Merge "Added debug plotting of the fridge moving."
diff --git a/aos/build/aos.gypi b/aos/build/aos.gypi
index c893438..22e96a0 100644
--- a/aos/build/aos.gypi
+++ b/aos/build/aos.gypi
@@ -58,9 +58,9 @@
],
'ldflags': [
'<@(platflags)',
- '-L', '/usr/lib/x86_64-linux-gnu/gcc/arm-frc-linux-gnueabi/4.9.1',
- #'-L', '<(arm-clang-sysroot)/other_lib/',
- #'-nostartfiles',
+ '-L/usr/lib/x86_64-linux-gnu/gcc/arm-frc-linux-gnueabi/4.9.1',
+ '-L<(arm-clang-symlinks)/more_libs',
+ '-B/usr/lib/x86_64-linux-gnu/gcc/arm-frc-linux-gnueabi/4.9.1',
],
},
},
@@ -169,6 +169,9 @@
'-Werror',
'-ggdb3',
+ # Generate debugging info that gdb 7.4.1 can understand (Wheezy).
+ # TODO(Brian): Remove this once we upgrade to Jessie.
+ '-gdwarf-3',
],
'cflags_c': [
'-std=gnu99',
diff --git a/aos/build/arm-clang-symlinks/README b/aos/build/arm-clang-symlinks/README
index e47d821..75210a5 100644
--- a/aos/build/arm-clang-symlinks/README
+++ b/aos/build/arm-clang-symlinks/README
@@ -1,6 +1,11 @@
This directory has symlinks to various other files to help clang figure out how
-to cross compile for arm with Debian's toolchain setup.
+to cross compile for arm with FIRST's toolchain setup.
-sysroot/ has symlinks to dpkg-cross and multilib directories so it can be used
- as a sysroot when compiling.
+sysroot/ has symlinks to various places so it can be used as a sysroot when
+ compiling.
bin/ has symlinks to the various tools so clang can find the native toolchain.
+more_libs/ has modified files of several psuedo-shared-objects which are
+ actually linker scripts as distributed with the FIRST toolchain. For some
+ reason, I can't get the linker to follow the documented behavior of
+ prefixing the absolute paths contained in them with the sysroot, so we have
+ copies which don't have any paths.
diff --git a/aos/build/arm-clang-symlinks/more_libs/libc.so b/aos/build/arm-clang-symlinks/more_libs/libc.so
index 188a467..714bcfe 100644
--- a/aos/build/arm-clang-symlinks/more_libs/libc.so
+++ b/aos/build/arm-clang-symlinks/more_libs/libc.so
@@ -2,4 +2,4 @@
Use the shared library, but some functions are only in
the static library, so try that secondarily. */
OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( /home/brian/Desktop/git_frc971/2014/trunk/src/aos/build/arm-clang-symlinks/sysroot/lib/libc.so.6 /home/brian/Desktop/git_frc971/2014/trunk/src/aos/build/arm-clang-symlinks/sysroot/usr/lib/libc_nonshared.a AS_NEEDED ( /home/brian/Desktop/git_frc971/2014/trunk/src/aos/build/arm-clang-symlinks/sysroot/lib/ld-linux.so.3 ) )
+GROUP ( libc.so.6 libc_nonshared.a AS_NEEDED ( ld-linux.so.3 ) )
diff --git a/aos/build/arm-clang-symlinks/more_libs/libpthread.so b/aos/build/arm-clang-symlinks/more_libs/libpthread.so
index a7c99bf..71f034f 100644
--- a/aos/build/arm-clang-symlinks/more_libs/libpthread.so
+++ b/aos/build/arm-clang-symlinks/more_libs/libpthread.so
@@ -2,4 +2,4 @@
Use the shared library, but some functions are only in
the static library, so try that secondarily. */
OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( /home/brian/Desktop/git_frc971/2014/trunk/src/aos/build/arm-clang-symlinks/sysroot/lib/libpthread.so.0 /home/brian/Desktop/git_frc971/2014/trunk/src/aos/build/arm-clang-symlinks/sysroot/usr/lib/libpthread_nonshared.a )
+GROUP ( libpthread.so.0 libpthread_nonshared.a )
diff --git a/aos/build/arm-clang-symlinks/other_lib b/aos/build/arm-clang-symlinks/other_lib
deleted file mode 120000
index 4603144..0000000
--- a/aos/build/arm-clang-symlinks/other_lib
+++ /dev/null
@@ -1 +0,0 @@
-/usr/lib/x86_64-linux-gnu/gcc/arm-frc-linux-gnueabi/4.9.1
\ No newline at end of file
diff --git a/aos/build/build.py b/aos/build/build.py
index 90028ba..21e0379 100755
--- a/aos/build/build.py
+++ b/aos/build/build.py
@@ -512,7 +512,7 @@
return r
ARCHITECTURES = ('arm', 'amd64')
- COMPILERS = ('clang', 'gcc_frc')
+ COMPILERS = ('clang', 'gcc_frc', 'clang_frc')
SANITIZERS = ('address', 'undefined', 'integer', 'memory', 'thread', 'none')
SANITIZER_TEST_WARNINGS = {
'memory': (True,
diff --git a/aos/build/download_externals.sh b/aos/build/download_externals.sh
index 11070f9..413d0fc 100755
--- a/aos/build/download_externals.sh
+++ b/aos/build/download_externals.sh
@@ -211,4 +211,10 @@
CPPFLAGS=\"-I ${LIBUNWIND_PREFIX}/include\" \
&& make && make install"
+# get and build seasocks
+SEASOCKS_VERSION=1.1.2
+SEASOCKS_DIR=${EXTERNALS}/seasocks-${SEASOCKS_VERSION}
+[ -d ${SEASOCKS_DIR} ] || git clone --branch v${SEASOCKS_VERSION} \
+ https://github.com/mattgodbolt/seasocks.git ${SEASOCKS_DIR}
+
rm -rf ${TMPDIR}
diff --git a/aos/build/externals.gyp b/aos/build/externals.gyp
index e14850b..8764eb7 100644
--- a/aos/build/externals.gyp
+++ b/aos/build/externals.gyp
@@ -16,6 +16,7 @@
'libevent_version': '2.0.21',
'libcdd_version': '094g',
'stm32flash_commit': '8399fbe1baf2b7d097746786458021d92895d71b',
+ 'seasocks_version': '1.1.2',
'allwpilib': '<(AOS)/externals/allwpilib',
'forwpilib': '<(AOS)/externals/forwpilib',
@@ -183,5 +184,30 @@
'include_dirs': ['<(compiled_abs)/'],
},
},
+ {
+ 'target_name': 'seasocks',
+ 'type': 'static_library',
+ 'sources': [
+ '<!@(find <(externals)/seasocks-<(seasocks_version)/src/main/c -name *.cpp)',
+ ],
+ 'include_dirs': [
+ '<(AOS)/externals/seasocks',
+ '<(externals_abs)/seasocks-<(seasocks_version)/src/main/c',
+ ],
+ 'cflags': [
+ '-Wno-unused-parameter',
+ '-Wno-format-nonliteral',
+ '-Wno-error=cast-align',
+ '-Wno-switch-enum',
+ '-Wno-cast-qual',
+ '-Wno-error=strict-aliasing',
+ ],
+ 'direct_dependent_settings': {
+ 'include_dirs': [
+ '<(AOS)/externals/seasocks',
+ '<(externals)/seasocks-<(seasocks_version)/src/main/c',
+ ],
+ },
+ },
],
}
diff --git a/aos/build/queues/output/message_dec.rb b/aos/build/queues/output/message_dec.rb
index a65aca3..6290489 100644
--- a/aos/build/queues/output/message_dec.rb
+++ b/aos/build/queues/output/message_dec.rb
@@ -5,151 +5,170 @@
end
class Target::StructBase < Target::Node
- def create_DoGetType(type_class, cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","DoGetType")
- member_func.static = true
- fields = []
+ def create_DoGetType(type_class, cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","DoGetType")
+ member_func.static = true
+ fields = []
register_members = []
- @members.each do |member|
- tId = member.getTypeID()
- fieldName = member.name.inspect
- if(member.respond_to?(:add_TypeRegister))
+ @members.each do |member|
+ tId = member.getTypeID()
+ fieldName = member.name.inspect
+ if(member.respond_to?(:add_TypeRegister))
register_members.push(member)
- end
- fields << "new ::aos::MessageType::Field{#{tId}, #{member.respond_to?(:length) ? member.length : 0}, #{fieldName}}"
- end
+ end
+ fields << "new ::aos::MessageType::Field{#{tId}, #{member.respond_to?(:length) ? member.length : 0}, #{fieldName}}"
+ end
register_members.uniq do |member|
member.type
end.each do |member|
- member.add_TypeRegister(cpp_tree, type_class, member_func)
+ member.add_TypeRegister(cpp_tree, type_class, member_func)
end
- id = getTypeID()
- member_func.suite << ("static const ::aos::MessageType kMsgMessageType(#{type_class.parent_class ? type_class.parent_class + '::Size()' : 0}, #{id}, #{(@loc.respond_to?(:queue_name) ? @loc.queue_name(@name) : "#{@loc.get_name()}.#{@name}").inspect}, {" +
- "#{fields.join(", ")}})");
- type_class.add_member(member_func)
- member_func.suite << "::aos::type_cache::Add(kMsgMessageType)"
- member_func.suite << CPP::Return.new("&kMsgMessageType")
- end
- def create_InOrderConstructor(type_class, cpp_tree)
- if @members.empty?
- return
- end
- cons = CPP::Constructor.new(type_class)
- type_class.add_member(cons)
- @members.each do |member|
- if member.respond_to?(:type_name)
- type_name = "#{member.type_name(cpp_tree)} #{member.name}_in"
- else
- type_name = member.create_usage(cpp_tree, "#{member.name}_in")
- end
+ id = getTypeID()
+ member_func.suite << ("static const ::aos::MessageType kMsgMessageType(#{type_class.parent_class ? type_class.parent_class + '::Size()' : 0}, #{id}, #{(@loc.respond_to?(:queue_name) ? @loc.queue_name(@name) : "#{@loc.get_name()}.#{@name}").inspect}, {" +
+ "#{fields.join(", ")}})");
+ type_class.add_member(member_func)
+ member_func.suite << "::aos::type_cache::Add(kMsgMessageType)"
+ member_func.suite << CPP::Return.new("&kMsgMessageType")
+ end
+ def create_InOrderConstructor(type_class, cpp_tree)
+ if @members.empty?
+ return
+ end
+ cons = CPP::Constructor.new(type_class)
+ type_class.add_member(cons)
+ @members.each do |member|
+ if member.respond_to?(:type_name)
+ type_name = "#{member.type_name(cpp_tree)} #{member.name}_in"
+ else
+ type_name = member.create_usage(cpp_tree, "#{member.name}_in")
+ end
- cons.args << type_name
- cons.add_cons(member.name, member.name + '_in')
- end
- end
- def create_DefaultConstructor(type_class, cpp_tree)
- cons = CPP::Constructor.new(type_class)
- type_class.add_member(cons)
- cons.add_cons(type_class.parent_class) if type_class.parent_class
- cons.suite << CPP::FuncCall.build('Zero')
- end
- def create_Zero(type_class,cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"void","Zero")
- type_class.add_member(member_func)
- @members.each do |elem|
- elem.zeroCall(member_func.suite)
- end
- member_func.suite << CPP::FuncCall.new(type_class.parent_class + '::Zero') if type_class.parent_class
- end
- def create_Size(type_class,cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"size_t","Size")
- member_func.inline = true
- member_func.static = true
- type_class.add_member(member_func.forward_dec)
- size = 0
- @members.each do |elem|
- size += elem.size
- end
- if type_class.parent_class
- member_func.suite << CPP::Return.new(CPP::Add.new(size,
- "#{type_class.parent_class}::Size()"))
- else
- member_func.suite << CPP::Return.new(size)
- end
- end
- def create_Serialize(type_class,cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"size_t","Serialize")
- type_class.add_member(member_func)
- member_func.args << "char *buffer"
- member_func.suite << "#{type_class.parent_class}::Serialize(buffer)" if type_class.parent_class
- member_func.const = true
- offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0'
- @members.each do |elem|
- elem.toNetwork(offset,member_func.suite)
- offset += " + #{elem.size}";
- end
- member_func.suite << CPP::Return.new(CPP::FuncCall.new('Size'))
- end
- def create_Deserialize(type_class,cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"size_t","Deserialize")
- type_class.add_member(member_func)
- member_func.args << "const char *buffer"
- member_func.suite << "#{type_class.parent_class}::Deserialize(buffer)" if type_class.parent_class
- offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0'
- @members.each do |elem|
- elem.toHost(offset,member_func.suite)
- offset += " + #{elem.size}";
- end
- member_func.suite << CPP::Return.new(CPP::FuncCall.new('Size'))
- end
- def simpleStr()
- return "{\n" + @members.collect() { |elem| elem.simpleStr() + "\n"}.join("") + "}"
- end
- def getTypeID()
- return "0x" + (((Digest::SHA1.hexdigest(simpleStr())[0..3].to_i(16)) << 16) | size).to_s(16)
- end
- def add_member(member)
- @members << member
- end
- def size()
- return @size if(@size)
- @size = 0
- @members.each do |elem|
- @size += elem.size
- end
- return @size
- end
+ cons.args << type_name
+ cons.add_cons(member.name, member.name + '_in')
+ end
+ end
+ def create_DefaultConstructor(type_class, cpp_tree)
+ cons = CPP::Constructor.new(type_class)
+ type_class.add_member(cons)
+ cons.add_cons(type_class.parent_class) if type_class.parent_class
+ cons.suite << CPP::FuncCall.build('Zero')
+ end
+ def create_Zero(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"void","Zero")
+ type_class.add_member(member_func)
+ @members.each do |elem|
+ elem.zeroCall(member_func.suite)
+ end
+ member_func.suite << CPP::FuncCall.new(type_class.parent_class + '::Zero') if type_class.parent_class
+ end
+ def create_Size(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Size")
+ member_func.inline = true
+ member_func.static = true
+ type_class.add_member(member_func.forward_dec)
+ size = 0
+ @members.each do |elem|
+ size += elem.size
+ end
+ if type_class.parent_class
+ member_func.suite << CPP::Return.new(CPP::Add.new(size,
+ "#{type_class.parent_class}::Size()"))
+ else
+ member_func.suite << CPP::Return.new(size)
+ end
+ end
+ def create_Serialize(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Serialize")
+ type_class.add_member(member_func)
+ member_func.args << "char *buffer"
+ member_func.suite << "#{type_class.parent_class}::Serialize(buffer)" if type_class.parent_class
+ member_func.const = true
+ offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0'
+ @members.each do |elem|
+ elem.toNetwork(offset,member_func.suite)
+ offset += " + #{elem.size}";
+ end
+ member_func.suite << CPP::Return.new(CPP::FuncCall.new('Size'))
+ end
+ def create_Deserialize(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Deserialize")
+ type_class.add_member(member_func)
+ member_func.args << "const char *buffer"
+ member_func.suite << "#{type_class.parent_class}::Deserialize(buffer)" if type_class.parent_class
+ offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0'
+ @members.each do |elem|
+ elem.toHost(offset,member_func.suite)
+ offset += " + #{elem.size}";
+ end
+ member_func.suite << CPP::Return.new(CPP::FuncCall.new('Size'))
+ end
+ def create_EqualsNoTime(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"bool","EqualsNoTime")
+ member_func.const = true
+ type_class.add_member(member_func)
+ if @members.empty?
+ member_func.args << "const #{type_class.name} &/*other*/"
+ else
+ member_func.args << "const #{type_class.name} &other"
+ end
+ member_func.suite << "if (!#{type_class.parent_class}::EqualsNoTime(other)) return false;" if type_class.parent_class
+ @members.each do |elem|
+ if elem.respond_to? :create_EqualsNoTime
+ member_func.suite << "if (!other.#{elem.name}.EqualsNoTime(#{elem.name})) return false;"
+ else
+ member_func.suite << "if (other.#{elem.name} != #{elem.name}) return false;"
+ end
+ end
+ member_func.suite << CPP::Return.new('true')
+ end
+ def simpleStr()
+ return "{\n" + @members.collect() { |elem| elem.simpleStr() + "\n"}.join("") + "}"
+ end
+ def getTypeID()
+ return "0x" + (((Digest::SHA1.hexdigest(simpleStr())[0..3].to_i(16)) << 16) | size).to_s(16)
+ end
+ def add_member(member)
+ @members << member
+ end
+ def size()
+ return @size if(@size)
+ @size = 0
+ @members.each do |elem|
+ @size += elem.size
+ end
+ return @size
+ end
end
class Target::MessageDec < Target::StructBase
- attr_accessor :name,:loc,:parent,:msg_hash
- def initialize(name)
- @name = name
- @members = []
- end
- def extern=(value)
- @extern=value
- end
- def get_name()
- if(@parent)
- return "#{@parent.get_name}.#{@name}"
- else
- return "#{@name}"
- end
- end
- def create_Print(type_class,cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"size_t","Print")
- type_class.add_member(member_func)
- member_func.args << "char *buffer"
- member_func.args << "size_t length"
- member_func.const = true
- format = "\""
- args = []
- @members.each do |elem|
- format += ", "
- format += elem.toPrintFormat()
- elem.fetchPrintArgs(args)
- end
+ attr_accessor :name,:loc,:parent,:msg_hash
+ def initialize(name)
+ @name = name
+ @members = []
+ end
+ def extern=(value)
+ @extern=value
+ end
+ def get_name()
+ if(@parent)
+ return "#{@parent.get_name}.#{@name}"
+ else
+ return "#{@name}"
+ end
+ end
+ def create_Print(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Print")
+ type_class.add_member(member_func)
+ member_func.args << "char *buffer"
+ member_func.args << "size_t length"
+ member_func.const = true
+ format = "\""
+ args = []
+ @members.each do |elem|
+ format += ", "
+ format += elem.toPrintFormat()
+ elem.fetchPrintArgs(args)
+ end
format += "\""
member_func.suite << "size_t super_size = ::aos::Message::Print(buffer, length)"
member_func.suite << "buffer += super_size"
@@ -160,169 +179,169 @@
# snprintf will return zero.
member_func.suite << "return super_size"
end
- end
- def create_GetType(type_class, cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","GetType")
- type_class.add_member(member_func)
- member_func.static = true
- member_func.suite << "static ::aos::Once<const ::aos::MessageType> getter(#{type_class.name}::DoGetType)"
- member_func.suite << CPP::Return.new("getter.Get()")
- end
- def self.builder_loc(loc)
- return @builder_loc if(@builder_loc)
- return @builder_loc = loc.root.get_make("aos")
- end
- def type_name(builder_loc,name)
- if(builder_loc == @loc) #use relative name
- return name
- else #use full name
- return @loc.to_cpp_id(name)
- end
- end
- def create(cpp_tree)
- return self if(@extern)
- orig_namespace = namespace = cpp_tree.get(@loc)
- name = ""
- if(namespace.class < Types::Type) #is nested
- name = namespace.name + "_" + name
- namespace = namespace.space
- end
- type_class = namespace.add_struct(name + @name)
- if(name.length > 0)
- orig_namespace.add_member(:public, Types::TypeDef.new(type_class,@name))
- end
- cpp_tree.set(self,type_class)
- type_class.set_parent("public ::aos::Message")
- ts = self.simpleStr()
- self.msg_hash = "0x#{Digest::SHA1.hexdigest(ts)[-8..-1]}"
- type_class.add_member("enum {kQueueLength = 100, kHash = #{self.msg_hash}}")
- @members.each do |elem|
- type_class.add_member(elem.create_usage(cpp_tree))
- end
+ end
+ def create_GetType(type_class, cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","GetType")
+ type_class.add_member(member_func)
+ member_func.static = true
+ member_func.suite << "static ::aos::Once<const ::aos::MessageType> getter(#{type_class.name}::DoGetType)"
+ member_func.suite << CPP::Return.new("getter.Get()")
+ end
+ def self.builder_loc(loc)
+ return @builder_loc if(@builder_loc)
+ return @builder_loc = loc.root.get_make("aos")
+ end
+ def type_name(builder_loc,name)
+ if(builder_loc == @loc) #use relative name
+ return name
+ else #use full name
+ return @loc.to_cpp_id(name)
+ end
+ end
+ def create(cpp_tree)
+ return self if(@extern)
+ orig_namespace = namespace = cpp_tree.get(@loc)
+ name = ""
+ if(namespace.class < Types::Type) #is nested
+ name = namespace.name + "_" + name
+ namespace = namespace.space
+ end
+ type_class = namespace.add_struct(name + @name)
+ if(name.length > 0)
+ orig_namespace.add_member(:public, Types::TypeDef.new(type_class,@name))
+ end
+ cpp_tree.set(self,type_class)
+ type_class.set_parent("public ::aos::Message")
+ ts = self.simpleStr()
+ self.msg_hash = "0x#{Digest::SHA1.hexdigest(ts)[-8..-1]}"
+ type_class.add_member("enum {kQueueLength = 100, kHash = #{self.msg_hash}}")
+ @members.each do |elem|
+ type_class.add_member(elem.create_usage(cpp_tree))
+ end
- create_Serialize(type_class,cpp_tree)
- create_Deserialize(type_class,cpp_tree)
- create_Zero(type_class,cpp_tree)
- create_Size(type_class,cpp_tree)
- create_Print(type_class,cpp_tree)
- create_GetType(type_class, cpp_tree)
- create_DoGetType(type_class, cpp_tree)
- create_DefaultConstructor(type_class, cpp_tree)
- create_InOrderConstructor(type_class, cpp_tree)
+ create_Serialize(type_class,cpp_tree)
+ create_Deserialize(type_class,cpp_tree)
+ create_Zero(type_class,cpp_tree)
+ create_Size(type_class,cpp_tree)
+ create_Print(type_class,cpp_tree)
+ create_GetType(type_class, cpp_tree)
+ create_DoGetType(type_class, cpp_tree)
+ create_DefaultConstructor(type_class, cpp_tree)
+ create_InOrderConstructor(type_class, cpp_tree)
- b_namespace = cpp_tree.get(b_loc = self.class.builder_loc(@loc))
+ b_namespace = cpp_tree.get(b_loc = self.class.builder_loc(@loc))
- template = b_namespace.add_template("MessageBuilder")
- template.spec_args << t = @loc.to_cpp_id(@name)
- msg_ptr_t = "ScopedMessagePtr< #{t}>"
- msg_bld_t = "MessageBuilder< #{t}>"
- template.add_member(:private,"#{msg_ptr_t} msg_ptr_")
- template.add_member(:private,"#{msg_bld_t}(const #{msg_bld_t}&)")
- template.add_member(:private,"void operator=(const #{msg_bld_t}&)")
- template.add_member(:private,"friend class ::aos::Queue< #{t}>")
+ template = b_namespace.add_template("MessageBuilder")
+ template.spec_args << t = @loc.to_cpp_id(@name)
+ msg_ptr_t = "ScopedMessagePtr< #{t}>"
+ msg_bld_t = "MessageBuilder< #{t}>"
+ template.add_member(:private,"#{msg_ptr_t} msg_ptr_")
+ template.add_member(:private,"#{msg_bld_t}(const #{msg_bld_t}&)")
+ template.add_member(:private,"void operator=(const #{msg_bld_t}&)")
+ template.add_member(:private,"friend class ::aos::Queue< #{t}>")
- cons = CPP::Constructor.new(template)
- template.add_member(:private,cons)
- cons.args << "RawQueue *queue"
- cons.args << "#{t} *msg"
- cons.add_cons("msg_ptr_","queue","msg")
- template.public
- DefineMembers(cpp_tree, template, msg_bld_t)
- end
- def DefineMembers(cpp_tree, template, msg_bld_t)
- send = template.def_func("bool","Send")
- send.suite << CPP::Return.new("msg_ptr_.Send()")
- @members.each do |elem|
+ cons = CPP::Constructor.new(template)
+ template.add_member(:private,cons)
+ cons.args << "RawQueue *queue"
+ cons.args << "#{t} *msg"
+ cons.add_cons("msg_ptr_","queue","msg")
+ template.public
+ DefineMembers(cpp_tree, template, msg_bld_t)
+ end
+ def DefineMembers(cpp_tree, template, msg_bld_t)
+ send = template.def_func("bool","Send")
+ send.suite << CPP::Return.new("msg_ptr_.Send()")
+ @members.each do |elem|
=begin
- MessageBuilder<frc971::control_loops::Drivetrain::Goal> &steering(
- double steering) {
- msg_ptr_->steering = steering;
- return *this;
- }
+ MessageBuilder<frc971::control_loops::Drivetrain::Goal> &steering(
+ double steering) {
+ msg_ptr_->steering = steering;
+ return *this;
+ }
=end
- setter = template.def_func(msg_bld_t,"&#{elem.name}")
- setter.args << elem.create_usage(cpp_tree)
- elem.set_message_builder(setter.suite)
- setter.suite << CPP::Return.new("*this")
+ setter = template.def_func(msg_bld_t,"&#{elem.name}")
+ setter.args << elem.create_usage(cpp_tree)
+ elem.set_message_builder(setter.suite)
+ setter.suite << CPP::Return.new("*this")
- end
- end
+ end
+ end
end
class Target::MessageElement < Target::Node
- attr_accessor :name,:loc,:size,:zero,:type,:printformat
- def initialize(type,name)
- @type,@name = type,name
- end
+ attr_accessor :name,:loc,:size,:zero,:type,:printformat
+ def initialize(type,name)
+ @type,@name = type,name
+ end
def type()
return @type
end
def type_name(cpp_tree)
return type()
end
- def toPrintFormat()
- return printformat
- end
- def create_usage(cpp_tree, this_name=nil)
+ def toPrintFormat()
+ return printformat
+ end
+ def create_usage(cpp_tree, this_name=nil)
if (this_name == nil)
this_name = @name
end
- "#{@type} #{this_name}"
- end
- def toNetwork(offset,suite, parent = "", this_name=nil)
+ "#{@type} #{this_name}"
+ end
+ def toNetwork(offset,suite, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- suite << f_call = CPP::FuncCall.build("to_network",
- "&#{parent}#{this_name}",
- "&buffer[#{offset}]")
- f_call.args.dont_wrap = true
- end
- def toHost(offset,suite, parent = "", this_name=nil)
+ suite << f_call = CPP::FuncCall.build("to_network",
+ "&#{parent}#{this_name}",
+ "&buffer[#{offset}]")
+ f_call.args.dont_wrap = true
+ end
+ def toHost(offset,suite, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- suite << f_call = CPP::FuncCall.build("to_host",
