currentStyle && currentStyle.filter || style.filter || ""; - - // IE has trouble with opacity if it does not have layout - // Force it by setting the zoom level - style.zoom = 1; - - // if setting opacity to 1, and no other filters exist - attempt to remove filter attribute #6652 - if ( value >= 1 && jQuery.trim( filter.replace( ralpha, "" ) ) === "" && - style.removeAttribute ) { - - // Setting style.filter to null, "" & " " still leave "filter:" in the cssText - // if "filter:" is present at all, clearType is disabled, we want to avoid this - // style.removeAttribute is IE Only, but so apparently is this code path... - style.removeAttribute( "filter" ); - - // if there there is no filter style applied in a css rule, we are done - if ( currentStyle && !currentStyle.filter ) { - return; - } - } - - // otherwise, set new filter values - style.filter = ralpha.test( filter ) ? - filter.replace( ralpha, opacity ) : - filter + " " + opacity; - } - }; -} - -// These hooks cannot be added until DOM ready because the support test -// for it is not run until after DOM ready -jQuery(function() { - if ( !jQuery.support.reliableMarginRight ) { - jQuery.cssHooks.marginRight = { - get: function( elem, computed ) { - // WebKit Bug 13343 - getComputedStyle returns wrong value for margin-right - // Work around by temporarily setting element display to inline-block - return jQuery.swap( elem, { "display": "inline-block" }, function() { - if ( computed ) { - return curCSS( elem, "marginRight" ); - } - }); - } - }; - } - - // Webkit bug: https://bugs.webkit.org/show_bug.cgi?id=29084 - // getComputedStyle returns percent when specified for top/left/bottom/right - // rather than make the css module depend on the offset module, we just check for it here - if ( !jQuery.support.pixelPosition && jQuery.fn.position ) { - jQuery.each( [ "top", "left" ], function( i, prop ) { - jQuery.cssHooks[ prop ] = { - get: function( elem, computed ) { - if ( computed ) { - var ret = curCSS( elem, prop ); - // if curCSS returns percentage, fallback to offset - return rnumnonpx.test( ret ) ? jQuery( elem ).position()[ prop ] + "px" : ret; - } - } - }; - }); - } - -}); - -if ( jQuery.expr && jQuery.expr.filters ) { - jQuery.expr.filters.hidden = function( elem ) { - return ( elem.offsetWidth === 0 && elem.offsetHeight === 0 ) || (!jQuery.support.reliableHiddenOffsets && ((elem.style && elem.style.display) || curCSS( elem, "display" )) === "none"); - }; - - jQuery.expr.filters.visible = function( elem ) { - return !jQuery.expr.filters.hidden( elem ); - }; -} - -// These hooks are used by animate to expand properties -jQuery.each({ - margin: "", - padding: "", - border: "Width" -}, function( prefix, suffix ) { - jQuery.cssHooks[ prefix + suffix ] = { - expand: function( value ) { - var i, - - // assumes a single number if not a string - parts = typeof value === "string" ? value.split(" ") : [ value ], - expanded = {}; - - for ( i = 0; i < 4; i++ ) { - expanded[ prefix + cssExpand[ i ] + suffix ] = - parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; - } - - return expanded; - } - }; - - if ( !rmargin.test( prefix ) ) { - jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; - } -}); -var r20 = /%20/g, - rbracket = /\[\]$/, - rCRLF = /\r?\n/g, - rinput = /^(?:color|date|datetime|datetime-local|email|hidden|month|number|password|range|search|tel|text|time|url|week)$/i, - rselectTextarea = /^(?:select|textarea)/i; - -jQuery.fn.extend({ - serialize: function() { - return jQuery.param( this.serializeArray() ); - }, - serializeArray: function() { - return this.map(function(){ - return this.elements ? jQuery.makeArray( this.elements ) : this; - }) - .filter(function(){ - return this.name && !this.disabled && - ( this.checked || rselectTextarea.test( this.nodeName ) || - rinput.test( this.type ) ); - }) - .map(function( i, elem ){ - var val = jQuery( this ).val(); - - return val == null ? - null : - jQuery.isArray( val ) ? - jQuery.map( val, function( val, i ){ - return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; - }) : - { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; - }).get(); - } -}); - -//Serialize an array of form elements or a set of -//key/values into a query string -jQuery.param = function( a, traditional ) { - var prefix, - s = [], - add = function( key, value ) { - // If value is a function, invoke it and return its value - value = jQuery.isFunction( value ) ? value() : ( value == null ? "" : value ); - s[ s.length ] = encodeURIComponent( key ) + "=" + encodeURIComponent( value ); - }; - - // Set traditional to true for jQuery <= 1.3.2 behavior. - if ( traditional === undefined ) { - traditional = jQuery.ajaxSettings && jQuery.ajaxSettings.traditional; - } - - // If an array was passed in, assume that it is an array of form elements. - if ( jQuery.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { - // Serialize the form elements - jQuery.each( a, function() { - add( this.name, this.value ); - }); - - } else { - // If traditional, encode the "old" way (the way 1.3.2 or older - // did it), otherwise encode params recursively. - for ( prefix in a ) { - buildParams( prefix, a[ prefix ], traditional, add ); - } - } - - // Return the resulting serialization - return s.join( "&" ).replace( r20, "+" ); -}; - -function buildParams( prefix, obj, traditional, add ) { - var name; - - if ( jQuery.isArray( obj ) ) { - // Serialize array item. - jQuery.each( obj, function( i, v ) { - if ( traditional || rbracket.test( prefix ) ) { - // Treat each array item as a scalar. - add( prefix, v ); - - } else { - // If array item is non-scalar (array or object), encode its - // numeric index to resolve deserialization ambiguity issues. - // Note that rack (as of 1.0.0) can't currently deserialize - // nested arrays properly, and attempting to do so may cause - // a server error. Possible fixes are to modify rack's - // deserialization algorithm or to provide an option or flag - // to force array serialization to be shallow. - buildParams( prefix + "[" + ( typeof v === "object" ? i : "" ) + "]", v, traditional, add ); - } - }); - - } else if ( !traditional && jQuery.type( obj ) === "object" ) { - // Serialize object item. - for ( name in obj ) { - buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); - } - - } else { - // Serialize scalar item. - add( prefix, obj ); - } -} -var - // Document location - ajaxLocParts, - ajaxLocation, - - rhash = /#.*$/, - rheaders = /^(.*?):[ \t]*([^\r\n]*)\r?$/mg, // IE leaves an \r character at EOL - // #7653, #8125, #8152: local protocol detection - rlocalProtocol = /^(?:about|app|app\-storage|.+\-extension|file|res|widget):$/, - rnoContent = /^(?:GET|HEAD)$/, - rprotocol = /^\/\//, - rquery = /\?/, - rscript = /)<[^<]*)*<\/script>/gi, - rts = /([?&])_=[^&]*/, - rurl = /^([\w\+\.\-]+:)(?:\/\/([^\/?#:]*)(?::(\d+)|)|)/, - - // Keep a copy of the old load method - _load = jQuery.fn.load, - - /* Prefilters - * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) - * 2) These are called: - * - BEFORE asking for a transport - * - AFTER param serialization (s.data is a string if s.processData is true) - * 3) key is the dataType - * 4) the catchall symbol "*" can be used - * 5) execution will start with transport dataType and THEN continue down to "*" if needed - */ - prefilters = {}, - - /* Transports bindings - * 1) key is the dataType - * 2) the catchall symbol "*" can be used - * 3) selection will start with transport dataType and THEN go to "*" if needed - */ - transports = {}, - - // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression - allTypes = ["*/"] + ["*"]; - -// #8138, IE may throw an exception when accessing -// a field from window.location if document.domain has been set -try { - ajaxLocation = location.href; -} catch( e ) { - // Use the href attribute of an A element - // since IE will modify it given document.location - ajaxLocation = document.createElement( "a" ); - ajaxLocation.href = ""; - ajaxLocation = ajaxLocation.href; -} - -// Segment location into parts -ajaxLocParts = rurl.exec( ajaxLocation.toLowerCase() ) || []; - -// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport -function addToPrefiltersOrTransports( structure ) { - - // dataTypeExpression is optional and defaults to "*" - return function( dataTypeExpression, func ) { - - if ( typeof dataTypeExpression !== "string" ) { - func = dataTypeExpression; - dataTypeExpression = "*"; - } - - var dataType, list, placeBefore, - dataTypes = dataTypeExpression.toLowerCase().split( core_rspace ), - i = 0, - length = dataTypes.length; - - if ( jQuery.isFunction( func ) ) { - // For each dataType in the dataTypeExpression - for ( ; i < length; i++ ) { - dataType = dataTypes[ i ]; - // We control if we're asked to add before - // any existing element - placeBefore = /^\+/.test( dataType ); - if ( placeBefore ) { - dataType = dataType.substr( 1 ) || "*"; - } - list = structure[ dataType ] = structure[ dataType ] || []; - // then we add to the structure accordingly - list[ placeBefore ? "unshift" : "push" ]( func ); - } - } - }; -} - -// Base inspection function for prefilters and transports -function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR, - dataType /* internal */, inspected /* internal */ ) { - - dataType = dataType || options.dataTypes[ 0 ]; - inspected = inspected || {}; - - inspected[ dataType ] = true; - - var selection, - list = structure[ dataType ], - i = 0, - length = list ? list.length : 0, - executeOnly = ( structure === prefilters ); - - for ( ; i < length && ( executeOnly || !selection ); i++ ) { - selection = list[ i ]( options, originalOptions, jqXHR ); - // If we got redirected to another dataType - // we try there if executing only and not done already - if ( typeof selection === "string" ) { - if ( !executeOnly || inspected[ selection ] ) { - selection = undefined; - } else { - options.dataTypes.unshift( selection ); - selection = inspectPrefiltersOrTransports( - structure, options, originalOptions, jqXHR, selection, inspected ); - } - } - } - // If we're only executing or nothing was selected - // we try the catchall dataType if not done already - if ( ( executeOnly || !selection ) && !inspected[ "*" ] ) { - selection = inspectPrefiltersOrTransports( - structure, options, originalOptions, jqXHR, "*", inspected ); - } - // unnecessary when only executing (prefilters) - // but it'll be ignored by the caller in that case - return selection; -} - -// A special extend for ajax options -// that takes "flat" options (not to be deep extended) -// Fixes #9887 -function ajaxExtend( target, src ) { - var key, deep, - flatOptions = jQuery.ajaxSettings.flatOptions || {}; - for ( key in src ) { - if ( src[ key ] !== undefined ) { - ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; - } - } - if ( deep ) { - jQuery.extend( true, target, deep ); - } -} - -jQuery.fn.load = function( url, params, callback ) { - if ( typeof url !== "string" && _load ) { - return _load.apply( this, arguments ); - } - - // Don't do a request if no elements are being requested - if ( !this.length ) { - return this; - } - - var selector, type, response, - self = this, - off = url.indexOf(" "); - - if ( off >= 0 ) { - selector = url.slice( off, url.length ); - url = url.slice( 0, off ); - } - - // If it's a function - if ( jQuery.isFunction( params ) ) { - - // We assume that it's the callback - callback = params; - params = undefined; - - // Otherwise, build a param string - } else if ( params && typeof params === "object" ) { - type = "POST"; - } - - // Request the remote document - jQuery.ajax({ - url: url, - - // if "type" variable is undefined, then "GET" method will be used - type: type, - dataType: "html", - data: params, - complete: function( jqXHR, status ) { - if ( callback ) { - self.each( callback, response || [ jqXHR.responseText, status, jqXHR ] ); - } - } - }).done(function( responseText ) { - - // Save response for use in complete callback - response = arguments; - - // See if a selector was specified - self.html( selector ? - - // Create a dummy div to hold the results - jQuery("
