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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/v1/Betas/RGB_V1.5/main/Kalman.h b/v1/Betas/RGB_V1.5/main/Kalman.h new file mode 100644 index 0000000..7de545f --- /dev/null +++ b/v1/Betas/RGB_V1.5/main/Kalman.h @@ -0,0 +1,59 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +#ifndef _Kalman_h_ +#define _Kalman_h_ + +class Kalman { +public: + Kalman(); + + // The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds + float getAngle(float newAngle, float newRate, float dt); + + void setAngle(float angle); // Used to set angle, this should be set as the starting angle + float getRate(); // Return the unbiased rate + + /* These are used to tune the Kalman filter */ + void setQangle(float Q_angle); + /** + * setQbias(float Q_bias) + * Default value (0.003f) is in Kalman.cpp. + * Raise this to follow input more closely, + * lower this to smooth result of kalman filter. + */ + void setQbias(float Q_bias); 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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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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, 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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 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Fa=function(){};Fa.prototype={init:function(a,b,c){this.series=a;this.applyOptions(b,c);this.pointAttr={};if(a.options.colorByPoint&&(b=a.options.colors||a.chart.options.colors,this.color=this.color||b[a.colorCounter++],a.colorCounter=== +b.length))a.colorCounter=0;a.chart.pointCount++;return this},applyOptions:function(a,b){var c=this.series,d=c.pointValKey,a=Fa.prototype.optionsToObject.call(this,a);s(this,a);this.options=this.options?s(this.options,a):a;if(d)this.y=this[d];if(this.x===u&&c)this.x=b===u?c.autoIncrement():b;return this},optionsToObject:function(a){var b={},c=this.series,d=c.pointArrayMap||["y"],e=d.length,f=0,g=0;if(typeof a==="number"||a===null)b[d[0]]=a;else if(La(a)){if(a.length>e){c=typeof a[0];if(c==="string")b.name= +a[0];else if(c==="number")b.x=a[0];f++}for(;ga+1&&b.push(d.slice(a+1,g)),a=g):g===e-1&&b.push(d.slice(a+1,g+1))});this.segments= +b},setOptions:function(a){var b=this.chart,c=b.options.plotOptions,b=b.userOptions||{},d=b.plotOptions||{},e=c[this.type];this.userOptions=a;c=w(e,c.series,a);this.tooltipOptions=w(L.tooltip,L.plotOptions[this.type].tooltip,b.tooltip,d.series&&d.series.tooltip,d[this.type]&&d[this.type].tooltip,a.tooltip);e.marker===null&&delete c.marker;return c},getColor:function(){var a=this.options,b=this.userOptions,c=this.chart.options.colors,d=this.chart.counters,e;e=a.color||Z[this.type].color;if(!e&&!a.colorByPoint)r(b._colorIndex)? +a=b._colorIndex:(b._colorIndex=d.color,a=d.color++),e=c[a];this.color=e;d.wrapColor(c.length)},getSymbol:function(){var a=this.userOptions,b=this.options.marker,c=this.chart,d=c.options.symbols,c=c.counters;this.symbol=b.symbol;if(!this.symbol)r(a._symbolIndex)?a=a._symbolIndex:(a._symbolIndex=c.symbol,a=c.symbol++),this.symbol=d[a];if(/^url/.test(this.symbol))b.radius=0;c.wrapSymbol(d.length)},drawLegendSymbol:F.drawLineMarker,setData:function(a,b,c,d){var e=this,f=e.points,g=f&&f.length||0,h,i= +e.options,j=e.chart,k=null,l=e.xAxis,m=l&&!!l.categories,n=e.tooltipPoints,q=i.turboThreshold,t=this.xData,r=this.yData,s=(h=e.pointArrayMap)&&h.length,a=a||[];h=a.length;b=o(b,!0);if(d!==!1&&h&&g===h&&!e.cropped&&!e.hasGroupedData)p(a,function(a,b){f[b].update(a,!1)});else{e.xIncrement=null;e.pointRange=m?1:i.pointRange;e.colorCounter=0;p(this.parallelArrays,function(a){e[a+"Data"].length=0});if(q&&h>q){for(c=0;k===null&&cj||this.forceCrop))if(a=h.min,h=h.max,b[d-1]h)b=[],c=[];else if(b[0]h)e=this.cropData(this.xData,this.yData,a,h),b=e.xData,c=e.yData,e=e.start,f=!0;for(h=b.length-1;h>=0;h--)d=b[h]-b[h-1],d>0&&(g===u||d=c){f=t(0,i-h);break}for(;id){g=i+h;break}return{xData:a.slice(f,g),yData:b.slice(f,g),start:f,end:g}},generatePoints:function(){var a=this.options.data,b=this.data,c,d=this.processedXData,e=this.processedYData, +f=this.pointClass,g=d.length,h=this.cropStart||0,i,j=this.hasGroupedData,k,l=[],m;if(!b&&!j)b=[],b.length=a.length,b=this.data=b;for(m=0;m0),j=this.getExtremesFromAll||this.cropped||(c[l+1]||j)>=g&&(c[l-1]||j)<=h,i&&j)if(i=k.length)for(;i--;)k[i]!==null&&(e[f++]=k[i]);else e[f++]=k;this.dataMin=o(void 0,Na(e));this.dataMax=o(void 0,Ba(e))},translate:function(){this.processedXData||this.processData();this.generatePoints();for(var a=this.options,b=a.stacking,c=this.xAxis,d=c.categories, +e=this.yAxis,f=this.points,g=f.length,h=!!this.modifyValue,i=a.pointPlacement,j=i==="between"||ya(i),k=a.threshold,a=0;a0||j))g.graphic=c.renderer.symbol(i,d-h,e-h,2*h,2*h).attr(a).add(q)}else if(k)g.graphic=k.destroy()},convertAttribs:function(a,b,c,d){var e=this.pointAttrToOptions,f,g,h={},a=a||{},b=b||{},c=c||{},d=d||{};for(f in e)g=e[f],h[f]=o(a[g],b[f],c[f],d[f]);return h},getAttribs:function(){var a=this,b=a.options,c=Z[a.type].marker?b.marker:b,d=c.states,e=d.hover,f,g=a.color;f={stroke:g, +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 g=this.chart,h=b.align,i=b.verticalAlign,j,k;j=c.x;if(j<0)h==="right"?b.align="left":b.x=-j,k=!0;j=c.x+d.width;if(j>g.plotWidth)h==="left"?b.align="right":b.x=g.plotWidth-j,k=!0;j=c.y;if(j<0)i==="bottom"?b.verticalAlign="top":b.y=-j,k=!0;j=c.y+d.height;if(j>g.plotHeight)i==="top"?b.verticalAlign="bottom":b.y=g.plotHeight-j,k=!0;if(k)a.placed=!f,a.align(b,null,e)};if(J.pie)J.pie.prototype.drawDataLabels=function(){var a=this,b=a.data,c,d=a.chart,e=a.options.dataLabels,f=o(e.connectorPadding, +10),g=o(e.connectorWidth,1),h=d.plotWidth,d=d.plotHeight,i,j,k=o(e.softConnector,!0),l=e.distance,m=a.center,n=m[2]/2,q=m[1],r=l>0,s,u,w,x,y=[[],[]],z,B,E,H,A,D=[0,0,0,0],J=function(a,b){return b.y-a.y};if(a.visible&&(e.enabled||a._hasPointLabels)){M.prototype.drawDataLabels.apply(a);p(b,function(a){a.dataLabel&&a.visible&&y[a.half].push(a)});for(H=0;!x&&b[H];)x=b[H]&&b[H].dataLabel&&(b[H].dataLabel.getBBox().height||21),H++;for(H=2;H--;){var 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已启动： +     电池电压： V + +
+ + + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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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+
+ +
+
+ + + + + + + + + + + +
0
0 + + +
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+ + + + + + +
+ + + + +
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+ + + + + + + + + + + + + + + + + + + + + +
Shaft
Velocity		motor
voltage q		target
velocity		pendulum
angle		target
angle		pitchkalAngleZgyroZrate
+
+ + + + \ No newline at end of file diff --git a/v1/Betas/RGB_V1.5/main/data/jquery.js b/v1/Betas/RGB_V1.5/main/data/jquery.js new file mode 100644 index 0000000..8c24ffc --- /dev/null +++ b/v1/Betas/RGB_V1.5/main/data/jquery.js @@ -0,0 +1,9472 @@ +/*! + * jQuery JavaScript Library v1.8.3 + * http://jquery.com/ + * + * Includes Sizzle.js + * http://sizzlejs.com/ + * + * Copyright 2012 jQuery Foundation and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: Tue Nov 13 2012 08:20:33 GMT-0500 (Eastern Standard Time) + */ +(function( window, undefined ) { +var + // A central reference to the root jQuery(document) + rootjQuery, + + // The deferred used on DOM ready + readyList, + + // Use the correct document accordingly with window argument (sandbox) + document = window.document, + location = window.location, + navigator = window.navigator, + + // Map over jQuery in case of overwrite + _jQuery = window.jQuery, + + // Map over the $ in case of overwrite + _$ = window.$, + + // Save a reference to some core methods + core_push = Array.prototype.push, + core_slice = Array.prototype.slice, + core_indexOf = Array.prototype.indexOf, + core_toString = Object.prototype.toString, + core_hasOwn = Object.prototype.hasOwnProperty, + core_trim = String.prototype.trim, + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + // The jQuery object is actually just the init constructor 'enhanced' + return new jQuery.fn.init( selector, context, rootjQuery ); + }, + + // Used for matching numbers + core_pnum = /[\-+]?(?:\d*\.|)\d+(?:[eE][\-+]?\d+|)/.source, + + // Used for detecting and trimming whitespace + core_rnotwhite = /\S/, + core_rspace = /\s+/, + + // Make sure we trim BOM and NBSP (here's looking at you, Safari 5.0 and IE) + rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + rquickExpr = /^(?:[^#<]*(<[\w\W]+>)[^>]*$|#([\w\-]*)$)/, + + // Match a standalone tag + rsingleTag = /^<(\w+)\s*\/?>(?:<\/\1>|)$/, + + // JSON RegExp + rvalidchars = /^[\],:{}\s]*$/, + rvalidbraces = /(?:^|:|,)(?:\s*\[)+/g, + rvalidescape = /\\(?:["\\\/bfnrt]|u[\da-fA-F]{4})/g, + rvalidtokens = /"[^"\\\r\n]*"|true|false|null|-?(?:\d\d*\.|)\d+(?:[eE][\-+]?\d+|)/g, + + // Matches dashed string for camelizing + rmsPrefix = /^-ms-/, + rdashAlpha = /-([\da-z])/gi, + + // Used by jQuery.camelCase as callback to replace() + fcamelCase = function( all, letter ) { + return ( letter + "" ).toUpperCase(); + }, + + // The ready event handler and self cleanup method + DOMContentLoaded = function() { + if ( document.addEventListener ) { + document.removeEventListener( "DOMContentLoaded", DOMContentLoaded, false ); + jQuery.ready(); + } else if ( document.readyState === "complete" ) { + // we're here because readyState === "complete" in oldIE + // which is good enough for us to call the dom ready! + document.detachEvent( "onreadystatechange", DOMContentLoaded ); + jQuery.ready(); + } + }, + + // [[Class]] -> type pairs + class2type = {}; + +jQuery.fn = jQuery.prototype = { + constructor: jQuery, + init: function( selector, context, rootjQuery ) { + var match, elem, ret, doc; + + // Handle $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Handle $(DOMElement) + if ( selector.nodeType ) { + this.context = this[0] = selector; + this.length = 1; + return this; + } + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector.charAt(0) === "<" && selector.charAt( selector.length - 1 ) === ">" && selector.length >= 3 ) { + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && (match[1] || !context) ) { + + // HANDLE: $(html) -> $(array) + if ( match[1] ) { + context = context instanceof jQuery ? context[0] : context; + 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 ? + + // Return a 'clean' array + this.toArray() : + + // Return just the object + ( num < 0 ? this[ this.length + num ] : this[ num ] ); + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems, name, selector ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + ret.context = this.context; + + if ( name === "find" ) { + ret.selector = this.selector + ( this.selector ? 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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" ? opt.duration : + opt.duration in jQuery.fx.speeds ? jQuery.fx.speeds[ opt.duration ] : jQuery.fx.speeds._default; + + // normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( jQuery.isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p*Math.PI ) / 2; + } +}; + +jQuery.timers = []; +jQuery.fx = Tween.prototype.init; +jQuery.fx.tick = function() { + var timer, + timers = jQuery.timers, + i = 0; + + fxNow = jQuery.