- "&buffer[#{offset}]",
- "&#{parent}#{this_name}")
- f_call.args.dont_wrap = true
- end
- def getTypeID()
- '0x' + ((Digest::SHA1.hexdigest(@type)[0..3].to_i(16) << 16) |
- 0x2000 | # marks it as primitive
- size).to_s(16)
- end
- def simpleStr()
- "#{@type} #{@name}"
- end
- def set_message_builder(suite, this_name=nil)
+ suite << f_call = CPP::FuncCall.build("to_host",
+ "&buffer[#{offset}]",
+ "&#{parent}#{this_name}")
+ f_call.args.dont_wrap = true
+ end
+ def getTypeID()
+ '0x' + ((Digest::SHA1.hexdigest(@type)[0..3].to_i(16) << 16) |
+ 0x2000 | # marks it as primitive
+ size).to_s(16)
+ end
+ def simpleStr()
+ "#{@type} #{@name}"
+ end
+ def set_message_builder(suite, this_name=nil)
this_name ||= @name
- suite << "msg_ptr_->#{this_name} = #{this_name}"
- end
+ suite << "msg_ptr_->#{this_name} = #{this_name}"
+ end
- def zeroCall(suite, parent = "", this_name=nil)
+ def zeroCall(suite, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- suite << CPP::Assign.new(parent + this_name,@zero)
- end
- def fetchPrintArgs(args, parent = "", this_name=nil)
+ suite << CPP::Assign.new(parent + this_name,@zero)
+ end
+ def fetchPrintArgs(args, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- if (@type == 'bool')
- args.push("#{parent}#{this_name} ? 'T' : 'f'")
+ if (@type == 'bool')
+ args.push("#{parent}#{this_name} ? 'T' : 'f'")
elsif (@type == '::aos::time::Time')
args.push("AOS_TIME_ARGS(#{parent}#{this_name}.sec(), #{parent}#{this_name}.nsec())")
- else
- args.push("#{parent}#{this_name}")
- end
- end
+ else
+ args.push("#{parent}#{this_name}")
+ end
+ end
end
class Target::MessageArrayElement < Target::Node
- attr_accessor :loc, :length
- def initialize(type,length)
- @type,@length = type,length
- end
+ attr_accessor :loc, :length
+ def initialize(type,length)
+ @type,@length = type,length
+ end
def zero()
return @type.zero()
end
@@ -336,70 +355,70 @@
end
end
- def toPrintFormat()
- return ([@type.toPrintFormat] * @length).join(", ")
- end
- def create_usage(cpp_tree, this_name=nil)
+ def toPrintFormat()
+ return ([@type.toPrintFormat] * @length).join(", ")
+ end
+ def create_usage(cpp_tree, this_name=nil)
if (this_name == nil)
this_name = name
end
- return "::std::array< #{@type.type_name(cpp_tree)}, #{@length}> #{this_name}"
- end
- def type()
- return "::std::array< #{@type.type()}, #{@length}>"
- end
- def simpleStr()
- return "#{@type.type} #{@name}[#{@length}]"
- end
- def getTypeID()
+ return "::std::array< #{@type.type_name(cpp_tree)}, #{@length}> #{this_name}"
+ end
+ def type()
+ return "::std::array< #{@type.type()}, #{@length}>"
+ end
+ def simpleStr()
+ return "#{@type.type} #{@name}[#{@length}]"
+ end
+ def getTypeID()
return @type.getTypeID()
- end
- def size()
- return @type.size * @length
- end
- def toNetwork(offset, suite, parent="", this_name=nil)
+ end
+ def size()
+ return @type.size * @length
+ end
+ def toNetwork(offset, suite, parent="", this_name=nil)
if (this_name == nil)
this_name = name
end
- offset = (offset == 0) ? "" : "#{offset} + "
+ offset = (offset == 0) ? "" : "#{offset} + "
for_loop_var = getForLoopVar()
- suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
- @type.toNetwork("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
- end
- def toHost(offset, suite, parent="", this_name=nil)
+ suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
+ @type.toNetwork("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
+ end
+ def toHost(offset, suite, parent="", this_name=nil)
if (this_name == nil)
this_name = name
end
- offset = (offset == 0) ? "" : "#{offset} + "
+ offset = (offset == 0) ? "" : "#{offset} + "
for_loop_var = getForLoopVar()
- suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
- @type.toHost("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
- end
- def set_message_builder(suite, this_name=nil)
+ suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
+ @type.toHost("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
+ end
+ def set_message_builder(suite, this_name=nil)
if (this_name == nil)
this_name = name
end
for_loop_var = getForLoopVar()
- suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
- @type.set_message_builder(for_stmt.suite, "#{this_name}[#{for_loop_var}]")
- end
- def zeroCall(suite, parent="", this_name=nil)
+ suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
+ @type.set_message_builder(for_stmt.suite, "#{this_name}[#{for_loop_var}]")
+ end
+ def zeroCall(suite, parent="", this_name=nil)
if (this_name == nil)
this_name = name
end
- offset = (offset == 0) ? "" : "#{offset} + "
+ offset = (offset == 0) ? "" : "#{offset} + "
for_loop_var = getForLoopVar()
- suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
- @type.zeroCall(for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
- end
- def fetchPrintArgs(args, parent = "", this_name=nil)
+ suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
+ @type.zeroCall(for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
+ end
+ def fetchPrintArgs(args, parent = "", this_name=nil)
if (this_name == nil)
this_name = name
end
for i in 0..(@length-1)
- @type.fetchPrintArgs(args, parent, "#{this_name}[#{i}]")
+ @type.fetchPrintArgs(args, parent, "#{this_name}[#{i}]")
end
- end
+ end
end
diff --git a/aos/build/queues/output/q_struct.rb b/aos/build/queues/output/q_struct.rb
index 7211ff0..8e2e811 100644
--- a/aos/build/queues/output/q_struct.rb
+++ b/aos/build/queues/output/q_struct.rb
@@ -1,136 +1,157 @@
class Target::StructDec < Target::StructBase
- attr_accessor :name,:loc,:parent, :extern
- def initialize(name)
- @name = name
- @members = []
- end
- def add_member(member)
- @members << member
- end
- def create_GetType(type_class, cpp_tree)
- member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","GetType")
- type_class.add_member(member_func)
- member_func.static = true
- member_func.suite << "static ::aos::Once<const ::aos::MessageType> getter(#{type_class.name}::DoGetType)"
- member_func.suite << CPP::Return.new("getter.Get()")
- end
- def create(cpp_tree)
- return self if(@extern)
- orig_namespace = namespace = cpp_tree.get(@loc)
- name = ""
- if(namespace.class < Types::Type) #is nested
- name = namespace.name + "_" + name
- namespace = namespace.space
- end
- type_class = namespace.add_struct(name + @name)
+ attr_accessor :name,:loc,:parent, :extern
+ def initialize(name)
+ @name = name
+ @members = []
+ end
+ def add_member(member)
+ @members << member
+ end
+ def create_GetType(type_class, cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","GetType")
+ type_class.add_member(member_func)
+ member_func.static = true
+ member_func.suite << "static ::aos::Once<const ::aos::MessageType> getter(#{type_class.name}::DoGetType)"
+ member_func.suite << CPP::Return.new("getter.Get()")
+ end
+ def create(cpp_tree)
+ return self if(@extern)
+ orig_namespace = namespace = cpp_tree.get(@loc)
+ name = ""
+ if(namespace.class < Types::Type) #is nested
+ name = namespace.name + "_" + name
+ namespace = namespace.space
+ end
+ type_class = namespace.add_struct(name + @name)
- @members.each do |elem|
- type_class.add_member(elem.create_usage(cpp_tree))
- end
- create_DoGetType(type_class, cpp_tree)
- create_GetType(type_class, cpp_tree)
+ @members.each do |elem|
+ type_class.add_member(elem.create_usage(cpp_tree))
+ end
+ create_DoGetType(type_class, cpp_tree)
+ create_GetType(type_class, cpp_tree)
create_DefaultConstructor(type_class, cpp_tree)
create_InOrderConstructor(type_class, cpp_tree)
create_Zero(type_class, cpp_tree)
create_Size(type_class, cpp_tree)
create_Serialize(type_class, cpp_tree)
create_Deserialize(type_class, cpp_tree)
- return type_class
- end
- def getPrintFormat()
- return "{" + @members.collect { |elem| elem.toPrintFormat() }.join(", ") + "}"
- end
- def fetchPrintArgs(args, parent = "")
- @members.each do |elem|
- elem.fetchPrintArgs(args, parent)
- end
- end
- def toHost(offset, suite, parent)
- @members.each do |elem|
- elem.toHost(offset, suite, parent)
- offset += " + #{elem.size()}"
- end
- end
- def toNetwork(offset, suite, parent)
- @members.each do |elem|
- elem.toNetwork(offset, suite, parent)
- offset += " + #{elem.size()}"
- end
- end
- def zeroCall(suite, parent)
- @members.each do |elem|
- elem.zeroCall(suite, parent)
- end
- end
+ create_EqualsNoTime(type_class, cpp_tree)
+ return type_class
+ end
+ def getPrintFormat()
+ return "{" + @members.collect { |elem| elem.toPrintFormat() }.join(", ") + "}"
+ end
+ def fetchPrintArgs(args, parent = "")
+ @members.each do |elem|
+ elem.fetchPrintArgs(args, parent)
+ end
+ end
+ def toHost(offset, suite, parent)
+ @members.each do |elem|
+ elem.toHost(offset, suite, parent)
+ offset += " + #{elem.size()}"
+ end
+ end
+ def toNetwork(offset, suite, parent)
+ @members.each do |elem|
+ elem.toNetwork(offset, suite, parent)
+ offset += " + #{elem.size()}"
+ end
+ end
+ def zeroCall(suite, parent)
+ @members.each do |elem|
+ elem.zeroCall(suite, parent)
+ end
+ end
end
class Target::MessageStructElement < Target::Node
- attr_accessor :name,:loc
- def initialize(type,name)
- @type, @name = type, name
- end
- def type()
- return @type.get_name
- end
- def type_name(cpp_tree)
- type = cpp_tree.get(@type)
- if(@type.loc == @loc) #use relative name
- return type.name
- else #use full name
- return @type.loc.to_cpp_id(type.name)
- end
- end
- def size()
- return @type.size()
- end
- def toPrintFormat()
- @type.getPrintFormat()
- end
- def create_usage(cpp_tree, this_name=nil)
+ attr_accessor :name,:loc
+ def initialize(type,name)
+ @type, @name = type, name
+ end
+ def type()
+ return @type.get_name
+ end
+ def create_EqualsNoTime(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"bool","EqualsNoTime")
+ member_func.const = true
+ type_class.add_member(member_func)
+ if @members.empty?
+ member_func.args << "const #{type_class.name} &/*other*/"
+ else
+ member_func.args << "const #{type_class.name} &other"
+ end
+ member_func.suite << "if (!#{type_class.parent_class}::EqualsNoTime(other)) return false;" if type_class.parent_class
+ @members.each do |elem|
+ if elem.respond_to? :create_EqualsNoTime
+ member_func.suite << "if (!other.#{elem.name}.EqualsNoTime(#{elem.name})) return false;"
+ else
+ puts elem.class.to_s + ' ' + elem.name.to_s
+ member_func.suite << "if (other.#{elem.name} != #{elem.name}) return false;"
+ end
+ end
+ member_func.suite << CPP::Return.new('true')
+ end
+ def type_name(cpp_tree)
+ type = cpp_tree.get(@type)
+ if(@type.loc == @loc) #use relative name
+ return type.name
+ else #use full name
+ return @type.loc.to_cpp_id(type.name)
+ end
+ end
+ def size()
+ return @type.size()
+ end
+ def toPrintFormat()
+ @type.getPrintFormat()
+ end
+ def create_usage(cpp_tree, this_name=nil)
if (this_name == nil)
this_name = @name
end
- return "#{type_name(cpp_tree)} #{this_name}"
- end
- def add_TypeRegister(cpp_tree, o_type, member_func)
- type = cpp_tree.get(@type)
- tName = @type.loc.to_cpp_id(type.name)
- member_func.suite << "#{tName}::GetType()"
- end
- def fetchPrintArgs(args, parent = "", this_name=nil)
+ return "#{type_name(cpp_tree)} #{this_name}"
+ end
+ def add_TypeRegister(cpp_tree, o_type, member_func)
+ type = cpp_tree.get(@type)
+ tName = @type.loc.to_cpp_id(type.name)
+ member_func.suite << "#{tName}::GetType()"
+ end
+ def fetchPrintArgs(args, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- @type.fetchPrintArgs(args, parent + "#{this_name}.")
- end
- def toNetwork(offset,suite, parent = "", this_name=nil)
+ @type.fetchPrintArgs(args, parent + "#{this_name}.")
+ end
+ def toNetwork(offset,suite, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- @type.toNetwork(offset, suite, parent + "#{this_name}.")
- end
- def toHost(offset,suite, parent = "", this_name=nil)
+ @type.toNetwork(offset, suite, parent + "#{this_name}.")
+ end
+ def toHost(offset,suite, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- @type.toHost(offset, suite, parent + "#{this_name}.")
- end
- def set_message_builder(suite, this_name=nil)
+ @type.toHost(offset, suite, parent + "#{this_name}.")
+ end
+ def set_message_builder(suite, this_name=nil)
if (this_name == nil)
this_name = @name
end
- suite << "msg_ptr_->#{this_name} = #{this_name}"
- end
+ suite << "msg_ptr_->#{this_name} = #{this_name}"
+ end
- def zeroCall(suite, parent = "", this_name=nil)
+ def zeroCall(suite, parent = "", this_name=nil)
if (this_name == nil)
this_name = @name
end
- @type.zeroCall(suite, parent + "#{this_name}.")
- end
- def simpleStr()
- "#{@type.simpleStr()} #{@name}"
- end
- def getTypeID()
- return @type.getTypeID()
- end
+ @type.zeroCall(suite, parent + "#{this_name}.")
+ end
+ def simpleStr()
+ "#{@type.simpleStr()} #{@name}"
+ end
+ def getTypeID()
+ return @type.getTypeID()
+ end
end
diff --git a/aos/common/actions/actions.h b/aos/common/actions/actions.h
index 15054d2..d35cd20 100644
--- a/aos/common/actions/actions.h
+++ b/aos/common/actions/actions.h
@@ -32,15 +32,11 @@
// Cancels all running actions.
void CancelAllActions();
- // Runs the next action when the current one is finished running and handles
- // periodically updating various other information.
+ // Runs the next action when the current one is finished running and polls the
+ // running action state for use by Running.
void Tick();
// Returns true if any action is running or could be running.
- // For a one cycle faster response, call Tick before running this.
- // Daniel can think of at least one case (current_action_ is cancelled and
- // there is no next_action_) in which calling this without running Tick()
- // first would return a wrong answer.
bool Running();
// Retrieves the internal state of the current action for testing.
@@ -75,6 +71,10 @@
// Waits until the action has finished.
void WaitUntilDone() { DoWaitUntilDone(); }
+ // Run all the checks for one iteration of waiting. Will return true when the
+ // action has completed, successfully or not. This is non-blocking.
+ bool CheckIteration() { return DoCheckIteration(false); }
+
// Retrieves the internal state of the action for testing.
// See comments on the private members of TypedAction<T, S> for details.
void GetState(bool* has_started, bool* sent_started, bool* sent_cancel,
@@ -94,6 +94,8 @@
virtual void DoStart() = 0;
// Blocks until complete.
virtual void DoWaitUntilDone() = 0;
+ // Updates status for one cycle of waiting
+ virtual bool DoCheckIteration(bool blocking) = 0;
// For testing we will need to get the internal state.
// See comments on the private members of TypedAction<T, S> for details.
virtual void DoGetState(bool* has_started, bool* sent_started,
@@ -141,6 +143,8 @@
void DoWaitUntilDone() override;
+ bool DoCheckIteration(bool blocking);
+
// Sets the started flag (also possibly the interrupted flag).
void CheckStarted();
@@ -194,14 +198,17 @@
template <typename T>
void TypedAction<T>::DoCancel() {
if (!sent_started_) {
- LOG(INFO, "Action %" PRIx32 " was never started\n", run_value_);
+ LOG(INFO, "Action %" PRIx32 " on queue %s was never started\n", run_value_,
+ queue_group_->goal.name());
} else {
if (interrupted_) {
- LOG(INFO, "Action %" PRIx32 " was interrupted -> not cancelling\n",
- run_value_);
+ LOG(INFO,
+ "Action %" PRIx32 " on queue %s was interrupted -> not cancelling\n",
+ run_value_, queue_group_->goal.name());
} else {
if (sent_cancel_) {
- LOG(INFO, "Action %" PRIx32 " already cancelled\n", run_value_);
+ LOG(INFO, "Action %" PRIx32 " on queue %s already cancelled\n",
+ run_value_, queue_group_->goal.name());
} else {
LOG(INFO, "Canceling action %" PRIx32 " on queue %s\n", run_value_,
queue_group_->goal.name());
@@ -235,19 +242,34 @@
queue_group_->status.FetchNext();
CheckInterrupted();
while (true) {
- if (interrupted_) return;
- CheckStarted();
- queue_group_->status.FetchNextBlocking();
- CheckStarted();
- CheckInterrupted();
- if (has_started_ && (queue_group_->status.get() &&
- queue_group_->status->running != run_value_)) {
+ if (DoCheckIteration(true)) {
return;
}
}
}
template <typename T>
+bool TypedAction<T>::DoCheckIteration(bool blocking) {
+ CHECK(sent_started_);
+ if (interrupted_) return true;
+ CheckStarted();
+ if (blocking) {
+ queue_group_->status.FetchAnother();
+ } else {
+ if (!queue_group_->status.FetchNext()) {
+ return false;
+ }
+ }
+ CheckStarted();
+ CheckInterrupted();
+ if (has_started_ && (queue_group_->status.get() &&
+ queue_group_->status->running != run_value_)) {
+ return true;
+ }
+ return false;
+}
+
+template <typename T>
void TypedAction<T>::CheckStarted() {
if (has_started_) return;
if (queue_group_->status.get()) {
@@ -256,13 +278,14 @@
queue_group_->status->last_running == run_value_)) {
// It's currently running our instance.
has_started_ = true;
- LOG(DEBUG, "Action %" PRIx32 " has been started\n", run_value_);
+ LOG(DEBUG, "Action %" PRIx32 " on queue %s has been started\n",
+ run_value_, queue_group_->goal.name());
} else if (queue_group_->status->running == old_run_value_) {
// It's still running an old instance (or still doing nothing).
} else {
- LOG(WARNING,
- "Action %" PRIx32 " interrupted by %" PRIx32 " before starting\n",
- run_value_, queue_group_->status->running);
+ LOG(WARNING, "Action %" PRIx32 " on queue %s interrupted by %" PRIx32
+ " before starting\n",
+ run_value_, queue_group_->goal.name(), queue_group_->status->running);
has_started_ = true;
interrupted_ = true;
}
@@ -276,9 +299,9 @@
if (!interrupted_ && has_started_ && queue_group_->status.get()) {
if (queue_group_->status->running != 0 &&
queue_group_->status->running != run_value_) {
- LOG(WARNING,
- "Action %" PRIx32 " interrupted by %" PRIx32 " after starting\n",
- run_value_, queue_group_->status->running);
+ LOG(WARNING, "Action %" PRIx32 " on queue %s interrupted by %" PRIx32
+ " after starting\n",
+ run_value_, queue_group_->goal.name(), queue_group_->status->running);
}
}
}
@@ -291,19 +314,22 @@
goal_->params = params_;
sent_started_ = true;
if (!goal_.Send()) {
- LOG(ERROR, "sending goal for action %" PRIx32 " failed\n", run_value_);
+ LOG(ERROR, "sending goal for action %" PRIx32 " on queue %s failed\n",
+ run_value_, queue_group_->goal.name());
// Don't wait to see a message with it.
has_started_ = true;
}
queue_group_->status.FetchLatest();
if (queue_group_->status.get() && queue_group_->status->running != 0) {
old_run_value_ = queue_group_->status->running;
- LOG(INFO, "Action %" PRIx32 " already running\n", old_run_value_);
+ LOG(INFO, "Action %" PRIx32 " on queue %s already running\n",
+ old_run_value_, queue_group_->goal.name());
} else {
old_run_value_ = 0;
}
} else {
- LOG(WARNING, "Action %" PRIx32 " already started\n", run_value_);
+ LOG(WARNING, "Action %" PRIx32 " on queue %s already started\n", run_value_,
+ queue_group_->goal.name());
}
}
diff --git a/aos/common/controls/control_loop-tmpl.h b/aos/common/controls/control_loop-tmpl.h
index bf2eea4..44fada1 100644
--- a/aos/common/controls/control_loop-tmpl.h
+++ b/aos/common/controls/control_loop-tmpl.h
@@ -90,9 +90,6 @@
}
}
- // The 100ms is the result of using an oscilliscope to look at the PWM signal
- // and output of a talon, and timing the delay between the last pulse and the
- // talon turning off.
const bool motors_off =
(::aos::time::Time::Now() - last_pwm_sent_) >= kPwmDisableTime;
if (motors_off) {
diff --git a/aos/common/network/team_number.cc b/aos/common/network/team_number.cc
index 5136c87..134113a 100644
--- a/aos/common/network/team_number.cc
+++ b/aos/common/network/team_number.cc
@@ -3,6 +3,7 @@
#include <netinet/in.h>
#include <inttypes.h>
#include <unistd.h>
+#include <stdlib.h>
#include <string>
@@ -47,12 +48,23 @@
uint16_t *DoGetTeamNumber() {
if (override_team != 0) return &override_team;
+
static uint16_t r;
- int error = ParseTeamNumber(GetHostname(), &r);
- if (error) {
- LOG(FATAL, "Invalid hostname %s\n", GetHostname().c_str());
+
+ const char *override_number = getenv("AOS_TEAM_NUMBER");
+ if (override_number != nullptr) {
+ if (!::aos::util::StringToNumber(override_number, &r)) {
+ LOG(FATAL, "error parsing AOS_TEAM_NUMBER '%s'\n", override_number);
+ }
+ LOG(WARNING, "team number overridden by AOS_TEAM_NUMBER to %" PRIu16 "\n",
+ r);
+ } else {
+ int error = ParseTeamNumber(GetHostname(), &r);
+ if (error) {
+ LOG(FATAL, "Invalid hostname %s\n", GetHostname().c_str());
+ }
+ LOG(INFO, "team number is %" PRIu16 "\n", r);
}
- LOG(INFO, "team number is %" PRIu16 "\n", r);
return &r;
}
diff --git a/aos/common/queue.h b/aos/common/queue.h
index 6cd699a..5f6adeb 100644
--- a/aos/common/queue.h
+++ b/aos/common/queue.h
@@ -39,6 +39,9 @@
// Writes the contents of the message to the provided buffer.
size_t Print(char *buffer, int length) const;
+ // Compares two messages for equality, excluding their sent_time.
+ bool EqualsNoTime(const Message & /*other*/) const { return true; }
+
static const MessageType *GetType();
};
@@ -191,8 +194,8 @@
// fetched it.
bool FetchLatest();
- // Fetches another message from the queue. Blocks until there is one if the
- // latest was already Fetched.
+ // Fetches the latest message from the queue, or blocks if we have already
+ // fetched it until another is avilable.
void FetchAnother();
// Returns the age of the message.
diff --git a/aos/common/util/trapezoid_profile.h b/aos/common/util/trapezoid_profile.h
index 3f7caa1..fe63352 100644
--- a/aos/common/util/trapezoid_profile.h
+++ b/aos/common/util/trapezoid_profile.h
@@ -19,19 +19,18 @@
// delta_time is how long between each call to Update.
TrapezoidProfile(const time::Time &delta_time);
- // Updates the state. The names of the arguments are pretty easy to figure
- // out.
+ // Updates the state.
const Eigen::Matrix<double, 2, 1> &Update(double goal_position,
double goal_velocity);
+ // Useful for preventing windup etc.
+ void MoveCurrentState(const Eigen::Matrix<double, 2, 1> ¤t) {
+ output_ = current;
+ }
// Useful for preventing windup etc.
- void MoveGoal(double dx) {
- output_(0, 0) += dx;
- }
+ void MoveGoal(double dx) { output_(0, 0) += dx; }
- void SetGoal(double x) {
- output_(0, 0) = x;
- }
+ void SetGoal(double x) { output_(0, 0) = x; }
void set_maximum_acceleration(double maximum_acceleration) {
maximum_acceleration_ = maximum_acceleration;
@@ -45,8 +44,7 @@
// by acceleration over delta_time.
void UpdateVals(double acceleration, double delta_time);
// Calculates how long to go for each segment.
- void CalculateTimes(double distance_to_target,
- double goal_velocity);
+ void CalculateTimes(double distance_to_target, double goal_velocity);
// output_ is where it should go at time_.
Eigen::Matrix<double, 2, 1> output_;
diff --git a/aos/externals/seasocks/gen_embedded.py b/aos/externals/seasocks/gen_embedded.py
new file mode 100755
index 0000000..5fc0267
--- /dev/null
+++ b/aos/externals/seasocks/gen_embedded.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+
+# This file is a modified version of the gen_embedded script included in the
+# scripts directory of seasocks (version 1.1.2). It has been modified to
+# recursively find the web files itself, which was originally done by piping
+# in the results from a "find" shell command.
+
+# The embedded files includes only those that are required for the server to run
+# (including 404 files, a default index page, favicon, etc.)