") - - // inject the contents of the document in, removing the scripts - // to avoid any 'Permission Denied' errors in IE - .append( responseText.replace( rscript, "" ) ) - - // Locate the specified elements - .find( selector ) : - - // If not, just inject the full result - responseText ); - - }); - - return this; -}; - -// Attach a bunch of functions for handling common AJAX events -jQuery.each( "ajaxStart ajaxStop ajaxComplete ajaxError ajaxSuccess ajaxSend".split( " " ), function( i, o ){ - jQuery.fn[ o ] = function( f ){ - return this.on( o, f ); - }; -}); - -jQuery.each( [ "get", "post" ], function( i, method ) { - jQuery[ method ] = function( url, data, callback, type ) { - // shift arguments if data argument was omitted - if ( jQuery.isFunction( data ) ) { - type = type || callback; - callback = data; - data = undefined; - } - - return jQuery.ajax({ - type: method, - url: url, - data: data, - success: callback, - dataType: type - }); - }; -}); - -jQuery.extend({ - - getScript: function( url, callback ) { - return jQuery.get( url, undefined, callback, "script" ); - }, - - getJSON: function( url, data, callback ) { - return jQuery.get( url, data, callback, "json" ); - }, - - // Creates a full fledged settings object into target - // with both ajaxSettings and settings fields. - // If target is omitted, writes into ajaxSettings. - ajaxSetup: function( target, settings ) { - if ( settings ) { - // Building a settings object - ajaxExtend( target, jQuery.ajaxSettings ); - } else { - // Extending ajaxSettings - settings = target; - target = jQuery.ajaxSettings; - } - ajaxExtend( target, settings ); - return target; - }, - - ajaxSettings: { - url: ajaxLocation, - isLocal: rlocalProtocol.test( ajaxLocParts[ 1 ] ), - global: true, - type: "GET", - contentType: "application/x-www-form-urlencoded; charset=UTF-8", - processData: true, - async: true, - /* - timeout: 0, - data: null, - dataType: null, - username: null, - password: null, - cache: null, - throws: false, - traditional: false, - headers: {}, - */ - - accepts: { - xml: "application/xml, text/xml", - html: "text/html", - text: "text/plain", - json: "application/json, text/javascript", - "*": allTypes - }, - - contents: { - xml: /xml/, - html: /html/, - json: /json/ - }, - - responseFields: { - xml: "responseXML", - text: "responseText" - }, - - // List of data converters - // 1) key format is "source_type destination_type" (a single space in-between) - // 2) the catchall symbol "*" can be used for source_type - converters: { - - // Convert anything to text - "* text": window.String, - - // Text to html (true = no transformation) - "text html": true, - - // Evaluate text as a json expression - "text json": jQuery.parseJSON, - - // Parse text as xml - "text xml": jQuery.parseXML - }, - - // For options that shouldn't be deep extended: - // you can add your own custom options here if - // and when you create one that shouldn't be - // deep extended (see ajaxExtend) - flatOptions: { - context: true, - url: true - } - }, - - ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), - ajaxTransport: addToPrefiltersOrTransports( transports ), - - // Main method - ajax: function( url, options ) { - - // If url is an object, simulate pre-1.5 signature - if ( typeof url === "object" ) { - options = url; - url = undefined; - } - - // Force options to be an object - options = options || {}; - - var // ifModified key - ifModifiedKey, - // Response headers - responseHeadersString, - responseHeaders, - // transport - transport, - // timeout handle - timeoutTimer, - // Cross-domain detection vars - parts, - // To know if global events are to be dispatched - fireGlobals, - // Loop variable - i, - // Create the final options object - s = jQuery.ajaxSetup( {}, options ), - // Callbacks context - callbackContext = s.context || s, - // Context for global events - // It's the callbackContext if one was provided in the options - // and if it's a DOM node or a jQuery collection - globalEventContext = callbackContext !== s && - ( callbackContext.nodeType || callbackContext instanceof jQuery ) ? - jQuery( callbackContext ) : jQuery.event, - // Deferreds - deferred = jQuery.Deferred(), - completeDeferred = jQuery.Callbacks( "once memory" ), - // Status-dependent callbacks - statusCode = s.statusCode || {}, - // Headers (they are sent all at once) - requestHeaders = {}, - requestHeadersNames = {}, - // The jqXHR state - state = 0, - // Default abort message - strAbort = "canceled", - // Fake xhr - jqXHR = { - - readyState: 0, - - // Caches the header - setRequestHeader: function( name, value ) { - if ( !state ) { - var lname = name.toLowerCase(); - name = requestHeadersNames[ lname ] = requestHeadersNames[ lname ] || name; - requestHeaders[ name ] = value; - } - return this; - }, - - // Raw string - getAllResponseHeaders: function() { - return state === 2 ? responseHeadersString : null; - }, - - // Builds headers hashtable if needed - getResponseHeader: function( key ) { - var match; - if ( state === 2 ) { - if ( !responseHeaders ) { - responseHeaders = {}; - while( ( match = rheaders.exec( responseHeadersString ) ) ) { - responseHeaders[ match[1].toLowerCase() ] = match[ 2 ]; - } - } - match = responseHeaders[ key.toLowerCase() ]; - } - return match === undefined ? null : match; - }, - - // Overrides response content-type header - overrideMimeType: function( type ) { - if ( !state ) { - s.mimeType = type; - } - return this; - }, - - // Cancel the request - abort: function( statusText ) { - statusText = statusText || strAbort; - if ( transport ) { - transport.abort( statusText ); - } - done( 0, statusText ); - return this; - } - }; - - // Callback for when everything is done - // It is defined here because jslint complains if it is declared - // at the end of the function (which would be more logical and readable) - function done( status, nativeStatusText, responses, headers ) { - var isSuccess, success, error, response, modified, - statusText = nativeStatusText; - - // Called once - if ( state === 2 ) { - return; - } - - // State is "done" now - state = 2; - - // Clear timeout if it exists - if ( timeoutTimer ) { - clearTimeout( timeoutTimer ); - } - - // Dereference transport for early garbage collection - // (no matter how long the jqXHR object will be used) - transport = undefined; - - // Cache response headers - responseHeadersString = headers || ""; - - // Set readyState - jqXHR.readyState = status > 0 ? 4 : 0; - - // Get response data - if ( responses ) { - response = ajaxHandleResponses( s, jqXHR, responses ); - } - - // If successful, handle type chaining - if ( status >= 200 && status < 300 || status === 304 ) { - - // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. - if ( s.ifModified ) { - - modified = jqXHR.getResponseHeader("Last-Modified"); - if ( modified ) { - jQuery.lastModified[ ifModifiedKey ] = modified; - } - modified = jqXHR.getResponseHeader("Etag"); - if ( modified ) { - jQuery.etag[ ifModifiedKey ] = modified; - } - } - - // If not modified - if ( status === 304 ) { - - statusText = "notmodified"; - isSuccess = true; - - // If we have data - } else { - - isSuccess = ajaxConvert( s, response ); - statusText = isSuccess.state; - success = isSuccess.data; - error = isSuccess.error; - isSuccess = !error; - } - } else { - // We extract error from statusText - // then normalize statusText and status for non-aborts - error = statusText; - if ( !statusText || status ) { - statusText = "error"; - if ( status < 0 ) { - status = 0; - } - } - } - - // Set data for the fake xhr object - jqXHR.status = status; - jqXHR.statusText = ( nativeStatusText || statusText ) + ""; - - // Success/Error - if ( isSuccess ) { - deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); - } else { - deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); - } - - // Status-dependent callbacks - jqXHR.statusCode( statusCode ); - statusCode = undefined; - - if ( fireGlobals ) { - globalEventContext.trigger( "ajax" + ( isSuccess ? "Success" : "Error" ), - [ jqXHR, s, isSuccess ? success : error ] ); - } - - // Complete - completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); - - if ( fireGlobals ) { - globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); - // Handle the global AJAX counter - if ( !( --jQuery.active ) ) { - jQuery.event.trigger( "ajaxStop" ); - } - } - } - - // Attach deferreds - deferred.promise( jqXHR ); - jqXHR.success = jqXHR.done; - jqXHR.error = jqXHR.fail; - jqXHR.complete = completeDeferred.add; - - // Status-dependent callbacks - jqXHR.statusCode = function( map ) { - if ( map ) { - var tmp; - if ( state < 2 ) { - for ( tmp in map ) { - statusCode[ tmp ] = [ statusCode[tmp], map[tmp] ]; - } - } else { - tmp = map[ jqXHR.status ]; - jqXHR.always( tmp ); - } - } - return this; - }; - - // Remove hash character (#7531: and string promotion) - // Add protocol if not provided (#5866: IE7 issue with protocol-less urls) - // We also use the url parameter if available - s.url = ( ( url || s.url ) + "" ).replace( rhash, "" ).replace( rprotocol, ajaxLocParts[ 1 ] + "//" ); - - // Extract dataTypes list - s.dataTypes = jQuery.trim( s.dataType || "*" ).toLowerCase().split( core_rspace ); - - // A cross-domain request is in order when we have a protocol:host:port mismatch - if ( s.crossDomain == null ) { - parts = rurl.exec( s.url.toLowerCase() ); - s.crossDomain = !!( parts && - ( parts[ 1 ] !== ajaxLocParts[ 1 ] || parts[ 2 ] !== ajaxLocParts[ 2 ] || - ( parts[ 3 ] || ( parts[ 1 ] === "http:" ? 80 : 443 ) ) != - ( ajaxLocParts[ 3 ] || ( ajaxLocParts[ 1 ] === "http:" ? 80 : 443 ) ) ) - ); - } - - // Convert data if not already a string - if ( s.data && s.processData && typeof s.data !== "string" ) { - s.data = jQuery.param( s.data, s.traditional ); - } - - // Apply prefilters - inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); - - // If request was aborted inside a prefilter, stop there - if ( state === 2 ) { - return jqXHR; - } - - // We can fire global events as of now if asked to - fireGlobals = s.global; - - // Uppercase the type - s.type = s.type.toUpperCase(); - - // Determine if request has content - s.hasContent = !rnoContent.test( s.type ); - - // Watch for a new set of requests - if ( fireGlobals && jQuery.active++ === 0 ) { - jQuery.event.trigger( "ajaxStart" ); - } - - // More options handling for requests with no content - if ( !s.hasContent ) { - - // If data is available, append data to url - if ( s.data ) { - s.url += ( rquery.test( s.url ) ? "&" : "?" ) + s.data; - // #9682: remove data so that it's not used in an eventual retry - delete s.data; - } - - // Get ifModifiedKey before adding the anti-cache parameter - ifModifiedKey = s.url; - - // Add anti-cache in url if needed - if ( s.cache === false ) { - - var ts = jQuery.now(), - // try replacing _= if it is there - ret = s.url.replace( rts, "$1_=" + ts ); - - // if nothing was replaced, add timestamp to the end - s.url = ret + ( ( ret === s.url ) ? ( rquery.test( s.url ) ? "&" : "?" ) + "_=" + ts : "" ); - } - } - - // Set the correct header, if data is being sent - if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { - jqXHR.setRequestHeader( "Content-Type", s.contentType ); - } - - // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. - if ( s.ifModified ) { - ifModifiedKey = ifModifiedKey || s.url; - if ( jQuery.lastModified[ ifModifiedKey ] ) { - jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ ifModifiedKey ] ); - } - if ( jQuery.etag[ ifModifiedKey ] ) { - jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ ifModifiedKey ] ); - } - } - - // Set the Accepts header for the server, depending on the dataType - jqXHR.setRequestHeader( - "Accept", - s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[0] ] ? - s.accepts[ s.dataTypes[0] ] + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : - s.accepts[ "*" ] - ); - - // Check for headers option - for ( i in s.headers ) { - jqXHR.setRequestHeader( i, s.headers[ i ] ); - } - - // Allow custom headers/mimetypes and early abort - if ( s.beforeSend && ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || state === 2 ) ) { - // Abort if not done already and return - return jqXHR.abort(); - - } - - // aborting is no longer a cancellation - strAbort = "abort"; - - // Install callbacks on deferreds - for ( i in { success: 1, error: 1, complete: 1 } ) { - jqXHR[ i ]( s[ i ] ); - } - - // Get transport - transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); - - // If no transport, we auto-abort - if ( !transport ) { - done( -1, "No Transport" ); - } else { - jqXHR.readyState = 1; - // Send global event - if ( fireGlobals ) { - globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); - } - // Timeout - if ( s.async && s.timeout > 0 ) { - timeoutTimer = setTimeout( function(){ - jqXHR.abort( "timeout" ); - }, s.timeout ); - } - - try { - state = 1; - transport.send( requestHeaders, done ); - } catch (e) { - // Propagate exception as error if not done - if ( state < 2 ) { - done( -1, e ); - // Simply rethrow otherwise - } else { - throw e; - } - } - } - - return jqXHR; - }, - - // Counter for holding the number of active queries - active: 0, - - // Last-Modified header cache for next request - lastModified: {}, - etag: {} - -}); - -/* Handles responses to an ajax request: - * - sets all responseXXX fields accordingly - * - finds the right dataType (mediates between content-type and expected dataType) - * - returns the corresponding response - */ -function ajaxHandleResponses( s, jqXHR, responses ) { - - var ct, type, finalDataType, firstDataType, - contents = s.contents, - dataTypes = s.dataTypes, - responseFields = s.responseFields; - - // Fill responseXXX fields - for ( type in responseFields ) { - if ( type in responses ) { - jqXHR[ responseFields[type] ] = responses[ type ]; - } - } - - // Remove auto dataType and get content-type in the process - while( dataTypes[ 0 ] === "*" ) { - dataTypes.shift(); - if ( ct === undefined ) { - ct = s.mimeType || jqXHR.getResponseHeader( "content-type" ); - } - } - - // Check if we're dealing with a known content-type - if ( ct ) { - for ( type in contents ) { - if ( contents[ type ] && contents[ type ].test( ct ) ) { - dataTypes.unshift( type ); - break; - } - } - } - - // Check to see if we have a response for the expected dataType - if ( dataTypes[ 0 ] in responses ) { - finalDataType = dataTypes[ 0 ]; - } else { - // Try convertible dataTypes - for ( type in responses ) { - if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[0] ] ) { - finalDataType = type; - break; - } - if ( !firstDataType ) { - firstDataType = type; - } - } - // Or just use first one - finalDataType = finalDataType || firstDataType; - } - - // If we found a dataType - // We add the dataType to the list if needed - // and return the corresponding response - if ( finalDataType ) { - if ( finalDataType !