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + // Checks the timer has not already been removed + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + if ( timer() && jQuery.timers.push( timer ) && !timerId ) { + timerId = setInterval( jQuery.fx.tick, jQuery.fx.interval ); + } +}; + +jQuery.fx.interval = 13; + +jQuery.fx.stop = function() { + clearInterval( timerId ); + timerId = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + // Default speed + _default: 400 +}; + +// Back Compat <1.8 extension point +jQuery.fx.step = {}; + +if ( jQuery.expr && jQuery.expr.filters ) { + jQuery.expr.filters.animated = function( elem ) { + return jQuery.grep(jQuery.timers, function( fn ) { + return elem === fn.elem; + }).length; + }; +} +var rroot = /^(?:body|html)$/i; + +jQuery.fn.offset = function( options ) { + if ( arguments.length ) { + return options === undefined ? + 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/v1/Betas/RGB_V1.5/main/i2c.ino b/v1/Betas/RGB_V1.5/main/i2c.ino new file mode 100644 index 0000000..23fa91c --- /dev/null +++ b/v1/Betas/RGB_V1.5/main/i2c.ino @@ -0,0 +1,63 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB +const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) { + return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success +} + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) { + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + Wire.write(data, length); + uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success + if (rcode) { + Serial.print(F("i2cWrite failed: ")); + Serial.println(rcode); + } + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission +} + +uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) { + uint32_t timeOutTimer; + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + uint8_t rcode = Wire.endTransmission(false); // Don't release the bus + if (rcode) { + Serial.print(F("i2cRead failed: ")); + Serial.println(rcode); + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission + } + Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading + for (uint8_t i = 0; i < nbytes; i++) { + if (Wire.available()) + data[i] = Wire.read(); + else { + timeOutTimer = micros(); + while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available()); + if (Wire.available()) + data[i] = Wire.read(); + else { + Serial.println(F("i2cRead timeout")); + return 5; // This error value is not already taken by endTransmission + } + } + } + return 0; // Success +} diff --git a/v1/Betas/RGB_V1.5/main/main.ino b/v1/Betas/RGB_V1.5/main/main.ino new file mode 100644 index 0000000..892f8c1 --- /dev/null +++ b/v1/Betas/RGB_V1.5/main/main.ino @@ -0,0 +1,1321 @@ +/** + 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/v1/Betas/RGB_V2/.keep b/v1/Betas/RGB_V2/.keep new file mode 100644 index 0000000..e69de29 diff --git a/v1/Betas/RGB_V2/main/.keep b/v1/Betas/RGB_V2/main/.keep new file mode 100644 index 0000000..e69de29 diff --git a/v1/Betas/RGB_V2/main/main/Command.cpp b/v1/Betas/RGB_V2/main/main/Command.cpp new file mode 100644 index 0000000..9c54a6b --- /dev/null +++ b/v1/Betas/RGB_V2/main/main/Command.cpp @@ -0,0 +1,28 @@ +#include "Command.h" + +void Command::run(char* str){ + for(int i=0; i < call_count; i++){ + if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15" + call_list[i](str+strlen(call_ids[i])); // get 15.15 input function + break; + } + } +} +void Command::add(char* id, CommandCallback onCommand){ + call_list[call_count] = onCommand; + call_ids[call_count] = id; + call_count++; +} +void Command::scalar(float* value, char* user_cmd){ + *value = atof(user_cmd); +} +bool Command::isSentinel(char* ch,char* str) +{ + char s[strlen(ch)+1]; + strncpy(s,str,strlen(ch)); + s[strlen(ch)] = '\0'; //strncpy need add end '\0' + if(strcmp(ch, s) == 0) + return true; + else + return false; +} diff --git a/v1/Betas/RGB_V2/main/main/Command.h b/v1/Betas/RGB_V2/main/main/Command.h new file mode 100644 index 0000000..20e2fe5 --- /dev/null +++ b/v1/Betas/RGB_V2/main/main/Command.h @@ -0,0 +1,17 @@ +#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/v1/Betas/RGB_V2/main/main/Kalman.cpp b/v1/Betas/RGB_V2/main/main/Kalman.cpp new file mode 100644 index 0000000..80c7dec --- /dev/null +++ b/v1/Betas/RGB_V2/main/main/Kalman.cpp @@ -0,0 +1,93 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +#include "Kalman.h" + +Kalman::Kalman() { + /* We will set the variables like so, these can also be tuned by the user */ + Q_angle = 0.001f; + Q_bias = 0.003f; + R_measure = 0.03f; + + angle = 0.0f; // Reset the angle + bias = 0.0f; // Reset bias + + P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical + P[0][1] = 0.0f; + P[1][0] = 0.0f; + P[1][1] = 0.0f; +}; + +// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds +float Kalman::getAngle(float newAngle, float newRate, float dt) { + // KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145 + // Modified by Kristian Lauszus + // See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it + + // Discrete Kalman filter time update equations - Time Update ("Predict") + // Update xhat - Project the state ahead + /* Step 1 */ + rate = newRate - bias; + angle += dt * rate; + + // Update estimation error covariance - Project the error covariance ahead + /* Step 2 */ + P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle); + P[0][1] -= dt * P[1][1]; + P[1][0] -= dt * P[1][1]; + P[1][1] += Q_bias * dt; + + // Discrete Kalman filter measurement update equations - Measurement Update ("Correct") + // Calculate Kalman gain - Compute the Kalman gain + /* Step 4 */ + float S = P[0][0] + R_measure; // Estimate error + /* Step 5 */ + float K[2]; // Kalman gain - This is a 2x1 vector + K[0] = P[0][0] / S; + K[1] = P[1][0] / S; + + // Calculate angle and bias - Update estimate with measurement zk (newAngle) + /* Step 3 */ + float y = newAngle - angle; // Angle difference + /* Step 6 */ + angle += K[0] * y; + bias += K[1] * y; + + // Calculate estimation error covariance - Update the error covariance + /* Step 7 */ + float P00_temp = P[0][0]; + float P01_temp = P[0][1]; + + P[0][0] -= K[0] * P00_temp; + P[0][1] -= K[0] * P01_temp; + P[1][0] -= K[1] * P00_temp; + P[1][1] -= K[1] * P01_temp; + + return angle; +}; + +void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle +float Kalman::getRate() { return this->rate; }; // Return the unbiased rate + +/* These are used to tune the Kalman filter */ +void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; }; +void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; }; +void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; }; + +float Kalman::getQangle() { return this->Q_angle; }; +float Kalman::getQbias() { return this->Q_bias; }; +float Kalman::getRmeasure() { return this->R_measure; }; diff --git a/v1/Betas/RGB_V2/main/main/Kalman.h b/v1/Betas/RGB_V2/main/main/Kalman.h new file mode 100644 index 0000000..7de545f --- /dev/null +++ b/v1/Betas/RGB_V2/main/main/Kalman.h @@ -0,0 +1,59 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +#ifndef _Kalman_h_ +#define _Kalman_h_ + +class Kalman { +public: + Kalman(); + + // The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds + float getAngle(float newAngle, float newRate, float dt); + + void setAngle(float angle); // Used to set angle, this should be set as the starting angle + float getRate(); // Return the unbiased rate + + /* These are used to tune the Kalman filter */ + void setQangle(float Q_angle); + /** + * setQbias(float Q_bias) + * Default value (0.003f) is in Kalman.cpp. + * Raise this to follow input more closely, + * lower this to smooth result of kalman filter. + */ + void setQbias(float Q_bias); 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g=this,m=H(x(d,this.renderer.globalAnimation,!0));d=m.defer;x(n.hidden,n.msHidden,n.webkitHidden,!1)&&(m.duration=0);0!==m.duration?(c&&(m.complete=c),P(function(){g.element&&v(g,b,m)},d)):(this.attr(b,void 0,c),D(b,function(b,d){m.step&&m.step.call(this,b,{prop:d,pos:1,elem:this})},this));return this};a.prototype.applyTextOutline=function(b){var d=this.element;-1!==b.indexOf("contrast")&&(b=b.replace(/contrast/g,this.renderer.getContrast(d.style.fill))); +var g=b.split(" ");b=g[g.length-1];if((g=g[0])&&"none"!==g&&F.svg){this.fakeTS=!0;this.ySetter=this.xSetter;g=g.replace(/(^[\d\.]+)(.*?)$/g,function(b,d,c){return 2*Number(d)+c});this.removeTextOutline();var m=n.createElementNS(c,"tspan");w(m,{"class":"highcharts-text-outline",fill:b,stroke:b,"stroke-width":g,"stroke-linejoin":"round"});[].forEach.call(d.childNodes,function(b){var d=b.cloneNode(!0);d.removeAttribute&&["fill","stroke","stroke-width","stroke"].forEach(function(b){return d.removeAttribute(b)}); +m.appendChild(d)});var e=n.createElementNS(c,"tspan");e.textContent="\u200b";["x","y"].forEach(function(b){var c=d.getAttribute(b);c&&e.setAttribute(b,c)});m.appendChild(e);d.insertBefore(m,d.firstChild)}};a.prototype.attr=function(b,d,c,g){var m=this.element,e=this.symbolCustomAttribs,L,l=this,E,a;if("string"===typeof b&&"undefined"!==typeof d){var K=b;b={};b[K]=d}"string"===typeof b?l=(this[b+"Getter"]||this._defaultGetter).call(this,b,m):(D(b,function(d,c){E=!1;g||A(this,c);this.symbolName&&-1!== +e.indexOf(c)&&(L||(this.symbolAttr(b),L=!0),E=!0);!this.rotation||"x"!==c&&"y"!==c||(this.doTransform=!0);E||(a=this[c+"Setter"]||this._defaultSetter,a.call(this,d,c,m),!this.styledMode&&this.shadows&&/^(width|height|visibility|x|y|d|transform|cx|cy|r)$/.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, +a=y("auto"===a?null:a,this.minorAutoInterval,n.tickPixelInterval/(k?5:1)*(f-e)/((k?h/c.tickPositions.length:h)||1)),a=F(a,void 0,z(a)),q=c.getLinearTickPositions(a,e,f).map(this.log2lin),k||(this.minorAutoInterval=a/5);k||(c.tickInterval=a);return q};a.prototype.lin2log=function(a){return Math.pow(10,a)};a.prototype.log2lin=function(a){return Math.log(a)/Math.LN10};return a}();a.Additions=k})(G||(G={}));return G});M(a,"Core/Axis/PlotLineOrBand/PlotLineOrBandAxis.js",[a["Core/Utilities.js"]],function(a){var v= +a.erase,z=a.extend,F=a.isNumber,y;(function(a){var u=[],A;a.compose=function(a,k){A||(A=a);-1===u.indexOf(k)&&(u.push(k),z(k.prototype,q.prototype));return k};var q=function(){function a(){}a.prototype.getPlotBandPath=function(a,e,c){void 0===c&&(c=this.options);var h=this.getPlotLinePath({value:e,force:!0,acrossPanes:c.acrossPanes}),f=[],k=this.horiz;e=!F(this.min)||!F(this.max)||athis.max&&e>this.max;a=this.getPlotLinePath({value:a,force:!0,acrossPanes:c.acrossPanes});c= +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]), +e.width);c.height=0>d[1]?Math.max(Math.abs(d[1]),e.height-Math.abs(d[1])):Math.max(Math.abs(d[1]),e.height);this.tracker?this.tracker.attr(c):(this.tracker=a.renderer.rect(c).addClass("highcharts-tracker").add(a),b.styledMode||this.tracker.attr({fill:"rgba(0,0,0,0)"}))}}};a.prototype.styledModeFormat=function(b){return b.replace('style="font-size: 10px"','class="highcharts-header"').replace(/style="color:{(point|series)\.color}"/g,'class="highcharts-color-{$1.colorIndex}"')};a.prototype.tooltipFooterHeaderFormatter= +function(b,a){var d=b.series,c=d.tooltipOptions,e=d.xAxis,g=e&&e.dateTime;e={isFooter:a,labelConfig:b};var l=c.xDateFormat,r=c[a?"footerFormat":"headerFormat"];f(this,"headerFormatter",e,function(a){g&&!l&&p(b.key)&&(l=g.getXDateFormat(b.key,c.dateTimeLabelFormats));g&&l&&(b.point&&b.point.tooltipDateKeys||["key"]).forEach(function(b){r=r.replace("{point."+b+"}","{point."+b+":"+l+"}")});d.chart.styledMode&&(r=this.styledModeFormat(r));a.text=v(r,{point:b,series:d},this.chart)});return e.text};a.prototype.update= +function(b){this.destroy();t(!0,this.chart.options.tooltip.userOptions,b);this.init(this.chart,t(!0,this.options,b))};a.prototype.updatePosition=function(b){var a=this.chart,d=this.options,c=a.pointer,e=this.getLabel();c=c.getChartPosition();var l=(d.positioner||this.getPosition).call(this,e.width,e.height,b),f=b.plotX+a.plotLeft;b=b.plotY+a.plotTop;if(this.outside){d=d.borderWidth+2*this.distance;this.renderer.setSize(e.width+d,e.height+d,!1);if(1!==c.scaleX||1!==c.scaleY)k(this.container,{transform:"scale("+ +c.scaleX+", "+c.scaleY+")"}),f*=c.scaleX,b*=c.scaleY;f+=c.left-l.x;b+=c.top-l.y}this.move(Math.round(l.x),Math.round(l.y||0),f,b)};return a}();"";return a});M(a,"Core/Series/Point.js",[a["Core/Renderer/HTML/AST.js"],a["Core/Animation/AnimationUtilities.js"],a["Core/DefaultOptions.js"],a["Core/FormatUtilities.js"],a["Core/Utilities.js"]],function(a,u,z,F,y){var v=u.animObject,H=z.defaultOptions,A=F.format,q=y.addEvent,n=y.defined,k=y.erase,e=y.extend,c=y.fireEvent,h=y.getNestedProperty,f=y.isArray, +w=y.isFunction,p=y.isNumber,B=y.isObject,t=y.merge,J=y.objectEach,C=y.pick,r=y.syncTimeout,l=y.removeEvent,b=y.uniqueKey;u=function(){function g(){this.colorIndex=this.category=void 0;this.formatPrefix="point";this.id=void 0;this.isNull=!1;this.percentage=this.options=this.name=void 0;this.selected=!1;this.total=this.series=void 0;this.visible=!0;this.x=void 0}g.prototype.animateBeforeDestroy=function(){var b=this,a={x:b.startXPos,opacity:0},c=b.getGraphicalProps();c.singular.forEach(function(d){b[d]= +b[d].animate("dataLabel"===d?