+
+import os, os.path, sys
+
+o = open('embedded.h', 'w')
+
+web = []
+for root, dirs, files in os.walk("./web", topdown=False):
+ for name in files:
+ web.append(os.path.join(root, name))
+ for name in dirs:
+ web.append(os.path.join(root, name))
+
+o.write("""
+#include "internal/Embedded.h"
+
+#include <string>
+#include <unordered_map>
+
+namespace {
+
+std::unordered_map<std::string, EmbeddedContent> embedded = {
+""")
+
+for f in web:
+ bytes = open(f, 'rb').read()
+ o.write('{"/%s", {' % os.path.basename(f))
+ o.write('"' + "".join(['\\x%02x' % ord(x) for x in bytes]) + '"')
+ o.write(',%d }},' % len(bytes))
+
+o.write("""
+};
+
+} // namespace
+
+const EmbeddedContent* findEmbeddedContent(const std::string& name) {
+ auto found = embedded.find(name);
+ if (found == embedded.end()) {
+ return NULL;
+ }
+ return &found->second;
+}
+""")
+
+o.close()
diff --git a/aos/externals/seasocks/internal/Config.h b/aos/externals/seasocks/internal/Config.h
new file mode 100644
index 0000000..e99d356
--- /dev/null
+++ b/aos/externals/seasocks/internal/Config.h
@@ -0,0 +1,221 @@
+// Generated by Comran from version 1.1.2 with the autoconf scripts from upstream
+/* src/main/c/internal/Config.h. Generated from Config.h.in by configure. */
+/* src/main/c/internal/Config.h.in. Generated from configure.ac by autoheader. */
+
+/* Define to 1 if you have the <arpa/inet.h> header file. */
+#define HAVE_ARPA_INET_H 1
+
+/* define if the compiler supports basic C++11 syntax */
+/* #undef HAVE_CXX11 */
+
+/* Define to 1 if you have the declaration of `strerror_r', and to 0 if you
+ don't. */
+#define HAVE_DECL_STRERROR_R 1
+
+/* Define to 1 if you have the `dup2' function. */
+#define HAVE_DUP2 1
+
+/* Define to 1 if you have the `eventfd' function. */
+#define HAVE_EVENTFD 1
+
+/* Define to 1 if you have the <fcntl.h> header file. */
+#define HAVE_FCNTL_H 1
+
+/* Define to 1 if you have the `fork' function. */
+#define HAVE_FORK 1
+
+/* Define to 1 if you have the `gethostname' function. */
+#define HAVE_GETHOSTNAME 1
+
+/* Define to 1 if you have the `getopt' function. */
+#define HAVE_GETOPT 1
+
+/* Define to 1 if you have the <getopt.h> header file. */
+#define HAVE_GETOPT_H 1
+
+/* Define to 1 if you have the <inttypes.h> header file. */
+#define HAVE_INTTYPES_H 1
+
+/* Define to 1 if you have the <limits.h> header file. */
+#define HAVE_LIMITS_H 1
+
+/* Define to 1 if your system has a GNU libc compatible `malloc' function, and
+ to 0 otherwise. */
+/* #undef HAVE_MALLOC */
+
+/* Define to 1 if you have the <memory.h> header file. */
+#define HAVE_MEMORY_H 1
+
+/* Define to 1 if you have the `memset' function. */
+#define HAVE_MEMSET 1
+
+/* Define to 1 if you have the <netinet/in.h> header file. */
+#define HAVE_NETINET_IN_H 1
+
+/* Define to 1 if the system has the type `ptrdiff_t'. */
+#define HAVE_PTRDIFF_T 1
+
+/* Define to 1 if you have the `rmdir' function. */
+#define HAVE_RMDIR 1
+
+/* Define to 1 if you have the `socket' function. */
+#define HAVE_SOCKET 1
+
+/* Define to 1 if you have the `sqrt' function. */
+#define HAVE_SQRT 1
+
+/* Define to 1 if stdbool.h conforms to C99. */
+#define HAVE_STDBOOL_H 1
+
+/* Define to 1 if you have the <stddef.h> header file. */
+#define HAVE_STDDEF_H 1
+
+/* Define to 1 if you have the <stdint.h> header file. */
+#define HAVE_STDINT_H 1
+
+/* Define to 1 if you have the <stdlib.h> header file. */
+#define HAVE_STDLIB_H 1
+
+/* Define to 1 if you have the `strcasecmp' function. */
+#define HAVE_STRCASECMP 1
+
+/* Define to 1 if you have the `strchr' function. */
+#define HAVE_STRCHR 1
+
+/* Define to 1 if you have the `strdup' function. */
+#define HAVE_STRDUP 1
+
+/* Define to 1 if you have the `strerror' function. */
+#define HAVE_STRERROR 1
+
+/* Define to 1 if you have the `strerror_r' function. */
+#define HAVE_STRERROR_R 1
+
+/* Define to 1 if you have the <strings.h> header file. */
+#define HAVE_STRINGS_H 1
+
+/* Define to 1 if you have the <string.h> header file. */
+#define HAVE_STRING_H 1
+
+/* Define to 1 if you have the `syscall' function. */
+#define HAVE_SYSCALL 1
+
+/* Define to 1 if you have the <sys/ioctl.h> header file. */
+#define HAVE_SYS_IOCTL_H 1
+
+/* Define to 1 if you have the <sys/socket.h> header file. */
+#define HAVE_SYS_SOCKET_H 1
+
+/* Define to 1 if you have the <sys/stat.h> header file. */
+#define HAVE_SYS_STAT_H 1
+
+/* Define to 1 if you have the <sys/types.h> header file. */
+#define HAVE_SYS_TYPES_H 1
+
+/* Define to 1 if you have the <unistd.h> header file. */
+#define HAVE_UNISTD_H 1
+
+/* define if unordered_map supports emplace */
+#define HAVE_UNORDERED_MAP_EMPLACE 1
+
+/* Define to 1 if you have the `vfork' function. */
+#define HAVE_VFORK 1
+
+/* Define to 1 if you have the <vfork.h> header file. */
+/* #undef HAVE_VFORK_H */
+
+/* Define to 1 if `fork' works. */
+#define HAVE_WORKING_FORK 1
+
+/* Define to 1 if `vfork' works. */
+#define HAVE_WORKING_VFORK 1
+
+/* Define to 1 if the system has the type `_Bool'. */
+/* #undef HAVE__BOOL */
+
+/* Define to the address where bug reports for this package should be sent. */
+#define PACKAGE_BUGREPORT "matt@godbolt.org"
+
+/* Define to the full name of this package. */
+#define PACKAGE_NAME "SeaSocks"
+
+/* Define to the full name and version of this package. */
+#define PACKAGE_STRING "SeaSocks 0.1"
+
+/* Define to the one symbol short name of this package. */
+#define PACKAGE_TARNAME "seasocks"
+
+/* Define to the home page for this package. */
+#define PACKAGE_URL "https://github.com/mattgodbolt/seasocks"
+
+/* Define to the version of this package. */
+#define PACKAGE_VERSION "0.1"
+
+/* Define to 1 if you have the ANSI C header files. */
+#define STDC_HEADERS 1
+
+/* Define to 1 if strerror_r returns char *. */
+#define STRERROR_R_CHAR_P 1
+
+/* Define for Solaris 2.5.1 so the uint32_t typedef from <sys/synch.h>,
+ <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
+ #define below would cause a syntax error. */
+/* #undef _UINT32_T */
+
+/* Define for Solaris 2.5.1 so the uint64_t typedef from <sys/synch.h>,
+ <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
+ #define below would cause a syntax error. */
+/* #undef _UINT64_T */
+
+/* Define for Solaris 2.5.1 so the uint8_t typedef from <sys/synch.h>,
+ <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
+ #define below would cause a syntax error. */
+/* #undef _UINT8_T */
+
+/* Define to `__inline__' or `__inline' if that's what the C compiler
+ calls it, or to nothing if 'inline' is not supported under any name. */
+#ifndef __cplusplus
+/* #undef inline */
+#endif
+
+/* Define to rpl_malloc if the replacement function should be used. */
+/* #undef malloc */
+
+/* Define to `int' if <sys/types.h> does not define. */
+/* #undef pid_t */
+
+/* Define to the equivalent of the C99 'restrict' keyword, or to
+ nothing if this is not supported. Do not define if restrict is
+ supported directly. */
+#define restrict __restrict
+/* Work around a bug in Sun C++: it does not support _Restrict or
+ __restrict__, even though the corresponding Sun C compiler ends up with
+ "#define restrict _Restrict" or "#define restrict __restrict__" in the
+ previous line. Perhaps some future version of Sun C++ will work with
+ restrict; if so, hopefully it defines __RESTRICT like Sun C does. */
+#if defined __SUNPRO_CC && !defined __RESTRICT
+# define _Restrict
+# define __restrict__
+#endif
+
+/* Define to `unsigned int' if <sys/types.h> does not define. */
+/* #undef size_t */
+
+/* Define to the type of an unsigned integer type of width exactly 16 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef uint16_t */
+
+/* Define to the type of an unsigned integer type of width exactly 32 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef uint32_t */
+
+/* Define to the type of an unsigned integer type of width exactly 64 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef uint64_t */
+
+/* Define to the type of an unsigned integer type of width exactly 8 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef uint8_t */
+
+/* Define as `fork' if `vfork' does not work. */
+/* #undef vfork */
diff --git a/aos/linux_code/init.cc b/aos/linux_code/init.cc
index c38bfc0..eb3658c 100644
--- a/aos/linux_code/init.cc
+++ b/aos/linux_code/init.cc
@@ -59,12 +59,13 @@
// non-realtime initialization sequences. May be called twice.
void InitStart() {
::aos::logging::Init();
- // Allow locking as much as we want into RAM.
- SetSoftRLimit(RLIMIT_MEMLOCK, RLIM_INFINITY, false);
WriteCoreDumps();
}
void LockAllMemory() {
+ // Allow locking as much as we want into RAM.
+ SetSoftRLimit(RLIMIT_MEMLOCK, RLIM_INFINITY, false);
+
InitStart();
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
PDie("%s-init: mlockall failed", program_invocation_short_name);
@@ -92,22 +93,25 @@
free(heap_data);
}
-// Do the initialization code that is necessary for both realtime and
-// non-realtime processes.
-void DoInitNRT(aos_core_create create) {
- InitStart();
- aos_core_create_shared_mem(create);
- logging::linux_code::Register();
-}
-
const char *const kNoRealtimeEnvironmentVariable = "AOS_NO_REALTIME";
} // namespace
-void InitNRT() { DoInitNRT(aos_core_create::reference); }
-void InitCreate() { DoInitNRT(aos_core_create::create); }
+void InitNRT() {
+ InitStart();
+ aos_core_create_shared_mem(false, false);
+ logging::linux_code::Register();
+}
+
+void InitCreate() {
+ InitStart();
+ aos_core_create_shared_mem(true, false);
+ logging::linux_code::Register();
+}
+
void Init(int relative_priority) {
- if (getenv(kNoRealtimeEnvironmentVariable) == NULL) { // if nobody set it
+ bool realtime = getenv(kNoRealtimeEnvironmentVariable) == nullptr;
+ if (realtime) {
LockAllMemory();
// Only let rt processes run for 3 seconds straight.
@@ -129,7 +133,9 @@
printf("no realtime for %s. see stderr\n", program_invocation_short_name);
}
- InitNRT();
+ InitStart();
+ aos_core_create_shared_mem(false, realtime);
+ logging::linux_code::Register();
}
void Cleanup() {
diff --git a/aos/linux_code/ipc_lib/shared_mem.c b/aos/linux_code/ipc_lib/shared_mem.c
index bc2cc62..79b747a 100644
--- a/aos/linux_code/ipc_lib/shared_mem.c
+++ b/aos/linux_code/ipc_lib/shared_mem.c
@@ -37,7 +37,7 @@
struct aos_core *global_core = NULL;
// TODO(brians): madvise(2) it to put this shm in core dumps.
-void aos_core_create_shared_mem(enum aos_core_create to_create) {
+void aos_core_create_shared_mem(int create, int lock) {
assert(global_core == NULL);
static struct aos_core global_core_data;
global_core = &global_core_data;
@@ -53,7 +53,7 @@
}
int shm;
- if (to_create == create) {
+ if (create) {
while (1) {
printf("shared_mem: creating %s\n", global_core->shm_name);
shm = shm_open(global_core->shm_name, O_RDWR | O_CREAT | O_EXCL, 0666);
@@ -82,12 +82,13 @@
PLOG(FATAL, "fruncate(%d, 0x%zx) failed", shm, (size_t)SIZEOFSHMSEG);
}
}
- void *shm_address = mmap(
- (void *)SHM_START, SIZEOFSHMSEG, PROT_READ | PROT_WRITE,
- MAP_SHARED | MAP_FIXED | MAP_LOCKED | MAP_POPULATE, shm, 0);
+ int flags = MAP_SHARED | MAP_FIXED;
+ if (lock) flags |= MAP_LOCKED | MAP_POPULATE;
+ void *shm_address = mmap((void *)SHM_START, SIZEOFSHMSEG,
+ PROT_READ | PROT_WRITE, flags, shm, 0);
if (shm_address == MAP_FAILED) {
- PLOG(FATAL, "shared_mem: mmap(%p, 0x%zx, stuff, stuff, %d, 0) failed",
- (void *)SHM_START, (size_t)SIZEOFSHMSEG, shm);
+ PLOG(FATAL, "shared_mem: mmap(%p, 0x%zx, stuff, %x, %d, 0) failed",
+ (void *)SHM_START, (size_t)SIZEOFSHMSEG, flags, shm);
}
printf("shared_mem: shm at: %p\n", shm_address);
if (close(shm) == -1) {
diff --git a/aos/linux_code/ipc_lib/shared_mem.h b/aos/linux_code/ipc_lib/shared_mem.h
index f1eb489..a33290c 100644
--- a/aos/linux_code/ipc_lib/shared_mem.h
+++ b/aos/linux_code/ipc_lib/shared_mem.h
@@ -44,10 +44,6 @@
aos_global_pointer queue_types;
} aos_shm_core;
-enum aos_core_create {
- create,
- reference
-};
struct aos_core {
// Non-0 if we "own" shared_mem and should shm_unlink(3) it when we're done.
int owner;
@@ -71,7 +67,10 @@
// before passing the memory to this function.
void aos_core_use_address_as_shared_mem(void *address, size_t size);
-void aos_core_create_shared_mem(enum aos_core_create to_create);
+// create is true to remove any existing shm to create a fresh one or false to
+// fail if it does not already exist.
+// lock is true to lock shared memory into RAM or false to not.
+void aos_core_create_shared_mem(int create, int lock);
void aos_core_free_shared_mem(void);
// Returns whether or not the shared memory system is active.
diff --git a/aos/prime/input/joystick_input.cc b/aos/prime/input/joystick_input.cc
index ca4a033..3975930 100644
--- a/aos/prime/input/joystick_input.cc
+++ b/aos/prime/input/joystick_input.cc
@@ -14,8 +14,6 @@
while (true) {
joystick_state.FetchAnother();
- LOG_STRUCT(DEBUG, "sending", *joystick_state);
-
data.Update(*joystick_state);
{
diff --git a/doc/environment_variables b/doc/environment_variables
new file mode 100644
index 0000000..98d51bc
--- /dev/null
+++ b/doc/environment_variables
@@ -0,0 +1,4 @@
+A list of environment variables useful for running the code on not-robots:
+ AOS_NO_REALTIME
+ AOS_SHM_NAME
+ AOS_TEAM_NUMBER
diff --git a/frc971/actors/actors.gyp b/frc971/actors/actors.gyp
index 5daed38..30bb318 100644
--- a/frc971/actors/actors.gyp
+++ b/frc971/actors/actors.gyp
@@ -148,6 +148,7 @@
'score_action_queue',
'<(AOS)/build/aos.gyp:logging',
'<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
],
'export_dependent_settings': [
'<(AOS)/common/actions/actions.gyp:action_lib',
@@ -168,6 +169,73 @@
],
},
{
+ 'target_name': 'score_action_test',
+ 'type': 'executable',
+ 'sources': [
+ 'score_actor_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ '<(AOS)/common/common.gyp:queues',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(DEPTH)/frc971/control_loops/fridge/fridge.gyp:fridge_queue',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
+ 'score_action_queue',
+ 'score_action_lib',
+ ],
+ },
+ {
+ 'target_name': 'pickup_action_queue',
+ 'type': 'static_library',
+ 'sources': ['pickup_action.q'],
+ 'variables': {
+ 'header_path': 'frc971/actors',
+ },
+ 'dependencies': [
+ '<(AOS)/common/actions/actions.gyp:action_queue',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/actions/actions.gyp:action_queue',
+ ],
+ 'includes': ['../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'pickup_action_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'pickup_actor.cc',
+ ],
+ 'dependencies': [
+ 'fridge_profile_action_lib',
+ 'pickup_action_queue',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(DEPTH)/frc971/control_loops/claw/claw.gyp:claw_queue',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ 'pickup_action_queue',
+ ],
+ },
+ {
+ 'target_name': 'pickup_action',
+ 'type': 'executable',
+ 'sources': [
+ 'pickup_actor_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ 'pickup_action_queue',
+ 'pickup_action_lib',
+ ],
+ },
+ {
'target_name': 'stack_action_queue',
'type': 'static_library',
'sources': ['stack_action.q'],
@@ -183,6 +251,26 @@
'includes': ['../../aos/build/queues.gypi'],
},
{
+ 'target_name': 'stack_action_test',
+ 'type': 'executable',
+ 'sources': [
+ 'stack_actor_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ '<(AOS)/common/common.gyp:queues',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(DEPTH)/frc971/control_loops/fridge/fridge.gyp:fridge_queue',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
+ 'stack_action_queue',
+ 'stack_action_lib',
+ ],
+ },
+ {
'target_name': 'stack_action_lib',
'type': 'static_library',
'sources': [
@@ -192,8 +280,10 @@
'fridge_profile_action_lib',
'stack_action_queue',
'<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/util/util.gyp:phased_loop',
'<(AOS)/common/actions/actions.gyp:action_lib',
'<(DEPTH)/frc971/frc971.gyp:constants',
+ '<(DEPTH)/frc971/control_loops/claw/claw.gyp:claw_queue',
],
'export_dependent_settings': [
'<(AOS)/common/actions/actions.gyp:action_lib',
@@ -214,6 +304,53 @@
],
},
{
+ 'target_name': 'lift_action_queue',
+ 'type': 'static_library',
+ 'sources': ['lift_action.q'],
+ 'variables': {
+ 'header_path': 'frc971/actors',
+ },
+ 'dependencies': [
+ '<(AOS)/common/actions/actions.gyp:action_queue',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/actions/actions.gyp:action_queue',
+ ],
+ 'includes': ['../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'lift_action_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'lift_actor.cc',
+ ],
+ 'dependencies': [
+ 'fridge_profile_action_lib',
+ 'lift_action_queue',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(DEPTH)/frc971/frc971.gyp:constants',
+ '<(DEPTH)/frc971/control_loops/claw/claw.gyp:claw_queue',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ 'lift_action_queue',
+ ],
+ },
+ {
+ 'target_name': 'lift_action',
+ 'type': 'executable',
+ 'sources': [
+ 'lift_actor_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ 'lift_action_queue',
+ 'lift_action_lib',
+ ],
+ },
+ {
'target_name': 'claw_action_queue',
'type': 'static_library',
'sources': ['claw_action.q'],
@@ -315,10 +452,13 @@
'<(AOS)/common/common.gyp:time',
'<(AOS)/build/aos.gyp:logging',
'<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
],
'export_dependent_settings': [
- '<(AOS)/common/actions/actions.gyp:action_lib',
+ 'claw_action_lib',
+ 'fridge_profile_action_lib',
'intake_action_queue',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
],
},
{
@@ -334,5 +474,27 @@
'intake_action_lib',
],
},
+ {
+ 'target_name': 'intake_action_test',
+ 'type': 'executable',
+ 'sources': [
+ 'intake_actor_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ '<(AOS)/common/common.gyp:queues',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(DEPTH)/frc971/control_loops/fridge/fridge.gyp:fridge_queue',
+ '<(DEPTH)/frc971/control_loops/claw/claw.gyp:claw_queue',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
+ 'intake_action_queue',
+ 'intake_action_lib',
+ ],
+ },
],
}
diff --git a/frc971/actors/claw_actor.cc b/frc971/actors/claw_actor.cc
index 1cba2c0..ff66def 100644
--- a/frc971/actors/claw_actor.cc
+++ b/frc971/actors/claw_actor.cc
@@ -24,10 +24,10 @@
} // namespace
-ClawActor::ClawActor(actors::ClawActionQueueGroup* s)
+ClawActor::ClawActor(actors::ClawActionQueueGroup *s)
: aos::common::actions::ActorBase<actors::ClawActionQueueGroup>(s) {}
-bool ClawActor::Iterate(const ClawParams& params) {
+bool ClawActor::Iterate(const ClawParams ¶ms) {
const double goal_angle = params.claw_angle;
const double goal_velocity = params.claw_max_velocity;
@@ -54,15 +54,14 @@
const double current_angle = control_loops::claw_queue.status->angle;
LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
- if (::std::abs(goal_angle - current_angle) <
- kAngleEpsilon) {
+ if (::std::abs(goal_angle - current_angle) < kAngleEpsilon) {
return true;
}
return false;
}
-bool ClawActor::RunAction(const ClawParams& params) {
+bool ClawActor::RunAction(const ClawParams ¶ms) {
LOG(INFO, "Claw goal (angle, velocity): %f, %f\n", params.claw_angle,
params.claw_max_velocity);
@@ -91,7 +90,7 @@
return true;
}
-::std::unique_ptr<ClawAction> MakeClawAction(const ClawParams& p) {
+::std::unique_ptr<ClawAction> MakeClawAction(const ClawParams &p) {
return ::std::unique_ptr<ClawAction>(
new ClawAction(&::frc971::actors::claw_action, p));
}
diff --git a/frc971/actors/fridge_profile_action.q b/frc971/actors/fridge_profile_action.q
index 231a499..fb6d54a 100644
--- a/frc971/actors/fridge_profile_action.q
+++ b/frc971/actors/fridge_profile_action.q
@@ -16,6 +16,14 @@
bool bottom_back_grabber;
};
+// Debug errors.
+struct ErrorToLog {
+ float arm_error;
+ float profile_error_arm;
+ float elevator_error;
+ float profile_error_elevator;
+};
+
queue_group FridgeProfileActionQueueGroup {
implements aos.common.actions.ActionQueueGroup;
diff --git a/frc971/actors/fridge_profile_actor.cc b/frc971/actors/fridge_profile_actor.cc
index c84e765..43bdb4b 100644
--- a/frc971/actors/fridge_profile_actor.cc
+++ b/frc971/actors/fridge_profile_actor.cc
@@ -61,7 +61,7 @@
::Eigen::Matrix<double, 2, 1> goal_state;
if (!arm_profile_) {
- *next_angle = 0.0;
+ *next_angle = arm_start_angle_;
*next_angle_velocity = 0.0;
} else {
goal_state = arm_profile_->Update(goal_angle, 0.0);
@@ -70,7 +70,7 @@
}
if (!elevator_profile_) {
- *next_height = 0.0;
+ *next_height = elev_start_height_;
*next_height_velocity = 0.0;
} else {
goal_state = elevator_profile_->Update(goal_height, 0.0);
@@ -82,8 +82,8 @@
}
bool FridgeProfileActor::RunAction(const FridgeProfileParams ¶ms) {
- double goal_angle = params.arm_angle;
- double goal_height = params.elevator_height;
+ const double goal_angle = params.arm_angle;
+ const double goal_height = params.elevator_height;
bool top_front = params.top_front_grabber;
bool top_back = params.top_back_grabber;
bool bottom_front = params.bottom_front_grabber;
@@ -93,7 +93,8 @@
goal_angle, goal_height, top_front, top_back, bottom_front, bottom_back);
// defines finished
- const double angle_epsilon = 0.01, height_epsilon = 0.01;
+ constexpr double kAngleEpsilon = 0.02, kHeightEpsilon = 0.015;
+ constexpr double kAngleProfileEpsilon = 0.0001, kHeightProfileEpsilon = 0.0001;
// Initialize arm profile.
if (!InitializeProfile(params.arm_max_velocity, params.arm_max_acceleration,
@@ -108,21 +109,34 @@
LOG(ERROR, "We are not running actions on an unzeroed fridge!\n");
return false;
}
- arm_start_angle_ = control_loops::fridge_queue.status->angle;
- elev_start_height_ = control_loops::fridge_queue.status->height;
+ arm_start_angle_ = control_loops::fridge_queue.status->goal_angle;
+ elev_start_height_ = control_loops::fridge_queue.status->goal_height;
} else {
LOG(ERROR, "No fridge status!\n");
return false;
}
+ if (arm_profile_) {
+ Eigen::Matrix<double, 2, 1> arm_current;
+ arm_current.setZero();
+ arm_current << arm_start_angle_, 0.0;
+ arm_profile_->MoveCurrentState(arm_current);
+ }
+ if (elevator_profile_) {
+ Eigen::Matrix<double, 2, 1> elevator_current;
+ elevator_current.setZero();
+ elevator_current << elev_start_height_, 0.0;
+ elevator_profile_->MoveCurrentState(elevator_current);
+ }
+
while (true) {
// wait until next Xms tick
::aos::time::PhasedLoopXMS(5, 2500);
- double delta_angle, delta_height;
+ double current_goal_angle, current_goal_height;
double angle_vel, height_vel;
- if (!IterateProfile(goal_angle, goal_height, &delta_angle, &delta_height,
- &angle_vel, &height_vel)) {
+ if (!IterateProfile(goal_angle, goal_height, ¤t_goal_angle,
+ ¤t_goal_height, &angle_vel, &height_vel)) {
return false;
}
@@ -130,14 +144,14 @@
if (ShouldCancel()) return true;
auto message = control_loops::fridge_queue.goal.MakeMessage();
- message->angle = arm_start_angle_ + delta_angle;
+ message->angle = current_goal_angle;
message->angular_velocity = angle_vel;
- message->height = elev_start_height_ + delta_height;
+ message->height = current_goal_height;
message->velocity = height_vel;
message->grabbers.top_front = top_front;
message->grabbers.top_back = top_back;
- message->grabbers.bottom_front = top_front;
- message->grabbers.top_front = top_front;
+ message->grabbers.bottom_front = bottom_front;
+ message->grabbers.bottom_back = bottom_back;
LOG_STRUCT(DEBUG, "Sending fridge goal", *message);
message.Send();
@@ -155,15 +169,28 @@
current_height = goal_height;
}
- if ((!arm_profile_ || (::std::abs(arm_start_angle_ + delta_angle -
- goal_angle) < angle_epsilon &&
- ::std::abs(arm_start_angle_ + delta_angle -
- current_angle) < angle_epsilon)) &&
- (!elevator_profile_ || (::std::abs(elev_start_height_ + delta_height -
- goal_height) < height_epsilon &&
- ::std::abs(elev_start_height_ + delta_height -
- current_height) < height_epsilon))) {
+ const double arm_error = ::std::abs(current_goal_angle - current_angle);
+ const double profile_error_arm =
+ ::std::abs(current_goal_angle - goal_angle);
+
+ const double profile_error_elevator =
+ ::std::abs(current_goal_height - goal_height);
+ const double elevator_error =
+ ::std::abs(current_goal_height - current_height);
+
+ if ((!arm_profile_ || (arm_error < kAngleEpsilon &&
+ profile_error_arm < kAngleProfileEpsilon)) &&
+ (!elevator_profile_ ||
+ (elevator_error < kHeightEpsilon &&
+ profile_error_elevator < kHeightProfileEpsilon))) {
break;
+ } else {
+ ErrorToLog error_to_log;
+ error_to_log.arm_error = arm_error;
+ error_to_log.profile_error_arm = profile_error_arm;
+ error_to_log.profile_error_elevator = profile_error_elevator;
+ error_to_log.elevator_error = elevator_error;
+ LOG_STRUCT(DEBUG, "error", error_to_log);
}
}
diff --git a/frc971/actors/fridge_profile_actor_test.cc b/frc971/actors/fridge_profile_actor_test.cc
index d2d7dd2..b054e8d 100644
--- a/frc971/actors/fridge_profile_actor_test.cc
+++ b/frc971/actors/fridge_profile_actor_test.cc
@@ -356,6 +356,47 @@
}
}
+// Make sure that should cancel gets set by pushing to queue.
+TEST_F(FridgeProfileTest, ProfileShouldCancel) {
+ FridgeProfileActor fridge_profile(&frc971::actors::fridge_profile_action);
+ double next_angle = 0, next_height = 0, next_angle_vel = 0.0,
+ next_height_vel = 0.0;
+ FridgeProfileParams params;
+ params.arm_angle = 5.0;
+ params.arm_max_velocity = 200.0;
+ params.arm_max_acceleration = 20000.0;
+ frc971::actors::fridge_profile_action.goal.MakeWithBuilder()
+ .run(true)
+ .params(params)
+ .Send();
+
+ // tell it the fridge is zeroed
+ control_loops::fridge_queue.status.MakeWithBuilder()
+ .zeroed(true)
+ .angle(0.0)
+ .height(0.0)
+ .Send();
+
+ fridge_profile.SetTesting();
+
+ fridge_profile.WaitForActionRequest();
+
+ // Angle (0.250000, 0.250000, 0.25) Height (0.250000, 0.250000, 0.25)
+ EXPECT_TRUE(fridge_profile.IterateProfile(5.0, 5.0, &next_angle, &next_height,
+ &next_angle_vel, &next_height_vel));
+ EXPECT_FALSE(fridge_profile.ShouldCancel());
+ frc971::actors::fridge_profile_action.goal.MakeWithBuilder()
+ .run(false)
+ .params(params)
+ .Send();
+
+ EXPECT_TRUE(fridge_profile.ShouldCancel());
+
+ // Angle (0.250000, 0.250000, 0.25) Height (0.250000, 0.250000, 0.25)
+ EXPECT_TRUE(fridge_profile.IterateProfile(5.0, 5.0, &next_angle, &next_height,
+ &next_angle_vel, &next_height_vel));
+}
+
} // namespace testing.
} // namespace actors.
} // namespace frc971.
diff --git a/frc971/actors/intake_actor.cc b/frc971/actors/intake_actor.cc
index 70abe19..5dba4bb 100644
--- a/frc971/actors/intake_actor.cc
+++ b/frc971/actors/intake_actor.cc
@@ -2,8 +2,10 @@
#include <math.h>
+#include "aos/common/controls/control_loop.h"
#include "aos/common/logging/logging.h"
#include "aos/common/time.h"
+#include "aos/common/util/phased_loop.h"
#include "frc971/actors/claw_actor.h"
#include "frc971/constants.h"
#include "frc971/actors/fridge_profile_actor.h"
@@ -75,19 +77,26 @@
return fridge_action;
}
-// Put the systems into a reasonable configuration when we cancel.
-void Reset() {
- const auto &values = constants::GetValues();
-
- auto claw = MoveClaw(kHpIntakeAngle, 0.0);
- auto fridge = MoveFridge(values.fridge.elevator.lower_limit);
- claw->WaitUntilDone();
- fridge->WaitUntilDone();
- LOG(INFO, "Done resetting systems.\n");
-}
-
} // namespace
+void IntakeActor::WaitForSystems(FridgeAction *fridge, ClawAction *claw) {
+ while ((fridge && !fridge->CheckIteration()) ||
+ (claw && !claw->CheckIteration())) {
+ ::aos::time::PhasedLoopXMS(::aos::controls::kLoopFrequency.ToMSec(), 2500);
+
+ if (ShouldCancel()) {
+ if (fridge) {
+ fridge->Cancel();
+ }
+ if (claw) {
+ claw->Cancel();
+ }
+ LOG(WARNING, "Cancelling fridge and claw.\n");
+ return;
+ }
+ }
+}
+
bool IntakeActor::RunAction(const IntakeParams ¶ms) {
const auto &values = constants::GetValues();
@@ -95,34 +104,53 @@
// Grab the tote.
LOG(INFO, "Grabbing tote.\n");
- // Move the fridge up to make space for the tote we're intaking.
- auto fridge = MoveFridge(values.tote_height);
- // Start intaking.
- const double claw_angle = params.ground ? 0.0 : kClawIntakeVoltage;
- auto claw = MoveClaw(claw_angle, kClawIntakeVoltage);
- fridge->WaitUntilDone();
- claw->WaitUntilDone();
+ {
+ // Move the fridge up to make space for the tote we're intaking.