== dataTypes[ 0 ] ) { - dataTypes.unshift( finalDataType ); - } - return responses[ finalDataType ]; - } -} - -// Chain conversions given the request and the original response -function ajaxConvert( s, response ) { - - var conv, conv2, current, tmp, - // Work with a copy of dataTypes in case we need to modify it for conversion - dataTypes = s.dataTypes.slice(), - prev = dataTypes[ 0 ], - converters = {}, - i = 0; - - // Apply the dataFilter if provided - if ( s.dataFilter ) { - response = s.dataFilter( response, s.dataType ); - } - - // Create converters map with lowercased keys - if ( dataTypes[ 1 ] ) { - for ( conv in s.converters ) { - converters[ conv.toLowerCase() ] = s.converters[ conv ]; - } - } - - // Convert to each sequential dataType, tolerating list modification - for ( ; (current = dataTypes[++i]); ) { - - // There's only work to do if current dataType is non-auto - if ( current !== "*" ) { - - // Convert response if prev dataType is non-auto and differs from current - if ( prev !== "*" && prev !== current ) { - - // Seek a direct converter - conv = converters[ prev + " " + current ] || converters[ "* " + current ]; - - // If none found, seek a pair - if ( !conv ) { - for ( conv2 in converters ) { - - // If conv2 outputs current - tmp = conv2.split(" "); - if ( tmp[ 1 ] === current ) { - - // If prev can be converted to accepted input - conv = converters[ prev + " " + tmp[ 0 ] ] || - converters[ "* " + tmp[ 0 ] ]; - if ( conv ) { - // Condense equivalence converters - if ( conv === true ) { - conv = converters[ conv2 ]; - - // Otherwise, insert the intermediate dataType - } else if ( converters[ conv2 ] !== true ) { - current = tmp[ 0 ]; - dataTypes.splice( i--, 0, current ); - } - - break; - } - } - } - } - - // Apply converter (if not an equivalence) - if ( conv !== true ) { - - // Unless errors are allowed to bubble, catch and return them - if ( conv && s["throws"] ) { - response = conv( response ); - } else { - try { - response = conv( response ); - } catch ( e ) { - return { state: "parsererror", error: conv ? e : "No conversion from " + prev + " to " + current }; - } - } - } - } - - // Update prev for next iteration - prev = current; - } - } - - return { state: "success", data: response }; -} -var oldCallbacks = [], - rquestion = /\?/, - rjsonp = /(=)\?(?=&|$)|\?\?/, - nonce = jQuery.now(); - -// Default jsonp settings -jQuery.ajaxSetup({ - jsonp: "callback", - jsonpCallback: function() { - var callback = oldCallbacks.pop() || ( jQuery.expando + "_" + ( nonce++ ) ); - this[ callback ] = true; - return callback; - } -}); - -// Detect, normalize options and install callbacks for jsonp requests -jQuery.ajaxPrefilter( "json jsonp", function( s, originalSettings, jqXHR ) { - - var callbackName, overwritten, responseContainer, - data = s.data, - url = s.url, - hasCallback = s.jsonp !== false, - replaceInUrl = hasCallback && rjsonp.test( url ), - replaceInData = hasCallback && !replaceInUrl && typeof data === "string" && - !( s.contentType || "" ).indexOf("application/x-www-form-urlencoded") && - rjsonp.test( data ); - - // Handle iff the expected data type is "jsonp" or we have a parameter to set - if ( s.dataTypes[ 0 ] === "jsonp" || replaceInUrl || replaceInData ) { - - // Get callback name, remembering preexisting value associated with it - callbackName = s.jsonpCallback = jQuery.isFunction( s.jsonpCallback ) ? - s.jsonpCallback() : - s.jsonpCallback; - overwritten = window[ callbackName ]; - - // Insert callback into url or form data - if ( replaceInUrl ) { - s.url = url.replace( rjsonp, "$1" + callbackName ); - } else if ( replaceInData ) { - s.data = data.replace( rjsonp, "$1" + callbackName ); - } else if ( hasCallback ) { - s.url += ( rquestion.test( url ) ? "&" : "?" ) + s.jsonp + "=" + callbackName; - } - - // Use data converter to retrieve json after script execution - s.converters["script json"] = function() { - if ( !responseContainer ) { - jQuery.error( callbackName + " was not called" ); - } - return responseContainer[ 0 ]; - }; - - // force json dataType - s.dataTypes[ 0 ] = "json"; - - // Install callback - window[ callbackName ] = function() { - responseContainer = arguments; - }; - - // Clean-up function (fires after converters) - jqXHR.always(function() { - // Restore preexisting value - window[ callbackName ] = overwritten; - - // Save back as free - if ( s[ callbackName ] ) { - // make sure that re-using the options doesn't screw things around - s.jsonpCallback = originalSettings.jsonpCallback; - - // save the callback name for future use - oldCallbacks.push( callbackName ); - } - - // Call if it was a function and we have a response - if ( responseContainer && jQuery.isFunction( overwritten ) ) { - overwritten( responseContainer[ 0 ] ); - } - - responseContainer = overwritten = undefined; - }); - - // Delegate to script - return "script"; - } -}); -// Install script dataType -jQuery.ajaxSetup({ - accepts: { - script: "text/javascript, application/javascript, application/ecmascript, application/x-ecmascript" - }, - contents: { - script: /javascript|ecmascript/ - }, - converters: { - "text script": function( text ) { - jQuery.globalEval( text ); - return text; - } - } -}); - -// Handle cache's special case and global -jQuery.ajaxPrefilter( "script", function( s ) { - if ( s.cache === undefined ) { - s.cache = false; - } - if ( s.crossDomain ) { - s.type = "GET"; - s.global = false; - } -}); - -// Bind script tag hack transport -jQuery.ajaxTransport( "script", function(s) { - - // This transport only deals with cross domain requests - if ( s.crossDomain ) { - - var script, - head = document.head || document.getElementsByTagName( "head" )[0] || document.documentElement; - - return { - - send: function( _, callback ) { - - script = document.createElement( "script" ); - - script.async = "async"; - - if ( s.scriptCharset ) { - script.charset = s.scriptCharset; - } - - script.src = s.url; - - // Attach handlers for all browsers - script.onload = script.onreadystatechange = function( _, isAbort ) { - - if ( isAbort || !script.readyState || /loaded|complete/.test( script.readyState ) ) { - - // Handle memory leak in IE - script.onload = script.onreadystatechange = null; - - // Remove the script - if ( head && script.parentNode ) { - head.removeChild( script ); - } - - // Dereference the script - script = undefined; - - // Callback if not abort - if ( !isAbort ) { - callback( 200, "success" ); - } - } - }; - // Use insertBefore instead of appendChild to circumvent an IE6 bug. - // This arises when a base node is used (#2709 and #4378). - head.insertBefore( script, head.firstChild ); - }, - - abort: function() { - if ( script ) { - script.onload( 0, 1 ); - } - } - }; - } -}); -var xhrCallbacks, - // #5280: Internet Explorer will keep connections alive if we don't abort on unload - xhrOnUnloadAbort = window.ActiveXObject ? function() { - // Abort all pending requests - for ( var key in xhrCallbacks ) { - xhrCallbacks[ key ]( 0, 1 ); - } - } : false, - xhrId = 0; - -// Functions to create xhrs -function createStandardXHR() { - try { - return new window.XMLHttpRequest(); - } catch( e ) {} -} - -function createActiveXHR() { - try { - return new window.ActiveXObject( "Microsoft.XMLHTTP" ); - } catch( e ) {} -} - -// Create the request object -// (This is still attached to ajaxSettings for backward compatibility) -jQuery.ajaxSettings.xhr = window.ActiveXObject ? - /* Microsoft failed to properly - * implement the XMLHttpRequest in IE7 (can't request local files), - * so we use the ActiveXObject when it is available - * Additionally XMLHttpRequest can be disabled in IE7/IE8 so - * we need a fallback. - */ - function() { - return !this.isLocal && createStandardXHR() || createActiveXHR(); - } : - // For all other browsers, use the standard XMLHttpRequest object - createStandardXHR; - -// Determine support properties -(function( xhr ) { - jQuery.extend( jQuery.support, { - ajax: !!xhr, - cors: !!xhr && ( "withCredentials" in xhr ) - }); -})( jQuery.ajaxSettings.xhr() ); - -// Create transport if the browser can provide an xhr -if ( jQuery.support.ajax ) { - - jQuery.ajaxTransport(function( s ) { - // Cross domain only allowed if supported through XMLHttpRequest - if ( !s.crossDomain || jQuery.support.cors ) { - - var callback; - - return { - send: function( headers, complete ) { - - // Get a new xhr - var handle, i, - xhr = s.xhr(); - - // Open the socket - // Passing null username, generates a login popup on Opera (#2865) - if ( s.username ) { - xhr.open( s.type, s.url, s.async, s.username, s.password ); - } else { - xhr.open( s.type, s.url, s.async ); - } - - // Apply custom fields if provided - if ( s.xhrFields ) { - for ( i in s.xhrFields ) { - xhr[ i ] = s.xhrFields[ i ]; - } - } - - // Override mime type if needed - if ( s.mimeType && xhr.overrideMimeType ) { - xhr.overrideMimeType( s.mimeType ); - } - - // X-Requested-With header - // For cross-domain requests, seeing as conditions for a preflight are - // akin to a jigsaw puzzle, we simply never set it to be sure. - // (it can always be set on a per-request basis or even using ajaxSetup) - // For same-domain requests, won't change header if already provided. - if ( !s.crossDomain && !headers["X-Requested-With"] ) { - headers[ "X-Requested-With" ] = "XMLHttpRequest"; - } - - // Need an extra try/catch for cross domain requests in Firefox 3 - try { - for ( i in headers ) { - xhr.setRequestHeader( i, headers[ i ] ); - } - } catch( _ ) {} - - // Do send the request - // This may raise an exception which is actually - // handled in jQuery.ajax (so no try/catch here) - xhr.send( ( s.hasContent && s.data ) || null ); - - // Listener - callback = function( _, isAbort ) { - - var status, - statusText, - responseHeaders, - responses, - xml; - - // Firefox throws exceptions when accessing properties - // of an xhr when a network error occurred - // http://helpful.knobs-dials.com/index.php/Component_returned_failure_code:_0x80040111_(NS_ERROR_NOT_AVAILABLE) - try { - - // Was never called and is aborted or complete - if ( callback && ( isAbort || xhr.readyState === 4 ) ) { - - // Only called once - callback = undefined; - - // Do not keep as active anymore - if ( handle ) { - xhr.onreadystatechange = jQuery.noop; - if ( xhrOnUnloadAbort ) { - delete xhrCallbacks[ handle ]; - } - } - - // If it's an abort - if ( isAbort ) { - // Abort it manually if needed - if ( xhr.readyState !== 4 ) { - xhr.abort(); - } - } else { - status = xhr.status; - responseHeaders = xhr.getAllResponseHeaders(); - responses = {}; - xml = xhr.responseXML; - - // Construct response list - if ( xml && xml.documentElement /* #4958 */ ) { - responses.xml = xml; - } - - // When requesting binary data, IE6-9 will throw an exception - // on any attempt to access responseText (#11426) - try { - responses.text = xhr.responseText; - } catch( e ) { - } - - // Firefox throws an exception when accessing - // statusText for faulty cross-domain requests - try { - statusText = xhr.statusText; - } catch( e ) { - // We normalize with Webkit giving an empty statusText - statusText = ""; - } - - // Filter status for non standard behaviors - - // If the request is local and we have data: assume a success - // (success with no data won't get notified, that's the best we - // can do given current implementations) - if ( !status && s.isLocal && !s.crossDomain ) { - status = responses.text ? 200 : 404; - // IE - #1450: sometimes returns 1223 when it should be 204 - } else if ( status === 1223 ) { - status = 204; - } - } - } - } catch( firefoxAccessException ) { - if ( !isAbort ) { - complete( -1, firefoxAccessException ); - } - } - - // Call complete if needed - if ( responses ) { - complete( status, statusText, responses, responseHeaders ); - } - }; - - if ( !s.async ) { - // if we're in sync mode we fire the callback - callback(); - } else if ( xhr.readyState === 4 ) { - // (IE6 & IE7) if it's in cache and has been - // retrieved directly we need to fire the callback - setTimeout( callback, 0 ); - } else { - handle = ++xhrId; - if ( xhrOnUnloadAbort ) { - // Create the active xhrs callbacks list if needed - // and attach the unload handler - if ( !xhrCallbacks ) { - xhrCallbacks = {}; - jQuery( window ).unload( xhrOnUnloadAbort ); - } - // Add to list of active xhrs callbacks - xhrCallbacks[ handle ] = callback; - } - xhr.onreadystatechange = callback; - } - }, - - abort: function() { - if ( callback ) { - callback(0,1); - } - } - }; - } - }); -} -var fxNow, timerId, - rfxtypes = /^(?:toggle|show|hide)$/, - rfxnum = new RegExp( "^(?:([-+])=|)(" + core_pnum + ")([a-z%]*)$", "i" ), - rrun = /queueHooks$/, - animationPrefilters = [ defaultPrefilter ], - tweeners = { - "*": [function( prop, value ) { - var end, unit, - tween = this.createTween( prop, value ), - parts = rfxnum.exec( value ), - target = tween.cur(), - start = +target || 0, - scale = 1, - maxIterations = 20; - - if ( parts ) { - end = +parts[2]; - unit = parts[3] || ( jQuery.cssNumber[ prop ] ? "" : "px" ); - - // We need to compute starting value - if ( unit !