{x:b[d].startXPos,y:b[d].startYPos,opacity:0}:a)});c.plural.forEach(function(a){b[a].forEach(function(a){a.element&&a.animate(e({x:b.startXPos},a.startYPos?{x:a.startXPos,y:a.startYPos}:{}))})})};g.prototype.applyOptions=function(b,a){var d=this.series,c=d.options.pointValKey||d.pointValKey;b=g.prototype.optionsToObject.call(this,b);e(this,b);this.options=this.options?e(this.options,b):b;b.group&&delete this.group;b.dataLabels&&delete this.dataLabels;c&&(this.y=g.prototype.getNestedProperty.call(this, +c));this.formatPrefix=(this.isNull=C(this.isValid&&!this.isValid(),null===this.x||!p(this.y)))?"null":"point";this.selected&&(this.state="select");"name"in this&&"undefined"===typeof a&&d.xAxis&&d.xAxis.hasNames&&(this.x=d.xAxis.nameToX(this));"undefined"===typeof this.x&&d?this.x="undefined"===typeof a?d.autoIncrement():a:p(b.x)&&d.options.relativeXValue&&(this.x=d.autoIncrement(b.x));return this};g.prototype.destroy=function(){function b(){if(a.graphic||a.dataLabel||a.dataLabels)l(a),a.destroyElements(); +for(h in a)a[h]=null}var a=this,c=a.series,e=c.chart;c=c.options.dataSorting;var g=e.hoverPoints,f=v(a.series.chart.renderer.globalAnimation),h;a.legendItem&&e.legend.destroyItem(a);g&&(a.setState(),k(g,a),g.length||(e.hoverPoints=null));if(a===e.hoverPoint)a.onMouseOut();c&&c.enabled?(this.animateBeforeDestroy(),r(b,f.duration)):b();e.pointCount--};g.prototype.destroyElements=function(b){var a=this;b=a.getGraphicalProps(b);b.singular.forEach(function(b){a[b]=a[b].destroy()});b.plural.forEach(function(b){a[b].forEach(function(b){b.element&& +b.destroy()});delete a[b]})};g.prototype.firePointEvent=function(b,a,e){var d=this,g=this.series.options;(g.point.events[b]||d.options&&d.options.events&&d.options.events[b])&&d.importEvents();"click"===b&&g.allowPointSelect&&(e=function(b){d.select&&d.select(null,b.ctrlKey||b.metaKey||b.shiftKey)});c(d,b,a,e)};g.prototype.getClassName=function(){return"highcharts-point"+(this.selected?" highcharts-point-select":"")+(this.negative?" highcharts-negative":"")+(this.isNull?" highcharts-null-point":"")+ +("undefined"!==typeof this.colorIndex?" highcharts-color-"+this.colorIndex:"")+(this.options.className?" "+this.options.className:"")+(this.zone&&this.zone.className?" "+this.zone.className.replace("highcharts-negative",""):"")};g.prototype.getGraphicalProps=function(b){var a=this,d=[],c={singular:[],plural:[]},e;b=b||{graphic:1,dataLabel:1};b.graphic&&d.push("graphic","upperGraphic","shadowGroup");b.dataLabel&&d.push("dataLabel","dataLabelUpper","connector");for(e=d.length;e--;){var g=d[e];a[g]&& +c.singular.push(g)}["dataLabel","connector"].forEach(function(d){var e=d+"s";b[d]&&a[e]&&c.plural.push(e)});return c};g.prototype.getLabelConfig=function(){return{x:this.category,y:this.y,color:this.color,colorIndex:this.colorIndex,key:this.name||this.category,series:this.series,point:this,percentage:this.percentage,total:this.total||this.stackTotal}};g.prototype.getNestedProperty=function(b){if(b)return 0===b.indexOf("custom.")?h(b,this.options):this[b]};g.prototype.getZone=function(){var b=this.series, +a=b.zones;b=b.zoneAxis||"y";var c,e=0;for(c=a[e];this[b]>=c.value;)c=a[++e];this.nonZonedColor||(this.nonZonedColor=this.color);this.color=c&&c.color&&!this.options.color?c.color:this.nonZonedColor;return c};g.prototype.hasNewShapeType=function(){return(this.graphic&&(this.graphic.symbolName||this.graphic.element.nodeName))!==this.shapeType};g.prototype.init=function(a,e,g){this.series=a;this.applyOptions(e,g);this.id=n(this.id)?this.id:b();this.resolveColor();a.chart.pointCount++;c(this,"afterInit"); +return this};g.prototype.optionsToObject=function(b){var a=this.series,d=a.options.keys,c=d||a.pointArrayMap||["y"],e=c.length,l={},r=0,h=0;if(p(b)||null===b)l[c[0]]=b;else if(f(b))for(!d&&b.length>e&&(a=typeof b[0],"string"===a?l.name=b[0]:"number"===a&&(l.x=b[0]),r++);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]; +if(d)d.pointer.onDocumentMouseMove(b)}),this.eventsToUnbind.push(this.unDocMouseMove));b.axes.forEach(function(a){var d=t((a.crosshair||{}).snap,!0),g;d&&((g=b.hoverPoint)&&g.series[a.coll]===a||(g=c(h,function(b){return b.series[a.coll]===a})));g||!d?a.drawCrosshair(e,g):a.hideCrosshair()})};a.prototype.scaleGroups=function(a,c){var b=this.chart;b.series.forEach(function(e){var d=a||e.getPlotBox();e.group&&(e.xAxis&&e.xAxis.zoomEnabled||b.mapView)&&(e.group.attr(d),e.markerGroup&&(e.markerGroup.attr(d), +e.markerGroup.clip(c?b.clipRect:null)),e.dataLabelsGroup&&e.dataLabelsGroup.attr(d))});b.clipRect.attr(c||b.clipBox)};a.prototype.setDOMEvents=function(){var c=this,e=this.chart.container,b=e.ownerDocument;e.onmousedown=this.onContainerMouseDown.bind(this);e.onmousemove=this.onContainerMouseMove.bind(this);e.onclick=this.onContainerClick.bind(this);this.eventsToUnbind.push(A(e,"mouseenter",this.onContainerMouseEnter.bind(this)));this.eventsToUnbind.push(A(e,"mouseleave",this.onContainerMouseLeave.bind(this))); +a.unbindDocumentMouseUp||(a.unbindDocumentMouseUp=A(b,"mouseup",this.onDocumentMouseUp.bind(this)));for(var g=this.chart.renderTo.parentElement;g&&"BODY"!==g.tagName;)this.eventsToUnbind.push(A(g,"scroll",function(){delete c.chartPosition})),g=g.parentElement;u.hasTouch&&(this.eventsToUnbind.push(A(e,"touchstart",this.onContainerTouchStart.bind(this),{passive:!1})),this.eventsToUnbind.push(A(e,"touchmove",this.onContainerTouchMove.bind(this),{passive:!1})),a.unbindDocumentTouchEnd||(a.unbindDocumentTouchEnd= +A(b,"touchend",this.onDocumentTouchEnd.bind(this),{passive:!1})))};a.prototype.setHoverChartIndex=function(){var c=this.chart,e=u.charts[t(a.hoverChartIndex,-1)];if(e&&e!==c)e.pointer.onContainerMouseLeave({relatedTarget:!0});e&&e.mouseIsDown||(a.hoverChartIndex=c.index)};a.prototype.touch=function(a,c){var b=this.chart,e;this.setHoverChartIndex();if(1===a.touches.length)if(a=this.normalize(a),(e=b.isInsidePlot(a.chartX-b.plotLeft,a.chartY-b.plotTop,{visiblePlotOnly:!0}))&&!b.openMenu){c&&this.runPointActions(a); +if("touchmove"===a.type){c=this.pinchDown;var d=c[0]?4<=Math.sqrt(Math.pow(c[0].chartX-a.chartX,2)+Math.pow(c[0].chartY-a.chartY,2)):!1}t(d,!0)&&this.pinch(a)}else c&&this.reset();else 2===a.touches.length&&this.pinch(a)};a.prototype.touchSelect=function(a){return!(!this.chart.options.chart.zoomBySingleTouch||!a.touches||1!==a.touches.length)};a.prototype.zoomOption=function(a){var c=this.chart,b=c.options.chart;c=c.inverted;var e=b.zoomType||"";/touch/.test(a.type)&&(e=t(b.pinchType,e));this.zoomX= +a=/x/.test(e);this.zoomY=b=/y/.test(e);this.zoomHor=a&&!c||b&&c;this.zoomVert=b&&!c||a&&c;this.hasZoom=a||b};return a}();"";return a});M(a,"Core/MSPointer.js",[a["Core/Globals.js"],a["Core/Pointer.js"],a["Core/Utilities.js"]],function(a,u,z){function v(){var a=[];a.item=function(a){return this[a]};c(f,function(c){a.push({pageX:c.pageX,pageY:c.pageY,target:c.target})});return a}function y(a,c,e,f){var h=H[u.hoverChartIndex||NaN];"touch"!==a.pointerType&&a.pointerType!==a.MSPOINTER_TYPE_TOUCH||!h|| +(h=h.pointer,f(a),h[c]({type:e,target:a.currentTarget,preventDefault:q,touches:v()}))}var G=this&&this.__extends||function(){var a=function(c,e){a=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(a,c){a.__proto__=c}||function(a,c){for(var e in c)c.hasOwnProperty(e)&&(a[e]=c[e])};return a(c,e)};return function(c,e){function f(){this.constructor=c}a(c,e);c.prototype=null===e?Object.create(e):(f.prototype=e.prototype,new f)}}(),H=a.charts,A=a.doc,q=a.noop,n=a.win,k=z.addEvent,e=z.css, +c=z.objectEach,h=z.removeEvent,f={},w=!!n.PointerEvent;return function(c){function p(){return null!==c&&c.apply(this,arguments)||this}G(p,c);p.isRequired=function(){return!(a.hasTouch||!n.PointerEvent&&!n.MSPointerEvent)};p.prototype.batchMSEvents=function(a){a(this.chart.container,w?"pointerdown":"MSPointerDown",this.onContainerPointerDown);a(this.chart.container,w?"pointermove":"MSPointerMove",this.onContainerPointerMove);a(A,w?"pointerup":"MSPointerUp",this.onDocumentPointerUp)};p.prototype.destroy= +function(){this.batchMSEvents(h);c.prototype.destroy.call(this)};p.prototype.init=function(a,f){c.prototype.init.call(this,a,f);this.hasZoom&&e(a.container,{"-ms-touch-action":"none","touch-action":"none"})};p.prototype.onContainerPointerDown=function(a){y(a,"onContainerTouchStart","touchstart",function(a){f[a.pointerId]={pageX:a.pageX,pageY:a.pageY,target:a.currentTarget}})};p.prototype.onContainerPointerMove=function(a){y(a,"onContainerTouchMove","touchmove",function(a){f[a.pointerId]={pageX:a.pageX, +pageY:a.pageY};f[a.pointerId].target||(f[a.pointerId].target=a.currentTarget)})};p.prototype.onDocumentPointerUp=function(a){y(a,"onDocumentTouchEnd","touchend",function(a){delete f[a.pointerId]})};p.prototype.setDOMEvents=function(){c.prototype.setDOMEvents.call(this);(this.hasZoom||this.followTouchMove)&&this.batchMSEvents(k)};return p}(u)});M(a,"Core/Legend/Legend.js",[a["Core/Animation/AnimationUtilities.js"],a["Core/FormatUtilities.js"],a["Core/Globals.js"],a["Core/Series/Point.js"],a["Core/Renderer/RendererUtilities.js"], +a["Core/Utilities.js"]],function(a,u,z,F,y,G){var v=a.animObject,A=a.setAnimation,q=u.format;a=z.isFirefox;var n=z.marginNames;z=z.win;var k=y.distribute,e=G.addEvent,c=G.createElement,h=G.css,f=G.defined,w=G.discardElement,p=G.find,B=G.fireEvent,t=G.isNumber,J=G.merge,C=G.pick,r=G.relativeLength,l=G.stableSort,b=G.syncTimeout;y=G.wrap;G=function(){function a(b,a){this.allItems=[];this.contentGroup=this.box=void 0;this.display=!1;this.group=void 0;this.offsetWidth=this.maxLegendWidth=this.maxItemWidth= +this.legendWidth=this.legendHeight=this.lastLineHeight=this.lastItemY=this.itemY=this.itemX=this.itemMarginTop=this.itemMarginBottom=this.itemHeight=this.initialItemY=0;this.options={};this.padding=0;this.pages=[];this.proximate=!1;this.scrollGroup=void 0;this.widthOption=this.totalItemWidth=this.titleHeight=this.symbolWidth=this.symbolHeight=0;this.chart=b;this.init(b,a)}a.prototype.init=function(b,a){this.chart=b;this.setOptions(a);a.enabled&&(this.render(),e(this.chart,"endResize",function(){this.legend.positionCheckboxes()}), +this.proximate?this.unchartrender=e(this.chart,"render",function(){this.legend.proximatePositions();this.legend.positionItems()}):this.unchartrender&&this.unchartrender())};a.prototype.setOptions=function(b){var a=C(b.padding,8);this.options=b;this.chart.styledMode||(this.itemStyle=b.itemStyle,this.itemHiddenStyle=J(this.itemStyle,b.itemHiddenStyle));this.itemMarginTop=b.itemMarginTop||0;this.itemMarginBottom=b.itemMarginBottom||0;this.padding=a;this.initialItemY=a-5;this.symbolWidth=C(b.symbolWidth, +16);this.pages=[];this.proximate="proximate"===b.layout&&!this.chart.inverted;this.baseline=void 0};a.prototype.update=function(b,a){var c=this.chart;this.setOptions(J(!0,this.options,b));this.destroy();c.isDirtyLegend=c.isDirtyBox=!0;C(a,!0)&&c.redraw();B(this,"afterUpdate")};a.prototype.colorizeItem=function(b,a){b.legendGroup[a?"removeClass":"addClass"]("highcharts-legend-item-hidden");if(!this.chart.styledMode){var c=this.options,d=b.legendItem,e=b.legendLine,g=b.legendSymbol,f=this.itemHiddenStyle.color; +c=a?c.itemStyle.color:f;var m=a?b.color||f:f,h=b.options&&b.options.marker,l={fill:m};d&&d.css({fill:c,color:c});e&&e.attr({stroke:m});g&&(h&&g.isMarker&&(l=b.pointAttribs(),a||(l.stroke=l.fill=f)),g.attr(l))}B(this,"afterColorizeItem",{item:b,visible:a})};a.prototype.positionItems=function(){this.allItems.forEach(this.positionItem,this);this.chart.isResizing||this.positionCheckboxes()};a.prototype.positionItem=function(b){var a=this,c=this.options,d=c.symbolPadding,e=!c.rtl,g=b._legendItemPos;c= +g[0];g=g[1];var h=b.checkbox,l=b.legendGroup;l&&l.element&&(d={translateX:e?c:this.legendWidth-c-2*d-4,translateY:g},e=function(){B(a,"afterPositionItem",{item:b})},f(l.translateY)?l.animate(d,void 0,e):(l.attr(d),e()));h&&(h.x=c,h.y=g)};a.prototype.destroyItem=function(b){var a=b.checkbox;["legendItem","legendLine","legendSymbol","legendGroup"].forEach(function(a){b[a]&&(b[a]=b[a].destroy())});a&&w(b.checkbox)};a.prototype.destroy=function(){function b(b){this[b]&&(this[b]=this[b].destroy())}this.getAllItems().forEach(function(a){["legendItem", +"legendGroup"].forEach(b,a)});"clipRect up down pager nav box title group".split(" ").forEach(b,this);this.display=null};a.prototype.positionCheckboxes=function(){var b=this.group&&this.group.alignAttr,a=this.clipHeight||this.legendHeight,c=this.titleHeight;if(b){var e=b.translateY;this.allItems.forEach(function(d){var g=d.checkbox;if(g){var f=e+c+g.y+(this.scrollOffset||0)+3;h(g,{left:b.translateX+d.checkboxOffset+g.x-20+"px",top:f+"px",display:this.proximate||f>e-6&&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&&n(h).brighten(a.brightness).get()|| +h,l=a[g]||l,k=a[f]||k,e=a.dashStyle||e,p=J(a.opacity,p));g={fill:h,stroke:l,"stroke-width":k,opacity:p};e&&(g.dashstyle=e);return g};l.prototype.drawPoints=function(){var a=this,c=this.chart,d=a.options,e=c.renderer,f=d.animationLimit||250,h;a.points.forEach(function(b){var g=b.graphic,l=!!g,k=g&&c.pointCountv,"left"===q?m.y-=v?p.height:0:"center"===q?