+ auto fridge = MoveFridge(values.tote_height);
+
+ // Move the claw and start intaking.
+ const double claw_angle = params.ground ? 0.0 : kClawIntakeVoltage;
+ auto claw = MoveClaw(claw_angle, kClawIntakeVoltage);
+ WaitForSystems(fridge.get(), claw.get());
+ if (ShouldCancel()) return true;
+ }
} else {
// Send it back into the robot.
LOG(INFO, "Spitting tote backwards.\n");
- // Pull the claw up.
- MoveClaw(kHpIntakeAngle, 0.0);
- if (ShouldCancel()) {
- LOG(INFO, "Cancelling.\n");
- Reset();
- return true;
+ {
+ // Pull the claw up.
+ auto claw = MoveClaw(kHpIntakeAngle, 0.0);
+ WaitForSystems(nullptr, claw.get());
+ if (ShouldCancel()) return true;
}
- // Spit backwards for awhile.
- MoveClaw(kHpIntakeAngle, kClawBackSpitVoltage);
- ::aos::time::SleepFor(kBackSpitTime);
- MoveClaw(kHpIntakeAngle, 0.0);
+ {
+ // Spit backwards for awhile.
+ auto claw = MoveClaw(kHpIntakeAngle, kClawBackSpitVoltage);
+ WaitForSystems(nullptr, claw.get());
+ ::aos::time::SleepFor(kBackSpitTime);
+ MoveClaw(kHpIntakeAngle, 0.0);
+ WaitForSystems(nullptr, claw.get());
+ if (ShouldCancel()) return true;
+ }
- // Stack the new tote.
- ::std::unique_ptr<StackAction> stack_action = MakeStackAction();
- stack_action->Start();
- stack_action->WaitUntilDone();
+ {
+ // Stack the new tote.
+ StackParams params;
+ params.claw_out_angle = M_PI / 4;
+ ::std::unique_ptr<StackAction> stack_action = MakeStackAction(params);
+ stack_action->Start();
+ while (!stack_action->CheckIteration()) {
+ ::aos::time::PhasedLoopXMS(::aos::controls::kLoopFrequency.ToMSec(),
+ 2500);
+ if (ShouldCancel()) {
+ stack_action->Cancel();
+ LOG(WARNING, "Cancelling stack action.\n");
+ return true;
+ }
+ }
+ }
}
LOG(INFO, "Done running intake action.\n");
diff --git a/frc971/actors/intake_actor.h b/frc971/actors/intake_actor.h
index a822dd4..46df3cd 100644
--- a/frc971/actors/intake_actor.h
+++ b/frc971/actors/intake_actor.h
@@ -7,6 +7,8 @@
#include "aos/common/actions/actions.h"
#include "aos/common/actions/actor.h"
+#include "frc971/actors/claw_actor.h"
+#include "frc971/actors/fridge_profile_actor.h"
#include "frc971/actors/intake_action.q.h"
namespace frc971 {
@@ -18,6 +20,15 @@
explicit IntakeActor(IntakeActionQueueGroup *queues);
bool RunAction(const IntakeParams ¶ms) override;
+
+ private:
+ // Goes and waits for the claw and fridge actions to complete, handling
+ // cancellation properly.
+ // fridge: The fridge action to wait on, or nullptr if we don't want to wait
+ // for the fridge.
+ // claw: The claw action to wait on, or nullptr if we don't want to wait for
+ // the claw.
+ void WaitForSystems(FridgeAction *fridge, ClawAction *claw);
};
typedef aos::common::actions::TypedAction<IntakeActionQueueGroup> IntakeAction;
diff --git a/frc971/actors/intake_actor_test.cc b/frc971/actors/intake_actor_test.cc
new file mode 100644
index 0000000..39370f5
--- /dev/null
+++ b/frc971/actors/intake_actor_test.cc
@@ -0,0 +1,79 @@
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/queue.h"
+#include "aos/common/queue_testutils.h"
+#include "aos/common/actions/actor.h"
+#include "frc971/actors/intake_action.q.h"
+#include "frc971/actors/intake_actor.h"
+#include "frc971/control_loops/fridge/fridge.q.h"
+#include "frc971/control_loops/claw/claw.q.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+
+using ::aos::time::Time;
+
+namespace frc971 {
+namespace actors {
+namespace testing {
+
+class IntakeActionTest : public ::testing::Test {
+ protected:
+ IntakeActionTest() {
+ frc971::actors::intake_action.goal.Clear();
+ frc971::actors::intake_action.status.Clear();
+ control_loops::fridge_queue.status.Clear();
+ control_loops::fridge_queue.goal.Clear();
+ control_loops::claw_queue.status.Clear();
+ control_loops::claw_queue.goal.Clear();
+ }
+
+ virtual ~IntakeActionTest() {
+ frc971::actors::intake_action.goal.Clear();
+ frc971::actors::intake_action.status.Clear();
+ control_loops::fridge_queue.status.Clear();
+ control_loops::fridge_queue.goal.Clear();
+ control_loops::claw_queue.status.Clear();
+ control_loops::claw_queue.goal.Clear();
+ }
+
+ // Bring up and down Core.
+ ::aos::common::testing::GlobalCoreInstance my_core;
+};
+
+// Tests that cancel stops not only the intake action, but also the underlying
+// profile action.
+TEST_F(IntakeActionTest, IntakeCancel) {
+ IntakeActor intake(&frc971::actors::intake_action);
+
+ frc971::actors::intake_action.goal.MakeWithBuilder().run(true).Send();
+
+ // tell it the fridge and claw are zeroed
+ control_loops::fridge_queue.status.MakeWithBuilder()
+ .zeroed(true)
+ .angle(0.0)
+ .height(0.0)
+ .Send();
+ control_loops::claw_queue.status.MakeWithBuilder()
+ .zeroed(true)
+ .angle(0.0)
+ .Send();
+
+ // do the action and it will post to the goal queue
+ intake.WaitForActionRequest();
+
+ // the action has started, so now cancel it and it should cancel
+ // the underlying profile
+ frc971::actors::intake_action.goal.MakeWithBuilder().run(false).Send();
+
+ // let the action start running, if we return from this call it has worked.
+ const IntakeParams params = {true, true};
+ intake.RunAction(params);
+
+ SUCCEED();
+}
+
+} // namespace testing
+} // namespace actors
+} // namespace frc971
diff --git a/frc971/actors/lift_action.q b/frc971/actors/lift_action.q
new file mode 100644
index 0000000..10e169c
--- /dev/null
+++ b/frc971/actors/lift_action.q
@@ -0,0 +1,25 @@
+package frc971.actors;
+
+import "aos/common/actions/actions.q";
+
+// Parameters to send with start.
+struct LiftParams {
+ // Lift height
+ double lift_height;
+ // Arm goal.
+ double lift_arm;
+};
+
+queue_group LiftActionQueueGroup {
+ implements aos.common.actions.ActionQueueGroup;
+
+ message Goal {
+ uint32_t run;
+ LiftParams params;
+ };
+
+ queue Goal goal;
+ queue aos.common.actions.Status status;
+};
+
+queue_group LiftActionQueueGroup lift_action;
diff --git a/frc971/actors/lift_actor.cc b/frc971/actors/lift_actor.cc
new file mode 100644
index 0000000..8e8de47
--- /dev/null
+++ b/frc971/actors/lift_actor.cc
@@ -0,0 +1,63 @@
+#include <math.h>
+
+#include "aos/common/time.h"
+#include "frc971/actors/lift_actor.h"
+#include "frc971/actors/fridge_profile_actor.h"
+#include "frc971/constants.h"
+#include "frc971/control_loops/claw/claw.q.h"
+
+namespace frc971 {
+namespace actors {
+namespace {
+
+static constexpr double kArmVelocity = 0.40;
+static constexpr double kArmAcceleration = 1.0;
+static constexpr double kElevatorVelocity = 0.5;
+static constexpr double kElevatorAcceleration = 2.2;
+
+} // namespace
+
+LiftActor::LiftActor(LiftActionQueueGroup *queues)
+ : aos::common::actions::ActorBase<LiftActionQueueGroup>(queues) {}
+
+namespace {
+
+void DoProfile(double height, double angle, bool grabbers) {
+ FridgeProfileParams params;
+
+ params.elevator_height = height;
+ params.elevator_max_velocity = kElevatorVelocity;
+ params.elevator_max_acceleration = kElevatorAcceleration;
+
+ params.arm_angle = angle;
+ params.arm_max_velocity = kArmVelocity;
+ params.arm_max_acceleration = kArmAcceleration;
+
+ params.top_front_grabber = grabbers;
+ params.top_back_grabber = grabbers;
+ params.bottom_front_grabber = grabbers;
+ params.bottom_back_grabber = grabbers;
+
+ ::std::unique_ptr<FridgeAction> profile = MakeFridgeProfileAction(params);
+ profile->Start();
+ profile->WaitUntilDone();
+}
+
+} // namespace
+
+bool LiftActor::RunAction(const LiftParams ¶ms) {
+ // Lift the box straight up.
+ DoProfile(params.lift_height, 0.0, true);
+ // Move it back to the storage location.
+ DoProfile(params.lift_height, params.lift_arm, true);
+
+ return true;
+}
+
+::std::unique_ptr<LiftAction> MakeLiftAction(const LiftParams ¶ms) {
+ return ::std::unique_ptr<LiftAction>(
+ new LiftAction(&::frc971::actors::lift_action, params));
+}
+
+} // namespace actors
+} // namespace frc971
diff --git a/frc971/actors/lift_actor.h b/frc971/actors/lift_actor.h
new file mode 100644
index 0000000..5f5f57e
--- /dev/null
+++ b/frc971/actors/lift_actor.h
@@ -0,0 +1,30 @@
+#ifndef FRC971_ACTORS_LIFT_ACTOR_H_
+#define FRC971_ACTORS_LIFT_ACTOR_H_
+
+#include <stdint.h>
+
+#include <memory>
+
+#include "aos/common/actions/actions.h"
+#include "aos/common/actions/actor.h"
+#include "frc971/actors/lift_action.q.h"
+
+namespace frc971 {
+namespace actors {
+
+class LiftActor : public aos::common::actions::ActorBase<LiftActionQueueGroup> {
+ public:
+ explicit LiftActor(LiftActionQueueGroup *queues);
+
+ bool RunAction(const LiftParams ¶ms) override;
+};
+
+typedef aos::common::actions::TypedAction<LiftActionQueueGroup> LiftAction;
+
+// Makes a new LiftActor action.
+::std::unique_ptr<LiftAction> MakeLiftAction(const LiftParams ¶ms);
+
+} // namespace actors
+} // namespace frc971
+
+#endif // FRC971_ACTORS_LIFT_ACTOR_H_
diff --git a/frc971/actors/lift_actor_main.cc b/frc971/actors/lift_actor_main.cc
new file mode 100644
index 0000000..792f535
--- /dev/null
+++ b/frc971/actors/lift_actor_main.cc
@@ -0,0 +1,15 @@
+#include <stdio.h>
+
+#include "aos/linux_code/init.h"
+#include "frc971/actors/lift_action.q.h"
+#include "frc971/actors/lift_actor.h"
+
+int main(int /*argc*/, char* /*argv*/ []) {
+ ::aos::Init();
+
+ ::frc971::actors::LiftActor lift(&::frc971::actors::lift_action);
+ lift.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/frc971/actors/pickup_action.q b/frc971/actors/pickup_action.q
new file mode 100644
index 0000000..237337a
--- /dev/null
+++ b/frc971/actors/pickup_action.q
@@ -0,0 +1,33 @@
+package frc971.actors;
+
+import "aos/common/actions/actions.q";
+
+// Parameters to send with start.
+struct PickupParams {
+ // Angle to pull in at the top.
+ double pickup_angle;
+ // Angle to start sucking in above.
+ double suck_angle;
+ // Angle to finish sucking at.
+ double suck_angle_finish;
+ // Angle to go to once we get to the top to finish pulling in.
+ double pickup_finish_angle;
+ // Power to pull the bin in at the top.
+ double intake_voltage;
+ // Time to pull the bin in for.
+ double intake_time;
+};
+
+queue_group PickupActionQueueGroup {
+ implements aos.common.actions.ActionQueueGroup;
+
+ message Goal {
+ uint32_t run;
+ PickupParams params;
+ };
+
+ queue Goal goal;
+ queue aos.common.actions.Status status;
+};
+
+queue_group PickupActionQueueGroup pickup_action;
diff --git a/frc971/actors/pickup_actor.cc b/frc971/actors/pickup_actor.cc
new file mode 100644
index 0000000..ef32c92
--- /dev/null
+++ b/frc971/actors/pickup_actor.cc
@@ -0,0 +1,115 @@
+#include "frc971/actors/pickup_actor.h"
+
+#include <math.h>
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/time.h"
+#include "frc971/actors/fridge_profile_actor.h"
+#include "frc971/constants.h"
+#include "frc971/control_loops/claw/claw.q.h"
+
+namespace frc971 {
+namespace actors {
+
+PickupActor::PickupActor(PickupActionQueueGroup* queues)
+ : aos::common::actions::ActorBase<PickupActionQueueGroup>(queues) {}
+
+bool PickupActor::RunAction(const PickupParams& params) {
+ constexpr double kAngleEpsilon = 0.05;
+ {
+ auto message = control_loops::claw_queue.goal.MakeMessage();
+ message->angle = params.pickup_angle;
+ message->angular_velocity = 0.0;
+ message->intake = 0.0;
+ message->rollers_closed = true;
+
+ LOG_STRUCT(DEBUG, "Sending claw goal", *message);
+ message.Send();
+ }
+ while (true) {
+ control_loops::claw_queue.status.FetchAnother();
+ if (ShouldCancel()) return true;
+ const double current_angle = control_loops::claw_queue.status->angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+
+ if (current_angle > params.suck_angle ||
+ ::std::abs(current_angle - params.pickup_angle) < kAngleEpsilon) {
+ break;
+ }
+ }
+
+ {
+ auto message = control_loops::claw_queue.goal.MakeMessage();
+ message->angle = params.pickup_angle;
+ message->angular_velocity = 0.0;
+ message->intake = params.intake_voltage;
+ message->rollers_closed = true;
+
+ LOG_STRUCT(DEBUG, "Sending claw goal", *message);
+ message.Send();
+ }
+
+ while (true) {
+ control_loops::claw_queue.status.FetchAnother();
+ if (ShouldCancel()) return true;
+ const double current_angle = control_loops::claw_queue.status->angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+
+ if (::std::abs(current_angle - params.pickup_angle) < kAngleEpsilon) {
+ break;
+ }
+ }
+
+ {
+ auto message = control_loops::claw_queue.goal.MakeMessage();
+ message->angle = params.suck_angle;
+ message->angular_velocity = 0.0;
+ message->intake = params.intake_voltage;
+ message->rollers_closed = true;
+
+ LOG_STRUCT(DEBUG, "Sending claw goal", *message);
+ message.Send();
+ }
+
+ ::aos::time::Time end_time =
+ ::aos::time::Time::Now() + aos::time::Time::InSeconds(params.intake_time);
+ while ( ::aos::time::Time::Now() <= end_time) {
+ ::aos::time::PhasedLoopXMS(::aos::controls::kLoopFrequency.ToMSec(), 2500);
+ if (ShouldCancel()) return true;
+ }
+
+ {
+ auto message = control_loops::claw_queue.goal.MakeMessage();
+ message->angle = params.pickup_finish_angle;
+ message->angular_velocity = 0.0;
+ message->intake = 0.0;
+ message->rollers_closed = true;
+
+ LOG_STRUCT(DEBUG, "Sending claw goal", *message);
+ message.Send();
+ }
+
+ while (true) {
+ control_loops::claw_queue.status.FetchAnother();
+ if (ShouldCancel()) return true;
+ const double current_angle = control_loops::claw_queue.status->angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+
+ if (::std::abs(current_angle - params.pickup_finish_angle) <
+ kAngleEpsilon) {
+ break;
+ }
+ }
+
+ return true;
+}
+
+::std::unique_ptr<PickupAction> MakePickupAction(const PickupParams& params) {
+ return ::std::unique_ptr<PickupAction>(
+ new PickupAction(&::frc971::actors::pickup_action, params));
+}
+
+} // namespace actors
+} // namespace frc971
diff --git a/frc971/actors/pickup_actor.h b/frc971/actors/pickup_actor.h
new file mode 100644
index 0000000..66988d1
--- /dev/null
+++ b/frc971/actors/pickup_actor.h
@@ -0,0 +1,27 @@
+#ifndef FRC971_ACTORS_PICKUP_ACTOR_H_
+#define FRC971_ACTORS_PICKUP_ACTOR_H_
+
+#include "aos/common/actions/actions.h"
+#include "aos/common/actions/actor.h"
+#include "frc971/actors/pickup_action.q.h"
+
+namespace frc971 {
+namespace actors {
+
+class PickupActor
+ : public aos::common::actions::ActorBase<PickupActionQueueGroup> {
+ public:
+ explicit PickupActor(PickupActionQueueGroup *queues);
+
+ bool RunAction(const PickupParams ¶ms) override;
+};
+
+typedef aos::common::actions::TypedAction<PickupActionQueueGroup> PickupAction;
+
+// Makes a new PickupActor action.
+::std::unique_ptr<PickupAction> MakePickupAction(const PickupParams ¶ms);
+
+} // namespace actors
+} // namespace frc971
+
+#endif // FRC971_ACTORS_PICKUP_ACTOR_H_
diff --git a/frc971/actors/pickup_actor_main.cc b/frc971/actors/pickup_actor_main.cc
new file mode 100644
index 0000000..d5bc169
--- /dev/null
+++ b/frc971/actors/pickup_actor_main.cc
@@ -0,0 +1,15 @@
+#include <stdio.h>
+
+#include "aos/linux_code/init.h"
+#include "frc971/actors/pickup_action.q.h"
+#include "frc971/actors/pickup_actor.h"
+
+int main(int /*argc*/, char* /*argv*/ []) {
+ ::aos::Init();
+
+ frc971::actors::PickupActor pickup(&::frc971::actors::pickup_action);
+ pickup.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/frc971/actors/score_actor.cc b/frc971/actors/score_actor.cc
index 0ab54de..4137537 100644
--- a/frc971/actors/score_actor.cc
+++ b/frc971/actors/score_actor.cc
@@ -2,7 +2,9 @@
#include <math.h>
+#include "aos/common/controls/control_loop.h"
#include "aos/common/logging/logging.h"
+#include "aos/common/util/phased_loop.h"
#include "frc971/actors/fridge_profile_actor.h"
#include "frc971/constants.h"
@@ -22,9 +24,7 @@
ScoreActor::ScoreActor(ScoreActionQueueGroup* queues)
: aos::common::actions::ActorBase<ScoreActionQueueGroup>(queues) {}
-namespace {
-
-void DoProfile(double height, double angle, bool grabbers) {
+void ScoreActor::DoProfile(double height, double angle, bool grabbers) {
FridgeProfileParams params;
params.elevator_height = height;
@@ -42,23 +42,32 @@
::std::unique_ptr<FridgeAction> profile = MakeFridgeProfileAction(params);
profile->Start();
- profile->WaitUntilDone();
+ while (!profile->CheckIteration()) {
+ ::aos::time::PhasedLoopXMS(::aos::controls::kLoopFrequency.ToMSec(), 2500);
+ if (ShouldCancel()) {
+ LOG(WARNING, "Cancelling profile.\n");
+ profile->Cancel();
+ return;
+ }
+ }
}
-} // namespace
-
bool ScoreActor::RunAction(const ScoreParams& params) {
const auto& values = constants::GetValues();
// We're going to move the elevator first so we don't crash the fridge into
// the ground.
DoProfile(values.fridge.arm_zeroing_height, 0.0, true);
+ if (ShouldCancel()) return true;
// Now move them both together.
DoProfile(params.height, M_PI / 2.0, true);
+ if (ShouldCancel()) return true;
// Release the totes.
DoProfile(values.fridge.arm_zeroing_height, 0.0, false);
+ if (ShouldCancel()) return true;
// Retract. Move back to our lowered position.
DoProfile(values.fridge.elevator.lower_limit, 0.0, false);
+ if (ShouldCancel()) return true;
return true;
}
diff --git a/frc971/actors/score_actor.h b/frc971/actors/score_actor.h
index 0d43636..6a48f6d 100644
--- a/frc971/actors/score_actor.h
+++ b/frc971/actors/score_actor.h
@@ -14,6 +14,14 @@
explicit ScoreActor(ScoreActionQueueGroup *queues);
bool RunAction(const ScoreParams ¶ms) override;
+
+ private:
+ // Creates and runs a profile action for the fridge. Handles cancelling
+ // correctly.
+ // height: How high we want the fridge to go.
+ // angle: What angle we want the arm to be at.
+ // grabbers: Whether we want the grabbers deployed or not.
+ void DoProfile(double height, double angle, bool grabbers);
};
typedef aos::common::actions::TypedAction<ScoreActionQueueGroup> ScoreAction;
diff --git a/frc971/actors/score_actor_test.cc b/frc971/actors/score_actor_test.cc
new file mode 100644
index 0000000..d8eb041
--- /dev/null
+++ b/frc971/actors/score_actor_test.cc
@@ -0,0 +1,70 @@
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/queue.h"
+#include "aos/common/queue_testutils.h"
+#include "aos/common/actions/actor.h"
+#include "frc971/actors/score_action.q.h"
+#include "frc971/actors/score_actor.h"
+#include "frc971/control_loops/fridge/fridge.q.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+
+using ::aos::time::Time;
+
+namespace frc971 {
+namespace actors {
+namespace testing {
+
+class ScoreActionTest : public ::testing::Test {
+ protected:
+ ScoreActionTest() {
+ frc971::actors::score_action.goal.Clear();
+ frc971::actors::score_action.status.Clear();
+ control_loops::fridge_queue.status.Clear();
+ control_loops::fridge_queue.goal.Clear();
+ }
+
+ virtual ~ScoreActionTest() {
+ frc971::actors::score_action.goal.Clear();
+ frc971::actors::score_action.status.Clear();
+ control_loops::fridge_queue.status.Clear();
+ control_loops::fridge_queue.goal.Clear();
+ }
+
+ // Bring up and down Core.
+ ::aos::common::testing::GlobalCoreInstance my_core;
+};
+
+// Tests that cancel stops not only the score action, but also the underlying
+// profile action.
+TEST_F(ScoreActionTest, ScoreCancel) {
+ ScoreActor score(&frc971::actors::score_action);
+
+ frc971::actors::score_action.goal.MakeWithBuilder().run(true).Send();
+
+ // Tell it the fridge is zeroed.
+ control_loops::fridge_queue.status.MakeWithBuilder()
+ .zeroed(true)
+ .angle(0.0)
+ .height(0.0)
+ .Send();
+
+ // do the action and it will post to the goal queue
+ score.WaitForActionRequest();
+
+ // the action has started, so now cancel it and it should cancel
+ // the underlying profile
+ frc971::actors::score_action.goal.MakeWithBuilder().run(false).Send();
+
+ // let the action start running, if we return from this call it has worked.
+ const ScoreParams params = {0.75};
+ score.RunAction(params);
+
+ SUCCEED();
+}
+
+} // namespace testing
+} // namespace actors
+} // namespace frc971
diff --git a/frc971/actors/stack_action.q b/frc971/actors/stack_action.q
index 6ef4fd8..caa8abf 100644
--- a/frc971/actors/stack_action.q
+++ b/frc971/actors/stack_action.q
@@ -2,12 +2,18 @@
import "aos/common/actions/actions.q";
+// Parameters to send with start.
+struct StackParams {
+ // Angle to move the claw to when picking up.
+ double claw_out_angle;
+};
+
queue_group StackActionQueueGroup {
implements aos.common.actions.ActionQueueGroup;
message Goal {
uint32_t run;
- uint32_t params;
+ StackParams params;
};
queue Goal goal;
diff --git a/frc971/actors/stack_actor.cc b/frc971/actors/stack_actor.cc
index 6ce8fbd..4b31451 100644
--- a/frc971/actors/stack_actor.cc
+++ b/frc971/actors/stack_actor.cc
@@ -1,36 +1,37 @@
#include <math.h>
+#include "aos/common/time.h"
+#include "aos/common/util/phased_loop.h"
+
#include "frc971/actors/stack_actor.h"
#include "frc971/actors/fridge_profile_actor.h"
#include "frc971/constants.h"
+#include "frc971/control_loops/claw/claw.q.h"
namespace frc971 {
namespace actors {
namespace {
-// TODO(danielp): Real numbers!
-constexpr double kElevatorMaxVelocity = 0.5;
-constexpr double kArmMaxVelocity = 0.5;
-constexpr double kElevatorMaxAccel = 0.25;
-constexpr double kArmMaxAccel = 0.25;
+static constexpr double kArmVelocity = 0.40;
+static constexpr double kArmAcceleration = 1.0;
+static constexpr double kElevatorVelocity = 0.5;
+static constexpr double kElevatorAcceleration = 2.2;
} // namespace
-StackActor::StackActor(StackActionQueueGroup* queues)
+StackActor::StackActor(StackActionQueueGroup *queues)
: aos::common::actions::ActorBase<StackActionQueueGroup>(queues) {}
-namespace {
-
-void DoProfile(double height, bool grabbers) {
+void StackActor::DoProfile(double height, double angle, bool grabbers) {
FridgeProfileParams params;
params.elevator_height = height;
- params.elevator_max_velocity = kElevatorMaxVelocity;
- params.elevator_max_acceleration = kElevatorMaxAccel;
+ params.elevator_max_velocity = kElevatorVelocity;
+ params.elevator_max_acceleration = kElevatorAcceleration;
- params.arm_angle = 0.0;
- params.arm_max_velocity = kArmMaxVelocity;
- params.arm_max_acceleration = kArmMaxAccel;
+ params.arm_angle = angle;
+ params.arm_max_velocity = kArmVelocity;
+ params.arm_max_acceleration = kArmAcceleration;
params.top_front_grabber = grabbers;
params.top_back_grabber = grabbers;
@@ -39,28 +40,47 @@
::std::unique_ptr<FridgeAction> profile = MakeFridgeProfileAction(params);
profile->Start();
- profile->WaitUntilDone();
+ while (!profile->CheckIteration()) {
+ // wait until next Xms tick
+ ::aos::time::PhasedLoopXMS(5, 2500);
+ if (ShouldCancel()) {
+ profile->Cancel();
+ return;
+ }
+ }
}
-} // namespace
-
-bool StackActor::RunAction(const uint32_t&) {
- const auto& values = constants::GetValues();
- const double bottom = values.fridge.elevator.lower_limit;
+bool StackActor::RunAction(const StackParams ¶ms) {
+ const auto &values = constants::GetValues();
+ const double bottom = 0.020;
// Set the current stack down on top of the bottom box.
- DoProfile(bottom + values.tote_height, true);
+ DoProfile(0.45, 0.0, true);
+ if (ShouldCancel()) return true;
// Move down to enclose bottom box.
- DoProfile(bottom, false);
+ DoProfile(bottom + values.tote_height, 0.0, true);
+ if (ShouldCancel()) return true;
// Clamp.
- DoProfile(bottom, true);
+ {
+ auto message = control_loops::claw_queue.goal.MakeMessage();
+ message->angle = params.claw_out_angle;
+ message->angular_velocity = 0.0;
+ message->intake = 0.0;
+ message->rollers_closed = true;
+
+ LOG_STRUCT(DEBUG, "Sending claw goal", *message);
+ message.Send();
+ }
+ DoProfile(bottom, -0.05, false);
+ DoProfile(bottom, 0.0, false);
+ aos::time::SleepFor(aos::time::Time::InMS(100));
return true;
}
-::std::unique_ptr<StackAction> MakeStackAction() {
+::std::unique_ptr<StackAction> MakeStackAction(const StackParams ¶ms) {
return ::std::unique_ptr<StackAction>(
- new StackAction(&::frc971::actors::stack_action, 0));
+ new StackAction(&::frc971::actors::stack_action, params));
}
} // namespace actors
diff --git a/frc971/actors/stack_actor.h b/frc971/actors/stack_actor.h
index 2c37770..e45bac1 100644
--- a/frc971/actors/stack_actor.h
+++ b/frc971/actors/stack_actor.h
@@ -17,13 +17,15 @@
public:
explicit StackActor(StackActionQueueGroup *queues);
- bool RunAction(const uint32_t&) override;
+ void DoProfile(double height, double angle, bool grabbers);
+
+ bool RunAction(const StackParams ¶ms) override;
};
typedef aos::common::actions::TypedAction<StackActionQueueGroup> StackAction;
// Makes a new stackActor action.