== "px" && start ) { - // Iteratively approximate from a nonzero starting point - // Prefer the current property, because this process will be trivial if it uses the same units - // Fallback to end or a simple constant - start = jQuery.css( tween.elem, prop, true ) || end || 1; - - do { - // If previous iteration zeroed out, double until we get *something* - // Use a string for doubling factor so we don't accidentally see scale as unchanged below - scale = scale || ".5"; - - // Adjust and apply - start = start / scale; - jQuery.style( tween.elem, prop, start + unit ); - - // Update scale, tolerating zero or NaN from tween.cur() - // And breaking the loop if scale is unchanged or perfect, or if we've just had enough - } while ( scale !== (scale = tween.cur() / target) && scale !== 1 && --maxIterations ); - } - - tween.unit = unit; - tween.start = start; - // If a +=/-= token was provided, we're doing a relative animation - tween.end = parts[1] ? start + ( parts[1] + 1 ) * end : end; - } - return tween; - }] - }; - -// Animations created synchronously will run synchronously -function createFxNow() { - setTimeout(function() { - fxNow = undefined; - }, 0 ); - return ( fxNow = jQuery.now() ); -} - -function createTweens( animation, props ) { - jQuery.each( props, function( prop, value ) { - var collection = ( tweeners[ prop ] || [] ).concat( tweeners[ "*" ] ), - index = 0, - length = collection.length; - for ( ; index < length; index++ ) { - if ( collection[ index ].call( animation, prop, value ) ) { - - // we're done with this property - return; - } - } - }); -} - -function Animation( elem, properties, options ) { - var result, - index = 0, - tweenerIndex = 0, - length = animationPrefilters.length, - deferred = jQuery.Deferred().always( function() { - // don't match elem in the :animated selector - delete tick.elem; - }), - tick = function() { - var currentTime = fxNow || createFxNow(), - remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), - // archaic crash bug won't allow us to use 1 - ( 0.5 || 0 ) (#12497) - temp = remaining / animation.duration || 0, - percent = 1 - temp, - index = 0, - length = animation.tweens.length; - - for ( ; index < length ; index++ ) { - animation.tweens[ index ].run( percent ); - } - - deferred.notifyWith( elem, [ animation, percent, remaining ]); - - if ( percent < 1 && length ) { - return remaining; - } else { - deferred.resolveWith( elem, [ animation ] ); - return false; - } - }, - animation = deferred.promise({ - elem: elem, - props: jQuery.extend( {}, properties ), - opts: jQuery.extend( true, { specialEasing: {} }, options ), - originalProperties: properties, - originalOptions: options, - startTime: fxNow || createFxNow(), - duration: options.duration, - tweens: [], - createTween: function( prop, end, easing ) { - var tween = jQuery.Tween( elem, animation.opts, prop, end, - animation.opts.specialEasing[ prop ] || animation.opts.easing ); - animation.tweens.push( tween ); - return tween; - }, - stop: function( gotoEnd ) { - var index = 0, - // if we are going to the end, we want to run all the tweens - // otherwise we skip this part - length = gotoEnd ? animation.tweens.length : 0; - - for ( ; index < length ; index++ ) { - animation.tweens[ index ].run( 1 ); - } - - // resolve when we played the last frame - // otherwise, reject - if ( gotoEnd ) { - deferred.resolveWith( elem, [ animation, gotoEnd ] ); - } else { - deferred.rejectWith( elem, [ animation, gotoEnd ] ); - } - return this; - } - }), - props = animation.props; - - propFilter( props, animation.opts.specialEasing ); - - for ( ; index < length ; index++ ) { - result = animationPrefilters[ index ].call( animation, elem, props, animation.opts ); - if ( result ) { - return result; - } - } - - createTweens( animation, props ); - - if ( jQuery.isFunction( animation.opts.start ) ) { - animation.opts.start.call( elem, animation ); - } - - jQuery.fx.timer( - jQuery.extend( tick, { - anim: animation, - queue: animation.opts.queue, - elem: elem - }) - ); - - // attach callbacks from options - return animation.progress( animation.opts.progress ) - .done( animation.opts.done, animation.opts.complete ) - .fail( animation.opts.fail ) - .always( animation.opts.always ); -} - -function propFilter( props, specialEasing ) { - var index, name, easing, value, hooks; - - // camelCase, specialEasing and expand cssHook pass - for ( index in props ) { - name = jQuery.camelCase( index ); - easing = specialEasing[ name ]; - value = props[ index ]; - if ( jQuery.isArray( value ) ) { - easing = value[ 1 ]; - value = props[ index ] = value[ 0 ]; - } - - if ( index !== name ) { - props[ name ] = value; - delete props[ index ]; - } - - hooks = jQuery.cssHooks[ name ]; - if ( hooks && "expand" in hooks ) { - value = hooks.expand( value ); - delete props[ name ]; - - // not quite $.extend, this wont overwrite keys already present. - // also - reusing 'index' from above because we have the correct "name" - for ( index in value ) { - if ( !( index in props ) ) { - props[ index ] = value[ index ]; - specialEasing[ index ] = easing; - } - } - } else { - specialEasing[ name ] = easing; - } - } -} - -jQuery.Animation = jQuery.extend( Animation, { - - tweener: function( props, callback ) { - if ( jQuery.isFunction( props ) ) { - callback = props; - props = [ "*" ]; - } else { - props = props.split(" "); - } - - var prop, - index = 0, - length = props.length; - - for ( ; index < length ; index++ ) { - prop = props[ index ]; - tweeners[ prop ] = tweeners[ prop ] || []; - tweeners[ prop ].unshift( callback ); - } - }, - - prefilter: function( callback, prepend ) { - if ( prepend ) { - animationPrefilters.unshift( callback ); - } else { - animationPrefilters.push( callback ); - } - } -}); - -function defaultPrefilter( elem, props, opts ) { - var index, prop, value, length, dataShow, toggle, tween, hooks, oldfire, - anim = this, - style = elem.style, - orig = {}, - handled = [], - hidden = elem.nodeType && isHidden( elem ); - - // handle queue: false promises - if ( !opts.queue ) { - hooks = jQuery._queueHooks( elem, "fx" ); - if ( hooks.unqueued == null ) { - hooks.unqueued = 0; - oldfire = hooks.empty.fire; - hooks.empty.fire = function() { - if ( !hooks.unqueued ) { - oldfire(); - } - }; - } - hooks.unqueued++; - - anim.always(function() { - // doing this makes sure that the complete handler will be called - // before this completes - anim.always(function() { - hooks.unqueued--; - if ( !jQuery.queue( elem, "fx" ).length ) { - hooks.empty.fire(); - } - }); - }); - } - - // height/width overflow pass - if ( elem.nodeType === 1 && ( "height" in props || "width" in props ) ) { - // Make sure that nothing sneaks out - // Record all 3 overflow attributes because IE does not - // change the overflow attribute when overflowX and - // overflowY are set to the same value - opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; - - // Set display property to inline-block for height/width - // animations on inline elements that are having width/height animated - if ( jQuery.css( elem, "display" ) === "inline" && - jQuery.css( elem, "float" ) === "none" ) { - - // inline-level elements accept inline-block; - // block-level elements need to be inline with layout - if ( !jQuery.support.inlineBlockNeedsLayout || css_defaultDisplay( elem.nodeName ) === "inline" ) { - style.display = "inline-block"; - - } else { - style.zoom = 1; - } - } - } - - if ( opts.overflow ) { - style.overflow = "hidden"; - if ( !jQuery.support.shrinkWrapBlocks ) { - anim.done(function() { - style.overflow = opts.overflow[ 0 ]; - style.overflowX = opts.overflow[ 1 ]; - style.overflowY = opts.overflow[ 2 ]; - }); - } - } - - - // show/hide pass - for ( index in props ) { - value = props[ index ]; - if ( rfxtypes.exec( value ) ) { - delete props[ index ]; - toggle = toggle || value === "toggle"; - if ( value === ( hidden ? "hide" : "show" ) ) { - continue; - } - handled.push( index ); - } - } - - length = handled.length; - if ( length ) { - dataShow = jQuery._data( elem, "fxshow" ) || jQuery._data( elem, "fxshow", {} ); - if ( "hidden" in dataShow ) { - hidden = dataShow.hidden; - } - - // store state if its toggle - enables .stop().toggle() to "reverse" - if ( toggle ) { - dataShow.hidden = !hidden; - } - if ( hidden ) { - jQuery( elem ).show(); - } else { - anim.done(function() { - jQuery( elem ).hide(); - }); - } - anim.done(function() { - var prop; - jQuery.removeData( elem, "fxshow", true ); - for ( prop in orig ) { - jQuery.style( elem, prop, orig[ prop ] ); - } - }); - for ( index = 0 ; index < length ; index++ ) { - prop = handled[ index ]; - tween = anim.createTween( prop, hidden ? dataShow[ prop ] : 0 ); - orig[ prop ] = dataShow[ prop ] || jQuery.style( elem, prop ); - - if ( !( prop in dataShow ) ) { - dataShow[ prop ] = tween.start; - if ( hidden ) { - tween.end = tween.start; - tween.start = prop === "width" || prop === "height" ? 1 : 0; - } - } - } - } -} - -function Tween( elem, options, prop, end, easing ) { - return new Tween.prototype.init( elem, options, prop, end, easing ); -} -jQuery.Tween = Tween; - -Tween.prototype = { - constructor: Tween, - init: function( elem, options, prop, end, easing, unit ) { - this.elem = elem; - this.prop = prop; - this.easing = easing || "swing"; - this.options = options; - this.start = this.now = this.cur(); - this.end = end; - this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); - }, - cur: function() { - var hooks = Tween.propHooks[ this.prop ]; - - return hooks && hooks.get ? - hooks.get( this ) : - Tween.propHooks._default.get( this ); - }, - run: function( percent ) { - var eased, - hooks = Tween.propHooks[ this.prop ]; - - if ( this.options.duration ) { - this.pos = eased = jQuery.easing[ this.easing ]( - percent, this.options.duration * percent, 0, 1, this.options.duration - ); - } else { - this.pos = eased = percent; - } - this.now = ( this.end - this.start ) * eased + this.start; - - if ( this.options.step ) { - this.options.step.call( this.elem, this.now, this ); - } - - if ( hooks && hooks.set ) { - hooks.set( this ); - } else { - Tween.propHooks._default.set( this ); - } - return this; - } -}; - -Tween.prototype.init.prototype = Tween.prototype; - -Tween.propHooks = { - _default: { - get: function( tween ) { - var result; - - if ( tween.elem[ tween.prop ] != null && - (!tween.elem.style || tween.elem.style[ tween.prop ] == null) ) { - return tween.elem[ tween.prop ]; - } - - // passing any value as a 4th parameter to .css will automatically - // attempt a parseFloat and fallback to a string if the parse fails - // so, simple values such as "10px" are parsed to Float. - // complex values such as "rotate(1rad)" are returned as is. - result = jQuery.css( tween.elem, tween.prop, false, "" ); - // Empty strings, null, undefined and "auto" are converted to 0. - return !result || result === "auto" ? 0 : result; - }, - set: function( tween ) { - // use step hook for back compat - use cssHook if its there - use .style if its - // available and use plain properties where available - if ( jQuery.fx.step[ tween.prop ] ) { - jQuery.fx.step[ tween.prop ]( tween ); - } else if ( tween.elem.style && ( tween.elem.style[ jQuery.cssProps[ tween.prop ] ] != null || jQuery.cssHooks[ tween.prop ] ) ) { - jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); - } else { - tween.elem[ tween.prop ] = tween.now; - } - } - } -}; - -// Remove in 2.0 - this supports IE8's panic based approach -// to setting things on disconnected nodes - -Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { - set: function( tween ) { - if ( tween.elem.nodeType && tween.elem.parentNode ) { - tween.elem[ tween.prop ] = tween.now; - } - } -}; - -jQuery.each([ "toggle", "show", "hide" ], function( i, name ) { - var cssFn = jQuery.fn[ name ]; - jQuery.fn[ name ] = function( speed, easing, callback ) { - return speed == null || typeof speed === "boolean" || - // special check for .toggle( handler, handler, ... ) - ( !i && jQuery.isFunction( speed ) && jQuery.isFunction( easing ) ) ? - cssFn.apply( this, arguments ) : - this.animate( genFx( name, true ), speed, easing, callback ); - }; -}); - -jQuery.fn.extend({ - fadeTo: function( speed, to, easing, callback ) { - - // show any hidden elements after setting opacity to 0 - return this.filter( isHidden ).css( "opacity", 0 ).show() - - // animate to the value specified - .end().animate({ opacity: to }, speed, easing, callback ); - }, - animate: function( prop, speed, easing, callback ) { - var empty = jQuery.isEmptyObject( prop ), - optall = jQuery.speed( speed, easing, callback ), - doAnimation = function() { - // Operate on a copy of prop so per-property easing won't be lost - var anim = Animation( this, jQuery.extend( {}, prop ), optall ); - - // Empty animations resolve immediately - if ( empty ) { - anim.stop( true ); - } - }; - - return empty || optall.queue === false ? - this.each( doAnimation ) : - this.queue( optall.queue, doAnimation ); - }, - stop: function( type, clearQueue, gotoEnd ) { - var stopQueue = function( hooks ) { - var stop = hooks.stop; - delete hooks.stop; - stop( gotoEnd ); - }; - - if ( typeof type !