(m.x-=p.width/2,m.y-=p.height/2):"right"===q&&(m.x-=p.width,m.y-=v?0:p.height),b.placed=!0,b.alignAttr=m):(v(d),b.align(c,void 0,d),m=b.alignAttr);u&&0<=d.height?this.justifyDataLabel(b,c,m,p,d,f):e(c.crop,!0)&&(w=h.isInsidePlot(m.x,m.y,{paneCoordinates:!0,series:g})&&h.isInsidePlot(m.x+p.width,m.y+p.height,{paneCoordinates:!0, +series:g}));if(c.shape&&!r)b[f?"attr":"animate"]({anchorX:l?h.plotWidth-a.plotY:a.plotX,anchorY:l?h.plotHeight-a.plotX:a.plotY})}f&&k&&(b.placed=!1);w||k&&!u||(b.hide(!0),b.placed=!1)}function h(a,b){var c=b.filter;return 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}
"}});return n}(u);H(F.prototype,{drawTracker:a.prototype.drawTracker,sorted:!1,requireSorting:!1,noSharedTooltip:!0,trackerGroups:["group","markerGroup","dataLabelsGroup"],takeOrdinalPosition:!1});G(F,"afterTranslate",function(){this.applyJitter()});z.registerSeriesType("scatter",F);"";return F});M(a,"Series/CenteredUtilities.js",[a["Core/Globals.js"],a["Core/Series/Series.js"],a["Core/Utilities.js"]],function(a,u,z){var v=a.deg2rad,y=z.isNumber, +G=z.pick,H=z.relativeLength,A;(function(a){a.getCenter=function(){var a=this.options,k=this.chart,e=2*(a.slicedOffset||0),c=k.plotWidth-2*e,h=k.plotHeight-2*e,f=a.center,q=Math.min(c,h),p=a.size,v=a.innerSize||0;"string"===typeof p&&(p=parseFloat(p));"string"===typeof v&&(v=parseFloat(v));a=[G(f[0],"50%"),G(f[1],"50%"),G(p&&0>p?void 0:a.size,"100%"),G(v&&0>v?void 0:a.innerSize||0,"0%")];!k.angular||this instanceof u||(a[3]=0);for(f=0;4>f;++f)p=a[f],k=2>f||2===f&&/%$/.test(p),a[f]=H(p,[c,h,q,a[2]][f])+ +(k?e:0);a[3]>a[2]&&(a[3]=a[2]);return 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, +f=this.connectorShapes,k=e.connectorShape;f[k]&&(k=f[k]);return k.call(this,{x:a.final.x,y:a.final.y,alignment:a.alignment},a.connectorPosition,e)};e.prototype.getTranslate=function(){return this.sliced?this.slicedTranslation:{translateX:0,translateY:0}};e.prototype.haloPath=function(a){var c=this.shapeArgs;return this.sliced||!this.visible?[]:this.series.chart.renderer.symbols.arc(c.x,c.y,c.r+a,c.r+a,{innerR:c.r-1,start:c.start,end:c.end})};e.prototype.init=function(){var c=this;a.prototype.init.apply(this, +arguments);this.name=q(this.name,"Slice");var e=function(a){c.slice("select"===a.type)};G(this,"select",e);G(this,"unselect",e);return this};e.prototype.isValid=function(){return A(this.y)&&0<=this.y};e.prototype.setVisible=function(a,e){var c=this,h=this.series,k=h.chart,n=h.options.ignoreHiddenPoint;e=q(e,n);a!==this.visible&&(this.visible=this.options.visible=a="undefined"===typeof a?!this.visible:a,h.options.data[h.data.indexOf(this)]=this.options,["graphic","dataLabel","connector","shadowGroup"].forEach(function(e){if(c[e])c[e][a? +"show":"hide"](a)}),this.legendItem&&k.legend.colorizeItem(this,a),a||"hover"!==this.state||this.setState(""),n&&(h.isDirty=!0),e&&k.redraw())};e.prototype.slice=function(a,e,f){var c=this.series;y(f,c.chart);q(e,!0);this.sliced=this.options.sliced=H(a)?a:!this.sliced;c.options.data[c.data.indexOf(this)]=this.options;this.graphic&&this.graphic.animate(this.getTranslate());this.shadowGroup&&this.shadowGroup.animate(this.getTranslate())};return e}(u);a(u.prototype,{connectorShapes:{fixedOffset:function(a, +e,c){var h=e.breakAt;e=e.touchingSliceAt;return[["M",a.x,a.y],c.softConnector?["C",a.x+("left"===a.alignment?-5:5),a.y,2*h.x-e.x,2*h.y-e.y,h.x,h.y]:["L",h.x,h.y],["L",e.x,e.y]]},straight:function(a,e){e=e.touchingSliceAt;return[["M",a.x,a.y],["L",e.x,e.y]]},crookedLine:function(a,e,c){e=e.touchingSliceAt;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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+ + + + \ No newline at end of file diff --git a/v1/Betas/RGB_V2/main/main/data/jquery.js b/v1/Betas/RGB_V2/main/main/data/jquery.js new file mode 100644 index 0000000..8c24ffc --- /dev/null +++ b/v1/Betas/RGB_V2/main/main/data/jquery.js @@ -0,0 +1,9472 @@ +/*! + * jQuery JavaScript Library v1.8.3 + * http://jquery.com/ + * + * Includes Sizzle.js + * http://sizzlejs.com/ + * + * Copyright 2012 jQuery Foundation and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: Tue Nov 13 2012 08:20:33 GMT-0500 (Eastern Standard Time) + */ +(function( window, undefined ) { +var + // A central reference to the root jQuery(document) + rootjQuery, + + // The deferred used on DOM ready + readyList, + + // Use the correct document accordingly with window argument (sandbox) + document = window.document, + location = window.location, + navigator = window.navigator, + + // Map over jQuery in case of overwrite + _jQuery = window.jQuery, + + // Map over the $ in case of overwrite + _$ = window.$, + + // Save a reference to some core methods + core_push = Array.prototype.push, + core_slice = Array.prototype.slice, + core_indexOf = Array.prototype.indexOf, + core_toString = Object.prototype.toString, + core_hasOwn = Object.prototype.hasOwnProperty, + core_trim = String.prototype.trim, + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + // The jQuery object is actually just the init constructor 'enhanced' + return new jQuery.fn.init( selector, context, rootjQuery ); + }, + + // Used for matching numbers + core_pnum = /[\-+]?(?:\d*\.|)\d+(?:[eE][\-+]?\d+|)/.source, + + // Used for detecting and trimming whitespace + core_rnotwhite = /\S/, + core_rspace = /\s+/, + + // Make sure we trim BOM and NBSP (here's looking at you, Safari 5.0 and IE) + rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + rquickExpr = /^(?:[^#<]*(<[\w\W]+>)[^>]*$|#([\w\-]*)$)/, + + // Match a standalone tag + rsingleTag = /^<(\w+)\s*\/?>(?:<\/\1>|)$/, + + // JSON RegExp + rvalidchars = /^[\],:{}\s]*$/, + rvalidbraces = /(?:^|:|,)(?:\s*\[)+/g, + rvalidescape = /\\(?:["\\\/bfnrt]|u[\da-fA-F]{4})/g, + rvalidtokens = /"[^"\\\r\n]*"|true|false|null|-?(?:\d\d*\.|)\d+(?:[eE][\-+]?\d+|)/g, + + // Matches dashed string for camelizing + rmsPrefix = /^-ms-/, + rdashAlpha = /-([\da-z])/gi, + + // Used by jQuery.camelCase as callback to replace() + fcamelCase = function( all, letter ) { + return ( letter + "" ).toUpperCase(); + }, + + // The ready event handler and self cleanup method + DOMContentLoaded = function() { + if ( document.addEventListener ) { + document.removeEventListener( "DOMContentLoaded", DOMContentLoaded, false ); + jQuery.ready(); + } else if ( document.readyState === "complete" ) { + // we're here because readyState === "complete" in oldIE + // which is good enough for us to call the dom ready! + document.detachEvent( "onreadystatechange", DOMContentLoaded ); + jQuery.ready(); + } + }, + + // [[Class]] -> type pairs + class2type = {}; + +jQuery.fn = jQuery.prototype = { + constructor: jQuery, + init: function( selector, context, rootjQuery ) { + var match, elem, ret, doc; + + // Handle $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Handle $(DOMElement) + if ( selector.nodeType ) { + this.context = this[0] = selector; + this.length = 1; + return this; + } + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector.charAt(0) === "<" && selector.charAt( selector.length - 1 ) === ">" && selector.length >= 3 ) { + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && (match[1] || !context) ) { + + // HANDLE: $(html) -> $(array) + if ( match[1] ) { + context = context instanceof jQuery ? context[0] : context; + 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 ? + + // Return a 'clean' array + this.toArray() : + + // Return just the object + ( num < 0 ? this[ this.length + num ] : this[ num ] ); + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems, name, selector ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + ret.context = this.context; + + if ( name === "find" ) { + ret.selector = this.selector + ( this.selector ? " " : "" ) + 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" ? opt.duration : + opt.duration in jQuery.fx.speeds ? jQuery.fx.speeds[ opt.duration ] : jQuery.fx.speeds._default; + + // normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( jQuery.isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p*Math.PI ) / 2; + } +}; + +jQuery.timers = []; +jQuery.fx = Tween.prototype.init; +jQuery.fx.tick = function() { + var timer, + timers = jQuery.timers, + i = 0; + + fxNow = jQuery.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + // Checks the timer has not already been removed + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + if ( timer() && jQuery.timers.push( timer ) && !timerId ) { + timerId = setInterval( jQuery.fx.tick, jQuery.fx.interval ); + } +}; + +jQuery.fx.interval = 13; + +jQuery.fx.stop = function() { + clearInterval( timerId ); + timerId = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + // Default speed + _default: 400 +}; + +// Back Compat <1.8 extension point +jQuery.fx.step = {}; + +if ( jQuery.expr && jQuery.expr.filters ) { + jQuery.expr.filters.animated = function( elem ) { + return jQuery.grep(jQuery.timers, function( fn ) { + return elem === fn.elem; + }).length; + }; +} +var rroot = /^(?:body|html)$/i; + +jQuery.fn.offset = function( options ) { + if ( arguments.length ) { + return options === undefined ? + 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/v1/Betas/RGB_V2/main/main/i2c.ino b/v1/Betas/RGB_V2/main/main/i2c.ino new file mode 100644 index 0000000..23fa91c --- /dev/null +++ b/v1/Betas/RGB_V2/main/main/i2c.ino @@ -0,0 +1,63 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB +const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) { + return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success +} + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) { + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + Wire.write(data, length); + uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success + if (rcode) { + Serial.print(F("i2cWrite failed: ")); + Serial.println(rcode); + } + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission +} + +uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) { + uint32_t timeOutTimer; + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + uint8_t rcode = Wire.endTransmission(false); // Don't release the bus + if (rcode) { + Serial.print(F("i2cRead failed: ")); + Serial.println(rcode); + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission + } + Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading + for (uint8_t i = 0; i < nbytes; i++) { + if (Wire.available()) + data[i] = Wire.read(); + else { + timeOutTimer = micros(); + while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available()); + if (Wire.available()) + data[i] = Wire.read(); + else { + Serial.println(F("i2cRead timeout")); + return 5; // This error value is not already taken by endTransmission + } + } + } + return 0; // Success +} diff --git a/v1/Betas/RGB_V2/main/main/main.ino b/v1/Betas/RGB_V2/main/main/main.ino new file mode 100644 index 0000000..540691b --- /dev/null +++ b/v1/Betas/RGB_V2/main/main/main.ino @@ -0,0 +1,1321 @@ +/** + 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/v1/Betas/readme.md b/v1/Betas/readme.md new file mode 100644 index 0000000..7ec4820 --- /dev/null +++ b/v1/Betas/readme.md @@ -0,0 +1,99 @@ +# RGB自平衡莱洛三角形 + +#### 介绍 + +本版本是慕炎RGB版本程序 基于45°([https://gitee.com/coll45/foc/](https://gitee.com/coll45/foc/))程序修改 + +本版本虽然能在原版本pcb上运行，但完整功能需要对应的硬件支持才能获得 + + **硬件要点** + +电机连接线线序按原插头顺序安装 + +动量轮的重量，建议安装所有孔位螺丝及螺母 + +磁铁的磁性为径向，而不是正反两面为NS + +AS5600与磁铁的距离 0.3-3mm之内 + +可通过TTL观察simplefoc初始化时的状态提示判断，如果为PP Check：fail则需要检查磁铁及安装情况 + + +【硬件基于45°工程文件修改的RGB版本】 + +[https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy](https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy) + + +1、去掉ch340和自动下载电路更换为rx tx插针，使用时不要连接3.3v插针，烧录前按住boot不放，再按一下reset，然后放掉所有键（如果打开串口监视发现数据乱码，把rx和tx线对换） + +2、TPS54331更改为5V输出供电给RGB灯，5V输入到ams1117-3.3 + +3、预留2个触摸区和增加esp32状态灯，KEY3触摸开关灯，KEY4长按调光 + +4、无线充电功能（无线充电底座） + + +#### 软件架构 + +1、OTA + +2、RGB灯控制程序 + +3、触摸控制程序 + +4、基于webserver的基础调参功能 + + +#### webserver安装教程 + +webserver需要使用【ESP32 SPIFFS】文件上传 + +ESP32 SPIFFS文件上传方法 + +下载插件复制到C:\Program Files (x86)\Arduino\tools\ESP32FS\tool + +重启Arduino即可 + +arduino-esp32fs-plugin + +https://github.com/me-no-dev/arduino-esp32fs-plugin/releases/tag/1.0 + +使用时在arduino界面点“工具”-“ESP32 Sketch Data Upload” + +#### 使用说明 + +Key3长按为开关RGB灯光 + +key4长按为增加亮度，放手后再次触摸为降低亮度 + +web页面调参 + +通过浏览器访问:[http://192.168.4.1](http://192.168.4.1)，用户名：admin 密码：reuleaux123(可通过修改代码修改) + + +#### 更新说明 + +### 20211229 + + +1、增加OTA升级，第一次烧完固件后，再也不需要串口线了 + +2、增加webserver，通过手机浏览器访问192.168.4.1，直接可以进行数据查看和调参（调参功能还没做） + + +### 20220221 + +增加V2版本，电机是2715，对应极数7 + +V2版本的第三个按键，设定为wifi开关，按住2秒，ACT灯由亮转暗则设定完成 + + +### 20220223 + +V1目录改为V1.5 为 GB2204 RGB版本 + +V1.5 V2修正摇摆无法平衡的问题 + +V2 默认不开启wifi，平衡后电流在50ma左右，开启wifi在100ma左右 + + diff --git a/v1/main/Command.cpp b/v1/main/Command.cpp new file mode 100644 index 0000000..9c54a6b --- /dev/null +++ b/v1/main/Command.cpp @@ -0,0 +1,28 @@ +#include "Command.h" + +void Command::run(char* str){ + for(int i=0; i < call_count; i++){ + if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15" + call_list[i](str+strlen(call_ids[i])); // get 15.15 input function + break; + } + } +} +void Command::add(char* id, CommandCallback onCommand){ + call_list[call_count] = onCommand; + call_ids[call_count] = id; + call_count++; +} +void Command::scalar(float* value, char* user_cmd){ + *value = atof(user_cmd); +} +bool Command::isSentinel(char* ch,char* str) +{ + char s[strlen(ch)+1]; + strncpy(s,str,strlen(ch)); + s[strlen(ch)] = '\0'; //strncpy need add end '\0' + if(strcmp(ch, s) == 0) + return true; + else + return false; +} diff --git a/v1/main/Command.h b/v1/main/Command.h new file mode 100644 index 0000000..20e2fe5 --- /dev/null +++ b/v1/main/Command.h @@ -0,0 +1,17 @@ +#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/v1/main/Kalman.cpp b/v1/main/Kalman.cpp new file mode 100644 index 0000000..80c7dec --- /dev/null +++ b/v1/main/Kalman.cpp @@ -0,0 +1,93 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +#include "Kalman.h" + +Kalman::Kalman() { + /* We will set the variables like so, these can also be tuned by the user */ + Q_angle = 0.001f; + Q_bias = 0.003f; + R_measure = 0.03f; + + angle = 0.0f; // Reset the angle + bias = 0.0f; // Reset bias + + P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical + P[0][1] = 0.0f; + P[1][0] = 0.0f; + P[1][1] = 0.0f; +}; + +// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds +float Kalman::getAngle(float newAngle, float newRate, float dt) { + // KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145 + // Modified by Kristian Lauszus + // See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it + + // Discrete Kalman filter time update equations - Time Update ("Predict") + // Update xhat - Project the state ahead + /* Step 1 */ + rate = newRate - bias; + angle += dt * rate; + + // Update estimation error covariance - Project the error covariance ahead + /* Step 2 */ + P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle); + P[0][1] -= dt * P[1][1]; + P[1][0] -= dt * P[1][1]; + P[1][1] += Q_bias * dt; + + // Discrete Kalman filter measurement update equations - Measurement Update ("Correct") + // Calculate Kalman gain - Compute the Kalman gain + /* Step 4 */ + float S = P[0][0] + R_measure; // Estimate error + /* Step 5 */ + float K[2]; // Kalman gain - This is a 2x1 vector + K[0] = P[0][0] / S; + K[1] = P[1][0] / S; + + // Calculate angle and bias - Update estimate with measurement zk (newAngle) + /* Step 3 */ + float y = newAngle - angle; // Angle difference + /* Step 6 */ + angle += K[0] * y; + bias += K[1] * y; + + // Calculate estimation error covariance - Update the error covariance + /* Step 7 */ + float P00_temp = P[0][0]; + float P01_temp = P[0][1]; + + P[0][0] -= K[0] * P00_temp; + P[0][1] -= K[0] * P01_temp; + P[1][0] -= K[1] * P00_temp; + P[1][1] -= K[1] * P01_temp; + + return angle; +}; + +void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle +float Kalman::getRate() { return this->rate; }; // Return the unbiased rate + +/* These are used to tune the Kalman filter */ +void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; }; +void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; }; +void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; }; + +float Kalman::getQangle() { return this->Q_angle; }; +float Kalman::getQbias() { return this->Q_bias; }; +float Kalman::getRmeasure() { return this->R_measure; }; diff --git a/v1/main/Kalman.h b/v1/main/Kalman.h new file mode 100644 index 0000000..7de545f --- /dev/null +++ b/v1/main/Kalman.h @@ -0,0 +1,59 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +#ifndef _Kalman_h_ +#define _Kalman_h_ + +class Kalman { +public: + Kalman(); + + // The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds + float getAngle(float newAngle, float newRate, float dt); + + void setAngle(float angle); // Used to set angle, this should be set as the starting angle + float getRate(); // Return the unbiased rate + + /* These are used to tune the Kalman filter */ + void setQangle(float Q_angle); + /** + * setQbias(float Q_bias) + * Default value (0.003f) is in Kalman.cpp. + * Raise this to follow input more closely, + * lower this to smooth result of kalman filter. + */ + void setQbias(float Q_bias); + void setRmeasure(float R_measure); + + float getQangle(); + float getQbias(); + float getRmeasure(); + +private: + /* Kalman filter variables */ + float Q_angle; // Process noise variance for the accelerometer + float Q_bias; // Process noise variance for the gyro bias + float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise + + float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector + float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector + float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate + + float P[2][2]; // Error covariance matrix - This is a 2x2 matrix +}; + +#endif diff --git a/v1/main/i2c.ino b/v1/main/i2c.ino new file mode 100644 index 0000000..23fa91c --- /dev/null +++ b/v1/main/i2c.ino @@ -0,0 +1,63 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB +const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) { + return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success +} + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) { + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + Wire.write(data, length); + uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success + if (rcode) { + Serial.print(F("i2cWrite failed: ")); + Serial.println(rcode); + } + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission +} + +uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) { + uint32_t timeOutTimer; + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + uint8_t rcode = Wire.endTransmission(false); // Don't release the bus + if (rcode) { + Serial.print(F("i2cRead failed: ")); + Serial.println(rcode); + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission + } + Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading + for (uint8_t i = 0; i < nbytes; i++) { + if (Wire.available()) + data[i] = Wire.read(); + else { + timeOutTimer = micros(); + while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available()); + if (Wire.available()) + data[i] = Wire.read(); + else { + Serial.println(F("i2cRead timeout")); + return 5; // This error value is not already taken by endTransmission + } + } + } + return 0; // Success +} diff --git a/v1/main/main.ino b/v1/main/main.ino new file mode 100644 index 0000000..dba01e7 --- /dev/null +++ b/v1/main/main.ino @@ -0,0 +1,465 @@ + /** +arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller，并安装Kalman。 +FOC引脚32, 33, 25, 22 22为enable +AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18 +本程序有两种平衡方式， FLAG_V为1时使用电压控制，为0时候速度控制。电压控制时LQR参数使用K1和K2，速度控制时LQR参数使用K3和K4 +在wifi上位机窗口中输入：TA+角度，就可以修改平衡角度 +比如让平衡角度为90度，则输入：TA90，并且会存入eeprom的位置0中 注：wifi发送命令不能过快，因为每次都会保存进eeprom +在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(5) 中的值，设置为自己的极对数数字，磁铁数量/2 +程序默认设置的供电电压为 12V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值 +默认PID针对的电机是 GB2204 ，使用自己的电机需要修改PID参数，才能实现更好效果 + */ +#include +#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.shaft_velocity); + if (abs(target_velocity) > 140) + target_velocity = _sign(target_velocity) * 140; + + motor.controller = MotionControlType::velocity; + motor.move(target_velocity); + } + else // else do swing-up + { // sets swing_up_voltage to the motor in order to swing up + motor.controller = MotionControlType::torque; + target_voltage = -_sign(gyroZrate) * swing_up_voltage; + motor.move(target_voltage); + } +} +else if(test_flag == 1) +{ + motor.controller = MotionControlType::torque; + motor.move(target_voltage); +} +else +{ + motor.controller = MotionControlType::velocity; + motor.move(target_velocity); +} +//串口输出数据部分，不需要的情况可以改为0 +#if 1 + +Serial.print(pitch);Serial.print("\t"); +Serial.print(kalAngleZ);Serial.print("\t"); + Serial.print(target_voltage);Serial.print("\t"); + Serial.print(motor.shaft_velocity);Serial.print("\t"); + Serial.print(motor.voltage.q);Serial.print("\t"); + Serial.print(target_angle);Serial.print("\t"); + Serial.print(pendulum_angle);Serial.print("\t"); + Serial.print(gyroZrate);Serial.print("\t"); + Serial.print("\r\n"); +#endif + //可以使用该方法wifi发送udp信息 +if(wifi_flag) +{ + memset(buf, 0, strlen(buf)); + + wifi_print("v", motor.shaft_velocity); + wifi_print("vq",motor.voltage.q); + wifi_print("p",pendulum_angle); + wifi_print("t",target_angle); + wifi_print("k",kalAngleZ); + wifi_print("g",gyroZrate); + + udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192,168,4,2), localUdpPort); //广播数据 + } +} +} +/* mpu6050加速度转换为角度 + acc2rotation(ax, ay) + acc2rotation(az, ay) */ +double acc2rotation(double x, double y) +{ + double tmp_kalAngleZ = (atan(x / y) / 1.570796 * 90); + if (y < 0) + { + return (tmp_kalAngleZ + 180); + } + else if (x < 0) + { + //将当前值与前值比较，当前差值大于100则认为异常 + if (!isnan(kalAngleZ) && (tmp_kalAngleZ + 360 - kalAngleZ) > 100) { + //Serial.print("X<0"); Serial.print("\t"); + //Serial.print(tmp_kalAngleZ); Serial.print("\t"); + //Serial.print(kalAngleZ); Serial.print("\t"); + //Serial.print("\r\n"); + if (tmp_kalAngleZ < 0 && kalAngleZ < 0) //按键右边角 + return tmp_kalAngleZ; + else //按键边异常处理 + return tmp_kalAngleZ; + } else + return (tmp_kalAngleZ + 360); + } + else + { + return tmp_kalAngleZ; + } +} + +// function