-::std::unique_ptr<StackAction> MakeStackAction();
+::std::unique_ptr<StackAction> MakeStackAction(const StackParams ¶ms);
} // namespace actors
} // namespace frc971
diff --git a/frc971/actors/stack_actor_test.cc b/frc971/actors/stack_actor_test.cc
new file mode 100644
index 0000000..e8bc786
--- /dev/null
+++ b/frc971/actors/stack_actor_test.cc
@@ -0,0 +1,71 @@
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/queue.h"
+#include "aos/common/queue_testutils.h"
+#include "aos/common/actions/actor.h"
+#include "frc971/actors/stack_action.q.h"
+#include "frc971/actors/stack_actor.h"
+#include "frc971/control_loops/fridge/fridge.q.h"
+
+#include "aos/common/controls/control_loop_test.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+
+using ::aos::time::Time;
+
+namespace frc971 {
+namespace actors {
+namespace testing {
+
+class StackActionTest : public ::testing::Test {
+ protected:
+ StackActionTest() {
+ frc971::actors::stack_action.goal.Clear();
+ frc971::actors::stack_action.status.Clear();
+ control_loops::fridge_queue.status.Clear();
+ control_loops::fridge_queue.goal.Clear();
+ }
+
+ virtual ~StackActionTest() {
+ frc971::actors::stack_action.goal.Clear();
+ frc971::actors::stack_action.status.Clear();
+ control_loops::fridge_queue.status.Clear();
+ control_loops::fridge_queue.goal.Clear();
+ }
+
+ // Bring up and down Core.
+ ::aos::common::testing::GlobalCoreInstance my_core;
+};
+
+// Tests that cancel stops not only the stack action, but the underlying profile
+// action.
+TEST_F(StackActionTest, StackCancel) {
+ StackActor stack(&frc971::actors::stack_action);
+
+ frc971::actors::stack_action.goal.MakeWithBuilder().run(true).Send();
+
+ // tell it the fridge is zeroed
+ control_loops::fridge_queue.status.MakeWithBuilder()
+ .zeroed(true)
+ .angle(0.0)
+ .height(0.0)
+ .Send();
+
+ // do the action and it will post to the goal queue
+ stack.WaitForActionRequest();
+
+ // the action has started, so now cancel it and it should cancel
+ // the underlying profile
+ frc971::actors::stack_action.goal.MakeWithBuilder().run(false).Send();
+
+ // let the action start running, if we return from this call it has worked.
+ stack.RunAction(0);
+
+ SUCCEED();
+}
+
+} // namespace testing
+} // namespace actors
+} // namespace frc971
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 3f5213f..636735e 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -43,8 +43,7 @@
2.95, 0.2, 0.7};
const ShifterHallEffect kPracticeLeftDriveShifter{2.95, 4.2, 3.95,
3.0, 0.2, 0.7};
-// TODO(danielp): Actually measure one of them...
-const double kToteHeight = 0.5;
+const double kToteHeight = 0.3;
// Set by Daniel on 2/13/15.
// Distance from the center of the left wheel to the center of the right wheel.
@@ -209,13 +208,13 @@
// Elevator zeroing constants: left, right.
// TODO(sensors): Get actual offsets for these.
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.058672},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.078646},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.066380},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.051888},
// Arm zeroing constants: left, right.
{kZeroingSampleSize, kArmEncoderIndexDifference, -0.324437},
{kZeroingSampleSize, kArmEncoderIndexDifference, -0.064683},
- 0.722230,
- -0.081354,
+ 0.722230 - -0.000594,
+ -0.081354 - -0.000374,
-3.509611 - 0.007415 - -0.019081,
3.506927 - 0.170017 - -0.147970,
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 5b78a80..0c12d27 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -13,7 +13,7 @@
using ::aos::time::Time;
-constexpr double kZeroingVoltage = 5.0;
+constexpr double kZeroingVoltage = 4.0;
void ClawCappedStateFeedbackLoop::CapU() {
mutable_U(0, 0) = ::std::min(mutable_U(0, 0), max_voltage_);
@@ -257,6 +257,7 @@
} else {
status->intake = 0;
}
+ status->goal_angle = claw_goal_;
if (output) {
status->rollers_open = !output->rollers_closed &&
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 0105441..e05f779 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -49,6 +49,8 @@
// Angle of wrist joint.
double angle;
+ // Goal angle of wrist joint.
+ double goal_angle;
// Voltage of intake rollers. Positive means sucking in, negative means
// spitting out.
double intake;
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index 0c2052d..142f5ab 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -149,7 +149,7 @@
.angle(values.claw.wrist.lower_limit)
.Send());
- RunForTime(Time::InSeconds(5));
+ RunForTime(Time::InSeconds(6));
// We should not have moved.
VerifyNearGoal();
@@ -165,7 +165,7 @@
.angle(M_PI / 4.0)
.Send());
- RunForTime(Time::InSeconds(5));
+ RunForTime(Time::InSeconds(6));
ASSERT_TRUE(claw_queue_.status.FetchLatest());
EXPECT_TRUE(claw_queue_.status->zeroed);
@@ -211,7 +211,7 @@
.angle(values.claw.wrist.upper_hard_limit + 5.0)
.Send());
- RunForTime(Time::InSeconds(5));
+ RunForTime(Time::InSeconds(6));
claw_queue_.status.FetchLatest();
EXPECT_NEAR(values.claw.wrist.upper_limit,
@@ -238,7 +238,7 @@
ASSERT_TRUE(claw_queue_.goal.MakeWithBuilder()
.angle(M_PI / 4.0)
.Send());
- RunForTime(Time::InSeconds(5));
+ RunForTime(Time::InSeconds(6));
VerifyNearGoal();
}
@@ -268,7 +268,7 @@
.angle(M_PI / 4.0)
.Send());
- RunForTime(Time::InSeconds(5));
+ RunForTime(Time::InSeconds(6));
VerifyNearGoal();
SimulateSensorReset();
@@ -278,7 +278,7 @@
// Once again, it's going to take us awhile to rezero since we moved away from
// our index pulse.
- RunForTime(Time::InSeconds(5));
+ RunForTime(Time::InSeconds(6));
VerifyNearGoal();
}
diff --git a/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
index 6dbbae5..a925a89 100644
--- a/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
@@ -75,7 +75,7 @@
Eigen::Matrix<double, 4, 2> L;
L << 1.25738796225, 0.00756271754847, 74.8971101634, 1.58403340092, 0.00756271754847, 1.25738796225, 1.58403340092, 74.8971101634;
Eigen::Matrix<double, 2, 4> K;
- K << 154.070413936, 12.2263299292, 2.23580489275, 0.77037863276, 2.23580489275, 0.77037863276, 154.070413936, 12.2263299292;
+ K << 154.070413936, 12.2263299292, 2.23580489274, 0.77037863276, 2.23580489276, 0.77037863276, 154.070413936, 12.2263299292;
Eigen::Matrix<double, 4, 4> A_inv;
A_inv << 1.0, -0.00511059808244, 0.0, 2.03320493463e-05, 0.0, 1.04457382236, 0.0, -0.00825142689119, 0.0, 2.03320493463e-05, 1.0, -0.00511059808244, 0.0, -0.00825142689119, 0.0, 1.04457382236;
return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainLowLowPlantCoefficients());
@@ -85,7 +85,7 @@
Eigen::Matrix<double, 4, 2> L;
L << 1.25738796225, 0.00756271754847, 74.8971101634, 1.58403340092, 0.00756271754847, 1.25738796225, 1.58403340092, 74.8971101634;
Eigen::Matrix<double, 2, 4> K;
- K << 154.070413936, 12.2263299292, 2.23580489275, 0.77037863276, 2.23580489275, 0.77037863276, 154.070413936, 12.2263299292;
+ K << 154.070413936, 12.2263299292, 2.23580489274, 0.77037863276, 2.23580489276, 0.77037863276, 154.070413936, 12.2263299292;
Eigen::Matrix<double, 4, 4> A_inv;
A_inv << 1.0, -0.00511059808244, 0.0, 2.03320493463e-05, 0.0, 1.04457382236, 0.0, -0.00825142689119, 0.0, 2.03320493463e-05, 1.0, -0.00511059808244, 0.0, -0.00825142689119, 0.0, 1.04457382236;
return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainLowHighPlantCoefficients());
@@ -95,7 +95,7 @@
Eigen::Matrix<double, 4, 2> L;
L << 1.25738796225, 0.00756271754847, 74.8971101634, 1.58403340092, 0.00756271754847, 1.25738796225, 1.58403340092, 74.8971101634;
Eigen::Matrix<double, 2, 4> K;
- K << 154.070413936, 12.2263299292, 2.23580489275, 0.77037863276, 2.23580489275, 0.77037863276, 154.070413936, 12.2263299292;
+ K << 154.070413936, 12.2263299292, 2.23580489274, 0.77037863276, 2.23580489276, 0.77037863276, 154.070413936, 12.2263299292;
Eigen::Matrix<double, 4, 4> A_inv;
A_inv << 1.0, -0.00511059808244, 0.0, 2.03320493463e-05, 0.0, 1.04457382236, 0.0, -0.00825142689119, 0.0, 2.03320493463e-05, 1.0, -0.00511059808244, 0.0, -0.00825142689119, 0.0, 1.04457382236;
return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainHighLowPlantCoefficients());
@@ -105,7 +105,7 @@
Eigen::Matrix<double, 4, 2> L;
L << 1.25738796225, 0.00756271754847, 74.8971101634, 1.58403340092, 0.00756271754847, 1.25738796225, 1.58403340092, 74.8971101634;
Eigen::Matrix<double, 2, 4> K;
- K << 154.070413936, 12.2263299292, 2.23580489275, 0.77037863276, 2.23580489275, 0.77037863276, 154.070413936, 12.2263299292;
+ K << 154.070413936, 12.2263299292, 2.23580489274, 0.77037863276, 2.23580489276, 0.77037863276, 154.070413936, 12.2263299292;
Eigen::Matrix<double, 4, 4> A_inv;
A_inv << 1.0, -0.00511059808244, 0.0, 2.03320493463e-05, 0.0, 1.04457382236, 0.0, -0.00825142689119, 0.0, 2.03320493463e-05, 1.0, -0.00511059808244, 0.0, -0.00825142689119, 0.0, 1.04457382236;
return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainHighHighPlantCoefficients());
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.cc
index b463dde..ec2b669 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.cc
@@ -9,9 +9,9 @@
StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients() {
Eigen::Matrix<double, 1, 1> A;
- A << 0.614537580221;
+ A << 0.783924473544;
Eigen::Matrix<double, 1, 1> B;
- B << 15.9657598852;
+ B << 8.94979586973;
Eigen::Matrix<double, 1, 1> C;
C << 1;
Eigen::Matrix<double, 1, 1> D;
@@ -25,11 +25,11 @@
StateFeedbackController<1, 1, 1> MakeCIMController() {
Eigen::Matrix<double, 1, 1> L;
- L << 0.604537580221;
+ L << 0.773924473544;
Eigen::Matrix<double, 1, 1> K;
- K << 0.0378646293422;
+ K << 0.086473980503;
Eigen::Matrix<double, 1, 1> A_inv;
- A_inv << 1.62723978514;
+ A_inv << 1.2756330919;
return StateFeedbackController<1, 1, 1>(L, K, A_inv, MakeCIMPlantCoefficients());
}
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
index 1c908c6..3d08774 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
@@ -9,9 +9,9 @@
StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients() {
Eigen::Matrix<double, 2, 2> A;
- A << 0.735841675858, 0.0410810558113, 0.0410810558113, 0.735841675858;
+ A << 0.916648904963, 0.0144809094856, 0.0144809094856, 0.916648904963;
Eigen::Matrix<double, 2, 2> B;
- B << 0.0517213538779, -0.00804353916233, -0.00804353916233, 0.0517213538779;
+ B << 0.0306942437366, -0.00533263018418, -0.00533263018418, 0.0306942437366;
Eigen::Matrix<double, 2, 2> C;
C << 1.0, 0.0, 0.0, 1.0;
Eigen::Matrix<double, 2, 2> D;
@@ -25,9 +25,9 @@
StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowHighPlantCoefficients() {
Eigen::Matrix<double, 2, 2> A;
- A << 0.735048848179, 0.0131811893199, 0.045929121897, 0.915703853642;
+ A << 0.916648904963, 0.0144809094856, 0.0144809094856, 0.916648904963;
Eigen::Matrix<double, 2, 2> B;
- B << 0.0518765869984, -0.00481755802263, -0.00899277497558, 0.0308091755839;
+ B << 0.0306942437366, -0.00533263018418, -0.00533263018418, 0.0306942437366;
Eigen::Matrix<double, 2, 2> C;
C << 1.0, 0.0, 0.0, 1.0;
Eigen::Matrix<double, 2, 2> D;
@@ -41,9 +41,9 @@
StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients() {
Eigen::Matrix<double, 2, 2> A;
- A << 0.915703853642, 0.045929121897, 0.0131811893199, 0.735048848179;
+ A << 0.916648904963, 0.0144809094856, 0.0144809094856, 0.916648904963;
Eigen::Matrix<double, 2, 2> B;
- B << 0.0308091755839, -0.00899277497558, -0.00481755802263, 0.0518765869984;
+ B << 0.0306942437366, -0.00533263018418, -0.00533263018418, 0.0306942437366;
Eigen::Matrix<double, 2, 2> C;
C << 1.0, 0.0, 0.0, 1.0;
Eigen::Matrix<double, 2, 2> D;
@@ -57,9 +57,9 @@
StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients() {
Eigen::Matrix<double, 2, 2> A;
- A << 0.915439806567, 0.0146814193986, 0.0146814193986, 0.915439806567;
+ A << 0.916648904963, 0.0144809094856, 0.0144809094856, 0.916648904963;
Eigen::Matrix<double, 2, 2> B;
- B << 0.0309056814511, -0.00536587314624, -0.00536587314624, 0.0309056814511;
+ B << 0.0306942437366, -0.00533263018418, -0.00533263018418, 0.0306942437366;
Eigen::Matrix<double, 2, 2> C;
C << 1.0, 0.0, 0.0, 1.0;
Eigen::Matrix<double, 2, 2> D;
@@ -73,41 +73,41 @@
StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowLowController() {
Eigen::Matrix<double, 2, 2> L;
- L << 0.715841675858, 0.0410810558113, 0.0410810558113, 0.715841675858;
+ L << 0.896648904963, 0.0144809094856, 0.0144809094856, 0.896648904963;
Eigen::Matrix<double, 2, 2> K;
- K << 2.81809403994, 1.23253744933, 1.23253744933, 2.81809403994;
+ K << 10.7218164758, 2.3345221426, 2.3345221426, 10.7218164758;
Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.36323698074, -0.0761076958907, -0.0761076958907, 1.36323698074;
+ A_inv << 1.0912025564, -0.0172384490553, -0.0172384490553, 1.0912025564;
return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowLowPlantCoefficients());
}
StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController() {
Eigen::Matrix<double, 2, 2> L;
- L << 0.715885457343, 0.0459077351335, 0.0459077351335, 0.894867244478;
+ L << 0.896648904963, 0.0144809094856, 0.0144809094856, 0.896648904963;
Eigen::Matrix<double, 2, 2> K;
- K << 2.81810038978, 1.23928174475, 2.31332592354, 10.6088017388;
+ K << 10.7218164758, 2.3345221426, 2.3345221426, 10.7218164758;
Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.36167854796, -0.0196008159867, -0.0682979543713, 1.09303924439;
+ A_inv << 1.0912025564, -0.0172384490553, -0.0172384490553, 1.0912025564;
return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowHighPlantCoefficients());
}
StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController() {
Eigen::Matrix<double, 2, 2> L;
- L << 0.902328849033, 0.014581304798, 0.014581304798, 0.708423852788;
+ L << 0.896648904963, 0.0144809094856, 0.0144809094856, 0.896648904963;
Eigen::Matrix<double, 2, 2> K;
- K << 10.6088017388, 2.31332592354, 1.23928174475, 2.81810038978;
+ K << 10.7218164758, 2.3345221426, 2.3345221426, 10.7218164758;
Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.09303924439, -0.0682979543713, -0.0196008159867, 1.36167854796;
+ A_inv << 1.0912025564, -0.0172384490553, -0.0172384490553, 1.0912025564;
return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighLowPlantCoefficients());
}
StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController() {
Eigen::Matrix<double, 2, 2> L;
- L << 0.895439806567, 0.0146814193986, 0.0146814193986, 0.895439806567;
+ L << 0.896648904963, 0.0144809094856, 0.0144809094856, 0.896648904963;
Eigen::Matrix<double, 2, 2> K;
- K << 10.6088022944, 2.31694961514, 2.31694961514, 10.6088022944;
+ K << 10.7218164758, 2.3345221426, 2.3345221426, 10.7218164758;
Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.0926521463, -0.0175234726538, -0.0175234726538, 1.0926521463;
+ A_inv << 1.0912025564, -0.0172384490553, -0.0172384490553, 1.0912025564;
return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighHighPlantCoefficients());
}
diff --git a/frc971/control_loops/fridge/arm_motor_plant.cc b/frc971/control_loops/fridge/arm_motor_plant.cc
index c7d09ec..556b812 100644
--- a/frc971/control_loops/fridge/arm_motor_plant.cc
+++ b/frc971/control_loops/fridge/arm_motor_plant.cc
@@ -9,9 +9,9 @@
StateFeedbackPlantCoefficients<4, 2, 2> MakeArmPlantCoefficients() {
Eigen::Matrix<double, 4, 4> A;
- A << 1.0, 0.00385609864291, 0.0, 0.0, 0.0, 0.580316842139, 0.0, 0.0, 0.0, 0.0, 0.997415079306, 0.00385216571322, 0.0, 0.0, -0.94787542156, 0.578159966602;
+ A << 1.0, 0.00479642025454, 0.0, 0.0, 0.0, 0.919688585028, 0.0, 0.0, 0.0, 0.0, 0.999539771613, 0.00479566382645, 0.0, 0.0, -0.18154390621, 0.919241022297;
Eigen::Matrix<double, 4, 2> B;
- B << 0.000138504938452, 0.000138504938452, 0.050815736504, 0.050815736504, 0.000138436627927, -0.000138436627927, 0.0507639082867, -0.0507639082867;
+ B << 2.46496779984e-05, 2.46496779984e-05, 0.00972420175808, 0.00972420175808, 2.46477449538e-05, -2.46477449538e-05, 0.00972266818532, -0.00972266818532;
Eigen::Matrix<double, 2, 4> C;
C << 1, 0, 1, 0, 1, 0, -1, 0;
Eigen::Matrix<double, 2, 2> D;
@@ -25,11 +25,11 @@
StateFeedbackController<4, 2, 2> MakeArmController() {
Eigen::Matrix<double, 4, 2> L;
- L << 0.59015842107, 0.59015842107, 19.0789855292, 19.0789855292, 0.587787522954, -0.587787522954, 18.4121865078, -18.4121865078;
+ L << 0.759844292514, 0.759844292514, 54.2541762188, 54.2541762188, 0.759390396955, -0.759390396955, 54.1048167043, -54.1048167043;
Eigen::Matrix<double, 2, 4> K;
- K << 132.284914985, 5.45575813704, 227.613831364, 6.12234622766, 132.284914985, 5.45575813704, -227.613831364, -6.12234622766;
+ K << 320.979606093, 21.0129517955, 884.233784759, 36.3637782119, 320.979606095, 21.0129517956, -884.233784749, -36.3637782119;
Eigen::Matrix<double, 4, 4> A_inv;
- A_inv << 1.0, -0.00664481600894, 0.0, 0.0, 0.0, 1.72319658398, 0.0, 0.0, 0.0, 0.0, 0.996283279443, -0.00663803879795, 0.0, 0.0, 1.63337568847, 1.71874225747;
+ A_inv << 1.0, -0.00521526561559, 0.0, 0.0, 0.0, 1.08732457517, 0.0, 0.0, 0.0, 0.0, 0.999513354044, -0.00521444313273, 0.0, 0.0, 0.197397150694, 1.08682415753;
return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeArmPlantCoefficients());
}
diff --git a/frc971/control_loops/fridge/elevator_motor_plant.cc b/frc971/control_loops/fridge/elevator_motor_plant.cc
index 0ae9828..e75e668 100644
--- a/frc971/control_loops/fridge/elevator_motor_plant.cc
+++ b/frc971/control_loops/fridge/elevator_motor_plant.cc
@@ -27,7 +27,7 @@
Eigen::Matrix<double, 4, 2> L;
L << 0.677106393027, 0.677106393027, 35.5375738607, 35.5375738607, 0.674426730777, -0.674426730777, 34.7138874344, -34.7138874344;
Eigen::Matrix<double, 2, 4> K;
- K << 321.310606763, 11.7674534233, 601.047935717, 12.6977148843, 321.310606763, 11.7674534233, -601.047935716, -12.6977148843;
+ K << 321.310606763, 11.7674534233, 601.047935717, 12.6977148843, 321.310606764, 11.7674534233, -601.047935716, -12.6977148843;
Eigen::Matrix<double, 4, 4> A_inv;
A_inv << 1.0, -0.00577646258091, 0.0, 0.0, 0.0, 1.32588576923, 0.0, 0.0, 0.0, 0.0, 0.996613922337, -0.00577054766522, 0.0, 0.0, 1.42044250221, 1.32216599481;
return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeElevatorPlantCoefficients());
diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index 9452637..46d4f28 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -6,7 +6,7 @@
#include "aos/common/logging/logging.h"
#include "frc971/control_loops/fridge/elevator_motor_plant.h"
-#include "frc971/control_loops/fridge/arm_motor_plant.h"
+#include "frc971/control_loops/fridge/integral_arm_plant.h"
#include "frc971/control_loops/voltage_cap/voltage_cap.h"
#include "frc971/zeroing/zeroing.h"
@@ -24,32 +24,35 @@
} // namespace
-void CappedStateFeedbackLoop::CapU() {
- VoltageCap(max_voltage_, U(0, 0), U(1, 0), &mutable_U(0, 0),
- &mutable_U(1, 0));
+template <int S>
+void CappedStateFeedbackLoop<S>::CapU() {
+ VoltageCap(max_voltage_, this->U(0, 0), this->U(1, 0), &this->mutable_U(0, 0),
+ &this->mutable_U(1, 0));
}
+template <int S>
Eigen::Matrix<double, 2, 1>
-CappedStateFeedbackLoop::UnsaturateOutputGoalChange() {
+CappedStateFeedbackLoop<S>::UnsaturateOutputGoalChange() {
// Compute the K matrix used to compensate for position errors.
Eigen::Matrix<double, 2, 2> Kp;
Kp.setZero();
- Kp.col(0) = K().col(0);
- Kp.col(1) = K().col(2);
+ Kp.col(0) = this->K().col(0);
+ Kp.col(1) = this->K().col(2);
Eigen::Matrix<double, 2, 2> Kp_inv = Kp.inverse();
// Compute how much we need to change R in order to achieve the change in U
// that was observed.
- Eigen::Matrix<double, 2, 1> deltaR = -Kp_inv * (U_uncapped() - U());
+ Eigen::Matrix<double, 2, 1> deltaR =
+ -Kp_inv * (this->U_uncapped() - this->U());
return deltaR;
}
Fridge::Fridge(control_loops::FridgeQueue *fridge)
: aos::controls::ControlLoop<control_loops::FridgeQueue>(fridge),
- arm_loop_(new CappedStateFeedbackLoop(
- StateFeedbackLoop<4, 2, 2>(MakeArmLoop()))),
- elevator_loop_(new CappedStateFeedbackLoop(
+ arm_loop_(new CappedStateFeedbackLoop<5>(
+ StateFeedbackLoop<5, 2, 2>(MakeIntegralArmLoop()))),
+ elevator_loop_(new CappedStateFeedbackLoop<4>(
StateFeedbackLoop<4, 2, 2>(MakeElevatorLoop()))),
left_arm_estimator_(constants::GetValues().fridge.left_arm_zeroing),
right_arm_estimator_(constants::GetValues().fridge.right_arm_zeroing),
@@ -461,7 +464,7 @@
}
// Set the goals.
- arm_loop_->mutable_R() << arm_goal_, arm_goal_velocity, 0.0, 0.0;
+ arm_loop_->mutable_R() << arm_goal_, arm_goal_velocity, 0.0, 0.0, 0.0;
elevator_loop_->mutable_R() << elevator_goal_, elevator_goal_velocity, 0.0,
0.0;
diff --git a/frc971/control_loops/fridge/fridge.gyp b/frc971/control_loops/fridge/fridge.gyp
index 1226692..dc25b63 100644
--- a/frc971/control_loops/fridge/fridge.gyp
+++ b/frc971/control_loops/fridge/fridge.gyp
@@ -24,7 +24,7 @@
'type': 'static_library',
'sources': [
'fridge.cc',
- 'arm_motor_plant.cc',
+ 'integral_arm_plant.cc',
'elevator_motor_plant.cc',
],
'dependencies': [
@@ -45,6 +45,7 @@
'type': 'executable',
'sources': [
'fridge_lib_test.cc',
+ 'arm_motor_plant.cc',
],
'dependencies': [
'<(EXTERNALS):gtest',
diff --git a/frc971/control_loops/fridge/fridge.h b/frc971/control_loops/fridge/fridge.h
index fc10594..e9cbaa5 100644
--- a/frc971/control_loops/fridge/fridge.h
+++ b/frc971/control_loops/fridge/fridge.h
@@ -6,8 +6,6 @@
#include "aos/common/controls/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/control_loops/fridge/fridge.q.h"
-#include "frc971/control_loops/fridge/arm_motor_plant.h"
-#include "frc971/control_loops/fridge/elevator_motor_plant.h"
#include "frc971/zeroing/zeroing.h"
namespace frc971 {
@@ -19,15 +17,16 @@
class FridgeTest_ArmGoalNegativeWindupTest_Test;
class FridgeTest_ElevatorGoalNegativeWindupTest_Test;
class FridgeTest_SafeArmZeroing_Test;
-}
+} // namespace testing
-class CappedStateFeedbackLoop : public StateFeedbackLoop<4, 2, 2> {
+template<int S>
+class CappedStateFeedbackLoop : public StateFeedbackLoop<S, 2, 2> {
public:
- CappedStateFeedbackLoop(StateFeedbackLoop<4, 2, 2> &&loop)
- : StateFeedbackLoop<4, 2, 2>(::std::move(loop)), max_voltage_(12.0) {}
+ CappedStateFeedbackLoop(StateFeedbackLoop<S, 2, 2> &&loop)
+ : StateFeedbackLoop<S, 2, 2>(::std::move(loop)), max_voltage_(12.0) {}
void set_max_voltage(double max_voltage) {
- max_voltage_ = ::std::max(-12.0, ::std::min(12.0, max_voltage));
+ max_voltage_ = ::std::max(0.0, ::std::min(12.0, max_voltage));
}
void CapU() override;
@@ -114,8 +113,8 @@
void Correct();
// The state feedback control loop or loops to talk to.
- ::std::unique_ptr<CappedStateFeedbackLoop> arm_loop_;
- ::std::unique_ptr<CappedStateFeedbackLoop> elevator_loop_;
+ ::std::unique_ptr<CappedStateFeedbackLoop<5>> arm_loop_;
+ ::std::unique_ptr<CappedStateFeedbackLoop<4>> elevator_loop_;
zeroing::ZeroingEstimator left_arm_estimator_;
zeroing::ZeroingEstimator right_arm_estimator_;
diff --git a/frc971/control_loops/fridge/fridge_lib_test.cc b/frc971/control_loops/fridge/fridge_lib_test.cc
index 1dff2ef..db25b08 100644
--- a/frc971/control_loops/fridge/fridge_lib_test.cc
+++ b/frc971/control_loops/fridge/fridge_lib_test.cc
@@ -8,8 +8,11 @@
#include "gtest/gtest.h"
#include "aos/common/queue.h"
#include "aos/common/time.h"
+#include "aos/common/commonmath.h"
#include "aos/common/controls/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
+#include "frc971/control_loops/fridge/arm_motor_plant.h"
+#include "frc971/control_loops/fridge/elevator_motor_plant.h"
#include "frc971/control_loops/fridge/fridge.q.h"
#include "frc971/constants.h"
#include "frc971/control_loops/team_number_test_environment.h"
@@ -116,13 +119,25 @@
position.Send();
}
+ // Sets the difference between the commanded and applied power for the arm.