== "string" ) { - gotoEnd = clearQueue; - clearQueue = type; - type = undefined; - } - if ( clearQueue && type !== false ) { - this.queue( type || "fx", [] ); - } - - return this.each(function() { - var dequeue = true, - index = type != null && type + "queueHooks", - timers = jQuery.timers, - data = jQuery._data( this ); - - if ( index ) { - if ( data[ index ] && data[ index ].stop ) { - stopQueue( data[ index ] ); - } - } else { - for ( index in data ) { - if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { - stopQueue( data[ index ] ); - } - } - } - - for ( index = timers.length; index--; ) { - if ( timers[ index ].elem === this && (type == null || timers[ index ].queue === type) ) { - timers[ index ].anim.stop( gotoEnd ); - dequeue = false; - timers.splice( index, 1 ); - } - } - - // start the next in the queue if the last step wasn't forced - // timers currently will call their complete callbacks, which will dequeue - // but only if they were gotoEnd - if ( dequeue || !gotoEnd ) { - jQuery.dequeue( this, type ); - } - }); - } -}); - -// Generate parameters to create a standard animation -function genFx( type, includeWidth ) { - var which, - attrs = { height: type }, - i = 0; - - // if we include width, step value is 1 to do all cssExpand values, - // if we don't include width, step value is 2 to skip over Left and Right - includeWidth = includeWidth? 1 : 0; - for( ; i < 4 ; i += 2 - includeWidth ) { - which = cssExpand[ i ]; - attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; - } - - if ( includeWidth ) { - attrs.opacity = attrs.width = type; - } - - return attrs; -} - -// Generate shortcuts for custom animations -jQuery.each({ - slideDown: genFx("show"), - slideUp: genFx("hide"), - slideToggle: genFx("toggle"), - fadeIn: { opacity: "show" }, - fadeOut: { opacity: "hide" }, - fadeToggle: { opacity: "toggle" } -}, function( name, props ) { - jQuery.fn[ name ] = function( speed, easing, callback ) { - return this.animate( props, speed, easing, callback ); - }; -}); - -jQuery.speed = function( speed, easing, fn ) { - var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { - complete: fn || !fn && easing || - jQuery.isFunction( speed ) && speed, - duration: speed, - easing: fn && easing || easing && !jQuery.isFunction( easing ) && easing - }; - - opt.duration = jQuery.fx.off ? 0 : typeof opt.duration === "number" ? 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- this : - this.each(function( i ) { - jQuery.offset.setOffset( this, options, i ); - }); - } - - var docElem, body, win, clientTop, clientLeft, scrollTop, scrollLeft, - box = { top: 0, left: 0 }, - elem = this[ 0 ], - doc = elem && elem.ownerDocument; - - if ( !doc ) { - return; - } - - if ( (body = doc.body) === elem ) { - return jQuery.offset.bodyOffset( elem ); - } - - docElem = doc.documentElement; - - // Make sure it's not a disconnected DOM node - if ( !jQuery.contains( docElem, elem ) ) { - return box; - } - - // If we don't have gBCR, just use 0,0 rather than error - // BlackBerry 5, iOS 3 (original iPhone) - if ( typeof elem.getBoundingClientRect !== "undefined" ) { - box = elem.getBoundingClientRect(); - } - win = getWindow( doc ); - clientTop = docElem.clientTop || body.clientTop || 0; - clientLeft = docElem.clientLeft || body.clientLeft || 0; - scrollTop = win.pageYOffset || docElem.scrollTop; - scrollLeft = win.pageXOffset || docElem.scrollLeft; - return { - top: box.top + scrollTop - clientTop, - left: box.left + scrollLeft - clientLeft - }; -}; - -jQuery.offset = { - - bodyOffset: function( body ) { - var top = body.offsetTop, - left = body.offsetLeft; - - if ( jQuery.support.doesNotIncludeMarginInBodyOffset ) { - top += parseFloat( jQuery.css(body, "marginTop") ) || 0; - left += parseFloat( jQuery.css(body, "marginLeft") ) || 0; - } - - return { top: top, left: left }; - }, - - setOffset: function( elem, options, i ) { - var position = jQuery.css( elem, "position" ); - - // set position first, in-case top/left are set even on static elem - if ( position === "static" ) { - elem.style.position = "relative"; - } - - var curElem = jQuery( elem ), - curOffset = curElem.offset(), - curCSSTop = jQuery.css( elem, "top" ), - curCSSLeft = jQuery.css( elem, "left" ), - calculatePosition = ( position === "absolute" || position === "fixed" ) && jQuery.inArray("auto", [curCSSTop, curCSSLeft]) > -1, - props = {}, curPosition = {}, curTop, curLeft; - - // need to be able to calculate position if either top or left is auto and position is either absolute or fixed - if ( calculatePosition ) { - curPosition = curElem.position(); - curTop = curPosition.top; - curLeft = curPosition.left; - } else { - curTop = parseFloat( curCSSTop ) || 0; - curLeft = parseFloat( curCSSLeft ) || 0; - } - - if ( jQuery.isFunction( options ) ) { - options = options.call( elem, i, curOffset ); - } - - if ( options.top != null ) { - props.top = ( options.top - curOffset.top ) + curTop; - } - if ( options.left != null ) { - props.left = ( options.left - curOffset.left ) + curLeft; - } - - if ( "using" in options ) { - options.using.call( elem, props ); - } else { - curElem.css( props ); - } - } -}; - - -jQuery.fn.extend({ - - position: function() { - if ( !this[0] ) { - return; - } - - var elem = this[0], - - // Get *real* offsetParent - offsetParent = this.offsetParent(), - - // Get correct offsets - offset = this.offset(), - parentOffset = rroot.test(offsetParent[0].nodeName) ? { top: 0, left: 0 } : offsetParent.offset(); - - // Subtract element margins - // note: when an element has margin: auto the offsetLeft and marginLeft - // are the same in Safari causing offset.left to incorrectly be 0 - offset.top -= parseFloat( jQuery.css(elem, "marginTop") ) || 0; - offset.left -= parseFloat( jQuery.css(elem, "marginLeft") ) || 0; - - // Add offsetParent borders - parentOffset.top += parseFloat( jQuery.css(offsetParent[0], "borderTopWidth") ) || 0; - parentOffset.left += parseFloat( jQuery.css(offsetParent[0], "borderLeftWidth") ) || 0; - - // Subtract the two offsets - return { - top: offset.top - parentOffset.top, - left: offset.left - parentOffset.left - }; - }, - - offsetParent: function() { - return this.map(function() { - var offsetParent = this.offsetParent || document.body; - while ( offsetParent && (!rroot.test(offsetParent.nodeName) && jQuery.css(offsetParent, "position") === "static") ) { - offsetParent = offsetParent.offsetParent; - } - return offsetParent || document.body; - }); - } -}); - - -// Create scrollLeft and scrollTop methods -jQuery.each( {scrollLeft: "pageXOffset", scrollTop: "pageYOffset"}, function( method, prop ) { - var top = /Y/.test( prop ); - - jQuery.fn[ method ] = function( val ) { - return jQuery.access( this, function( elem, method, val ) { - var win = getWindow( elem ); - - if ( val === undefined ) { - return win ? (prop in win) ? win[ prop ] : - win.document.documentElement[ method ] : - elem[ method ]; - } - - if ( win ) { - win.scrollTo( - !top ? val : jQuery( win ).scrollLeft(), - top ? val : jQuery( win ).scrollTop() - ); - - } else { - elem[ method ] = val; - } - }, method, val, arguments.length, null ); - }; -}); - -function getWindow( elem ) { - return jQuery.isWindow( elem ) ? - elem : - elem.nodeType === 9 ? - elem.defaultView || elem.parentWindow : - false; -} -// Create innerHeight, innerWidth, height, width, outerHeight and outerWidth methods -jQuery.each( { Height: "height", Width: "width" }, function( name, type ) { - jQuery.each( { padding: "inner" + name, content: type, "": "outer" + name }, function( defaultExtra, funcName ) { - // margin is only for outerHeight, outerWidth - jQuery.fn[ funcName ] = function( margin, value ) { - var chainable = arguments.length && ( defaultExtra || typeof margin !== "boolean" ), - extra = defaultExtra || ( margin === true || value === true ? "margin" : "border" ); - - return jQuery.access( this, function( elem, type, value ) { - var doc; - - if ( jQuery.isWindow( elem ) ) { - // As of 5/8/2012 this will yield incorrect results for Mobile Safari, but there - // isn't a whole lot we can do. See pull request at this URL for discussion: - // https://github.com/jquery/jquery/pull/764 - return elem.document.documentElement[ "client" + name ]; - } - - // Get document width or height - if ( elem.nodeType === 9 ) { - doc = elem.documentElement; - - // Either scroll[Width/Height] or offset[Width/Height] or client[Width/Height], whichever is greatest - // unfortunately, this causes bug #3838 in IE6/8 only, but there is currently no good, small way to fix it. - return Math.max( - elem.body[ "scroll" + name ], doc[ "scroll" + name ], - elem.body[ "offset" + name ], doc[ "offset" + name ], - doc[ "client" + name ] - ); - } - - return value === undefined ? - // Get width or height on the element, requesting but not forcing parseFloat - jQuery.css( elem, type, value, extra ) : - - // Set width or height on the element - jQuery.style( elem, type, value, extra ); - }, type, chainable ? margin : undefined, chainable, null ); - }; - }); -}); -// Expose jQuery to the global object -window.jQuery = window.$ = jQuery; - -// Expose jQuery as an AMD module, but only for AMD loaders that -// understand the issues with loading multiple versions of jQuery -// in a page that all might call define(). The loader will indicate -// they have special allowances for multiple jQuery versions by -// specifying define.amd.jQuery = true. Register as a named module, -// since jQuery can be concatenated with other files that may use define, -// but not use a proper concatenation script that understands anonymous -// AMD modules. A named AMD is safest and most robust way to register. -// Lowercase jquery is used because AMD module names are derived from -// file names, and jQuery is normally delivered in a lowercase file name. -// Do this after creating the global so that if an AMD module wants to call -// noConflict to hide this version of jQuery, it will work. -if ( typeof define === "function" && define.amd && define.amd.jQuery ) { - define( "jquery", [], function () { return jQuery; } ); -} - -})( window ); diff --git a/arduino/Betas/RGB_V2/main/main/i2c.ino b/arduino/Betas/RGB_V2/main/main/i2c.ino deleted file mode 100644 index dacc412..0000000 --- a/arduino/Betas/RGB_V2/main/main/i2c.ino +++ /dev/null @@ -1,63 +0,0 @@ -/* 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 -} diff --git a/arduino/Betas/RGB_V2/main/main/main.ino b/arduino/Betas/RGB_V2/main/main/main.ino deleted file mode 100644 index 823e7ec..0000000 --- a/arduino/Betas/RGB_V2/main/main/main.ino +++ /dev/null @@ -1,1321 +0,0 @@ -/** - 自平衡莱洛三角形 RGB版 HW:Ver 2.0 FW:Ver 1.2.1 - 立创EDA https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy - RGB版本程序 https://gitee.com/muyan3000/RGBFOC 基于45°(https://gitee.com/coll45/foc/)程序修改 - 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 - V1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 - V2电机是2715 -*/ -#include -#include "Command.h" -#include -#include //引用以使用异步UDP -#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter -#include "EEPROM.h" - -#include -#include -#include -#include -#include "SPIFFS.h" -#include -#define timezone 8 - -#include -#define DATA_PIN 16 //RGB pin -#define LED_TYPE WS2812B -#define COLOR_ORDER GRB -#define NUM_LEDS 21 //LED数量 -int rgb_brightness = 25; //初始化亮度 -CRGB leds[NUM_LEDS]; - -unsigned long TenthSecondsSinceStart = 0; -void TenthSecondsSinceStartTask(); -void OnTenthSecond(); -void OnSecond(); -void StartWebServer(); - -#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 = 68000; //68K -const double R2_VOLTAGE = 10000; //10K -const double min_voltage = 9.5; //电池检测最低电压 -double bat_voltage; - -const int threshold_top = 20; //触摸顶部阈值 -const int threshold_bottom = 1; //触摸底部阈值，越接近数值越小 -const int threshold_count = 4; //触摸计数器有效值，通常会有意外的自动触发 - -int touchread[4] = {100, 100, 100, 100}; //初始化触摸读取值为100，无触摸 -int touchDetected[4] = {}; //通过touchdetected持续计数判断是否按键，防止无触碰触发 - -bool touch_touched[4] = {}; //单击判断 -int touch_touched_times[4] = {}; //单击次数，单击切换模式，双击 -int touch_touching_time[4] = {}; //持续触摸秒数，用于判断长按事件，长按关闭，长按开启，开启状态长按调光， -bool touch_STATE[4] = {1, 1, 1, 0}; // 定义按键触发对象状态变量初始值为true默认开启 T2 T3 T4 - -const char *username = "admin"; //web用户名 -const char *userpassword = "reuleaux123"; //web用户密码 -const char *ServerName = "ESP32-Reuleaux-RGB"; -char mac_tmp[6]; -const char *ssid = mac_tmp; -const char *password = "Reul12345678"; -char DateTimeStr[20] = "1970-01-01 00:00:00"; -char Debug_Log[255][255]; -uint32_t loop_time_begin = millis(); -int debug_times; -bool log_control = 0, debug_log_control = 0; - -WebServer ESP32Server(80); - -Kalman kalmanZ; -#define gyroZ_OFF -0.19 -/* ----IMU Data---- */ - -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 -float pendulum_angle; - -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); - -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}; - -//倒立摇摆参数 -//3和4是速度控制稳定前和后 -float LQR_K3_1 = 10; //速度控制摇摆到平衡 -float LQR_K3_2 = 1.7; // -float LQR_K3_3 = 