constraining the angle in between -60~60 +float constrainAngle(float x) +{ + float a = 0; + if(x < 0) + { + a = 120+x; + if(a 5) //摆角大于5则进入非稳态，记录非稳态时间 + { + last_unstable_time = millis(); + if (stable) //如果是稳态进入非稳态则调整为目标角度 + { + //target_angle = EEPROM.readFloat(0) - p_angle; + target_angle = EEPROM.readFloat(0); + stable = 0; + } + } + if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态 + { + //target_angle -= _sign(target_velocity) * 0.4; + target_angle = target_angle+p_angle; + stable = 1; + } + + if ((millis() - last_stable_time) > 2500 && stable) { //稳态超过2000ms检测，更新目标角 + if (abs(target_velocity) > 5 ) { //稳态速度偏大校正 + last_stable_time = millis(); + target_angle -= _sign(target_velocity) * 0.2; + } + } + + //Serial.println(stable); + float u; + + if (!stable) //非稳态计算 + { + motor.PID_velocity.P = v_p_1; + motor.PID_velocity.I = v_i_1; + u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel; + } + else + { + motor.PID_velocity.P = v_p_2; + motor.PID_velocity.I = v_i_2; + u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel; + } + + return u; +} +void wifi_print(char * s,double num) +{ + char str[255]; + char n[255]; + sprintf(n, "%.2f",num); + strcpy(str,s); + strcat(str, n); + strcat(buf+strlen(buf), str); + strcat(buf, ",\0"); + +} diff --git a/v1/pcb推荐焊接顺序，建议初学者用电烙铁焊.png b/v1/pcb推荐焊接顺序，建议初学者用电烙铁焊.png new file mode 100644 index 0000000..1d1c31d Binary files /dev/null and b/v1/pcb推荐焊接顺序，建议初学者用电烙铁焊.png differ diff --git a/v1/物料清单.xlsx b/v1/物料清单.xlsx new file mode 100644 index 0000000..efa2bce Binary files /dev/null and b/v1/物料清单.xlsx differ diff --git a/v2/BOM_SMT购买专用_莱洛三角V2.csv b/v2/BOM_SMT购买专用_莱洛三角V2.csv new file mode 100644 index 0000000..ea491b9 Binary files /dev/null and b/v2/BOM_SMT购买专用_莱洛三角V2.csv differ diff --git a/v2/BOM_莱洛三角V2.csv b/v2/BOM_莱洛三角V2.csv new file mode 100644 index 0000000..8eb46c6 Binary files /dev/null and b/v2/BOM_莱洛三角V2.csv differ diff --git a/v2/main/Command.cpp b/v2/main/Command.cpp new file mode 100644 index 0000000..9c54a6b --- /dev/null +++ b/v2/main/Command.cpp @@ -0,0 +1,28 @@ +#include "Command.h" + +void Command::run(char* str){ + for(int i=0; i < call_count; i++){ + if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15" + call_list[i](str+strlen(call_ids[i])); // get 15.15 input function + break; + } + } +} +void Command::add(char* id, CommandCallback onCommand){ + call_list[call_count] = onCommand; + call_ids[call_count] = id; + call_count++; +} +void Command::scalar(float* value, char* user_cmd){ + *value = atof(user_cmd); +} +bool Command::isSentinel(char* ch,char* str) +{ + char s[strlen(ch)+1]; + strncpy(s,str,strlen(ch)); + s[strlen(ch)] = '\0'; //strncpy need add end '\0' + if(strcmp(ch, s) == 0) + return true; + else + return false; +} diff --git a/v2/main/Command.h b/v2/main/Command.h new file mode 100644 index 0000000..20e2fe5 --- /dev/null +++ b/v2/main/Command.h @@ -0,0 +1,17 @@ +#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/v2/main/Kalman.cpp b/v2/main/Kalman.cpp new file mode 100644 index 0000000..80c7dec --- /dev/null +++ b/v2/main/Kalman.cpp @@ -0,0 +1,93 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +#include "Kalman.h" + +Kalman::Kalman() { + /* We will set the variables like so, these can also be tuned by the user */ + Q_angle = 0.001f; + Q_bias = 0.003f; + R_measure = 0.03f; + + angle = 0.0f; // Reset the angle + bias = 0.0f; // Reset bias + + P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical + P[0][1] = 0.0f; + P[1][0] = 0.0f; + P[1][1] = 0.0f; +}; + +// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds +float Kalman::getAngle(float newAngle, float newRate, float dt) { + // KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145 + // Modified by Kristian Lauszus + // See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it + + // Discrete Kalman filter time update equations - Time Update ("Predict") + // Update xhat - Project the state ahead + /* Step 1 */ + rate = newRate - bias; + angle += dt * rate; + + // Update estimation error covariance - Project the error covariance ahead + /* Step 2 */ + P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle); + P[0][1] -= dt * P[1][1]; + P[1][0] -= dt * P[1][1]; + P[1][1] += Q_bias * dt; + + // Discrete Kalman filter measurement update equations - Measurement Update ("Correct") + // Calculate Kalman gain - Compute the Kalman gain + /* Step 4 */ + float S = P[0][0] + R_measure; // Estimate error + /* Step 5 */ + float K[2]; // Kalman gain - This is a 2x1 vector + K[0] = P[0][0] / S; + K[1] = P[1][0] / S; + + // Calculate angle and bias - Update estimate with measurement zk (newAngle) + /* Step 3 */ + float y = newAngle - angle; // Angle difference + /* Step 6 */ + angle += K[0] * y; + bias += K[1] * y; + + // Calculate estimation error covariance - Update the error covariance + /* Step 7 */ + float P00_temp = P[0][0]; + float P01_temp = P[0][1]; + + P[0][0] -= K[0] * P00_temp; + P[0][1] -= K[0] * P01_temp; + P[1][0] -= K[1] * P00_temp; + P[1][1] -= K[1] * P01_temp; + + return angle; +}; + +void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle +float Kalman::getRate() { return this->rate; }; // Return the unbiased rate + +/* These are used to tune the Kalman filter */ +void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; }; +void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; }; +void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; }; + +float Kalman::getQangle() { return this->Q_angle; }; +float Kalman::getQbias() { return this->Q_bias; }; +float Kalman::getRmeasure() { return this->R_measure; }; diff --git a/v2/main/Kalman.h b/v2/main/Kalman.h new file mode 100644 index 0000000..7de545f --- /dev/null +++ b/v2/main/Kalman.h @@ -0,0 +1,59 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +#ifndef _Kalman_h_ +#define _Kalman_h_ + +class Kalman { +public: + Kalman(); + + // The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds + float getAngle(float newAngle, float newRate, float dt); + + void setAngle(float angle); // Used to set angle, this should be set as the starting angle + float getRate(); // Return the unbiased rate + + /* These are used to tune the Kalman filter */ + void setQangle(float Q_angle); + /** + * setQbias(float Q_bias) + * Default value (0.003f) is in Kalman.cpp. + * Raise this to follow input more closely, + * lower this to smooth result of kalman filter. + */ + void setQbias(float Q_bias); + void setRmeasure(float R_measure); + + float getQangle(); + float getQbias(); + float getRmeasure(); + +private: + /* Kalman filter variables */ + float Q_angle; // Process noise variance for the accelerometer + float Q_bias; // Process noise variance for the gyro bias + float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise + + float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector + float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector + float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate + + float P[2][2]; // Error covariance matrix - This is a 2x2 matrix +}; + +#endif diff --git a/v2/main/RGB.h b/v2/main/RGB.h new file mode 100644 index 0000000..7229e09 --- /dev/null +++ b/v2/main/RGB.h @@ -0,0 +1,145 @@ +#include +// Which pin on the Arduino is connected to the NeoPixels? +#define LED_PIN 16 +// How many NeoPixels are attached to the Arduino? +#define LED_COUNT 21 +unsigned char brightness = 30; +// Declare our NeoPixel strip object: +Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800); +// Argument 1 = Number of pixels in NeoPixel strip +// Argument 2 = Arduino pin number (most are valid) +// Argument 3 = Pixel type flags, add together as needed: +// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs) +// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers) +// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products) +// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2) +// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products) + +unsigned long pixelPrevious = 0; // Previous Pixel Millis +unsigned long patternPrevious = 0; // Previous Pattern Millis +int patternCurrent = 0; // Current Pattern Number +int pixelInterval = 50; // Pixel Interval (ms) +int pixelQueue = 0; // Pattern Pixel Queue +int pixelCycle = 0; // Pattern Pixel Cycle +uint16_t pixelCurrent = 0; // Pattern Current Pixel Number +uint16_t pixelNumber = LED_COUNT; // Total Number of Pixels + +// Input a value 0 to 255 to get a color value. +// The colours are a transition r - g - b - back to r. +uint32_t Wheel(byte WheelPos) { + WheelPos = 255 - WheelPos; + if(WheelPos < 85) { + return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3); + } + if(WheelPos < 170) { + WheelPos -= 85; + return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3); + } + WheelPos -= 170; + return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0); +} +void colorWipe(uint32_t color) { + strip.setPixelColor(pixelCurrent, color); // Set pixel's color (in RAM) + strip.show(); // Update strip to match + pixelCurrent++; // Advance current pixel + if(pixelCurrent >= pixelNumber) // Loop the pattern from the first LED + pixelCurrent = 0; +} +// Fill the dots one after the other with a color +void colorWipe_delay(uint32_t c, uint8_t wait) { + for(uint16_t i=0; i=pixelNumber) + pixelCycle = 0; +} +void strip2() { + int i = 0; + pixelInterval = 100; + strip.fill(strip.Color(0, 0, 0)); + for(i;i<5;i++) + { + int j =i%7*(150/5)+1; + strip.setPixelColor((i+pixelCycle)%pixelNumber, strip.Color(0,0,j)); + strip.setPixelColor((i+pixelCycle+7)%pixelNumber, strip.Color(j,0,0)); + strip.setPixelColor((i+pixelCycle+14)%pixelNumber, strip.Color(0,j,0)); + } + + strip.show(); + pixelCycle++; + if(pixelCycle>=pixelNumber) + pixelCycle = 0; +} +void strip3() { + int i = 0; + pixelInterval = 100; + strip.fill(strip.Color(0, 0, 0)); + for(i;i<5;i++) + { + int j =i%7*(150/5)+1; + strip.setPixelColor((i+pixelCycle)%pixelNumber, strip.Color(j,j,j)); + strip.setPixelColor((i+pixelCycle+11)%pixelNumber, strip.Color(j,j,j)); + } + strip.show(); + pixelCycle++; + if(pixelCycle>=pixelNumber) + pixelCycle = 0; +} +void rainbow1() { + pixelInterval = 30; + for(uint16_t i=0; i < pixelNumber; i++) { + strip.setPixelColor(i, Wheel((i + pixelCycle) & 255)); // Update delay time + } + strip.show(); // Update strip to match + pixelCycle++; // Advance current cycle + if(pixelCycle >= 256) + pixelCycle = 0; // Loop the cycle back to the begining +} +void rainbow2() +{ + pixelInterval = 30; + pixelCycle +=256; + strip.rainbow(pixelCycle); + strip.show(); // Update strip with new contents + if(pixelCycle >= 5*65536) + pixelCycle = 0; +} +void pulse_rainbow1() +{ + pixelInterval = 30; + pixelQueue+=1; + if(pixelQueue>=brightness*2) + pixelQueue = 0; + if(pixelQueue= 5*65536) + pixelCycle = 0; +} +void rgb_off() +{ + pixelInterval = 100; + strip.fill(strip.Color(0, 0, 0)); + strip.show(); // Update strip with new contents +} diff --git a/v2/main/i2c.ino b/v2/main/i2c.ino new file mode 100644 index 0000000..dfa0264 --- /dev/null +++ b/v2/main/i2c.ino @@ -0,0 +1,63 @@ +/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. + + This software may be distributed and modified under the terms of the GNU + General Public License version 2 (GPL2) as published by the Free Software + Foundation and appearing in the file GPL2.TXT included in the packaging of + this file. Please note that GPL2 Section 2[b] requires that all works based + on this software must also be made publicly available under the terms of + the GPL2 ("Copyleft"). + + Contact information + ------------------- + + Kristian Lauszus, TKJ Electronics + Web : http://www.tkjelectronics.com + e-mail : kristianl@tkjelectronics.com + */ + +const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB +const uint16_t I2C_TIMEOUT = 10; // Used to check for errors in I2C communication + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) { + return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success +} + +uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) { + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + Wire.write(data, length); + uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success + if (rcode) { + Serial.print(F("i2cWrite failed: ")); + Serial.println(rcode); + } + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission +} + +uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) { + uint32_t timeOutTimer; + Wire.beginTransmission(IMUAddress); + Wire.write(registerAddress); + uint8_t rcode = Wire.endTransmission(false); // Don't release the bus + if (rcode) { + Serial.print(F("i2cRead failed: ")); + Serial.println(rcode); + return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission + } + Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading + for (uint8_t i = 0; i < nbytes; i++) { + if (Wire.available()) + data[i] = Wire.read(); + else { + timeOutTimer = micros(); + while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available()); + if (Wire.available()) + data[i] = Wire.read(); + else { + Serial.println(F("i2cRead timeout")); + return 5; // This error value is not already taken by endTransmission + } + } + } + return 0; // Success +} diff --git a/v2/main/main.ino b/v2/main/main.ino new file mode 100644 index 0000000..91b1e7f --- /dev/null +++ b/v2/main/main.ino @@ -0,0 +1,757 @@ + /** +arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller +FOC引脚32, 33, 25 +AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18 +本程序平衡控制为速度控制，LQR参数使用K3和K4 +在wifi上位机窗口中输入：TA+角度，就可以修改平衡角度 +比如让平衡角度为90度，则输入：TA90，并且会存入eeprom的位置0中 注：wifi发送命令不能过快，因为每次都会保存进eeprom +在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(7) 中的值，设置为自己的极对数数字，磁铁数量/2 +程序默认设置的供电电压为 12V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值 +默认PID针对的电机是 2715 ，使用自己的电机需要修改PID参数，才能实现更好效果 + */ +#include +#include "Command.h" +#include +#include //引用以使用异步UDP +#include +#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter +#include "EEPROM.h" +#include "tourch.h" +/* ----ESP32 IO SET---- */ +#define ACTIVE_PIN 4 //状态灯 +#define BAT_VOLTAGE_SENSE_PIN 34 //电池电压检测ADC，如果旧版PCB无电压检测电路，则注释掉此行 +const double R1_VOLTAGE = 62000; //62K +const double R2_VOLTAGE = 10000; //10K +const double min_voltage = 9.5; //电池检测最低电压 +double bat_voltage; +unsigned long voltage_last_time; +/* ----IMU Data---- */ +Kalman kalmanZ; +#define gyroZ_OFF -0.19 +double accX, accY, accZ; +double gyroX, gyroY, gyroZ; +int16_t tempRaw; +bool stable = 0 , battery_low = 0; +uint32_t last_unstable_time; +uint32_t last_stable_time; + +double gyroZangle; // Angle calculate using the gyro only +double compAngleZ; // Calculated angle using a complementary filter +double kalAngleZ; // Calculated angle using a Kalman filter + +uint32_t timer; +uint8_t i2cData[14]; // Buffer for I2C data +/* ----FOC Data---- */ + +// driver instance +const char *ServerName = "ESP32-Reuleaux-RGB"; +char mac_tmp[6]; +const char *ssid = mac_tmp; +const char *password = ""; +bool wifi_on_off = 0; +bool wifi_flag = 0; +AsyncUDP udp; //创建UDP对象 +unsigned int localUdpPort = 2333; //本地端口号 +void wifi_print(char * s,double num); + +/* ----FOC Data---- */ +double acc2rotation(double x, double y); +float constrainAngle(float x); +MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); +TwoWire I2Ctwo = TwoWire(1); +LowPassFilter lpf_throttle{0.00}; + +//倒立摆参数 +float LQR_K3_1 = 8.4; //摇摆到平衡 +float LQR_K3_2 = 2.1; // +float LQR_K3_3 = 2.1; // + +float LQR_K4_1 = 2.4; //平衡到稳定 +float LQR_K4_2 = 1.5; // +float LQR_K4_3 = 1.42; // + +//电机参数 +BLDCMotor motor = BLDCMotor(7); +BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25); +float target_velocity = 0; //目标速度 +float target_angle = 90; //平衡角度 例如TA89.3 设置平衡角度89.3 +float target_voltage = 0; //目标电压 +float swing_up_voltage = 1.4; //摇摆电压 左右摇摆的电压，越大越快到平衡态，但是过大会翻过头 +float swing_up_angle = 12; //摇摆角度 离平衡角度还有几度时候，切换到自平衡控制 +float v_i_1 = 25; //非稳态速度环I +float v_p_1 = 1.8; //非稳态速度环P +float v_i_2 = 10; //稳态速度环I +float v_p_2 = 0.3; //稳态速度环P + +//命令设置 +Command comm; +bool Motor_enable_flag = 0; +int test_flag = 0; +void do_TA(char* cmd) { comm.scalar(&target_angle, cmd);EEPROM.writeFloat(0, target_angle); } +void do_SV(char* cmd) { comm.scalar(&swing_up_voltage, cmd); EEPROM.writeFloat(4, swing_up_voltage); } +void do_SA(char* cmd) { comm.scalar(&swing_up_angle, cmd);EEPROM.writeFloat(8, swing_up_angle); } +void do_START(char* cmd) { wifi_flag = !wifi_flag; } +void do_MOTOR(char* cmd) +{ + if(Motor_enable_flag) + motor.enable(); + else + motor.disable(); + Motor_enable_flag = !Motor_enable_flag; +} +void do_TVQ(char* cmd) +{ + if(test_flag == 1) + test_flag = 0; + else + { + motor.controller = MotionControlType::torque; + test_flag = 1; + } +} +void do_TVV(char* cmd) +{ + if(test_flag == 2) + test_flag = 0; + else + { + motor.controller = MotionControlType::velocity; + test_flag = 2; + } +} +void do_VV(char* cmd) { comm.scalar(&target_velocity, cmd); } +void do_VQ(char* cmd) { comm.scalar(&target_voltage, cmd); } +void do_vp1(char* cmd) { comm.scalar(&v_p_1, cmd); EEPROM.writeFloat(12, v_p_1);} +void do_vi1(char* cmd) { comm.scalar(&v_i_1, cmd);EEPROM.writeFloat(16, v_i_1); } +void do_vp2(char* cmd) { comm.scalar(&v_p_2, cmd); EEPROM.writeFloat(20, v_p_2);} +void do_vi2(char* cmd) { comm.scalar(&v_i_2, cmd);EEPROM.writeFloat(24, v_i_2); } +void do_tv(char* cmd) { comm.scalar(&target_velocity, cmd); } +void do_K31(char* cmd) { comm.scalar(&LQR_K3_1, cmd); } +void do_K32(char* cmd) { comm.scalar(&LQR_K3_2, cmd); } +void do_K33(char* cmd) { comm.scalar(&LQR_K3_3, cmd); } +void do_K41(char* cmd) { comm.scalar(&LQR_K4_1, cmd); } +void do_K42(char* cmd) { comm.scalar(&LQR_K4_2, cmd); } +void do_K43(char* cmd) { comm.scalar(&LQR_K4_3, cmd); } + +void onPacketCallBack(AsyncUDPPacket packet) +{ + char* da; + da= (char*)(packet.data()); + Serial.println(da); + comm.run(da); + EEPROM.commit(); +// packet.print("reply data"); +} +// instantiate the commander +void setup() { + Serial.begin(115200); + + //状态灯 + pinMode(ACTIVE_PIN, OUTPUT); + digitalWrite(ACTIVE_PIN, LOW); + + uint32_t chipId = 0; + for (int i = 0; i < 17; i = i + 8) { + chipId |= ((ESP.getEfuseMac() >> (40 - i)) & 0xff) << i; + } + Serial.printf("Chip ID: %d\r\n", chipId); + + Serial.printf("ESP32 Chip ID = %04X",(uint16_t)(ESP.getEfuseMac()>>32));//print High 2 bytes + Serial.printf("%08X\r\n",(uint32_t)ESP.getEfuseMac());//print Low 4bytes. + + Serial.printf("Chip model = %s Rev %d\r\n", ESP.getChipModel(), ESP.getChipRevision()); + Serial.printf("This chip has %d cores CpuFreqMHz = %u\r\n", ESP.getChipCores(),ESP.getCpuFreqMHz()); + Serial.printf("get Cycle Count = %u\r\n",ESP.getCycleCount()); + Serial.printf("SDK version:%s\r\n", ESP.getSdkVersion()); //获取IDF版本 + + //获取片内内存 Internal RAM + Serial.printf("Total heap size = %u\t",ESP.getHeapSize()); + Serial.printf("Available heap = %u\r\n",ESP.getFreeHeap()); + Serial.printf("Lowest level of free heap since boot = %u\r\n",ESP.getMinFreeHeap()); + Serial.printf("Largest block of heap that can be allocated at once = %u\r\n",ESP.getMaxAllocHeap()); + + //SPI RAM + Serial.printf("Total Psram size = %u\t",ESP.getPsramSize()); + Serial.printf("Available Psram = %u\r\n",ESP.getFreePsram()); + Serial.printf("Lowest level of free Psram since boot = %u\r\n",ESP.getMinFreePsram()); + Serial.printf("Largest block of Psram that can be allocated at once = %u\r\n",ESP.getMinFreePsram()); + sprintf(mac_tmp, "%02X\r\n", (uint32_t)(ESP.getEfuseMac() >> (24) )); + sprintf(mac_tmp, "ESP32-%c%c%c%c%c%c", mac_tmp[4], mac_tmp[5], mac_tmp[2], mac_tmp[3], mac_tmp[0], mac_tmp[1] ); + + if (!EEPROM.begin(1000)) { + Serial.println("Failed to initialise EEPROM"); + Serial.println("Restarting..."); + delay(1000); + ESP.restart(); + } +// eeprom 读取 +int k,j; +j = 0; +for(k=0;k<=24;k=k+4) +{ + float nan = EEPROM.readFloat(k); + if(isnan(nan)) + { + j = 1; + Serial.println("frist write"); + EEPROM.writeFloat(0, target_angle); delay(10);EEPROM.commit(); + EEPROM.writeFloat(4, swing_up_voltage); delay(10);EEPROM.commit(); + EEPROM.writeFloat(8, swing_up_angle); delay(10);EEPROM.commit(); + EEPROM.writeFloat(12, v_p_1); delay(10);EEPROM.commit(); + EEPROM.writeFloat(16, v_i_1); delay(10);EEPROM.commit(); + EEPROM.writeFloat(20, v_p_2); delay(10);EEPROM.commit(); + EEPROM.writeFloat(24, v_i_2); delay(10);EEPROM.commit(); + EEPROM.writeUChar(28,brightness); delay(10);EEPROM.commit(); + EEPROM.writeUChar(32,rgb_flag); delay(10);EEPROM.commit(); + } +} +if(j == 0) +{ + target_angle = EEPROM.readFloat(0); + swing_up_voltage = EEPROM.readFloat(4); + swing_up_angle = EEPROM.readFloat(8); + v_p_1 = EEPROM.readFloat(12); + v_i_1 = EEPROM.readFloat(16); + v_p_2 = EEPROM.readFloat(20); + v_i_2 = EEPROM.readFloat(24); + brightness = EEPROM.readUChar(28); + rgb_flag = EEPROM.readUChar(32); + motor.PID_velocity.P = v_p_1; + motor.PID_velocity.I = v_i_1; +} + //命令设置 + comm.add("TA",do_TA); + comm.add("START",do_START); + comm.add("MOTOR",do_MOTOR); + comm.add("SV",do_SV); + comm.add("SA",do_SA); + comm.add("TVQ",do_TVQ); + comm.add("TVV",do_TVV); + comm.add("VV",do_VV); + comm.add("VQ",do_VQ); +//速度环参数 + comm.add("VP1",do_vp1); + comm.add("VI1",do_vi1); + comm.add("VP2",do_vp2); + comm.add("VI2",do_vi2); + comm.add("TV",do_tv); + comm.add("K31",do_K31); + comm.add("K32",do_K32); + comm.add("K33",do_K33); + comm.add("K41",do_K41); + comm.add("K42",do_K42); + comm.add("K43",do_K43); + +//RGB + strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED) + strip.show(); // Turn OFF all pixels ASAP + strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255) + colorWipe_delay(strip.Color(255, 106, 106),50); + colorWipe_delay(strip.Color(0, 255, 255),50); + colorWipe_delay(strip.Color(148, 0, 211),50); + + // kalman mpu6050 init + Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz + i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz + i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling + i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s + i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g + while (i2cWrite(0x19, i2cData, 4, false)) + ; // Write to all four registers at once + while (i2cWrite(0x6B, 0x01, true)) + ; // PLL with X axis gyroscope reference and disable sleep mode + while (i2cRead(0x75, i2cData, 1)) + ; + if (i2cData[0] != 0x68) + { // Read "WHO_AM_I" register + Serial.print(F("Error reading sensor")); + while (1) + ; + } + delay(100); // Wait for sensor to stabilize + /* Set kalman and gyro starting angle */ + while (i2cRead(0x3B, i2cData, 6)) + ; + accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); + accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); + accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); + double pitch = acc2rotation(accX, accY); + kalmanZ.setAngle(pitch); + gyroZangle = pitch; + timer = micros(); + Serial.println("kalman mpu6050 init"); + + I2Ctwo.begin(23, 5, 400000); //SDA,SCL + sensor.init(&I2Ctwo); + + //连接motor对象与传感器对象 + motor.linkSensor(&sensor); + + //供电电压设置 [V] + driver.voltage_power_supply = 12; + driver.init(); + + //连接电机和driver对象 + motor.linkDriver(&driver); + + //FOC模型选择 + motor.foc_modulation = FOCModulationType::SpaceVectorPWM; + + //运动控制模式设置 + motor.controller = MotionControlType::torque; + //速度PI环设置 + motor.PID_velocity.P = v_p_1; + motor.PID_velocity.I = v_i_1; + + //最大电机限制电机 + motor.voltage_limit = 12; + + //速度低通滤波时间常数 + motor.LPF_velocity.Tf = 0.01; + + //设置最大速度限制 + motor.velocity_limit = 40; + + motor.useMonitoring(Serial); + + //初始化电机 + motor.init(); + + //初始化 FOC + motor.initFOC(); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target velocity using serial terminal:")); + + digitalWrite(ACTIVE_PIN, HIGH); +} +char buf[255]; +void loop() { + motor.loopFOC(); //foc循环用来控制电机运动 + if(wifi_on_off) + { + ArduinoOTA.handle(); + } + // 触摸效果以及RGB灯效 + unsigned long currentMillis = millis(); + if(currentMillis - voltage_last_time >=1000) + { + voltage_last_time = currentMillis; + voltage_detection(); + } + if(currentMillis - touch_last_time >= 10) { // Check for expired time + touch_last_time = currentMillis; // Run current frame + touchAttach(0,T2); + touchAttach(1,T3); + touchAttach(2,T4); + int i; + for(i = 0;i<3;i++) + { + if(touch_STATE[i]&&touch_touched[i]) + if(touch_touched[i] == 1) + { + single_event(i); + } + else + long_event(i); + } + } + // Update current time 更新RGB效果 + if(currentMillis - pixelPrevious >= pixelInterval) { // Check for expired time + pixelPrevious = currentMillis; // Run current frame + switch(rgb_flag){ + case 0 : + rgb_off(); + break; + case 1 : + strip1(); + break; + case 2 : + strip2(); + break; + case 3 : + strip3(); + break; + case 4 : + rainbow1(); + break; + case 5 : + rainbow2(); + break; + case 6 : + pulse_rainbow1(); + break; + } + } + + // 读取MPU6050数据 + while (i2cRead(0x3B, i2cData, 14)); + accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); + accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); + accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); +// tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]); + gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]); + gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]); + gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]); + + double dt = (double)(micros() - timer) / 1000000; // Calculate delta time + timer = micros(); + + double pitch = acc2rotation(accX, accY); + double gyroZrate = gyroZ / 131.0; // Convert to deg/s + + kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt); + gyroZangle += (gyroZrate + gyroZ_OFF) * dt; + compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; + + // Reset the gyro angle when it has drifted too much + if (gyroZangle < -180 || gyroZangle > 180) + gyroZangle = kalAngleZ; + + float pendulum_angle = constrainAngle(fmod(kalAngleZ,120)-target_angle); + +// pendulum_angle当前角度与期望角度差值，在差值大的时候进行摇摆，差值小的时候LQR控制电机保持平衡 +if(test_flag == 0)//正常控制 +{ + if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90° + { + target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity()); + if (abs(target_velocity) > 120) + target_velocity = _sign(target_velocity) * 120; + + motor.controller = MotionControlType::velocity; + motor.move(target_velocity); + } + else // else do swing-up + { // sets swing_up_voltage to the motor in order to swing up + motor.controller = MotionControlType::torque; + target_voltage = -_sign(gyroZrate) * swing_up_voltage; + motor.move(target_voltage); + } +} +else if(test_flag == 1) +{ + + motor.move(target_voltage); +} +else +{ + + motor.move(target_velocity); +} + +//串口输出数据部分，不需要的情况可以改为0 +#if 0 + +Serial.print(pitch);Serial.print("\t"); +Serial.print(kalAngleZ);Serial.print("\t"); + Serial.print(target_voltage);Serial.print("\t"); + Serial.print(motor.shaft_velocity);Serial.print("\t"); + Serial.print(motor.voltage.q);Serial.print("\t"); + Serial.print(target_angle);Serial.print("\t"); + Serial.print(pendulum_angle);Serial.print("\t"); + Serial.print(gyroZrate);Serial.print("\t"); + Serial.print("\r\n"); +#endif + //可以使用该方法wifi发送udp信息 +if(wifi_flag) +{ + memset(buf, 0, strlen(buf)); + + wifi_print("v", motor.shaft_velocity); + wifi_print("vq",motor.voltage.q); + wifi_print("p",pendulum_angle); + wifi_print("t",target_angle); + wifi_print("k",kalAngleZ); + wifi_print("g",gyroZrate); + wifi_print("VT",bat_voltage); + + udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192,168,4,2), localUdpPort); //广播数据 +} +} +/* mpu6050加速度转换为角度 + acc2rotation(ax, ay) + acc2rotation(az, ay) */ +double acc2rotation(double x, double y) +{ + double tmp_kalAngleZ = (atan(x / y) / 1.570796 * 90); + if (y < 0) + { + return (tmp_kalAngleZ + 180); + } + else if (x < 0) + { + //将当前值与前值比较，当前差值大于100则认为异常 + if (!isnan(kalAngleZ) && (tmp_kalAngleZ + 360 - kalAngleZ) > 100) { + //Serial.print("X<0"); Serial.print("\t"); + //Serial.print(tmp_kalAngleZ); Serial.print("\t"); + //Serial.print(kalAngleZ); Serial.print("\t"); + //Serial.print("\r\n"); + if (tmp_kalAngleZ < 0 && kalAngleZ < 0) //按键右边角 + return tmp_kalAngleZ; + else //按键边异常处理 + return tmp_kalAngleZ; + } else + return (tmp_kalAngleZ + 360); + } + else + { + return tmp_kalAngleZ; + } +} + +// function constraining the angle in between -60~60 +float constrainAngle(float x) +{ + float a = 0; + if(x < 0) + { + a = 120+x; + if(a 5) //摆角大于5则进入非稳态，记录非稳态时间 + { + last_unstable_time = millis(); + if (stable) //如果是稳态进入非稳态则调整为目标角度 + { + //target_angle = EEPROM.readFloat(0) - p_angle; + target_angle = EEPROM.readFloat(0); + stable = 0; + } + } + if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态 + { + //target_angle -= _sign(target_velocity) * 0.4; + target_angle = target_angle+p_angle; + stable = 1; + } + + if ((millis() - last_stable_time) > 2500 && stable) { //稳态超过2000ms检测，更新目标角 + if (abs(target_velocity) > 5 ) { //稳态速度偏大校正 + last_stable_time = millis(); + target_angle -= _sign(target_velocity) * 0.2; + } + } + + //Serial.println(stable); + float u; + + if (!stable) //非稳态计算 + { + motor.PID_velocity.P = v_p_1; + motor.PID_velocity.I = v_i_1; + u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel; + } + else + { + motor.PID_velocity.P = v_p_2; + motor.PID_velocity.I = v_i_2; + u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel; + } + + return u; +} +void wifi_print(char * s,double num) +{ + char str[255]; + char n[255]; + sprintf(n, "%.2f",num); + strcpy(str,s); + strcat(str, n); + strcat(buf+strlen(buf), str); + strcat(buf, ",\0"); + +} +void voltage_detection() +{ + #if defined(BAT_VOLTAGE_SENSE_PIN) //电池电压检测 + bat_voltage = return_voltage_value(BAT_VOLTAGE_SENSE_PIN); + //driver.voltage_power_supply = bat_voltage; + //Serial.println(driver.voltage_power_supply); + if (bat_voltage < min_voltage && !battery_low) + { + battery_low = 1; + Serial.print(driver.voltage_power_supply); + Serial.println("V "); + Serial.print(bat_voltage); + Serial.println("V battery_low!!"); + while (battery_low) + { + rgb_off(); + motor.disable(); + + bat_voltage = return_voltage_value(BAT_VOLTAGE_SENSE_PIN); + if (bat_voltage >= (min_voltage + 0.5)) { + Serial.print(driver.voltage_power_supply); + Serial.println("V"); + Serial.print(bat_voltage); + Serial.println("V battery ok"); + digitalWrite(ACTIVE_PIN, 0); //电池电压恢复则常亮，需reset重启 + //battery_low = 0; + } else { //电池电压低闪灯 + if (millis() % 500 < 250) + digitalWrite(ACTIVE_PIN, 0); + else + digitalWrite(ACTIVE_PIN, 1); + } + } + } +#endif +} +double return_voltage_value(int pin_no) +{ + double tmp; + double ADCVoltage; + double inputVoltage; + analogSetPinAttenuation(pin_no, ADC_6db); + + for (int i = 0; i < 20; i++) + { + ADCVoltage = analogReadMilliVolts(pin_no) / 1000.0; + inputVoltage = (ADCVoltage * R1_VOLTAGE) / R2_VOLTAGE; + + tmp = tmp + inputVoltage + ADCVoltage; // formula for calculating voltage in i.e. GND + } + inputVoltage = tmp / 20; + if(inputVoltage!=0) + inputVoltage = inputVoltage + 0.001; +/* + + for (int i = 0; i < 20; i++) + { + tmp = tmp + analogRead(pin_no); + } + tmp = tmp / 20; + + ADCVoltage = ((tmp * 3.3) / 4095.0) + 0.165; + inputVoltage = ADCVoltage / (R2_VOLTAGE / (R1_VOLTAGE + R2_VOLTAGE)); // formula for calculating voltage in i.e. GND +*/ + + return inputVoltage; +} +void AutoWifiConfig() +{ + //wifi初始化 + sprintf(mac_tmp, "%02X\r\n", (uint32_t)(ESP.getEfuseMac() >> (24) )); + sprintf(mac_tmp, "ESP32-%c%c%c%c%c%c", mac_tmp[4], mac_tmp[5], mac_tmp[2], mac_tmp[3], mac_tmp[0], mac_tmp[1] ); + + WiFi.mode(WIFI_AP); + while (!WiFi.softAP(ssid, password)) {}; //启动AP + Serial.println("AP启动成功"); + Serial.println("Ready"); + Serial.print("IP address: "); + Serial.println(WiFi.softAPIP()); + byte mac[6]; + WiFi.macAddress(mac); + WiFi.setHostname(ServerName); + Serial.printf("macAddress 0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X\r\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]); + + while (!udp.listen(localUdpPort)) //等待udp监听设置成功 + { + } + udp.onPacket(onPacketCallBack); //注册收到数据包事件 + + ArduinoOTA.setHostname(ServerName); + //以下是启动OTA，可以通过WiFi刷新固件 + ArduinoOTA.onStart([]() { + String type; + if (ArduinoOTA.getCommand() == U_FLASH) { + type = "sketch"; + } else { // U_SPIFFS + type = "filesystem"; + } + + // NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end() + Serial.println("Start updating " + type); + }); + ArduinoOTA.onEnd([]() { + Serial.println("\nEnd"); + }); + ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) { + Serial.printf("Progress: %u%%\r", (progress / (total / 100))); + }); + ArduinoOTA.onError([](ota_error_t error) { + Serial.printf("Error[%u]: ", error); + if (error == OTA_AUTH_ERROR) { + Serial.println("Auth Failed"); + } else if (error == OTA_BEGIN_ERROR) { + Serial.println("Begin Failed"); + } else if (error == OTA_CONNECT_ERROR) { + Serial.println("Connect Failed"); + } else if (error == OTA_RECEIVE_ERROR) { + Serial.println("Receive Failed"); + } else if (error == OTA_END_ERROR) { + Serial.println("End Failed"); + } + }); + ArduinoOTA.begin(); +} +//触摸单击函数处理 +void single_event(int touchID) +{ + switch(touchID){ + case 0 : + if(brightness<=15) + brightness = 15; + brightness-=15; + EEPROM.writeUChar(28, brightness); EEPROM.commit(); + strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255) + break; + case 1 : + if(brightness>=240) + brightness = 240; + brightness+=15; + EEPROM.writeUChar(28, brightness); EEPROM.commit(); + strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255) + break; + case 2 : + if(rgb_flag) + rgb_flag = 0; + else + rgb_flag = EEPROM.readUChar(32); + break; + } +} +//触摸长按函数处理 +void long_event(int touchID) +{ + switch(touchID){ + case 0 : //长按投币 + if(rgb_flag == 0) + rgb_flag = rgb_modle; + rgb_flag--; + strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255) + EEPROM.writeUChar(32, rgb_flag); EEPROM.commit(); + break; + case 1 : //长按收藏 + rgb_flag++; + if(rgb_flag>=rgb_modle) + rgb_flag = 0; + strip.setBrightness(brightness); // Set BRIGHTNESS to about 1/5 (max = 255) + EEPROM.writeUChar(32, rgb_flag); EEPROM.commit(); + break; + case 2 : //长按点赞 + if(wifi_on_off) + { + motor.enable(); + WiFi.disconnect(); + WiFi.mode(WIFI_OFF); + Serial.println("WIFI_OFF"); + } + else + { + motor.disable(); + AutoWifiConfig();//打开wifi + Serial.println("WIFI_ON"); + } + wifi_on_off = !wifi_on_off; + break; + } +} diff --git a/v2/main/tourch.h b/v2/main/tourch.h new file mode 100644 index 0000000..e0ef89e --- /dev/null +++ b/v2/main/tourch.h @@ -0,0 +1,29 @@ +#include "RGB.h" +const int threshold_top = 40; //触摸阈值 +const int single_count[3] = {10,10,10}; //单击时间 实际时间为20*10 = 200ms +const int long_count[3] = {80,80,80}; //长按时间 实际时间为80*10 = 800ms +unsigned long touch_last_time; +int touch_count[3] = {0,0,0}; //持续触摸计数 +int touch_touched[3] = {0,0,0}; //单击,长按判断 单击值为1，长按值为2 没点击为0 +bool touch_STATE[3] = {1, 1, 1}; // 定义按键触发对象状态变量初始值为true默认开启 T2 T3 T4 + +int rgb_flag = 1; +int rgb_modle = 7;//有几种RGB效果就写几 +//触摸感应处理 +void touchAttach(int touchID, uint8_t touchPin) { + int touchread = touchRead(touchPin); + if ( touchread <= threshold_top ) { //达到触发值的计数 + //delay(38); // 0.038秒 + touch_count[touchID]++; //持续触摸计数 + } + else + { + if ( touch_count[touchID] >= single_count[touchID] && touch_count[touchID] < long_count[touchID]) + touch_touched[touchID] = 1;//持续触摸时间达到单击 + else if(touch_count[touchID] >= long_count[touchID]) + touch_touched[touchID] = 2; + else + touch_touched[touchID]= 0; + touch_count[touchID] = 0; //持续触摸计数清零 + } +} diff --git a/v2/淘宝购买.xlsx b/v2/淘宝购买.xlsx new file mode 100644 index 0000000..5969d8d Binary files /dev/null and b/v2/淘宝购买.xlsx differ diff --git a/莱洛三角结构/V1动量轮8cm.dxf b/莱洛三角结构/V1动量轮8cm.dxf new file mode 100644 index 0000000..ba95966 --- /dev/null +++ b/莱洛三角结构/V1动量轮8cm.dxf @@ -0,0 +1,10084 @@ +999 +dxflib 3.17.0.0 + 0 +SECTION + 2 +HEADER + 9 +$ACADVER + 1 +AC1015 + 9 +$HANDSEED + 5 +FFFF + 9 +$INSUNITS + 70 +4 + 9 +$DIMEXE + 40 +1.25 + 9 +$TEXTSTYLE + 7 +Standard + 9 +$LIMMIN + 10 +0.0 + 20 +0.0 + 0 +ENDSEC + 0 +SECTION + 2 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