+ // This lets us test that the integrator for the arm works.
+ void set_arm_power_error(double arm_power_error) {
+ arm_power_error_ = arm_power_error;
+ }
// Simulates for a single timestep.
void Simulate() {
EXPECT_TRUE(fridge_queue_.output.FetchLatest());
// Feed voltages into physics simulation.
- arm_plant_->mutable_U() << fridge_queue_.output->left_arm,
- fridge_queue_.output->right_arm;
+ if (arm_power_error_ != 0.0) {
+ arm_plant_->mutable_U() << ::aos::Clip(
+ fridge_queue_.output->left_arm + arm_power_error_, -12, 12),
+ ::aos::Clip(fridge_queue_.output->right_arm + arm_power_error_, -12,
+ 12);
+ } else {
+ arm_plant_->mutable_U() << fridge_queue_.output->left_arm,
+ fridge_queue_.output->right_arm;
+ }
elevator_plant_->mutable_U() << fridge_queue_.output->left_elevator,
fridge_queue_.output->right_elevator;
@@ -189,6 +204,7 @@
double elevator_initial_difference_ = 0.0;
double arm_initial_difference_ = 0.0;
+ double arm_power_error_ = 0.0;
};
class FridgeTest : public ::aos::testing::ControlLoopTest {
@@ -517,8 +533,11 @@
TEST_F(FridgeTest, ArmGoalPositiveWindupTest) {
fridge_queue_.goal.MakeWithBuilder().angle(0.03).height(0.45).Send();
+ int i = 0;
while (fridge_.state() != Fridge::ZEROING_ARM) {
RunIteration();
+ ++i;
+ ASSERT_LE(i, 10000);
}
// Kick it.
@@ -611,6 +630,20 @@
}
}
+// Tests that the arm integrator works.
+TEST_F(FridgeTest, ArmIntegratorTest) {
+ fridge_plant_.InitializeArmPosition(
+ (constants::GetValues().fridge.arm.lower_hard_limit +
+ constants::GetValues().fridge.arm.lower_hard_limit) /
+ 2.0);
+ fridge_plant_.set_arm_power_error(1.0);
+ fridge_queue_.goal.MakeWithBuilder().angle(0.0).height(0.4).Send();
+
+ RunForTime(Time::InMS(8000));
+
+ VerifyNearGoal();
+}
+
// Phil:
// TODO(austin): Check that we e-stop if encoder index pulse is not n revolutions away from last one. (got extra counts from noise, etc).
// TODO(austin): Check that we e-stop if pot disagrees too much with encoder after we are zeroed.
diff --git a/frc971/control_loops/fridge/integral_arm_plant.cc b/frc971/control_loops/fridge/integral_arm_plant.cc
new file mode 100644
index 0000000..a101044
--- /dev/null
+++ b/frc971/control_loops/fridge/integral_arm_plant.cc
@@ -0,0 +1,49 @@
+#include "frc971/control_loops/fridge/integral_arm_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<5, 2, 2> MakeIntegralArmPlantCoefficients() {
+ Eigen::Matrix<double, 5, 5> A;
+ A << 1.0, 0.00479642025454, 0.0, 0.0, 4.92993559969e-05, 0.0, 0.919688585028, 0.0, 0.0, 0.0194484035162, 0.0, 0.0, 0.999539771613, 0.00479566382645, 0.0, 0.0, 0.0, -0.18154390621, 0.919241022297, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 5, 2> B;
+ B << 2.46496779984e-05, 2.46496779984e-05, 0.00972420175808, 0.00972420175808, 2.46477449538e-05, -2.46477449538e-05, 0.00972266818532, -0.00972266818532, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 5> C;
+ C << 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0, 0, 0, 0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<5, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<5, 2, 2> MakeIntegralArmController() {
+ Eigen::Matrix<double, 5, 2> L;
+ L << 0.461805946837, 0.461805946837, 5.83483983392, 5.83483983392, 0.429725467802, -0.429725467802, 0.18044816586, -0.18044816586, 31.0623964848, 31.0623964848;
+ Eigen::Matrix<double, 2, 5> K;
+ K << 320.979606093, 21.0129517955, 884.233784759, 36.3637782119, 1.0, 320.979606095, 21.0129517956, -884.233784749, -36.3637782119, 1.0;
+ Eigen::Matrix<double, 5, 5> A_inv;
+ A_inv << 1.0, -0.00521526561559, 0.0, 0.0, 5.21292341391e-05, 0.0, 1.08732457517, 0.0, 0.0, -0.0211467270909, 0.0, 0.0, 0.999513354044, -0.00521444313273, 0.0, 0.0, 0.0, 0.197397150694, 1.08682415753, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0;
+ return StateFeedbackController<5, 2, 2>(L, K, A_inv, MakeIntegralArmPlantCoefficients());
+}
+
+StateFeedbackPlant<5, 2, 2> MakeIntegralArmPlant() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<5, 2, 2>>> plants(1);
+ plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<5, 2, 2>>(new StateFeedbackPlantCoefficients<5, 2, 2>(MakeIntegralArmPlantCoefficients()));
+ return StateFeedbackPlant<5, 2, 2>(&plants);
+}
+
+StateFeedbackLoop<5, 2, 2> MakeIntegralArmLoop() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackController<5, 2, 2>>> controllers(1);
+ controllers[0] = ::std::unique_ptr<StateFeedbackController<5, 2, 2>>(new StateFeedbackController<5, 2, 2>(MakeIntegralArmController()));
+ return StateFeedbackLoop<5, 2, 2>(&controllers);
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/fridge/integral_arm_plant.h b/frc971/control_loops/fridge/integral_arm_plant.h
new file mode 100644
index 0000000..f43f915
--- /dev/null
+++ b/frc971/control_loops/fridge/integral_arm_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_FRIDGE_INTEGRAL_ARM_PLANT_H_
+#define FRC971_CONTROL_LOOPS_FRIDGE_INTEGRAL_ARM_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<5, 2, 2> MakeIntegralArmPlantCoefficients();
+
+StateFeedbackController<5, 2, 2> MakeIntegralArmController();
+
+StateFeedbackPlant<5, 2, 2> MakeIntegralArmPlant();
+
+StateFeedbackLoop<5, 2, 2> MakeIntegralArmLoop();
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_FRIDGE_INTEGRAL_ARM_PLANT_H_
diff --git a/frc971/control_loops/position_sensor_sim.cc b/frc971/control_loops/position_sensor_sim.cc
index 5141327..caa383e 100644
--- a/frc971/control_loops/position_sensor_sim.cc
+++ b/frc971/control_loops/position_sensor_sim.cc
@@ -29,15 +29,15 @@
* index pulse
*/
-PositionSensorSimulator::PositionSensorSimulator(double index_diff)
- : index_diff_(index_diff),
- pot_noise_(0, 0.0) {
+PositionSensorSimulator::PositionSensorSimulator(double index_diff,
+ unsigned int noise_seed)
+ : index_diff_(index_diff), pot_noise_(noise_seed, 0.0) {
Initialize(0.0, 0.0);
}
void PositionSensorSimulator::Initialize(double start_position,
double pot_noise_stddev,
- double known_index_pos/* = 0*/) {
+ double known_index_pos /* = 0*/) {
// We're going to make the index pulse we know "segment zero".
cur_index_segment_ = floor((start_position - known_index_pos) / index_diff_);
known_index_pos_ = known_index_pos;
@@ -51,8 +51,8 @@
void PositionSensorSimulator::MoveTo(double new_pos) {
// Compute which index segment we're in. In other words, compute between
// which two index pulses we are.
- const int new_index_segment = floor((new_pos - known_index_pos_)
- / index_diff_);
+ const int new_index_segment =
+ floor((new_pos - known_index_pos_) / index_diff_);
if (new_index_segment < cur_index_segment_) {
// We've crossed an index pulse in the negative direction. That means the
diff --git a/frc971/control_loops/position_sensor_sim.h b/frc971/control_loops/position_sensor_sim.h
index 19a9112..6c1884d 100644
--- a/frc971/control_loops/position_sensor_sim.h
+++ b/frc971/control_loops/position_sensor_sim.h
@@ -15,8 +15,10 @@
// index_diff: The interval between index pulses. This is measured in SI
// units. For example, if an index pulse hits every 5cm on the
// elevator, set this to 0.05.
+ // noise_seed: The seed to feed into the random number generator for the
+ // potentiometer values.
// TODO(danielp): Allow for starting with a non-zero encoder value.
- PositionSensorSimulator(double index_diff);
+ PositionSensorSimulator(double index_diff, unsigned int noise_seed = 0);
// Set new parameters for the sensors. This is useful for unit tests to change
// the simulated sensors' behavior on the fly.
diff --git a/frc971/control_loops/python/arm.py b/frc971/control_loops/python/arm.py
index 812a0c3..e17990a 100755
--- a/frc971/control_loops/python/arm.py
+++ b/frc971/control_loops/python/arm.py
@@ -10,6 +10,7 @@
import matplotlib
from matplotlib import pylab
+
class Arm(control_loop.ControlLoop):
def __init__(self, name="Arm", mass=None):
super(Arm, self).__init__(name)
@@ -52,19 +53,19 @@
# Position difference is 1 - 2
# Input is [Voltage 1, Voltage 2]
- C1 = self.spring / (self.J * 0.5)
- C2 = self.Kt * self.G / (self.J * 0.5 * self.R)
- C3 = self.G * self.G * self.Kt / (self.R * self.J * 0.5 * self.Kv)
+ self.C1 = self.spring / (self.J * 0.5)
+ self.C2 = self.Kt * self.G / (self.J * 0.5 * self.R)
+ self.C3 = self.G * self.G * self.Kt / (self.R * self.J * 0.5 * self.Kv)
self.A_continuous = numpy.matrix(
[[0, 1, 0, 0],
- [0, -C3, 0, 0],
+ [0, -self.C3, 0, 0],
[0, 0, 0, 1],
- [0, 0, -C1 * 2.0, -C3]])
+ [0, 0, -self.C1 * 2.0, -self.C3]])
- print 'Full speed is', C2 / C3 * 12.0
+ print 'Full speed is', self.C2 / self.C3 * 12.0
- print 'Stall arm difference is', 12.0 * C2 / C1
+ print 'Stall arm difference is', 12.0 * self.C2 / self.C1
print 'Stall arm difference first principles is', self.stall_torque * self.G / self.spring
print '5 degrees of arm error is', self.spring / self.r * (math.pi * 5.0 / 180.0)
@@ -72,9 +73,9 @@
# Start with the unmodified input
self.B_continuous = numpy.matrix(
[[0, 0],
- [C2 / 2.0, C2 / 2.0],
+ [self.C2 / 2.0, self.C2 / 2.0],
[0, 0],
- [C2 / 2.0, -C2 / 2.0]])
+ [self.C2 / 2.0, -self.C2 / 2.0]])
self.C = numpy.matrix([[1, 0, 1, 0],
[1, 0, -1, 0]])
@@ -118,6 +119,65 @@
self.U_max = numpy.matrix([[12.0], [12.0]])
self.U_min = numpy.matrix([[-12.0], [-12.0]])
+ print 'Observer (Converted to a KF)', numpy.linalg.inv(self.A) * self.L
+
+ self.InitializeState()
+
+
+class IntegralArm(Arm):
+ def __init__(self, name="IntegralArm", mass=None):
+ super(IntegralArm, self).__init__(name=name, mass=mass)
+
+ self.A_continuous_unaugmented = self.A_continuous
+ self.A_continuous = numpy.matrix(numpy.zeros((5, 5)))
+ self.A_continuous[0:4, 0:4] = self.A_continuous_unaugmented
+ self.A_continuous[1, 4] = self.C2
+
+ # Start with the unmodified input
+ self.B_continuous_unaugmented = self.B_continuous
+ self.B_continuous = numpy.matrix(numpy.zeros((5, 2)))
+ self.B_continuous[0:4, 0:2] = self.B_continuous_unaugmented
+
+ self.C_unaugmented = self.C
+ self.C = numpy.matrix(numpy.zeros((2, 5)))
+ self.C[0:2, 0:4] = self.C_unaugmented
+
+ self.A, self.B = self.ContinuousToDiscrete(
+ self.A_continuous, self.B_continuous, self.dt)
+ print 'A cont', self.A_continuous
+ print 'B cont', self.B_continuous
+ print 'A discrete', self.A
+
+ q_pos = 0.08
+ q_vel = 0.40
+
+ q_pos_diff = 0.08
+ q_vel_diff = 0.40
+ q_voltage = 6.0
+ self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0, 0.0, 0.0],
+ [0.0, (q_vel ** 2.0), 0.0, 0.0, 0.0],
+ [0.0, 0.0, (q_pos_diff ** 2.0), 0.0, 0.0],
+ [0.0, 0.0, 0.0, (q_vel_diff ** 2.0), 0.0],
+ [0.0, 0.0, 0.0, 0.0, (q_voltage ** 2.0)]])
+
+ r_volts = 0.05
+ self.R = numpy.matrix([[(r_volts ** 2.0), 0.0],
+ [0.0, (r_volts ** 2.0)]])
+
+ self.KalmanGain, self.Q_steady = controls.kalman(
+ A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+
+ self.U_max = numpy.matrix([[12.0], [12.0]])
+ self.U_min = numpy.matrix([[-12.0], [-12.0]])
+
+ self.K_unaugmented = self.K
+ self.K = numpy.matrix(numpy.zeros((2, 5)));
+ self.K[0:2, 0:4] = self.K_unaugmented
+ self.K[0, 4] = 1;
+ self.K[1, 4] = 1;
+ print 'Kal', self.KalmanGain
+ self.L = self.A * self.KalmanGain
+
self.InitializeState()
@@ -225,31 +285,125 @@
pylab.show()
+def run_integral_test(arm, initial_X, goal, observer_arm, disturbance,
+ max_separation_error=0.01, show_graph=True,
+ iterations=400):
+ """Runs the integral control arm plant with an initial condition and goal.
+
+ The tests themselves are not terribly sophisticated; I just test for
+ whether the goal has been reached and whether the separation goes
+ outside of the initial and goal values by more than max_separation_error.
+ Prints out something for a failure of either condition and returns
+ False if tests fail.
+ Args:
+ arm: arm object to use.
+ initial_X: starting state.
+ goal: goal state.
+ observer_arm: arm object to use for the observer.
+ show_graph: Whether or not to display a graph showing the changing
+ states and voltages.
+ iterations: Number of timesteps to run the model for.
+ disturbance: Voltage missmatch between controller and model.
+ """
+
+ arm.X = initial_X
+
+ # Various lists for graphing things.
+ t = []
+ x_avg = []
+ x_sep = []
+ x_hat_avg = []
+ x_hat_sep = []
+ v_avg = []
+ v_sep = []
+ u_left = []
+ u_right = []
+ u_error = []
+
+ sep_plot_gain = 100.0
+
+ unaugmented_goal = goal
+ goal = numpy.matrix(numpy.zeros((5, 1)))
+ goal[0:4, 0] = unaugmented_goal
+
+ for i in xrange(iterations):
+ X_hat = observer_arm.X_hat[0:4]
+
+ x_hat_avg.append(observer_arm.X_hat[0, 0])
+ x_hat_sep.append(observer_arm.X_hat[2, 0] * sep_plot_gain)
+
+ U = observer_arm.K * (goal - observer_arm.X_hat)
+ u_error.append(observer_arm.X_hat[4,0])
+ U = CapU(U)
+ x_avg.append(arm.X[0, 0])
+ v_avg.append(arm.X[1, 0])
+ x_sep.append(arm.X[2, 0] * sep_plot_gain)
+ v_sep.append(arm.X[3, 0])
+
+ observer_arm.PredictObserver(U)
+
+ arm.Update(U + disturbance)
+ observer_arm.Y = arm.Y
+ observer_arm.CorrectObserver(U)
+
+ t.append(i * arm.dt)
+ u_left.append(U[0, 0])
+ u_right.append(U[1, 0])
+
+ print 'End is', observer_arm.X_hat[4, 0]
+
+ if show_graph:
+ pylab.subplot(2, 1, 1)
+ pylab.plot(t, x_avg, label='x avg')
+ pylab.plot(t, x_sep, label='x sep')
+ if observer_arm is not None:
+ pylab.plot(t, x_hat_avg, label='x_hat avg')
+ pylab.plot(t, x_hat_sep, label='x_hat sep')
+ pylab.legend()
+
+ pylab.subplot(2, 1, 2)
+ pylab.plot(t, u_left, label='u left')
+ pylab.plot(t, u_right, label='u right')
+ pylab.plot(t, u_error, label='u error')
+ pylab.legend()
+ pylab.show()
+
+
def main(argv):
loaded_mass = 25
#loaded_mass = 0
arm = Arm(mass=13 + loaded_mass)
- arm_controller = Arm(mass=13 + 15)
- observer_arm = Arm(mass=13 + 15)
+ #arm_controller = Arm(mass=13 + 15)
+ #observer_arm = Arm(mass=13 + 15)
#observer_arm = None
+ integral_arm = IntegralArm(mass=13 + loaded_mass)
+ integral_arm.X_hat[0, 0] += 0.02
+ integral_arm.X_hat[2, 0] += 0.02
+ integral_arm.X_hat[4] = 0
+
# Test moving the arm with constant separation.
- initial_X = numpy.matrix([[0.0], [0.0], [0.01], [0.0]])
- #initial_X = numpy.matrix([[0.0], [0.0], [0.00], [0.0]])
- R = numpy.matrix([[1.0], [0.0], [0.0], [0.0]])
- run_test(arm, initial_X, R, controller_arm=arm_controller,
- observer_arm=observer_arm)
+ initial_X = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
+ R = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
+ run_integral_test(arm, initial_X, R, integral_arm, disturbance=2)
# Write the generated constants out to a file.
- if len(argv) != 3:
- print "Expected .h file name and .cc file name for the arm."
+ if len(argv) != 5:
+ print "Expected .h file name and .cc file name for the arm and augmented arm."
else:
- arm = Arm("Arm", 2)
+ arm = Arm("Arm", mass=13)
loop_writer = control_loop.ControlLoopWriter("Arm", [arm])
if argv[1][-3:] == '.cc':
loop_writer.Write(argv[2], argv[1])
else:
loop_writer.Write(argv[1], argv[2])
+ integral_arm = IntegralArm("IntegralArm", mass=13)
+ loop_writer = control_loop.ControlLoopWriter("IntegralArm", [integral_arm])
+ if argv[3][-3:] == '.cc':
+ loop_writer.Write(argv[4], argv[3])
+ else:
+ loop_writer.Write(argv[3], argv[4])
+
if __name__ == '__main__':
sys.exit(main(sys.argv))
diff --git a/frc971/control_loops/python/controls.py b/frc971/control_loops/python/controls.py
index 57268a9..212df42 100644
--- a/frc971/control_loops/python/controls.py
+++ b/frc971/control_loops/python/controls.py
@@ -11,6 +11,7 @@
import numpy
import slycot
+import scipy.signal.cont2discrete
class Error (Exception):
"""Base class for all control loop exceptions."""
@@ -85,26 +86,10 @@
def c2d(A, B, dt):
"""Converts from continuous time state space representation to discrete time.
- Evaluates e^(A dt) - I for the discrete time version of A, and
- integral(e^(A t) * B, 0, dt).
Returns (A, B). C and D are unchanged."""
- e, P = numpy.linalg.eig(A)
- diag = numpy.matrix(numpy.eye(A.shape[0]), dtype=numpy.complex128)
- diage = numpy.matrix(numpy.eye(A.shape[0]), dtype=numpy.complex128)
- for eig, count in zip(e, range(0, A.shape[0])):
- diag[count, count] = numpy.exp(eig * dt)
- if abs(eig) < 1.0e-16:
- diage[count, count] = dt
- else:
- diage[count, count] = (numpy.exp(eig * dt) - 1.0) / eig
- ans_a = P * diag * numpy.linalg.inv(P)
- ans_b = P * diage * numpy.linalg.inv(P) * B
- if numpy.abs(ans_a.imag).sum() / numpy.abs(ans_a).sum() < 1e-6:
- ans_a = ans_a.real
- if numpy.abs(ans_b.imag).sum() / numpy.abs(ans_b).sum() < 1e-6:
- ans_b = ans_b.real
- return (ans_a, ans_b)
+ ans_a, ans_b, _, _, _ = scipy.signal.cont2discrete((A, B, None, None), dt)
+ return numpy.matrix(ans_a), numpy.matrix(ans_b)
def ctrb(A, B):
"""Returns the controlability matrix.
diff --git a/frc971/control_loops/update_arm.sh b/frc971/control_loops/update_arm.sh
index 40ef68a..c4c1ab9 100755
--- a/frc971/control_loops/update_arm.sh
+++ b/frc971/control_loops/update_arm.sh
@@ -5,4 +5,6 @@
cd $(dirname $0)
./python/arm.py fridge/arm_motor_plant.cc \
- fridge/arm_motor_plant.h
+ fridge/arm_motor_plant.h \
+ fridge/integral_arm_plant.cc \
+ fridge/integral_arm_plant.h
diff --git a/frc971/frc971.gyp b/frc971/frc971.gyp
index a566e06..8eeb249 100644
--- a/frc971/frc971.gyp
+++ b/frc971/frc971.gyp
@@ -39,6 +39,9 @@
'<(DEPTH)/frc971/autonomous/autonomous.gyp:auto_queue',
'<(DEPTH)/frc971/actors/actors.gyp:fridge_profile_action_queue',
'<(DEPTH)/frc971/actors/actors.gyp:fridge_profile_action_lib',
+ '<(DEPTH)/frc971/actors/actors.gyp:stack_action_lib',
+ '<(DEPTH)/frc971/actors/actors.gyp:pickup_action_lib',
+ '<(DEPTH)/frc971/actors/actors.gyp:lift_action_lib',
],
},
],
diff --git a/frc971/http_status/http_status.cc b/frc971/http_status/http_status.cc
new file mode 100644
index 0000000..9a6440a
--- /dev/null
+++ b/frc971/http_status/http_status.cc
@@ -0,0 +1,114 @@
+// Copyright (c) 2013, Matt Godbolt
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// Redistributions of source code must retain the above copyright notice, this
+// list of conditions and the following disclaimer.
+//
+// Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+// An extraordinarily simple test which presents a web page with some buttons.
+// Clicking on the numbered button increments the number, which is visible to
+// other connected clients. WebSockets are used to do this: by the rather
+// suspicious means of sending raw JavaScript commands to be executed on other
+// clients.
+
+#include "seasocks/PrintfLogger.h"
+#include "seasocks/Server.h"
+#include "seasocks/StringUtil.h"
+#include "seasocks/WebSocket.h"
+#include "seasocks/util/Json.h"
+
+#include <cstring>
+#include <iostream>
+#include <memory>
+#include <set>
+#include <sstream>
+#include <string>
+
+#include "embedded.h"
+
+using namespace seasocks;
+using namespace std;
+
+class MyHandler: public WebSocket::Handler {
+public:
+ MyHandler(Server* server) : _server(server), _currentValue(0) {
+ setValue(1);
+ }
+
+ virtual void onConnect(WebSocket* connection) {
+ _connections.insert(connection);
+ connection->send(_currentSetValue.c_str());
+ cout << "Connected: " << connection->getRequestUri()
+ << " : " << formatAddress(connection->getRemoteAddress())
+ << endl;
+ cout << "Credentials: " << *(connection->credentials()) << endl;
+ }
+
+ virtual void onData(WebSocket* connection, const char* data) {
+ if (0 == strcmp("die", data)) {
+ _server->terminate();
+ return;
+ }
+ if (0 == strcmp("close", data)) {
+ cout << "Closing.." << endl;
+ connection->close();
+ cout << "Closed." << endl;
+ return;
+ }
+
+ int value = atoi(data) + 1;
+ if (value > _currentValue) {
+ setValue(value);
+ for (auto connection : _connections) {
+ connection->send(_currentSetValue.c_str());
+ }
+ }
+ }
+
+ virtual void onDisconnect(WebSocket* connection) {
+ _connections.erase(connection);
+ cout << "Disconnected: " << connection->getRequestUri()
+ << " : " << formatAddress(connection->getRemoteAddress())
+ << endl;
+ }
+
+private:
+ set<WebSocket*> _connections;
+ Server* _server;
+ int _currentValue;
+ string _currentSetValue;
+
+ void setValue(int value) {
+ _currentValue = value;
+ _currentSetValue = makeExecString("set", _currentValue);
+ }
+};
+
+int main(int argc, const char* argv[]) {
+ shared_ptr<Logger> logger(new PrintfLogger(Logger::DEBUG));
+
+ Server server(logger);
+
+ shared_ptr<MyHandler> handler(new MyHandler(&server));
+ server.addWebSocketHandler("/ws", handler);
+ server.serve("web_test", 8080);
+ return 0;
+}
diff --git a/frc971/http_status/http_status.gyp b/frc971/http_status/http_status.gyp
new file mode 100644
index 0000000..202a3aa
--- /dev/null
+++ b/frc971/http_status/http_status.gyp
@@ -0,0 +1,39 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'http_status',
+ 'type': 'executable',
+ 'sources': [
+ 'http_status.cc',
+ ],
+ 'actions': [
+ {
+ 'action_name': 'http_status_gen_embedded',
+ 'inputs': [
+ '<!@(find ./web)',
+ ],
+ 'outputs': [
+ 'embedded.h',
+ ],
+ 'action': [
+ 'python', '<(AOS)/externals/seasocks/gen_embedded.py', 'http_status', '<(_outputs)',
+ ],
+ },
+ ],
+ 'cflags': [
+ # TODO(comran): Fix these once we start writing our own code for the
+ # server
+ '-Wno-unused-parameter',
+ '-Wno-format-nonliteral',
+ '-Wno-error=cast-align',
+ '-Wno-switch-enum',
+ '-Wno-cast-qual',
+ '-Wno-strict-aliasing',
+ '-Wno-error=strict-aliasing',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):seasocks',
+ ],
+ },
+ ],
+}
diff --git a/frc971/http_status/web/_404.png b/frc971/http_status/web/_404.png
new file mode 100644
index 0000000..8a43cb8
--- /dev/null
+++ b/frc971/http_status/web/_404.png
Binary files differ
diff --git a/frc971/http_status/web/_error.css b/frc971/http_status/web/_error.css
new file mode 100644
index 0000000..565d0a4
--- /dev/null
+++ b/frc971/http_status/web/_error.css
@@ -0,0 +1,60 @@
+/*
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ color: #ffffff;
+ background-color: #c21e29;
+ text-align: center;
+}
+
+a {
+ color: #ffff00;
+}
+
+.footer {
+ font-style: italic;
+}
+
+.message {
+ display: inline-block;
+ border: 1px solid white;
+ padding: 50px;
+ font-size: 20px;
+}
+
+.headline {
+ padding: 50px;
+ font-weight: bold;
+ font-size: 32px;
+}
+
+.footer {
+ padding-top: 50px;
+ font-size: 12px;
+}
+
diff --git a/frc971/http_status/web/_error.html b/frc971/http_status/web/_error.html
new file mode 100644
index 0000000..e3d422d
--- /dev/null
+++ b/frc971/http_status/web/_error.html
@@ -0,0 +1,42 @@
+<!--
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<html DOCTYPE=html>
+<head>
+ <title>%%ERRORCODE%% - %%MESSAGE%% - Keep Calm And Carry On!</title>
+ <link href="/_error.css" rel="stylesheet">
+</head>
+<body>
+ <div class="message">
+ <img src="/_404.png" height="200" width="107">
+ <div class="headline">HTTP_STATUS: %%ERRORCODE%% — %%MESSAGE%%</div>
+ <div class="info">%%BODY%%</div>
+ </div>
+
+ <div class="footer">http_status developed by 971 Spartan Robotics. Server powered by <a href="https://github.com/mattgodbolt/seasocks">SeaSocks</a>. Contact Comran Morshed(comranmorsh@gmail.com) if this 404 error should not be happening...</div>
+</body>
+</html>
diff --git a/frc971/http_status/web/_jquery.min.js b/frc971/http_status/web/_jquery.min.js
new file mode 100644
index 0000000..f78f96a
--- /dev/null
+++ b/frc971/http_status/web/_jquery.min.js
@@ -0,0 +1,16 @@
+/*!