1.75; // - -float LQR_K4_1 = 2.4; //速度控制平衡态 -float LQR_K4_2 = 1.5; // -float LQR_K4_3 = 1.42; // - -//电机参数 -BLDCMotor motor = BLDCMotor(7); //电机极数 -BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); -float target_velocity = 0; //目标速度 -float target_angle = 89.3; //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 = 1.8; //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 = 20; //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 = 20; //非稳态速度环I -float v_p_1 = 0.5; //非稳态速度环P -float v_i_2 = 10; //稳态速度环I -float v_p_2 = 0.2; //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 - 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 Debug_Log_func(String debuglog, bool debug_control = debug_log_control) { - if (debug_control) { - uint32_t tmp_loop_time_begin = millis(); - sprintf(Debug_Log[debug_times], "%s\r\nBegin time:%d\tEnd time:%d\tProcessed in %d ms\tFreeHeap:%d\r\n%s", Debug_Log[debug_times], loop_time_begin, tmp_loop_time_begin, (tmp_loop_time_begin - loop_time_begin), ESP.getFreeHeap(), debuglog.c_str()); - loop_time_begin = tmp_loop_time_begin; - debug_times++; - } -} - -bool AutoWifiConfig() -{ - //wifi初始化 - 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(); -} - -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() { - Debug_Log_func("Before setup", 1); - Serial.begin(115200); - - pinMode(ACTIVE_PIN, OUTPUT); - digitalWrite(ACTIVE_PIN, HIGH); - - 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()); - - 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); - - // tell FastLED about the LED strip configuration - FastLED.addLeds(leds, NUM_LEDS) - .setCorrection(TypicalLEDStrip) - .setDither(rgb_brightness < 255); - // set master brightness control - FastLED.setBrightness(rgb_brightness); - - CRGB c_rgb[5]; - c_rgb[0] = CRGB::White; - c_rgb[2] = CRGB::Red; - c_rgb[1] = CRGB::Green; - c_rgb[3] = CRGB::Blue; - c_rgb[4] = CRGB::Purple; - - for ( int j = 0; j < 5; j++) { - for ( int i = 0; i < NUM_LEDS; i++) { - leds[i] = c_rgb[j]; - FastLED.show(); - delay(15); - } - delay(300); - } - - 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 ( touch_STATE[3] ) { - AutoWifiConfig(); - StartWebServer(); - } - - - // 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); // Set starting angle - 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::velocity; - - //速度PI环设置 - motor.PID_velocity.P = v_p_1; - motor.PID_velocity.I = v_i_1; - - //最大电机限制电压 - motor.voltage_limit = 12; // [V]s - - //速度低通滤波时间常数 - motor.LPF_velocity.Tf = 0.02; - - // angle P controller - motor.P_angle.P = 20; - - //设置最大速度限制 - motor.velocity_limit = 180; // [rad/s] - - 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:")); - - - // 启动闪存文件系统 - if (SPIFFS.begin()) - { - Serial.println("SPIFFS Started."); - } - else - { - Serial.println("SPIFFS Failed to Start."); - } - - - Serial.print("System is ready \t Free Heap: "); - Serial.println(ESP.getFreeHeap()); - Serial.println("-----------------------------------------------"); - Serial.println(""); - - Debug_Log_func("setup", 1); -} - -char buf[255]; -long loop_count = 0; -double last_pitch; -void loop() { - Debug_Log_func("loop"); - if ( touch_STATE[3] ) { - ESP32Server.handleClient(); - //delay(1);//allow the cpu to switch to other tasks - ArduinoOTA.handle(); - } - motor.loopFOC(); - - 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 pitch2 = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG; - 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; // Calculate gyro angle without any filter - compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; // Calculate the angle using a Complimentary filter - - // Reset the gyro angle when it has drifted too much - if (gyroZangle < -180 || gyroZangle > 180) - gyroZangle = kalAngleZ; - - pendulum_angle = constrainAngle(fmod(kalAngleZ, 120) - target_angle); //摆角计算 - - // 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) > motor.velocity_limit) - target_velocity = _sign(target_velocity) * motor.velocity_limit; - - 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 0 - - Serial.print(accX); Serial.print("\t"); - Serial.print(accY); Serial.print("\t"); - Serial.print(atan(accX / accY) / 1.570796 * 90); Serial.print("\t"); - Serial.print(pitch); Serial.print("\t"); - Serial.print(gyroZangle); Serial.print("\t"); - Serial.print(compAngleZ); Serial.print("\t"); - Serial.print(kalAngleZ); Serial.print("\t"); - - Serial.print(target_voltage); Serial.print("\t"); - // Serial.print(target_velocity);Serial.print("\t"); - Serial.print(motor.shaft_velocity); 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 - // motor.move(target_velocity); - //可以使用该方法wifi发送udp信息 - if (wifi_flag) - { - digitalWrite(ACTIVE_PIN, LOW); - memset(buf, 0, strlen(buf)); - - wifi_print("v", motor.shaftVelocity()); - 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("BAT", driver.voltage_power_supply); - - udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192, 168, 4, 2), localUdpPort); //广播数据 - digitalWrite(ACTIVE_PIN, HIGH); - } - - //触摸感应处理 - touchAttach(1, T2); - touchAttach(2, T3); - touchAttach(3, T4); - - - //单击事件处理 - if (touch_touched[1]) { - //Serial.print("\nLight1 touched "); - //Serial.println(touch_touched_times[1]); - touch_touched[1] = false; - } - - if (touch_touched[2]) { - //Serial.print("\nLight2 touched "); - //Serial.println(touch_touched_times[2]); - - touch_touched[2] = false; - } - - if (touch_touched[3]) { - //Serial.print("\nLight2 touched "); - //Serial.println(touch_touched_times[2]); - - touch_touched[3] = false; - } - - //灯光及按键处理 - if ( touch_STATE[1] ) { - pride(); - addGlitter(15); - FastLED.show(); - } else { - FastLED.clearData(); - FastLED.show(); - } - - TenthSecondsSinceStartTask(); -} - -/* 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 angle controllable - // calculate the control law - // LQR controller u = k*x - // - k = [40, 7, 0.3] - // - k = [13.3, 21, 0.3] - // - x = [pendulum angle, pendulum velocity, motor velocity]' - - if (abs(p_angle) > 2.5) //摆角大于2.5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) > 3 && abs(target_velocity) < 10) { //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"); -} - - -unsigned long LastMillis = 0; -void TenthSecondsSinceStartTask() //100ms -{ - unsigned long CurrentMillis = millis(); - if (abs(int(CurrentMillis - LastMillis)) > 100) - { - LastMillis = CurrentMillis; - TenthSecondsSinceStart++; - OnTenthSecond(); - } -} - -void OnSecond() -{ - time_t now = time(nullptr); //获取当前时间 - - //转换成年月日的数字，可以更加自由的显示。 - struct tm* timenow; - timenow = localtime(&now); - unsigned char tempHour = timenow->tm_hour; - unsigned char tempMinute = timenow->tm_min; - unsigned char tempSecond = timenow->tm_sec; - unsigned char tempDay = timenow->tm_mday; - unsigned char tempMonth = timenow->tm_mon + 1; - unsigned int tempYear = timenow->tm_year + 1900; - unsigned char tempWeek = timenow->tm_wday; - - - //生成 年月日时分秒 字符串。 - sprintf(DateTimeStr, "%d-%02d-%02d %02d:%02d:%02d" - , tempYear - , tempMonth - , tempDay - , tempHour - , tempMinute - , tempSecond - ); - - //Serial.println(DateTimeStr); - -#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) - { - FastLED.clearData(); - FastLED.show(); - //motor.loopFOC(); - //motor.move(0); - 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 - - for (byte i = 0; i < 4; i++) { - if (touchDetected[i] > 0) { //检测到触摸中，一秒计数一次，未触摸则清零 - touch_touching_time[i]++; - //长按事件处理 - if (touch_touching_time[i] % 2 == 0) { //按住大于2秒 - switch (i) { - case 0: - - break; - case 1: - touch_STATE[i] = !touch_STATE[i]; //灯光状态反处理 - Serial.println("LIGHTS_ON/OFF"); - break; - case 3: - digitalWrite(ACTIVE_PIN, 1); - delay(500); - if(touch_STATE[i]==1){ - ESP32Server.close();//关闭网络服务 - WiFi.disconnect(); - WiFi.mode(WIFI_OFF); - Serial.println("WIFI_OFF"); - }else{ - AutoWifiConfig(); - StartWebServer(); - Serial.println("WIFI_ON"); - } - touch_STATE[i] = !touch_STATE[i]; //状态反处理 - - break; - } - } - } - } -} - -void OnTenthSecond() // 100ms 十分之一秒 -{ - - if (TenthSecondsSinceStart % 3 == 0) //0.3S刷新 - { - if ( touch_touching_time[2] > 1) { //按键2长按大于1秒处理调光 - if ( touch_touched_times[2] == 0 || touch_touched_times[2] % 2 == 0 ) { //第0，2,4,6..次按加亮度，1,3,5...则减 - rgb_brightness = rgb_brightness + 5; - } else { - rgb_brightness = rgb_brightness - 5; - } - //Serial.println(rgb_brightness); - FastLED.setBrightness(rgb_brightness); - } - - } - - if (TenthSecondsSinceStart % 10 == 0) //10次为1秒 - { - OnSecond(); - } -} - -String TimeString(int TimeMillis) { - char stringTime[10]; - int sec = TimeMillis; - int min = sec / 60; - int hr = min / 60; - - sprintf(stringTime, "%02d:%02d:%02d", - hr, min % 60, sec % 60 - ); - return stringTime; -} - -String ProcessUpdate() //页面更新 -{ - //自动生成一串用“,”隔开的字符串。 - //HTML脚本会按照“, ”分割，形成一个字符串数组。 - //并把这个数组填个表格的相应部分。 - String ReturnString; - ReturnString = DateTimeStr; - - ReturnString += ","; - ReturnString += TimeString(millis() / 1000); - - ReturnString += ","; - ReturnString += log_control; - ReturnString += ","; - ReturnString += debug_log_control; - ReturnString += ","; - ReturnString += test_flag; - ReturnString += ","; - ReturnString += EEPROM.readFloat(0); - ReturnString += ","; - ReturnString += swing_up_voltage; - ReturnString += ","; - ReturnString += swing_up_angle; - ReturnString += ","; - ReturnString += v_i_1; - ReturnString += ","; - ReturnString += v_p_1; - ReturnString += ","; - ReturnString += v_i_2; - ReturnString += ","; - ReturnString += v_p_2; - ReturnString += ","; - ReturnString += bat_voltage; - - if (log_control) { - ReturnString += ","; - ReturnString += motor.shaftVelocity(); - ReturnString += ","; - ReturnString += motor.voltage.q; - ReturnString += ","; - ReturnString += target_velocity; - ReturnString += ","; - ReturnString += pendulum_angle; - ReturnString += ","; - ReturnString += target_angle; - ReturnString += ","; - ReturnString += last_pitch; - ReturnString += ","; - ReturnString += kalAngleZ; - ReturnString += ","; - ReturnString += gyroZangle; - } else { - ReturnString += "0,0,0,0,0,0,0,0,0"; - } - - ReturnString += ","; - if (debug_log_control) { - Debug_Log_func("debug print begin", 1); - int i = 0; - while (strlen(Debug_Log[debug_times - 1]) != 0) { - ReturnString += Debug_Log[i]; - memset( Debug_Log[i], 0, strlen(Debug_Log[i]) ); - i++; - } - debug_times = 0; - Debug_Log_func("debug print end", 1); - } - - //Serial.println(ReturnString); - return ReturnString; -} - -/* - DeviceType =0 - DeviceType =1 - - OPERATION_ON 0,3,6,9 - OPERATION_OFF 1,4,7,10 - OPERATION_ON_OFF 2,5,8,11 -*/ -void PocessControl(int DeviceType, int DeviceIndex, int Operation, float Operation2) -{ - String ReturnString; - char do_commd[20]; - int SysIndex = 6; - - if (DeviceType == 0) //系统操作：开关灯，调节亮度，重启 - { - if (DeviceIndex == 0) - { - if (Operation % SysIndex == 0) - { - touch_STATE[1] = true; - ReturnString += "开灯 亮度 "; - ReturnString += String(rgb_brightness); - } - else if (Operation % SysIndex == 3) //操作off - { - touch_STATE[1] = false; - ReturnString += "关灯"; - } - else if (Operation % SysIndex == 1) //操作+ - { - rgb_brightness = (rgb_brightness + 5) % 260; - FastLED.setBrightness(rgb_brightness); - ReturnString += "亮度增加至 "; - ReturnString += String(rgb_brightness); - if (!touch_STATE[1]) - ReturnString += " 【灯光已关闭】"; - } - else if (Operation % SysIndex == 2) //操作- - { - if (rgb_brightness == 0) - rgb_brightness = 255; - else - rgb_brightness = rgb_brightness - 5; - FastLED.setBrightness(rgb_brightness); - ReturnString += "亮度降低至 "; - ReturnString += String(rgb_brightness); - if (!touch_STATE[1]) - ReturnString += " 【灯光已关闭】"; - } - else if (Operation % SysIndex == 4) - { - ReturnString += "系统重启，请等待重新连接"; - ESP32Server.send(200, "text/plain", ReturnString); - printf("Reboot..."); - esp_restart(); - } - } else if (DeviceIndex == 5) { //参数记录输出控制 - if (Operation % SysIndex == 0) - log_control = 0; - else if (Operation % SysIndex == 1) - log_control = 1; - } else if (DeviceIndex == 6) { //DEBUG输出控制 - if (Operation % SysIndex == 0) { - debug_log_control = 0; - } else if (Operation % SysIndex == 1) { - Debug_Log_func("DEBUG OUT", 1); - debug_log_control = 1; - } - } - } - - if (DeviceType == 1) //调参 - { - if (Operation == 0) - { - sprintf(do_commd, "%.2f", Operation2); - //Serial.println(do_commd); - switch (DeviceIndex) { - case 0: //期望角度TA - do_TA(do_commd); - break; - case 1: //摇摆电压SV - do_SV(do_commd); - break; - case 2: //摇摆角度SA - do_SA(do_commd); - break; - case 3: //速度环P1 - do_vp1(do_commd); - break; - case 4: //速度环I1 - do_vi1(do_commd); - break; - case 5: //速度环P2 - do_vp2(do_commd); - break; - case 6: //速度环I2 - do_vi2(do_commd); - break; - case 7: //do_VQ - do_VQ(do_commd); - break; - case 8: //do_VV - do_VV(do_commd); - break; - case 77: //TVQ - do_TVQ(do_commd); - if (test_flag == 1) - ReturnString += "打开电机电压测试"; - else - ReturnString += "关闭电机电压测试"; - break; - case 88: //TVV - do_TVV(do_commd); - if (test_flag == 2) - ReturnString += "打开电机速度测试"; - else - ReturnString += "关闭电机速度测试"; - break; - case 99: //电机启停 - do_MOTOR(do_commd); - if (!Motor_enable_flag) - ReturnString += "电机启动..."; - else - ReturnString += "电机停机..."; - break; - } - EEPROM.commit(); - } - } - ESP32Server.send(200, "text/plain", ReturnString); -} - - -bool handleFileRead(String path) { //处理主页访问 - String contentType = "text/html"; - - if (SPIFFS.exists(path)) { // 如果访问的文件可以在SPIFFS中找到 - File file = SPIFFS.open(path, "r"); // 则尝试打开该文件 - ESP32Server.streamFile(file, contentType); // 并且将该文件返回给浏览器 - file.close(); // 并且关闭文件 - return true; // 返回true - } - return false; // 如果文件未找到，则返回false -} - -void handleNotFound() -{ - // 获取用户请求网址信息 - String webAddress = ESP32Server.uri(); - int AutheTimes = 0; - - if (!ESP32Server.authenticate(username, userpassword)) //校验用户是否登录 - { - if (AutheTimes == 3) { - ESP32Server.send(404, "text/plain", "Bye"); - } else { - AutheTimes++; - return ESP32Server.requestAuthentication(); //请求进行用户登录认证 - } - } - - //打印出请求 - if (webAddress != "/update") - { - printf("%s\n", webAddress.c_str()); - } - - //如果是主页请求，则发送FLASH中的index.html文件 - if (webAddress.endsWith("/")) { // 如果访问地址以"/"为结尾 - webAddress = "/index.html"; // 则将访问地址修改为/index.html便于SPIFFS访问 - - // 通过handleFileRead函数处处理用户访问 - handleFileRead(webAddress); - } - else if (webAddress.endsWith("jquery.js")) { - webAddress = "/jquery.js"; - - // 通过handleFileRead函数处处理用户访问 - handleFileRead(webAddress); - } - else if (webAddress.endsWith("highcharts.js")) { - webAddress = "/highcharts.js"; - - // 通过handleFileRead函数处处理用户访问 - handleFileRead(webAddress); - } - else if (webAddress.endsWith("update")) - { - ESP32Server.send(200, "text/plain", ProcessUpdate()); - } - else if (webAddress.startsWith("/Control")) - { - if (ESP32Server.args() == 3) - { - int DeviceType = ESP32Server.arg(0).toInt(); - int DeviceIndex = ESP32Server.arg(1).toInt(); - int Operation = ESP32Server.arg(2).toInt(); - float Operation2 = ESP32Server.arg(2).toFloat(); - if (DeviceType == 1) { - Operation = 0; - } - - printf("DeviceType:%d DeviceIndex:%d Operation:%d Operation2:%.2f\n", DeviceType, DeviceIndex, Operation, Operation2 ); - - PocessControl(DeviceType, DeviceIndex, Operation, Operation2); - } - else - { - ESP32Server.send(404, "text/plain", "404 Not Found"); - } - } - else - { - ESP32Server.send(404, "text/plain", "404 Not Found"); - } -} - -void StartWebServer() -{ - ESP32Server.begin(); - ESP32Server.onNotFound(handleNotFound);//将所有请求导向自己处理的代码 -} - - -// This function draws rainbows with an ever-changing, -// widely-varying set of parameters. -void pride() -{ - static uint16_t sPseudotime = 0; - static uint16_t sLastMillis = 0; - static uint16_t sHue16 = 0; - - uint8_t sat8 = beatsin88( 87, 220, 250); - uint8_t brightdepth = beatsin88( 341, 96, 224); - uint16_t brightnessthetainc16 = beatsin88( 203, (25 * 256), (40 * 256)); - uint8_t msmultiplier = beatsin88(147, 23, 60); - - uint16_t hue16 = sHue16;//gHue * 256; - uint16_t hueinc16 = beatsin88(113, 1, 3000); - - uint16_t ms = millis(); - uint16_t deltams = ms - sLastMillis ; - sLastMillis = ms; - sPseudotime += deltams * msmultiplier; - sHue16 += deltams * beatsin88( 400, 5, 9); - uint16_t brightnesstheta16 = sPseudotime; - - for ( uint16_t i = 0 ; i < NUM_LEDS; i++) { - hue16 += hueinc16; - uint8_t hue8 = hue16 / 256; - - brightnesstheta16 += brightnessthetainc16; - uint16_t b16 = sin16( brightnesstheta16 ) + 32768; - - uint16_t bri16 = (uint32_t)((uint32_t)b16 * (uint32_t)b16) / 65536; - uint8_t bri8 = (uint32_t)(((uint32_t)bri16) * brightdepth) / 65536; - bri8 += (255 - brightdepth); - - CRGB newcolor = CHSV( hue8, sat8, bri8); - - uint16_t pixelnumber = i; - pixelnumber = (NUM_LEDS - 1) - pixelnumber; - - nblend( leds[pixelnumber], newcolor, 64); - } -} - -void addGlitter( fract8 chanceOfGlitter) -{ - if ( random8() < chanceOfGlitter) { - leds[ random16(NUM_LEDS) ] += CRGB::White; - } -} - -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; -} - -//触摸感应处理 -void touchAttach(int touchID, uint8_t touchPin) { - touchread[touchID] = touchRead(touchPin); - if ( touchread[touchID] <= threshold_top && touchread[touchID] > threshold_bottom ) { //达到触发值的计数 - //delay(38); // 0.038秒 - touchDetected[touchID]++; //持续触摸计数 - if ( (touchDetected[touchID] >= threshold_count) && digitalRead(ACTIVE_PIN) == HIGH ) { //达到触发值的，灯不亮则亮灯 - digitalWrite(ACTIVE_PIN, LOW); - } - } else if (touchread[touchID] > threshold_top) { //无触摸处理 - if ( digitalRead(ACTIVE_PIN) == LOW ) { //灭触摸灯 - digitalWrite(ACTIVE_PIN, HIGH); - } - if ( touchDetected[touchID] >= threshold_count ) { //检测无触摸之前的有效计数，触摸过则标记 - touch_touched[touchID] = true; - touch_touched_times[touchID]++; //触摸计数+1 - } - touch_touching_time[touchID] = 0; //持续触摸时间清零 - touchDetected[touchID] = 0; //持续触摸计数清零 - } -} diff --git a/arduino/Betas/readme.md b/arduino/Betas/readme.md deleted file mode 100644 index 7ec4820..0000000 --- a/arduino/Betas/readme.md +++ /dev/null @@ -1,99 +0,0 @@ -# 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 - - diff --git a/arduino/main/Command.cpp b/arduino/main/Command.cpp deleted file mode 100644 index 9c54a6b..0000000 --- a/arduino/main/Command.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#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; -} diff --git a/arduino/main/Command.h b/arduino/main/Command.h deleted file mode 100644 index 20e2fe5..0000000 --- a/arduino/main/Command.h +++ /dev/null @@ -1,17 +0,0 @@ -#include -// 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 - -}; diff --git a/arduino/main/Kalman.cpp b/arduino/main/Kalman.cpp deleted file mode 100644 index 80c7dec..0000000 --- a/arduino/main/Kalman.cpp +++ /dev/null @@ -1,93 +0,0 @@ -/* 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; }; diff --git a/arduino/main/Kalman.h b/arduino/main/Kalman.h deleted file mode 100644 index 7de545f..0000000 --- a/arduino/main/Kalman.h +++ /dev/null @@ -1,59 +0,0 @@ -/* 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 diff --git a/arduino/main/i2c.ino b/arduino/main/i2c.ino deleted file mode 100644 index 23fa91c..0000000 --- a/arduino/main/i2c.ino +++ /dev/null @@ -1,63 +0,0 @@ -/* 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 -} diff --git a/arduino/main/main.ino b/arduino/main/main.ino deleted file mode 100644 index ec92ffa..0000000 --- a/arduino/main/main.ino +++ /dev/null @@ -1,450 +0,0 @@ - /** -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 -#include "Command.h" -#include -#include //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.shaftVelocity()); - 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.shaftVelocity()); - 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) -{ - if (y < 0) - { - return atan(x / y) / 1.570796 * 90 + 180; - } - else if (x < 0) - { - return (atan(x / y) / 1.570796 * 90 + 360); - } - else - { - return (atan(x / y) / 1.570796 * 90); - } -} - -// function constraining the angle in between -60~60 -float constrainAngle(float x) -{ - float a = 0; - if(x < 0) - { - a = 120+x; - if(a 2.5) - { - last_unstable_time = millis(); - if(stable) - { - target_angle = EEPROM.readFloat(0); - stable = 0; - } - } - if ((millis() - last_unstable_time) > 1000&&!stable) - { - target_angle = target_angle+p_angle; - stable = 1; - } - - float u; - if (!stable) - { - 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_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; - 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"); - -} diff --git a/v1/README.md b/v1/README.md new file mode 100644 index 0000000..8ea2f21 --- /dev/null +++ b/v1/README.md @@ -0,0 +1,111 @@ +# V1自平衡莱洛三角形可充电版 + +#### 介绍 +该版本为2021/9/23制作的版本，参考灯哥开源的原理图。 + +#### 1 制作说明 +
pcb推荐焊接顺序，建议初学者用电烙铁焊
+ +![V1](pcb推荐焊接顺序，建议初学者用电烙铁焊.png) +#### 2 硬件特性 + +| 说明 | 参数 | +|---------------|---------------------------------------------------------| +| 莱洛三角形尺寸 | 100*100 mm | +| 动量轮尺寸 | 80*80 mm | +| 电池*3 | 厚x长x宽:7.9mmx25mmx40mm 规格内均可 | +| 输入电压 | 3.7v锂电池*3 | +| 充电电压 | 5V 从Type-C口输入 | +| 充电芯片CS5095 | 5V输入,最大1.2A充电电流 | +| 串口芯片CH340C | 需要 打开开关 才能下载 | +| 主控芯片 | ESP-WROOM-32 | +| 电机驱动芯片L6234PD | 引脚:32, 33, 25, 22; 22为enable | +| AS5600 编码器 | SDA-23 SCL-5 　芯片要离磁铁有 2mm以上高度 | +| MPU6050六轴传感器 | SDA-19 SCL-18 | + +| LED指示灯 | 功能 | +|--------|----------------------------------------------------------------------| +| LED3 | typec的5V输入指示灯 接typec一定亮 | +| LED4 | 3.3v指示灯 电池输入12v输出3.3V | +| LED2 | 充电指示灯 接上typec后LED3亮起，情况1：接电池LED2常亮；情况2：没接电池LED2以1.5HZ频率闪烁；情况3：电池充满灭灯 | +#### 3 使用说明 + +1. 下载完本git所有文件后，打开arduino文件夹，解压arduino.7z完成之后双击运行esp32_package_1.0.6.exe安装esp32库环境。注意：若之前有安装过arduino，请将路径`C:\Users\用户名\AppData\Local\`的Arduino15文件夹和`此电脑\文档`内的Arduino 删除 （~~也可自行下载Arduino并安装SimpleFOC~~）（但是可能会版本不对电机不动） +2. 打开解压后的arduino文件夹内的arduino.exe，导航栏-文件-打开。选择v1\main里面的main.ino +3. 烧录程序到ESP32：选择工具-开发板-esp32 Arduino-ESP32 Dev module，然后连接USB口选择对应的com口，编译上传。 + 1. 　 如无法正常编译 + 1. 可能与原有arduino冲突，请查看使用说明第一条 + 2. 文件夹路径含有非法字符，可以把Arduino移动到硬盘根目录下，如D:\Arduino +4. 打开本项目内的`python_gui`内的`可执行文件_main`内的**main.exe**并连接上WIFI：ESP32 密码：12345678。点击设置开始调参。 +5. 连接成功后，点击disable，然后逆时针拨动动量轮，查看上位机中V参数是否为正值。注意！如果 逆时针转为为负值 那么需要将电机线任意两线互换。 +![Image text](../image/tiaocan.gif) +6. 如果电机不能正常运行可以，点击上位机中最下方的 测试部分 ，打开电压或者速度测试，滑动滑条，查看电机能否正常运行。如还不能请检测硬件电路部分。 +7. 如果不能摇摆直立，推荐调整的参数为TA、SA、SV +8. K值可以用滑块调整，拖动滑块就会发送参数命令，但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次 + +9. 滑条：最左边输入框为滑块下限，右边是滑块上限，滑条等分成**200**份，命令是**字符串**，滑动滑块发送**字符串** + **数值** + +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，K参数没有保存到EEPROM所以可以使用滑条调整。 + +| 参数命令 | 说明 | +| ---------------- |---------------------- | +| TA | target_angle平衡角度 例如TA89.3 设置平衡角度89.3| +| SV | swing_up_voltage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| +|SA|swing_up_angle摇摆角度 离平衡角度还有几度时候，切换到自平衡控制| +|VP1|速度环的PID的P，1是稳定在平衡角度之前的P值| +|VI1|速度环的PID的I，1是稳定在平衡角度之前的I值| +|VP2|速度环的PID的P，2是稳定后的P值| +|VI2|速度环的PID的I，2是稳定后的I值| +|K为LQR参数|**3和4**是速度控制稳定前和后| +|K3**1**|LQR的参数1：稳定前的角度差值| +|K3**2**|LQR的参数2：稳定前的左右倾倒加速度| +|K3**3**|LQR的参数3：稳定前的当前速度| +|K4**1**|LQR的参数1：稳定后的角度差值| +|K4**2**|LQR的参数2：稳定后的左右倾倒加速度| +|K4**3**|LQR的参数3：稳定后的当前速度| + +LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正。 + +在电压控制下：回正力F直接和输出电压值挂钩，向←倾斜，电机提供正电压V动量轮向**左加速转动**，产生向右的力F。 + +`期望电压 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3` + +在速度控制下：回正力F和动量轮转速加速度a有关，F = ma，向←倾斜，电机需要向**左加速转动**，产生向右的力F。 + +`期望速度 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3` + +两者区别：电压和速度控制都可以实现平衡，但因为使用simpleFOC控制电机转速无法无限加速，本电机实验最高转速180转，电压到上限12v。 + +使用电压控制会遇到，电机一下子就到了转速上限，就不能提供稳定的力F，参数调起来比较困难。 + +速度控制可以在偏差变大的时候，根据期望速度产生最大电压12v，并且不会超过电机最高转速。 +#### 4 硬件设计 +使用立创EDA绘制电路原理图，LaserMaker绘制莱洛三角形和动量轮（有激光切割机可以事先切割结构作为参考）。将绘制完的图形导入到立创EDA中可作为PCB的外框。丝印图案分别是**Gawr Gura**、**ouro kronii** ~~helicopter~~ + +LaserMaker绘制的plt在**莱洛三角结构**文件夹内，需要重新绘制电路图可以使用 + +感谢嘉立创的PCB制板，使DIY电路制作变得非常便利，点击下方超链接可以前往嘉立创进行PCB制板 + +[莱洛三角形PCB](https://oshwhub.com/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben) + +[动量轮](https://oshwhub.com/45coll/lai-luo-san-jiao-dong-liang-lun) + +具体需要购买的物品在**物料清单.xlsx**中，如果缺货请自行某宝更换 + +#### 5 Ctrl+C +V（参考） +Arduino上的控制算法是原作者的LQR，无刷电机控制是灯哥开源FOC。电机控制引脚定义与传感器定义和灯哥开源FOC控制板2.0版一样。 + +Python的GUI是SimpleFOC的SimpleFOCStudio。 + +充电电路是立创广场开源的CS5095充电方案。 +1. 原作者：基于LQR控制器的自平衡莱洛三角形[BV19v411n7mN](https://www.bilibili.com/video/BV19v411n7mN) +2. 灯哥开源FOC [https://gitee.com/ream_d/Deng-s-foc-controller](https://gitee.com/ream_d/Deng-s-foc-controller) +3. 充电芯片电路[https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu](https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu) +4. Arduino环境提供者[https://github.com/kaliCYH](https://github.com/kaliCYH) + +#### 6 有用的地方 + +1. Arduino的程序中的command.h、command.cpp可以支持任意的字符串输入。在其他项目中一样可以用，无论是wifi接收到的字符串数据或者是串口的字符串数据。 + +2. GUI上位机可以在其他wifi项目中可以继续使用，用来调参还是很方便。 + diff --git a/v2/README.md b/v2/README.md new file mode 100644 index 0000000..22032f6 --- /dev/null +++ b/v2/README.md @@ -0,0 +1,149 @@ +# V2自平衡莱洛三角形可充电RGB版 + +### 介绍 +该版本为2022/3/3制作的版本，无刷驱动使用EG2133可以成功使用esp32-arduino的simplefoc驱动。但是特殊情况下会mos管击穿冒烟，请使用带保护的锂电池，以防发生意外 + +`程序附件都在`gitee[https://gitee.com/coll45/foc]（https://gitee.com/coll45/foc） + +![V2](../image/v2image.jpg) +图片中间为立创smt版本，左为加热焊台一次焊成，右为使用热风枪分区域焊成。均可以摇摆平衡，使用2715电机 + +- mos管可以全部换成**AP2300**（更便宜一些），立创商城有售，测试过可以实现foc控制`（原理图用AO3400只是因为它是SMT基础库）` + +- cn3300充电部分设计充电截至电压12.9V（考虑到电池内阻，最终充满电压为12.43V），充电电流0.5A，电感电流1.5A。充电功率为7.5W`（充电会电感部分会烫，但不至于烧毁电路）` + +- 电机可以适配GB2204和2715无刷电机`(2715的平衡成功率高，因为KV值小)` + +### 1 制作说明 +[原理图以及PCB图链接](https://oshwhub.com/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy) +1. 在立创开源链接中，点击`在编辑器中打开`，进入EDA页面，双击对应的PCB，上方导航栏找到-制造-PCB制板文件（gerber）-生成gerber-一键PCB/SMT下单。（一定要进编辑器！！！有遇到过开源链接的bom和真实bom对不上的情况） +2. 在下单页面中下单对应的pcb，如需SMT（机器贴片）可以选需要SMT，不选SMT会得到PCB空板 +3. `淘宝购买`的表格是SMT和普通空板都要购买的 +4. 普通空板，`BOM_莱洛三角V2`可以直接从立创商城**bom导入里面导入** +5. 需要**SMT**可以删除所有**扩展库以及推荐库**后打板`也可以删除AO3400这样可以便宜15元`（费用**做5贴2只需要90元**左右），然后只需购买`BOM_SMT购买专用_莱洛三角V2`，同样是从立创商城bom导入 +6. 一定需要经向磁铁，物料清单里面已经给出，二选一（磁环方便但是邮费贵，圆柱磁铁便宜包邮需要自行粘贴） + +### 2 硬件特性 + +| 说明 | 参数 | +|--------------|---------------------------------------------------------| +| 莱洛三角形尺寸 | 100*100 mm | +| 动量轮尺寸 | 80*80 mm | +| 电池*3 | 厚x长x宽:7.9mmx25mmx40mm 规格内均可 | +| 输入电压 | 3.7v锂电池*3 | +| 充电电压 | 5V 从Type-C口输入 | +| 充电芯片CN3300 | 5V输入,最大1.5A充电电流 | +| 均衡芯片CM1010-A | 电池电压超过4.25V之后开始放电 | +| 主控芯片 | ESP-WROOM-32 | +| 电机驱动芯片EG2133 | 引脚:32, 33, 25 | +| 稳压芯片TPS54331DR | 设置电池电压低于9V不工作，输出5.22V | +| AS5600 编码器 | SDA-23 SCL-5 　芯片要离磁铁有 2mm以上高度 | +| MPU6050六轴传感器 | SDA-19 SCL-18 | +| RGB灯-WS2812 | 使用GPIO16控制 | + +| LED指示灯 | 功能 | +|-------------|-------------------------------------| +| LED1 | 串口指示灯，ESP32发送串口数据时会亮起 | +| LED2 | 充电完成指示灯，亮起表示充电完成，充到亮起可能需要2-3小时 | +| LED30 | 充电指示灯，亮起表示正在充电 | +| LED3 | typec的5V输入指示灯 接typec一定亮 | +| LED4 | 3.3v指示灯 电池输入12v输出3.3V | +| LED5 | 由GPIO4控制，电池电压低于9.5V时以1HZ频率闪烁 | +| LED27\28\29 | 均衡指示灯，亮起表示该电池电压高于4.25V正在通过22欧姆电阻放电中 | + +| 触摸盘 | 功能 | +|-------|---------------------------------------| +| 单击时长 | 100ms以上 | +| 长按时长 | 800ms以上 | +| 点赞触摸盘 | GPOI13-Touch4-单击:开关RGB灯；长按：开关wifi和电机 | +| 投币触摸盘 | GPOI15-Touch3-单击：增加RGB灯亮度；长按：下一个RGB灯效 | +| 收藏触摸盘 | GPOI2-Touch2-单击：减少RGB灯亮度；长按：上一个RGB灯效 | +### 3 使用说明 + +1. 