+ * jQuery JavaScript Library v1.5.2
+ * http://jquery.com/
+ *
+ * Copyright 2011, John Resig
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * Includes Sizzle.js
+ * http://sizzlejs.com/
+ * Copyright 2011, The Dojo Foundation
+ * Released under the MIT, BSD, and GPL Licenses.
+ *
+ * Date: Thu Mar 31 15:28:23 2011 -0400
+ */
+(function(a,b){function ci(a){return d.isWindow(a)?a:a.nodeType===9?a.defaultView||a.parentWindow:!1}function cf(a){if(!b_[a]){var b=d("<"+a+">").appendTo("body"),c=b.css("display");b.remove();if(c==="none"||c==="")c="block";b_[a]=c}return b_[a]}function ce(a,b){var c={};d.each(cd.concat.apply([],cd.slice(0,b)),function(){c[this]=a});return c}function b$(){try{return new a.ActiveXObject("Microsoft.XMLHTTP")}catch(b){}}function bZ(){try{return new a.XMLHttpRequest}catch(b){}}function bY(){d(a).unload(function(){for(var a in bW)bW[a](0,1)})}function bS(a,c){a.dataFilter&&(c=a.dataFilter(c,a.dataType));var e=a.dataTypes,f={},g,h,i=e.length,j,k=e[0],l,m,n,o,p;for(g=1;g<i;g++){if(g===1)for(h in a.converters)typeof h==="string"&&(f[h.toLowerCase()]=a.converters[h]);l=k,k=e[g];if(k==="*")k=l;else if(l!=="*"&&l!==k){m=l+" "+k,n=f[m]||f["* "+k];if(!n){p=b;for(o in f){j=o.split(" ");if(j[0]===l||j[0]==="*"){p=f[j[1]+" "+k];if(p){o=f[o],o===!0?n=p:p===!0&&(n=o);break}}}}!n&&!p&&d.error("No 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a=c.body,b=c.createElement("div"),e,f,g,h,i=parseFloat(d.css(a,"marginTop"))||0,j="<div style='position:absolute;top:0;left:0;margin:0;border:5px solid #000;padding:0;width:1px;height:1px;'><div></div></div><table style='position:absolute;top:0;left:0;margin:0;border:5px solid #000;padding:0;width:1px;height:1px;' cellpadding='0' cellspacing='0'><tr><td></td></tr></table>";d.extend(b.style,{position:"absolute",top:0,left:0,margin:0,border:0,width:"1px",height:"1px",visibility:"hidden"}),b.innerHTML=j,a.insertBefore(b,a.firstChild),e=b.firstChild,f=e.firstChild,h=e.nextSibling.firstChild.firstChild,this.doesNotAddBorder=f.offsetTop!==5,this.doesAddBorderForTableAndCells=h.offsetTop===5,f.style.position="fixed",f.style.top="20px",this.supportsFixedPosition=f.offsetTop===20||f.offsetTop===15,f.style.position=f.style.top="",e.style.overflow="hidden",e.style.position="relative",this.subtractsBorderForOverflowNotVisible=f.offsetTop===-5,this.doesNotIncludeMarginInBodyOffset=a.offsetTop!==i,a.removeChild(b),d.offset.initialize=d.noop},bodyOffset:function(a){var b=a.offsetTop,c=a.offsetLeft;d.offset.initialize(),d.offset.doesNotIncludeMarginInBodyOffset&&(b+=parseFloat(d.css(a,"marginTop"))||0,c+=parseFloat(d.css(a,"marginLeft"))||0);return{top:b,left:c}},setOffset:function(a,b,c){var e=d.css(a,"position");e==="static"&&(a.style.position="relative");var f=d(a),g=f.offset(),h=d.css(a,"top"),i=d.css(a,"left"),j=(e==="absolute"||e==="fixed")&&d.inArray("auto",[h,i])>-1,k={},l={},m,n;j&&(l=f.position()),m=j?l.top:parseInt(h,10)||0,n=j?l.left:parseInt(i,10)||0,d.isFunction(b)&&(b=b.call(a,c,g)),b.top!=null&&(k.top=b.top-g.top+m),b.left!=null&&(k.left=b.left-g.left+n),"using"in b?b.using.call(a,k):f.css(k)}},d.fn.extend({position:function(){if(!this[0])return null;var a=this[0],b=this.offsetParent(),c=this.offset(),e=ch.test(b[0].nodeName)?{top:0,left:0}:b.offset();c.top-=parseFloat(d.css(a,"marginTop"))||0,c.left-=parseFloat(d.css(a,"marginLeft"))||0,e.top+=parseFloat(d.css(b[0],"borderTopWidth"))||0,e.left+=parseFloat(d.css(b[0],"borderLeftWidth"))||0;return{top:c.top-e.top,left:c.left-e.left}},offsetParent:function(){return this.map(function(){var a=this.offsetParent||c.body;while(a&&(!ch.test(a.nodeName)&&d.css(a,"position")==="static"))a=a.offsetParent;return a})}}),d.each(["Left","Top"],function(a,c){var e="scroll"+c;d.fn[e]=function(c){var f=this[0],g;if(!f)return null;if(c!==b)return this.each(function(){g=ci(this),g?g.scrollTo(a?d(g).scrollLeft():c,a?c:d(g).scrollTop()):this[e]=c});g=ci(f);return g?"pageXOffset"in g?g[a?"pageYOffset":"pageXOffset"]:d.support.boxModel&&g.document.documentElement[e]||g.document.body[e]:f[e]}}),d.each(["Height","Width"],function(a,c){var e=c.toLowerCase();d.fn["inner"+c]=function(){return this[0]?parseFloat(d.css(this[0],e,"padding")):null},d.fn["outer"+c]=function(a){return this[0]?parseFloat(d.css(this[0],e,a?"margin":"border")):null},d.fn[e]=function(a){var f=this[0];if(!f)return a==null?null:this;if(d.isFunction(a))return this.each(function(b){var c=d(this);c[e](a.call(this,b,c[e]()))});if(d.isWindow(f)){var g=f.document.documentElement["client"+c];return f.document.compatMode==="CSS1Compat"&&g||f.document.body["client"+c]||g}if(f.nodeType===9)return Math.max(f.documentElement["client"+c],f.body["scroll"+c],f.documentElement["scroll"+c],f.body["offset"+c],f.documentElement["offset"+c]);if(a===b){var h=d.css(f,e),i=parseFloat(h);return d.isNaN(i)?h:i}return this.css(e,typeof a==="string"?a:a+"px")}}),a.jQuery=a.$=d})(window);
\ No newline at end of file
diff --git a/frc971/http_status/web/_seasocks.css b/frc971/http_status/web/_seasocks.css
new file mode 100644
index 0000000..5f0b655
--- /dev/null
+++ b/frc971/http_status/web/_seasocks.css
@@ -0,0 +1,49 @@
+/*
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ font-size: 12px;
+ color: #ffffff;
+ background-color: #333333;
+ margin: 0;
+}
+
+a {
+ color: #ffff00;
+}
+
+table {
+ border-collapse: collapse;
+ width: 100%;
+ text-align: center;
+}
+
+.template {
+ display: none;
+}
+
diff --git a/frc971/http_status/web/_stats.html b/frc971/http_status/web/_stats.html
new file mode 100644
index 0000000..2390334
--- /dev/null
+++ b/frc971/http_status/web/_stats.html
@@ -0,0 +1,88 @@
+<!--
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<html DOCTYPE=html>
+<head>
+ <title>SeaSocks Stats</title>
+ <link href="/_seasocks.css" rel="stylesheet">
+ <script src="/_jquery.min.js" type="text/javascript"></script>
+ <script>
+ function clear() {
+ $('#cx tbody tr:visible').remove();
+ }
+ function connection(stats) {
+ c = $('#cx .template').clone().removeClass('template').appendTo('#cx');
+ for (stat in stats) {
+ c.find('.' + stat).text(stats[stat]);
+ }
+ }
+ function refresh() {
+ var stats = new XMLHttpRequest();
+ stats.open("GET", "/_livestats.js", false);
+ stats.send(null);
+ eval(stats.responseText);
+ }
+ $(function() {
+ setInterval(refresh, 1000);
+ refresh();
+ });
+ </script>
+</head>
+<body><h1>SeaSocks Stats</h1></body>
+
+<h2>Connections</h2>
+<table id="cx">
+ <thead>
+ <tr>
+ <th>Connection time</th>
+ <th>Fd</th>
+ <th>Addr</th>
+ <th>URI</th>
+ <th>Username</th>
+ <th>Pending read</th>
+ <th>Bytes read</th>
+ <th>Pending send</th>
+ <th>Bytes sent</th>
+ </tr>
+ </thead>
+ <tbody>
+ <tr class="template">
+ <td class="since"></td>
+ <td class="fd"></td>
+ <td class="addr"></td>
+ <td class="uri"></td>
+ <td class="user"></td>
+ <td class="input"></td>
+ <td class="read"></td>
+ <td class="output"></td>
+ <td class="written"></td>
+ </tr>
+ </tbody>
+</table>
+
+</body>
+</html>
diff --git a/frc971/http_status/web/favicon.ico b/frc971/http_status/web/favicon.ico
new file mode 100644
index 0000000..30a95b9
--- /dev/null
+++ b/frc971/http_status/web/favicon.ico
Binary files differ
diff --git a/frc971/http_status/web_test/app.js b/frc971/http_status/web_test/app.js
new file mode 100644
index 0000000..0e35079
--- /dev/null
+++ b/frc971/http_status/web_test/app.js
@@ -0,0 +1,60 @@
+/*
+From Seasocks version 1.1.2, under /src/ws_test_web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+var ws;
+
+$(function() {
+ ws = new WebSocket('ws://' + document.location.host + '/ws');
+ ws.onopen = function() {
+ console.log('onopen');
+ };
+ ws.onclose = function() {
+ $('#message').text('Lost connection.');
+ console.log('onclose');
+ };
+ ws.onmessage = function(message) {
+ console.log("got '" + message.data + "'");
+ eval(message.data);
+ };
+ ws.onerror = function(error) {
+ console.log('onerror ' + error);
+ console.log(error);
+ };
+ $('#count').click(function() {
+ ws.send($('#count').val());
+ });
+ $('#close').click(function() {
+ ws.send('close');
+ });
+ $('#die').click(function() {
+ ws.send('die');
+ });
+});
+
+set = function(value) {
+ $('#count').val(value)
+}
diff --git a/frc971/http_status/web_test/index.html b/frc971/http_status/web_test/index.html
new file mode 100644
index 0000000..778900c
--- /dev/null
+++ b/frc971/http_status/web_test/index.html
@@ -0,0 +1,41 @@
+<!--
+From Seasocks version 1.1.2, under /src/ws_test_web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<!DOCTYPE html>
+<html>
+ <head>
+ <title>Hello, world</title>
+ <script src='lib/jquery-1.4.4.js'></script>
+ <script src='app.js'></script>
+ </head>
+ <body>
+ <input id="count" type="button" value="..."></input>
+ <input id="close" type="button" value="Close"></input>
+ <input id="die" type="button" value="Die"></input>
+ </body>
+</html>
+
diff --git a/frc971/http_status/web_test/lib/jquery-1.4.4.js b/frc971/http_status/web_test/lib/jquery-1.4.4.js
new file mode 100644
index 0000000..a4f1145
--- /dev/null
+++ b/frc971/http_status/web_test/lib/jquery-1.4.4.js
@@ -0,0 +1,7179 @@
+/*!
+ * jQuery JavaScript Library v1.4.4
+ * http://jquery.com/
+ *
+ * Copyright 2010, John Resig
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * Includes Sizzle.js
+ * http://sizzlejs.com/
+ * Copyright 2010, The Dojo Foundation
+ * Released under the MIT, BSD, and GPL Licenses.
+ *
+ * Date: Thu Nov 11 19:04:53 2010 -0500
+ */
+(function( window, undefined ) {
+
+// Use the correct document accordingly with window argument (sandbox)
+var document = window.document;
+var jQuery = (function() {
+
+// Define a local copy of jQuery
+var jQuery = function( selector, context ) {
+ // The jQuery object is actually just the init constructor 'enhanced'
+ return new jQuery.fn.init( selector, context );
+ },
+
+ // Map over jQuery in case of overwrite
+ _jQuery = window.jQuery,
+
+ // Map over the $ in case of overwrite
+ _$ = window.$,
+
+ // A central reference to the root jQuery(document)
+ rootjQuery,
+
+ // A simple way to check for HTML strings or ID strings
+ // (both of which we optimize for)
+ quickExpr = /^(?:[^<]*(<[\w\W]+>)[^>]*$|#([\w\-]+)$)/,
+
+ // Is it a simple selector
+ isSimple = /^.[^:#\[\.,]*$/,
+
+ // Check if a string has a non-whitespace character in it
+ rnotwhite = /\S/,
+ rwhite = /\s/,
+
+ // Used for trimming whitespace
+ trimLeft = /^\s+/,
+ trimRight = /\s+$/,
+
+ // Check for non-word characters
+ rnonword = /\W/,
+
+ // Check for digits
+ rdigit = /\d/,
+
+ // Match a standalone tag
+ rsingleTag = /^<(\w+)\s*\/?>(?:<\/\1>)?$/,
+
+ // JSON RegExp
+ rvalidchars = /^[\],:{}\s]*$/,
+ rvalidescape = /\\(?:["\\\/bfnrt]|u[0-9a-fA-F]{4})/g,
+ rvalidtokens = /"[^"\\\n\r]*"|true|false|null|-?\d+(?:\.\d*)?(?:[eE][+\-]?\d+)?/g,
+ rvalidbraces = /(?:^|:|,)(?:\s*\[)+/g,
+
+ // Useragent RegExp
+ rwebkit = /(webkit)[ \/]([\w.]+)/,
+ ropera = /(opera)(?:.*version)?[ \/]([\w.]+)/,
+ rmsie = /(msie) ([\w.]+)/,
+ rmozilla = /(mozilla)(?:.*? rv:([\w.]+))?/,
+
+ // Keep a UserAgent string for use with jQuery.browser
+ userAgent = navigator.userAgent,
+
+ // For matching the engine and version of the browser
+ browserMatch,
+
+ // Has the ready events already been bound?
+ readyBound = false,
+
+ // The functions to execute on DOM ready
+ readyList = [],
+
+ // The ready event handler
+ DOMContentLoaded,
+
+ // Save a reference to some core methods
+ toString = Object.prototype.toString,
+ hasOwn = Object.prototype.hasOwnProperty,
+ push = Array.prototype.push,
+ slice = Array.prototype.slice,
+ trim = String.prototype.trim,
+ indexOf = Array.prototype.indexOf,
+
+ // [[Class]] -> type pairs
+ class2type = {};
+
+jQuery.fn = jQuery.prototype = {
+ init: function( selector, context ) {
+ var match, elem, ret, doc;
+
+ // Handle $(""), $(null), or $(undefined)
+ if ( !selector ) {
+ return this;
+ }
+
+ // Handle $(DOMElement)
+ if ( selector.nodeType ) {
+ this.context = this[0] = selector;
+ this.length = 1;
+ return this;
+ }
+
+ // The body element only exists once, optimize finding it
+ if ( selector === "body" && !context && document.body ) {
+ this.context = document;
+ this[0] = document.body;
+ this.selector = "body";
+ this.length = 1;
+ return this;
+ }
+
+ // Handle HTML strings
+ if ( typeof selector === "string" ) {
+ // Are we dealing with HTML string or an ID?
+ match = quickExpr.exec( selector );
+
+ // Verify a match, and that no context was specified for #id
+ if ( match && (match[1] || !context) ) {
+
+ // HANDLE: $(html) -> $(array)
+ if ( match[1] ) {
+ doc = (context ? context.ownerDocument || context : document);
+
+ // If a single string is passed in and it's a single tag
+ // just do a createElement and skip the rest
+ ret = rsingleTag.exec( selector );
+
+ if ( ret ) {
+ if ( jQuery.isPlainObject( context ) ) {
+ selector = [ document.createElement( ret[1] ) ];
+ jQuery.fn.attr.call( selector, context, true );
+
+ } else {
+ selector = [ doc.createElement( ret[1] ) ];
+ }
+
+ } else {
+ ret = jQuery.buildFragment( [ match[1] ], [ doc ] );
+ selector = (ret.cacheable ? ret.fragment.cloneNode(true) : ret.fragment).childNodes;
+ }
+
+ 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: $("TAG")
+ } else if ( !context && !rnonword.test( selector ) ) {
+ this.selector = selector;
+ this.context = document;
+ selector = document.getElementsByTagName( selector );
+ return jQuery.merge( this, selector );
+
+ // 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 jQuery( 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: "1.4.4",
+
+ // 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 slice.call( this, 0 );
+ },
+
+ // 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.slice(num)[ 0 ] : 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();
+
+ if ( jQuery.isArray( elems ) ) {
+ push.apply( ret, elems );
+
+ } else {
+ jQuery.merge( ret, 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 ) {
+ // Attach the listeners
+ jQuery.bindReady();
+
+ // If the DOM is already ready
+ if ( jQuery.isReady ) {
+ // Execute the function immediately
+ fn.call( document, jQuery );
+
+ // Otherwise, remember the function for later
+ } else if ( readyList ) {
+ // Add the function to the wait list
+ readyList.push( fn );
+ }
+
+ return this;
+ },
+
+ eq: function( 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( slice.apply( this, arguments ),
+ "slice", 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 || jQuery(null);
+ },
+
+ // For internal use only.
+ // Behaves like an Array's method, not like a jQuery method.
+ push: 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 ) {
+ window.$ = _$;
+
+ if ( deep ) {
+ 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,
+
+ // Handle when the DOM is ready
+ ready: function( wait ) {
+ // A third-party is pushing the ready event forwards
+ if ( wait === true ) {
+ jQuery.readyWait--;
+ }
+
+ // Make sure that the DOM is not already loaded
+ if ( !jQuery.readyWait || (wait !== true && !jQuery.isReady) ) {
+ // 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
+ if ( readyList ) {
+ // Execute all of them
+ var fn,
+ i = 0,
+ ready = readyList;
+
+ // Reset the list of functions
+ readyList = null;
+
+ while ( (fn = ready[ i++ ]) ) {
+ fn.call( document, jQuery );
+ }
+
+ // Trigger any bound ready events
+ if ( jQuery.fn.trigger ) {
+ jQuery( document ).trigger( "ready" ).unbind( "ready" );
+ }
+ }
+ }
+ },
+
+ bindReady: function() {
+ if ( readyBound ) {
+ return;
+ }
+
+ readyBound = true;
+
+ // Catch cases where $(document).ready() is called after the
+ // browser event has already occurred.
+ if ( document.readyState === "complete" ) {
+ // Handle it asynchronously to allow scripts the opportunity to delay ready
+ return setTimeout( jQuery.ready, 1 );
+ }
+
+ // Mozilla, Opera and webkit nightlies currently support this event
+ 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 if ( document.attachEvent ) {
+ // 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 toplevel = false;
+
+ try {
+ toplevel = window.frameElement == null;
+ } catch(e) {}
+
+ if ( document.documentElement.doScroll && toplevel ) {
+ doScrollCheck();
+ }
+ }
+ },
+
+ // 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";
+ },
+
+ // A crude way of determining if an object is a window
+ isWindow: function( obj ) {
+ return obj && typeof obj === "object" && "setInterval" in obj;
+ },
+
+ isNaN: function( obj ) {
+ return obj == null || !rdigit.test( obj ) || isNaN( obj );
+ },
+
+ type: function( obj ) {
+ return obj == null ?
+ String( obj ) :
+ class2type[ 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;
+ }
+
+ // Not own constructor property must be Object
+ if ( obj.constructor &&
+ !hasOwn.call(obj, "constructor") &&
+ !hasOwn.call(obj.constructor.prototype, "isPrototypeOf") ) {
+ 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 || hasOwn.call( obj, key );
+ },
+
+ isEmptyObject: function( obj ) {
+ for ( var name in obj ) {
+ return false;
+ }
+ return true;
+ },
+
+ error: function( msg ) {
+ throw msg;
+ },
+
+ parseJSON: function( data ) {
+ if ( typeof data !== "string" || !data ) {
+ return null;
+ }
+
+ // Make sure leading/trailing whitespace is removed (IE can't handle it)
+ data = jQuery.trim( 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, "")) ) {
+
+ // Try to use the native JSON parser first
+ return window.JSON && window.JSON.parse ?
+ window.JSON.parse( data ) :
+ (new Function("return " + data))();
+
+ } else {
+ jQuery.error( "Invalid JSON: " + data );
+ }
+ },
+
+ noop: function() {},
+
+ // Evalulates a script in a global context
+ globalEval: function( data ) {
+ if ( data && rnotwhite.test(data) ) {
+ // Inspired by code by Andrea Giammarchi
+ // http://webreflection.blogspot.com/2007/08/global-scope-evaluation-and-dom.html
+ var head = document.getElementsByTagName("head")[0] || document.documentElement,
+ script = document.createElement("script");
+
+ script.type = "text/javascript";
+
+ if ( jQuery.support.scriptEval ) {
+ script.appendChild( document.createTextNode( data ) );
+ } else {
+ script.text = data;
+ }
+
+ // Use insertBefore instead of appendChild to circumvent an IE6 bug.
+ // This arises when a base node is used (#2709).
+ head.insertBefore( script, head.firstChild );
+ head.removeChild( script );
+ }
+ },
+
+ nodeName: function( elem, name ) {
+ return elem.nodeName && elem.nodeName.toUpperCase() === name.toUpperCase();
+ },
+
+ // args is for internal usage only
+ each: function( object, callback, args ) {
+ var name, i = 0,
+ length = object.length,
+ isObj = length === undefined || jQuery.isFunction(object);
+
+ if ( args ) {
+ if ( isObj ) {
+ for ( name in object ) {
+ if ( callback.apply( object[ name ], args ) === false ) {
+ break;
+ }
+ }
+ } else {
+ for ( ; i < length; ) {
+ if ( callback.apply( object[ i++ ], args ) === false ) {
+ break;
+ }
+ }
+ }
+
+ // A special, fast, case for the most common use of each
+ } else {
+ if ( isObj ) {
+ for ( name in object ) {
+ if ( callback.call( object[ name ], name, object[ name ] ) === false ) {
+ break;
+ }
+ }
+ } else {
+ for ( var value = object[0];
+ i < length && callback.call( value, i, value ) !== false; value = object[++i] ) {}
+ }
+ }
+
+ return object;
+ },
+
+ // Use native String.trim function wherever possible
+ trim: trim ?
+ function( text ) {
+ return text == null ?
+ "" :
+ trim.call( text );
+ } :
+
+ // Otherwise use our own trimming functionality
+ function( text ) {
+ return text == null ?
+ "" :
+ text.toString().replace( trimLeft, "" ).replace( trimRight, "" );
+ },
+
+ // results is for internal usage only
+ makeArray: function( array, results ) {
+ var ret = results || [];
+
+ if ( array != null ) {
+ // The window, strings (and functions) also have 'length'
+ // The extra typeof function check is to prevent crashes
+ // in Safari 2 (See: #3039)
+ // Tweaked logic slightly to handle Blackberry 4.7 RegExp issues #6930
+ var type = jQuery.type(array);
+
+ if ( array.length == null || type === "string" || type === "function" || type === "regexp" || jQuery.isWindow( array ) ) {
+ push.call( ret, array );
+ } else {
+ jQuery.merge( ret, array );
+ }
+ }
+
+ return ret;
+ },
+
+ inArray: function( elem, array ) {
+ if ( array.indexOf ) {
+ return array.indexOf( elem );
+ }
+
+ for ( var i = 0, length = array.length; i < length; i++ ) {
+ if ( array[ i ] === elem ) {
+ return i;
+ }
+ }
+
+ return -1;
+ },
+
+ merge: function( first, second ) {
+ var i = first.length,
+ j = 0;
+
+ if ( typeof second.length === "number" ) {
+ for ( var l = second.length; 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 ret = [], retVal;
+ inv = !!inv;
+
+ // Go through the array, only saving the items
+ // that pass the validator function
+ for ( var i = 0, length = elems.length; 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 ret = [], value;
+
+ // Go through the array, translating each of the items to their
+ // new value (or values).
+ for ( var i = 0, length = elems.length; i < length; i++ ) {
+ value = callback( elems[ i ], i, arg );
+
+ if ( value != null ) {
+ ret[ ret.length ] = value;
+ }
+ }
+
+ return ret.concat.apply( [], ret );
+ },
+
+ // A global GUID counter for objects
+ guid: 1,
+
+ proxy: function( fn, proxy, thisObject ) {
+ if ( arguments.length === 2 ) {
+ if ( typeof proxy === "string" ) {
+ thisObject = fn;
+ fn = thisObject[ proxy ];
+ proxy = undefined;
+
+ } else if ( proxy && !jQuery.isFunction( proxy ) ) {
+ thisObject = proxy;
+ proxy = undefined;
+ }
+ }
+
+ if ( !proxy && fn ) {
+ proxy = function() {
+ return fn.apply( thisObject || this, arguments );
+ };
+ }
+
+ // Set the guid of unique handler to the same of original handler, so it can be removed
+ if ( fn ) {
+ proxy.guid = fn.guid = fn.guid || proxy.guid || jQuery.guid++;
+ }
+
+ // So proxy can be declared as an argument
+ return proxy;
+ },
+
+ // Mutifunctional method to get and set values to a collection
+ // The value/s can be optionally by executed if its a function
+ access: function( elems, key, value, exec, fn, pass ) {
+ var length = elems.length;
+
+ // Setting many attributes
+ if ( typeof key === "object" ) {
+ for ( var k in key ) {
+ jQuery.access( elems, k, key[k], exec, fn, value );
+ }
+ return elems;
+ }
+
+ // Setting one attribute
+ if ( value !== undefined ) {
+ // Optionally, function values get executed if exec is true
+ exec = !pass && exec && jQuery.isFunction(value);
+
+ for ( var i = 0; i < length; i++ ) {
+ fn( elems[i], key, exec ? value.call( elems[i], i, fn( elems[i], key ) ) : value, pass );
+ }
+
+ return elems;
+ }
+
+ // Getting an attribute
+ return length ? fn( elems[0], key ) : undefined;
+ },
+
+ now: function() {
+ return (new Date()).getTime();
+ },
+
+ // Use of jQuery.browser is frowned upon.
+ // More details: http://docs.jquery.com/Utilities/jQuery.browser
+ uaMatch: function( ua ) {
+ ua = ua.toLowerCase();
+
+ var match = rwebkit.exec( ua ) ||
+ ropera.exec( ua ) ||
+ rmsie.exec( ua ) ||
+ ua.indexOf("compatible") < 0 && rmozilla.exec( ua ) ||
+ [];
+
+ return { browser: match[1] || "", version: match[2] || "0" };
+ },
+
+ browser: {}
+});
+
+// Populate the class2type map
+jQuery.each("Boolean Number String Function Array Date RegExp Object".split(" "), function(i, name) {
+ class2type[ "[object " + name + "]" ] = name.toLowerCase();
+});
+
+browserMatch = jQuery.uaMatch( userAgent );
+if ( browserMatch.browser ) {
+ jQuery.browser[ browserMatch.browser ] = true;
+ jQuery.browser.version = browserMatch.version;
+}
+
+// Deprecated, use jQuery.browser.webkit instead
+if ( jQuery.browser.webkit ) {
+ jQuery.browser.safari = true;
+}
+
+if ( indexOf ) {
+ jQuery.inArray = function( elem, array ) {
+ return indexOf.call( array, elem );
+ };
+}
+
+// Verify that \s matches non-breaking spaces
+// (IE fails on this test)
+if ( !rwhite.test( "\xA0" ) ) {
+ trimLeft = /^[\s\xA0]+/;
+ trimRight = /[\s\xA0]+$/;
+}
+
+// All jQuery objects should point back to these
+rootjQuery = jQuery(document);
+
+// Cleanup functions for the document ready method
+if ( document.addEventListener ) {
+ DOMContentLoaded = function() {
+ document.removeEventListener( "DOMContentLoaded", DOMContentLoaded, false );
+ jQuery.ready();
+ };
+
+} else if ( document.attachEvent ) {
+ DOMContentLoaded = function() {
+ // Make sure body exists, at least, in case IE gets a little overzealous (ticket #5443).