下载完本git所有文件后，打开arduino文件夹，解压arduino.7z完成之后双击运行esp32_package_1.0.6.exe安装esp32库环境。注意：若之前有安装过arduino，请将路径`C:\Users\用户名\AppData\Local\`的Arduino15文件夹和`此电脑\文档`内的Arduino 删除 （~~也可自行下载Arduino并安装SimpleFOC~~）（但是可能会版本不对电机不动） +2. 打开解压后的arduino文件夹内的arduino.exe，导航栏-文件-打开。选择v2\main里面的main.ino +3. +4. 烧录程序到ESP32：选择工具-开发板-esp32 Arduino-ESP32 Dev module，然后连接USB口选择对应的com口，编译上传。 + 1. 　 如无法正常编译 + 1. 可能与原有arduino冲突，请查看使用说明第一条 + 2. 文件夹路径含有非法字符，可以把Arduino移动到硬盘根目录下，如D:\Arduino +5. 如需修改参数，长按点赞触摸盘，可以打开wifi并停止电机。 +6. 打开本项目内的`python_gui`内的`可执行文件_main`内的**main.exe**并连接上WIFI：ESP32 。点击设置开始调参。 +7. 连接成功后，点击disable，然后逆时针拨动动量轮，查看上位机中V参数是否为正值。注意！如果 逆时针转为为负值 那么需要将电机线任意两线互换。 +![Image text](../image/tiaocan.gif) +8. 如果电机不能正常运行可以，点击上位机中最下方的 测试部分 ，打开电压或者速度测试，滑动滑条，查看电机能否正常运行。如还不能请检测硬件电路部分。 +9. 如果不能摇摆直立，推荐调整的参数为TA、SA、SV +10. K值可以用滑块调整，拖动滑块就会发送参数命令，但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次 + +11. 滑条：最左边输入框为滑块下限，右边是滑块上限，滑条等分成**200**份，命令是**字符串**，滑动滑块发送**字符串** + **数值** + +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，K参数没有保存到EEPROM所以可以使用滑条调整。 + +| 参数命令 | 说明 | +| ---------------- |---------------------- | +| TA | target_angle平衡角度 例如TA89.3 设置平衡角度89.3| +| SV | swing_up_voltage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| +|SA|swing_up_angle摇摆角度 离平衡角度还有几度时候，切换到自平衡控制| +|VP1|速度环的PID的P，1是稳定在平衡角度之前的P值| +|VI1|速度环的PID的I，1是稳定在平衡角度之前的I值| +|VP2|速度环的PID的P，2是稳定后的P值| +|VI2|速度环的PID的I，2是稳定后的I值| +|K为LQR参数|**3和4**是速度控制稳定前和后| +|K3**1**|LQR的参数1：稳定前的角度差值| +|K3**2**|LQR的参数2：稳定前的左右倾倒加速度| +|K3**3**|LQR的参数3：稳定前的当前速度| +|K4**1**|LQR的参数1：稳定后的角度差值| +|K4**2**|LQR的参数2：稳定后的左右倾倒加速度| +|K4**3**|LQR的参数3：稳定后的当前速度| + +LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正。 + +在电压控制下：回正力F直接和输出电压值挂钩，向←倾斜，电机提供正电压V动量轮向**左加速转动**，产生向右的力F。 + +`期望电压 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3` + +在速度控制下：回正力F和动量轮转速加速度a有关，F = ma，向←倾斜，电机需要向**左加速转动**，产生向右的力F。 + +`期望速度 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3` + +两者区别：电压和速度控制都可以实现平衡，但因为使用simpleFOC控制电机转速无法无限加速，本电机实验最高转速180转，电压到上限12v。 + +使用电压控制会遇到，电机一下子就到了转速上限，就不能提供稳定的力F，参数调起来比较困难。 + +速度控制可以在偏差变大的时候，根据期望速度产生最大电压12v，并且不会超过电机最高转速。 +### 4 硬件设计 +使用立创EDA绘制电路原理图，LaserMaker绘制莱洛三角形和动量轮（有激光切割机可以事先切割结构作为参考）。将绘制完的图形导入到立创EDA中可作为PCB的外框。丝印图案分别是**Gawr Gura**、**ouro kronii** ~~helicopter~~ + +LaserMaker绘制的plt在**莱洛三角结构**文件夹内，需要重新绘制电路图可以使用 + +感谢嘉立创的PCB制板，使DIY电路制作变得非常便利，点击下方超链接可以前往嘉立创进行PCB制板 + +[莱洛三角形V2PCB](https://oshwhub.com/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy) + +### 5 Ctrl+C +V（参考） +Arduino上的控制算法是原作者的LQR，无刷驱动为立创开源的EG2133方案。 + +Python的GUI是以SimpleFOC的SimpleFOCStudio为基础，添加wifi功能。 + + +V2的充电电路是在立创广场开源的《CN3300 4串电池组板》方案基础上改的3串锂电池 + +PCB以及原理图技术支持——muyan + +wifi效果以及按键面修复代码作者——muyan + +1. 原作者：基于LQR控制器的自平衡莱洛三角形[BV19v411n7mN](https://www.bilibili.com/video/BV19v411n7mN) +2. muyan立创链接[https://oshwhub.com/muyan2020?tab=project&page=1](https://oshwhub.com/muyan2020?tab=project&page=1) +3. muyan git链接[https://gitee.com/muyan3000](https://gitee.com/muyan3000) +4. EG2133驱动参考[https://oshwhub.com/acmetech-lceda/minifoc](https://oshwhub.com/acmetech-lceda/minifoc) +5. 灯哥开源FOC [https://gitee.com/ream_d/Deng-s-foc-controller](https://gitee.com/ream_d/Deng-s-foc-controller) +6. CN3300 4串电池组板[https://oshwhub.com/583703056a/dian-chi-zu-ban_copy_copy](https://oshwhub.com/583703056a/dian-chi-zu-ban_copy_copy) +7. Arduino环境提供者[https://github.com/kaliCYH](https://github.com/kaliCYH) + + +### 6 有用的地方 + +1. Arduino的程序中的command.h、command.cpp可以支持任意的字符串输入。在其他项目中一样可以用，无论是wifi接收到的字符串数据或者是串口的字符串数据。 + +2. GUI上位机可以在其他wifi项目中可以继续使用，用来调参还是很方便。 + diff --git a/参考代码.cpp b/参考代码.cpp deleted file mode 100644 index 59e36bd..0000000 --- a/参考代码.cpp +++ /dev/null @@ -1,428 +0,0 @@ - -#include -#include -#include // Source: https://github.com/TKJElectronics/KalmanFilter -#define gyroZ_OFF -0.22 - -//#define stable_angle 178.2 -//#define stable_angle 58.8 - -//#define stable_angle 301.75 -#define stable_angle 60.0 -Kalman kalmanZ; - -/* IMU Data */ -double accX, accY, accZ; -double gyroX, gyroY, gyroZ; -int16_t tempRaw; - -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 - -/********************************************************************************/ -#include -//#include "common/foc_utils.h" -#define swing_up_voltage 1.5 //V -#define balance_voltage 10 //V -#define min_voltage 9.5 //V -/* - #define PID_P 0 // - #define PID_I 0 // - #define PID_D 1 // - #define LQR_K1 1 // - #define LQR_K2 0 // - #define LQR_K3 0.0 // -*/ -float PID_P = 1; // -float PID_I = 0; // -float PID_D = 0; // -/* -//稳定器参数 -float LQR_K1 = 50; //摇摆到平衡 -float LQR_K2 = 2; // -float LQR_K3 = 0.30; // - -float LQR_K1_1 = 50; //平衡态 -float LQR_K2_1 = 2; // -float LQR_K3_1 = 0.15; // -*/ -//倒立摆参数 -float LQR_K1 = 200; //摇摆到平衡 -float LQR_K2 = 40; // -float LQR_K3 = 0.30; // - -float LQR_K1_1 = 200; //平衡态 -float LQR_K2_1 = 15; // -float LQR_K3_1 = 0.15; // - -/* -float LQR_K1 = 200; // -float LQR_K2 = 40; // -float LQR_K3 = 0.30; // -*/ -/*单角度稳定 - -float LQR_K1 = 80; //平衡完成 -float LQR_K2 = 15; // -float LQR_K3 = 0.15; // -*/ -float OFFSET = 0; -bool stable = 0, battery_low = 0; -uint32_t last_unstable_time; -//output=LQR_K1*PID+LQR_K2*p_vel + LQR_K3 * m_vel - -MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); -PIDController angle_pid = PIDController(PID_P, PID_I, PID_D, balance_voltage * 0.7, 20000); -LowPassFilter lpf_throttle{0.00}; -// BLDC motor init -BLDCMotor motor = BLDCMotor(5); -// driver instance -BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8, 3); -double rotationshift(double origin, double theta, double shift, bool y); -double acc2rotation(double x, double y); -float controllerLQR(float p_angle, float p_vel, float m_vel); -float constrainAngle(float x); - -// instantiate the commander -Commander command = Commander(Serial); -//void onp(char *cmd) { command.scalar(&PID_P, cmd); } -//void oni(char *cmd) { command.scalar(&PID_I, cmd); } -//void ond(char *cmd) { command.scalar(&PID_D, cmd); } -void onj(char *cmd) { command.scalar(&LQR_K1, cmd); } -void onk(char *cmd) { command.scalar(&LQR_K2, cmd); } -void onl(char *cmd) { command.scalar(&LQR_K3, cmd); } - -/********************************************************************************/ -void setup() -{ - Serial.begin(115200); - Wire.begin(); - - Wire.setClock(400000UL); // Set I2C frequency to 400kHz - Serial.println(((analogRead(A3) / 41.5))); - 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]); - - // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26 - // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2 - // It is then converted from radians to degrees - // Eq. 25 and 26 - - double pitch = acc2rotation(accX, accY); - - kalmanZ.setAngle(pitch); - gyroZangle = pitch; - - timer = micros(); - - pinMode(4, OUTPUT); - digitalWrite(4, 1); - sensor.init(&Wire); - motor.linkSensor(&sensor); - // driver - driver.voltage_power_supply = 12; - driver.init(); - - // link the driver and the motor - motor.linkDriver(&driver); - - // aligning voltage - motor.voltage_sensor_align = 3; - - // choose FOC modulation (optional) - //motor.foc_modulation = FOCModulationType::SinePWM; - motor.foc_modulation = FOCModulationType::SpaceVectorPWM; - - // set control loop type to be used - motor.controller = MotionControlType::torque; - //motor.controller = TorqueControlType::voltage; - - motor.voltage_limit = balance_voltage; - - motor.useMonitoring(Serial); - // initialize motor - motor.init(); - // align encoder and start FOC - //motor.initFOC(4.5,Direction::CW); - //motor.initFOC(4.05, Direction::CCW); - motor.initFOC(); - //motor.initFOC(2.6492,Direction::CW); - //command.add('p', onp, "p"); - //command.add('i', oni, "i"); - //command.add('d', ond, "d"); - command.add('j', onj, "newj:"); - command.add('k', onk, "newk:"); - command.add('l', onl, "newl:"); - - digitalWrite(4, 0); -} -long loop_count = 0; -float target_voltage; -void loop() -{ - - motor.loopFOC(); - - if (loop_count++ == 10) - { - /* Update all the values */ - 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(); - - // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26 - // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2 - // It is then converted from radians to degrees - // Eq. 25 and 26 - - 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; - //gyroXangle += kalmanX.getRate() * dt; // Calculate gyro angle using the unbiased rate - //gyroYangle += kalmanY.getRate() * 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; - - /* Print Data */ -#if 0 // Set to 1 to activate - Serial.print(accX); Serial.print("\t"); - Serial.print(accY); Serial.print("\t"); - Serial.print(accZ); Serial.print("\t"); - - Serial.print(gyroX); Serial.print("\t"); - Serial.print(gyroY); Serial.print("\t"); - Serial.print(gyroZ); Serial.print("\t"); - - Serial.print("\t"); -#endif -#if 0 - Serial.print(pitch); - Serial.print("\t"); - Serial.print(gyroZangle); - Serial.print("\t"); - Serial.print(compAngleZ); - Serial.print("\t"); - Serial.print(kalAngleZ); - Serial.print("\t"); - - //Serial.print("\r\n"); -#endif - // calculate the pendulum angle - //LQR_K1 = analogRead(A3) / 10.0; - digitalWrite(3, 1); - //float pendulum_angle = constrainAngle(rotationshift(kalAngleZ * 3, 180.0, -180.0+OFFSET, 0.0) / 57.29578 + M_PI); - //float pendulum_angle = constrainAngle((kalAngleZ - stable_angle ) / 57.29578); - float pendulum_angle = constrainAngle((fmod(kalAngleZ * 3, 360.0) / 3.0 - stable_angle) / 57.29578); - if (abs(pendulum_angle) < 0.6) // if angle small enough stabilize 0.5~30°,1.5~90° - { - //target_voltage = controllerLQR(pendulum_angle, g.gyro.z, motor.shaftVelocity()); - - target_voltage = controllerLQR(angle_pid(pendulum_angle), gyroZrate / 57.29578, motor.shaftVelocity()); - - //digitalWrite(4, 1); - } - else // else do swing-up - { // sets 1.5V to the motor in order to swing up - target_voltage = -_sign(gyroZrate) * swing_up_voltage; - digitalWrite(4, 0); - } - - // set the target voltage to the motor - if (accZ < -13000 && ((accX * accX + accY * accY) > (14000 * 14000))) - { - motor.move(0); - } - else - { - motor.move(lpf_throttle(target_voltage)); - } - command.run(); - // restart the counter - loop_count = 0; - //Serial.print("kangle:"); - driver.voltage_power_supply = analogRead(A3) / 41.5; - //Serial.println(driver.voltage_power_supply); - if ((analogRead(A3) / 41.5) < min_voltage && !battery_low) - { - battery_low = 1; - Serial.println("battery_low!!"); - while (battery_low) - { - motor.loopFOC(); - motor.move(0); - if (millis() % 500 < 250) - digitalWrite(4, 1); - else - digitalWrite(4, 0); - } - } - //Serial.print(",fangle:"); - //Serial.print(constrainAngle(rotationshift(kalAngleZ * 3, 180.0, -180.0+OFFSET, 0.0) / 57.29578 + M_PI)); - - //Serial.println(fmod(kalAngleZ * 3, 360.0) / 3.0); - //Serial.print(",pid:"); - //Serial.println(accX); - //Serial.print(angle_pid(pendulum_angle)); - //Serial.print(",voltage:"); - //Serial.print(target_voltage); - //Serial.print(",lpf_throttle:"); - //Serial.println(lpf_throttle(target_voltage)); - //Serial.print(",E_gle:"); - //Serial.print(sensor.getAngle()); - //Serial.print(",vel:"); - //Serial.println(sensor.getVelocity()); - } - - - - -} - -// function constraining the angle in between -pi and pi, in degrees -180 and 180 -float constrainAngle(float x) -{ - x = fmod(x + M_PI, _2PI); - if (x < 0) - x += _2PI; - return x - M_PI; -} -// 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 angle controllable - // calculate the control law - // LQR controller u = k*x - // - k = [40, 7, 0.3] - // - k = [13.3, 21, 0.3] - // - x = [pendulum angle, pendulum velocity, motor velocity]' - if (abs(p_angle) > 0.05) - { - last_unstable_time = millis(); - stable = 0; - digitalWrite(4, 0); - } - if ((millis() - last_unstable_time) > 1000) - { - stable = 1; - digitalWrite(4, 1); - } - - //Serial.println(stable); - float u; - if (!stable) - { - u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; - } - else - { - //u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; - u = LQR_K1_1 * p_angle + LQR_K2_1 * p_vel + LQR_K3_1 * m_vel; - } - - // limit the voltage set to the motor - if (abs(u) > motor.voltage_limit * 0.7) - u = _sign(u) * motor.voltage_limit * 0.7; - - return u; -} -/* mpu6050加速度转换为角度 - acc2rotation(ax, ay) - acc2rotation(az, ay) */ -double acc2rotation(double x, double y) -{ - if (y < 0) - { - return atan(x / y) / 1.570796 * 90 + 180; - } - else if (x < 0) - { - return (atan(x / y) / 1.570796 * 90 + 360); - } - else - { - return (atan(x / y) / 1.570796 * 90); - } -} - -/* mpu6050加速度转换为角度 - rotationshift(original angle,+θ,shiftθ,0 is normal,1 is reverse) - rotationshift(0,30)=30 - rotationshift(20,30)=50 - rotationshift(0,30,1)=330 - rotationshift(20,30,1)=310 - rotationshift(0,0,-180,0)=-180 -*/ -double rotationshift(double origin, double theta, double shift = 0, bool y = false) -{ - static float origin_old; - if (abs(origin - origin_old) > 0.1) - origin_old += _sign(origin - 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