+ if ( document.readyState === "complete" ) {
+ document.detachEvent( "onreadystatechange", DOMContentLoaded );
+ jQuery.ready();
+ }
+ };
+}
+
+// The DOM ready check for Internet Explorer
+function doScrollCheck() {
+ if ( jQuery.isReady ) {
+ return;
+ }
+
+ try {
+ // If IE is used, use the trick by Diego Perini
+ // http://javascript.nwbox.com/IEContentLoaded/
+ document.documentElement.doScroll("left");
+ } catch(e) {
+ setTimeout( doScrollCheck, 1 );
+ return;
+ }
+
+ // and execute any waiting functions
+ jQuery.ready();
+}
+
+// Expose jQuery to the global object
+return (window.jQuery = window.$ = jQuery);
+
+})();
+
+
+(function() {
+
+ jQuery.support = {};
+
+ var root = document.documentElement,
+ script = document.createElement("script"),
+ div = document.createElement("div"),
+ id = "script" + jQuery.now();
+
+ div.style.display = "none";
+ div.innerHTML = " <link/><table></table><a href='/a' style='color:red;float:left;opacity:.55;'>a</a><input type='checkbox'/>";
+
+ var all = div.getElementsByTagName("*"),
+ a = div.getElementsByTagName("a")[0],
+ select = document.createElement("select"),
+ opt = select.appendChild( document.createElement("option") );
+
+ // Can't get basic test support
+ if ( !all || !all.length || !a ) {
+ return;
+ }
+
+ jQuery.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 insted)
+ style: /red/.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: /^0.55$/.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: div.getElementsByTagName("input")[0].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,
+
+ // Will be defined later
+ deleteExpando: true,
+ optDisabled: false,
+ checkClone: false,
+ scriptEval: false,
+ noCloneEvent: true,
+ boxModel: null,
+ inlineBlockNeedsLayout: false,
+ shrinkWrapBlocks: false,
+ reliableHiddenOffsets: true
+ };
+
+ // Make sure that the options inside disabled selects aren't marked as disabled
+ // (WebKit marks them as diabled)
+ select.disabled = true;
+ jQuery.support.optDisabled = !opt.disabled;
+
+ script.type = "text/javascript";
+ try {
+ script.appendChild( document.createTextNode( "window." + id + "=1;" ) );
+ } catch(e) {}
+
+ root.insertBefore( script, root.firstChild );
+
+ // Make sure that the execution of code works by injecting a script
+ // tag with appendChild/createTextNode
+ // (IE doesn't support this, fails, and uses .text instead)
+ if ( window[ id ] ) {
+ jQuery.support.scriptEval = true;
+ delete window[ id ];
+ }
+
+ // Test to see if it's possible to delete an expando from an element
+ // Fails in Internet Explorer
+ try {
+ delete script.test;
+
+ } catch(e) {
+ jQuery.support.deleteExpando = false;
+ }
+
+ root.removeChild( script );
+
+ if ( div.attachEvent && div.fireEvent ) {
+ div.attachEvent("onclick", function click() {
+ // Cloning a node shouldn't copy over any
+ // bound event handlers (IE does this)
+ jQuery.support.noCloneEvent = false;
+ div.detachEvent("onclick", click);
+ });
+ div.cloneNode(true).fireEvent("onclick");
+ }
+
+ div = document.createElement("div");
+ div.innerHTML = "<input type='radio' name='radiotest' checked='checked'/>";
+
+ var fragment = document.createDocumentFragment();
+ fragment.appendChild( div.firstChild );
+
+ // WebKit doesn't clone checked state correctly in fragments
+ jQuery.support.checkClone = fragment.cloneNode(true).cloneNode(true).lastChild.checked;
+
+ // Figure out if the W3C box model works as expected
+ // document.body must exist before we can do this
+ jQuery(function() {
+ var div = document.createElement("div");
+ div.style.width = div.style.paddingLeft = "1px";
+
+ document.body.appendChild( div );
+ jQuery.boxModel = jQuery.support.boxModel = div.offsetWidth === 2;
+
+ if ( "zoom" in div.style ) {
+ // 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.style.display = "inline";
+ div.style.zoom = 1;
+ jQuery.support.inlineBlockNeedsLayout = div.offsetWidth === 2;
+
+ // Check if elements with layout shrink-wrap their children
+ // (IE 6 does this)
+ div.style.display = "";
+ div.innerHTML = "<div style='width:4px;'></div>";
+ jQuery.support.shrinkWrapBlocks = div.offsetWidth !== 2;
+ }
+
+ div.innerHTML = "<table><tr><td style='padding:0;display:none'></td><td>t</td></tr></table>";
+ var tds = div.getElementsByTagName("td");
+
+ // 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)
+ jQuery.support.reliableHiddenOffsets = 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)
+ jQuery.support.reliableHiddenOffsets = jQuery.support.reliableHiddenOffsets && tds[0].offsetHeight === 0;
+ div.innerHTML = "";
+
+ document.body.removeChild( div ).style.display = "none";
+ div = tds = null;
+ });
+
+ // Technique from Juriy Zaytsev
+ // http://thinkweb2.com/projects/prototype/detecting-event-support-without-browser-sniffing/
+ var eventSupported = function( eventName ) {
+ var el = document.createElement("div");
+ eventName = "on" + eventName;
+
+ var isSupported = (eventName in el);
+ if ( !isSupported ) {
+ el.setAttribute(eventName, "return;");
+ isSupported = typeof el[eventName] === "function";
+ }
+ el = null;
+
+ return isSupported;
+ };
+
+ jQuery.support.submitBubbles = eventSupported("submit");
+ jQuery.support.changeBubbles = eventSupported("change");
+
+ // release memory in IE
+ root = script = div = all = a = null;
+})();
+
+
+
+var windowData = {},
+ rbrace = /^(?:\{.*\}|\[.*\])$/;
+
+jQuery.extend({
+ cache: {},
+
+ // Please use with caution
+ uuid: 0,
+
+ // Unique for each copy of jQuery on the page
+ expando: "jQuery" + jQuery.now(),
+
+ // 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
+ },
+
+ data: function( elem, name, data ) {
+ if ( !jQuery.acceptData( elem ) ) {
+ return;
+ }
+
+ elem = elem == window ?
+ windowData :
+ elem;
+
+ var isNode = elem.nodeType,
+ id = isNode ? elem[ jQuery.expando ] : null,
+ cache = jQuery.cache, thisCache;
+
+ if ( isNode && !id && typeof name === "string" && data === undefined ) {
+ return;
+ }
+
+ // Get the data from the object directly
+ if ( !isNode ) {
+ cache = elem;
+
+ // Compute a unique ID for the element
+ } else if ( !id ) {
+ elem[ jQuery.expando ] = id = ++jQuery.uuid;
+ }
+
+ // Avoid generating a new cache unless none exists and we
+ // want to manipulate it.
+ if ( typeof name === "object" ) {
+ if ( isNode ) {
+ cache[ id ] = jQuery.extend(cache[ id ], name);
+
+ } else {
+ jQuery.extend( cache, name );
+ }
+
+ } else if ( isNode && !cache[ id ] ) {
+ cache[ id ] = {};
+ }
+
+ thisCache = isNode ? cache[ id ] : cache;
+
+ // Prevent overriding the named cache with undefined values
+ if ( data !== undefined ) {
+ thisCache[ name ] = data;
+ }
+
+ return typeof name === "string" ? thisCache[ name ] : thisCache;
+ },
+
+ removeData: function( elem, name ) {
+ if ( !jQuery.acceptData( elem ) ) {
+ return;
+ }
+
+ elem = elem == window ?
+ windowData :
+ elem;
+
+ var isNode = elem.nodeType,
+ id = isNode ? elem[ jQuery.expando ] : elem,
+ cache = jQuery.cache,
+ thisCache = isNode ? cache[ id ] : id;
+
+ // If we want to remove a specific section of the element's data
+ if ( name ) {
+ if ( thisCache ) {
+ // Remove the section of cache data
+ delete thisCache[ name ];
+
+ // If we've removed all the data, remove the element's cache
+ if ( isNode && jQuery.isEmptyObject(thisCache) ) {
+ jQuery.removeData( elem );
+ }
+ }
+
+ // Otherwise, we want to remove all of the element's data
+ } else {
+ if ( isNode && jQuery.support.deleteExpando ) {
+ delete elem[ jQuery.expando ];
+
+ } else if ( elem.removeAttribute ) {
+ elem.removeAttribute( jQuery.expando );
+
+ // Completely remove the data cache
+ } else if ( isNode ) {
+ delete cache[ id ];
+
+ // Remove all fields from the object
+ } else {
+ for ( var n in elem ) {
+ delete elem[ n ];
+ }
+ }
+ }
+ },
+
+ // A method for determining if a DOM node can handle the data expando
+ acceptData: function( elem ) {
+ if ( elem.nodeName ) {
+ var match = jQuery.noData[ elem.nodeName.toLowerCase() ];
+
+ if ( match ) {
+ return !(match === true || elem.getAttribute("classid") !== match);
+ }
+ }
+
+ return true;
+ }
+});
+
+jQuery.fn.extend({
+ data: function( key, value ) {
+ var data = null;
+
+ if ( typeof key === "undefined" ) {
+ if ( this.length ) {
+ var attr = this[0].attributes, name;
+ data = jQuery.data( this[0] );
+
+ for ( var i = 0, l = attr.length; i < l; i++ ) {
+ name = attr[i].name;
+
+ if ( name.indexOf( "data-" ) === 0 ) {
+ name = name.substr( 5 );
+ dataAttr( this[0], name, data[ name ] );
+ }
+ }
+ }
+
+ return data;
+
+ } else if ( typeof key === "object" ) {
+ return this.each(function() {
+ jQuery.data( this, key );
+ });
+ }
+
+ var parts = key.split(".");
+ parts[1] = parts[1] ? "." + parts[1] : "";
+
+ if ( value === undefined ) {
+ data = this.triggerHandler("getData" + parts[1] + "!", [parts[0]]);
+
+ // Try to fetch any internally stored data first
+ if ( data === undefined && this.length ) {
+ data = jQuery.data( this[0], key );
+ data = dataAttr( this[0], key, data );
+ }
+
+ return data === undefined && parts[1] ?
+ this.data( parts[0] ) :
+ data;
+
+ } else {
+ return this.each(function() {
+ var $this = jQuery( this ),
+ args = [ parts[0], value ];
+
+ $this.triggerHandler( "setData" + parts[1] + "!", args );
+ jQuery.data( this, key, value );
+ $this.triggerHandler( "changeData" + parts[1] + "!", args );
+ });
+ }
+ },
+
+ 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 ) {
+ data = elem.getAttribute( "data-" + key );
+
+ if ( typeof data === "string" ) {
+ try {
+ data = data === "true" ? true :
+ data === "false" ? false :
+ data === "null" ? null :
+ !jQuery.isNaN( data ) ? parseFloat( 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;
+}
+
+
+
+
+jQuery.extend({
+ queue: function( elem, type, data ) {
+ if ( !elem ) {
+ return;
+ }
+
+ type = (type || "fx") + "queue";
+ var q = jQuery.data( elem, type );
+
+ // Speed up dequeue by getting out quickly if this is just a lookup
+ if ( !data ) {
+ return q || [];
+ }
+
+ if ( !q || jQuery.isArray(data) ) {
+ q = jQuery.data( elem, type, jQuery.makeArray(data) );
+
+ } else {
+ q.push( data );
+ }
+
+ return q;
+ },
+
+ dequeue: function( elem, type ) {
+ type = type || "fx";
+
+ var queue = jQuery.queue( elem, type ),
+ fn = queue.shift();
+
+ // If the fx queue is dequeued, always remove the progress sentinel
+ if ( fn === "inprogress" ) {
+ fn = queue.shift();
+ }
+
+ if ( fn ) {
+ // Add a progress sentinel to prevent the fx queue from being
+ // automatically dequeued
+ if ( type === "fx" ) {
+ queue.unshift("inprogress");
+ }
+
+ fn.call(elem, function() {
+ jQuery.dequeue(elem, type);
+ });
+ }
+ }
+});
+
+jQuery.fn.extend({
+ queue: function( type, data ) {
+ if ( typeof type !== "string" ) {
+ data = type;
+ type = "fx";
+ }
+
+ if ( data === undefined ) {
+ return jQuery.queue( this[0], type );
+ }
+ return this.each(function( i ) {
+ var queue = jQuery.queue( this, type, data );
+
+ 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() {
+ var elem = this;
+ setTimeout(function() {
+ jQuery.dequeue( elem, type );
+ }, time );
+ });
+ },
+
+ clearQueue: function( type ) {
+ return this.queue( type || "fx", [] );
+ }
+});
+
+
+
+
+var rclass = /[\n\t]/g,
+ rspaces = /\s+/,
+ rreturn = /\r/g,
+ rspecialurl = /^(?:href|src|style)$/,
+ rtype = /^(?:button|input)$/i,
+ rfocusable = /^(?:button|input|object|select|textarea)$/i,
+ rclickable = /^a(?:rea)?$/i,
+ rradiocheck = /^(?:radio|checkbox)$/i;
+
+jQuery.props = {
+ "for": "htmlFor",
+ "class": "className",
+ readonly: "readOnly",
+ maxlength: "maxLength",
+ cellspacing: "cellSpacing",
+ rowspan: "rowSpan",
+ colspan: "colSpan",
+ tabindex: "tabIndex",
+ usemap: "useMap",
+ frameborder: "frameBorder"
+};
+
+jQuery.fn.extend({
+ attr: function( name, value ) {
+ return jQuery.access( this, name, value, true, jQuery.attr );
+ },
+
+ removeAttr: function( name, fn ) {
+ return this.each(function(){
+ jQuery.attr( this, name, "" );
+ if ( this.nodeType === 1 ) {
+ this.removeAttribute( name );
+ }
+ });
+ },
+
+ addClass: function( value ) {
+ if ( jQuery.isFunction(value) ) {
+ return this.each(function(i) {
+ var self = jQuery(this);
+ self.addClass( value.call(this, i, self.attr("class")) );
+ });
+ }
+
+ if ( value && typeof value === "string" ) {
+ var classNames = (value || "").split( rspaces );
+
+ for ( var i = 0, l = this.length; i < l; i++ ) {
+ var elem = this[i];
+
+ if ( elem.nodeType === 1 ) {
+ if ( !elem.className ) {
+ elem.className = value;
+
+ } else {
+ var className = " " + elem.className + " ",
+ setClass = elem.className;
+
+ for ( var c = 0, cl = classNames.length; c < cl; c++ ) {
+ if ( className.indexOf( " " + classNames[c] + " " ) < 0 ) {
+ setClass += " " + classNames[c];
+ }
+ }
+ elem.className = jQuery.trim( setClass );
+ }
+ }
+ }
+ }
+
+ return this;
+ },
+
+ removeClass: function( value ) {
+ if ( jQuery.isFunction(value) ) {
+ return this.each(function(i) {
+ var self = jQuery(this);
+ self.removeClass( value.call(this, i, self.attr("class")) );
+ });
+ }
+
+ if ( (value && typeof value === "string") || value === undefined ) {
+ var classNames = (value || "").split( rspaces );
+
+ for ( var i = 0, l = this.length; i < l; i++ ) {
+ var elem = this[i];
+
+ if ( elem.nodeType === 1 && elem.className ) {
+ if ( value ) {
+ var className = (" " + elem.className + " ").replace(rclass, " ");
+ for ( var c = 0, cl = classNames.length; c < cl; c++ ) {
+ className = className.replace(" " + classNames[c] + " ", " ");
+ }
+ elem.className = jQuery.trim( className );
+
+ } else {
+ elem.className = "";
+ }
+ }
+ }
+ }
+
+ return this;
+ },
+
+ toggleClass: function( value, stateVal ) {
+ var type = typeof value,
+ isBool = typeof stateVal === "boolean";
+
+ if ( jQuery.isFunction( value ) ) {
+ return this.each(function(i) {
+ var self = jQuery(this);
+ self.toggleClass( value.call(this, i, self.attr("class"), 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( rspaces );
+
+ while ( (className = classNames[ i++ ]) ) {
+ // check each className given, space seperated 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 + " ";
+ for ( var i = 0, l = this.length; i < l; i++ ) {
+ if ( (" " + this[i].className + " ").replace(rclass, " ").indexOf( className ) > -1 ) {
+ return true;
+ }
+ }
+
+ return false;
+ },
+
+ val: function( value ) {
+ if ( !arguments.length ) {
+ var elem = this[0];
+
+ if ( elem ) {
+ if ( jQuery.nodeName( elem, "option" ) ) {
+ // 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;
+ }
+
+ // We need to handle select boxes special
+ if ( jQuery.nodeName( elem, "select" ) ) {
+ var index = elem.selectedIndex,
+ values = [],
+ options = elem.options,
+ one = elem.type === "select-one";
+
+ // Nothing was selected
+ if ( index < 0 ) {
+ return null;
+ }
+
+ // Loop through all the selected options
+ for ( var i = one ? index : 0, max = one ? index + 1 : options.length; i < max; i++ ) {
+ var option = options[ i ];
+
+ // Don't return options that are disabled or in a disabled optgroup
+ if ( option.selected && (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;
+ }
+
+ // Handle the case where in Webkit "" is returned instead of "on" if a value isn't specified
+ if ( rradiocheck.test( elem.type ) && !jQuery.support.checkOn ) {
+ return elem.getAttribute("value") === null ? "on" : elem.value;
+ }
+
+
+ // Everything else, we just grab the value
+ return (elem.value || "").replace(rreturn, "");
+
+ }
+
+ return undefined;
+ }
+
+ var isFunction = jQuery.isFunction(value);
+
+ return this.each(function(i) {
+ var self = jQuery(this), val = value;
+
+ if ( this.nodeType !== 1 ) {
+ return;
+ }
+
+ if ( isFunction ) {
+ val = value.call(this, i, self.val());
+ }
+
+ // 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 + "";
+ });
+ }
+
+ if ( jQuery.isArray(val) && rradiocheck.test( this.type ) ) {
+ this.checked = jQuery.inArray( self.val(), val ) >= 0;
+
+ } else if ( jQuery.nodeName( this, "select" ) ) {
+ var values = jQuery.makeArray(val);
+
+ jQuery( "option", this ).each(function() {
+ this.selected = jQuery.inArray( jQuery(this).val(), values ) >= 0;
+ });
+
+ if ( !values.length ) {
+ this.selectedIndex = -1;
+ }
+
+ } else {
+ this.value = val;
+ }
+ });
+ }
+});
+
+jQuery.extend({
+ attrFn: {
+ val: true,
+ css: true,
+ html: true,
+ text: true,
+ data: true,
+ width: true,
+ height: true,
+ offset: true
+ },
+
+ attr: function( elem, name, value, pass ) {
+ // don't set attributes on text and comment nodes
+ if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 ) {
+ return undefined;
+ }
+
+ if ( pass && name in jQuery.attrFn ) {
+ return jQuery(elem)[name](value);
+ }
+
+ var notxml = elem.nodeType !== 1 || !jQuery.isXMLDoc( elem ),
+ // Whether we are setting (or getting)
+ set = value !== undefined;
+
+ // Try to normalize/fix the name
+ name = notxml && jQuery.props[ name ] || name;
+
+ // These attributes require special treatment
+ var special = rspecialurl.test( name );
+
+ // Safari mis-reports the default selected property of an option
+ // Accessing the parent's selectedIndex property fixes it
+ if ( name === "selected" && !jQuery.support.optSelected ) {
+ var parent = elem.parentNode;
+ if ( parent ) {
+ parent.selectedIndex;
+
+ // Make sure that it also works with optgroups, see #5701
+ if ( parent.parentNode ) {
+ parent.parentNode.selectedIndex;
+ }
+ }
+ }
+
+ // If applicable, access the attribute via the DOM 0 way
+ // 'in' checks fail in Blackberry 4.7 #6931
+ if ( (name in elem || elem[ name ] !== undefined) && notxml && !special ) {
+ if ( set ) {
+ // We can't allow the type property to be changed (since it causes problems in IE)
+ if ( name === "type" && rtype.test( elem.nodeName ) && elem.parentNode ) {
+ jQuery.error( "type property can't be changed" );
+ }
+
+ if ( value === null ) {
+ if ( elem.nodeType === 1 ) {
+ elem.removeAttribute( name );
+ }
+
+ } else {
+ elem[ name ] = value;
+ }
+ }
+
+ // browsers index elements by id/name on forms, give priority to attributes.
+ if ( jQuery.nodeName( elem, "form" ) && elem.getAttributeNode(name) ) {
+ return elem.getAttributeNode( name ).nodeValue;
+ }
+
+ // 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/
+ if ( name === "tabIndex" ) {
+ var attributeNode = elem.getAttributeNode( "tabIndex" );
+
+ return attributeNode && attributeNode.specified ?
+ attributeNode.value :
+ rfocusable.test( elem.nodeName ) || rclickable.test( elem.nodeName ) && elem.href ?
+ 0 :
+ undefined;
+ }
+
+ return elem[ name ];
+ }
+
+ if ( !jQuery.support.style && notxml && name === "style" ) {
+ if ( set ) {
+ elem.style.cssText = "" + value;
+ }
+
+ return elem.style.cssText;
+ }
+
+ if ( set ) {
+ // convert the value to a string (all browsers do this but IE) see #1070
+ elem.setAttribute( name, "" + value );
+ }
+
+ // Ensure that missing attributes return undefined
+ // Blackberry 4.7 returns "" from getAttribute #6938
+ if ( !elem.attributes[ name ] && (elem.hasAttribute && !elem.hasAttribute( name )) ) {
+ return undefined;
+ }
+
+ var attr = !jQuery.support.hrefNormalized && notxml && special ?
+ // Some attributes require a special call on IE
+ elem.getAttribute( name, 2 ) :
+ elem.getAttribute( name );
+
+ // Non-existent attributes return null, we normalize to undefined
+ return attr === null ? undefined : attr;
+ }
+});
+
+
+
+
+var rnamespaces = /\.(.*)$/,
+ rformElems = /^(?:textarea|input|select)$/i,
+ rperiod = /\./g,
+ rspace = / /g,
+ rescape = /[^\w\s.|`]/g,
+ fcleanup = function( nm ) {
+ return nm.replace(rescape, "\\$&");
+ },
+ focusCounts = { focusin: 0, focusout: 0 };
+
+/*
+ * A number of helper functions used for managing events.
+ * Many of the ideas behind this code originated from
+ * Dean Edwards' addEvent library.
+ */
+jQuery.event = {
+
+ // Bind an event to an element
+ // Original by Dean Edwards
+ add: function( elem, types, handler, data ) {
+ if ( elem.nodeType === 3 || elem.nodeType === 8 ) {
+ return;
+ }
+
+ // For whatever reason, IE has trouble passing the window object
+ // around, causing it to be cloned in the process
+ if ( jQuery.isWindow( elem ) && ( elem !== window && !elem.frameElement ) ) {
+ elem = window;
+ }
+
+ if ( handler === false ) {
+ handler = returnFalse;
+ } else if ( !handler ) {
+ // Fixes bug #7229. Fix recommended by jdalton
+ return;
+ }
+
+ var handleObjIn, handleObj;
+
+ if ( handler.handler ) {
+ handleObjIn = handler;
+ handler = handleObjIn.handler;
+ }
+
+ // Make sure that the function being executed has a unique ID
+ if ( !handler.guid ) {
+ handler.guid = jQuery.guid++;
+ }
+
+ // Init the element's event structure
+ var elemData = jQuery.data( elem );
+
+ // If no elemData is found then we must be trying to bind to one of the
+ // banned noData elements
+ if ( !elemData ) {
+ return;
+ }
+
+ // Use a key less likely to result in collisions for plain JS objects.
+ // Fixes bug #7150.
+ var eventKey = elem.nodeType ? "events" : "__events__",
+ events = elemData[ eventKey ],
+ eventHandle = elemData.handle;
+
+ if ( typeof events === "function" ) {
+ // On plain objects events is a fn that holds the the data
+ // which prevents this data from being JSON serialized
+ // the function does not need to be called, it just contains the data
+ eventHandle = events.handle;
+ events = events.events;
+
+ } else if ( !events ) {
+ if ( !elem.nodeType ) {
+ // On plain objects, create a fn that acts as the holder
+ // of the values to avoid JSON serialization of event data
+ elemData[ eventKey ] = elemData = function(){};
+ }
+
+ elemData.events = events = {};
+ }
+
+ if ( !eventHandle ) {
+ elemData.handle = eventHandle = function() {
+ // Handle the second event of a trigger and when
+ // an event is called after a page has unloaded
+ return typeof jQuery !== "undefined" && !jQuery.event.triggered ?
+ jQuery.event.handle.apply( eventHandle.elem, arguments ) :
+ undefined;
+ };
+ }
+
+ // Add elem as a property of the handle function
+ // This is to prevent a memory leak with non-native events in IE.
+ eventHandle.elem = elem;
+
+ // Handle multiple events separated by a space
+ // jQuery(...).bind("mouseover mouseout", fn);
+ types = types.split(" ");
+
+ var type, i = 0, namespaces;
+
+ while ( (type = types[ i++ ]) ) {
+ handleObj = handleObjIn ?
+ jQuery.extend({}, handleObjIn) :
+ { handler: handler, data: data };
+
+ // Namespaced event handlers
+ if ( type.indexOf(".") > -1 ) {
+ namespaces = type.split(".");
+ type = namespaces.shift();
+ handleObj.namespace = namespaces.slice(0).sort().join(".");
+
+ } else {
+ namespaces = [];
+ handleObj.namespace = "";
+ }
+
+ handleObj.type = type;
+ if ( !handleObj.guid ) {
+ handleObj.guid = handler.guid;
+ }
+
+ // Get the current list of functions bound to this event
+ var handlers = events[ type ],
+ special = jQuery.event.special[ type ] || {};
+
+ // Init the event handler queue
+ if ( !handlers ) {
+ handlers = events[ type ] = [];
+
+ // Check for a special event handler
+ // 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 the function to the element's handler list
+ handlers.push( handleObj );
+
+ // Keep track of which events have been used, for global triggering
+ 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, pos ) {
+ // don't do events on text and comment nodes
+ if ( elem.nodeType === 3 || elem.nodeType === 8 ) {
+ return;
+ }
+
+ if ( handler === false ) {
+ handler = returnFalse;
+ }
+
+ var ret, type, fn, j, i = 0, all, namespaces, namespace, special, eventType, handleObj, origType,
+ eventKey = elem.nodeType ? "events" : "__events__",
+ elemData = jQuery.data( elem ),
+ events = elemData && elemData[ eventKey ];
+
+ if ( !elemData || !events ) {
+ return;
+ }
+
+ if ( typeof events === "function" ) {
+ elemData = events;
+ events = events.events;
+ }
+
+ // types is actually an event object here
+ if ( types && types.type ) {
+ handler = types.handler;
+ types = types.type;
+ }
+
+ // Unbind all events for the element
+ if ( !types || typeof types === "string" && types.charAt(0) === "." ) {
+ types = types || "";
+
+ for ( type in events ) {
+ jQuery.event.remove( elem, type + types );
+ }
+
+ return;
+ }
+
+ // Handle multiple events separated by a space
+ // jQuery(...).unbind("mouseover mouseout", fn);
+ types = types.split(" ");
+
+ while ( (type = types[ i++ ]) ) {
+ origType = type;
+ handleObj = null;
+ all = type.indexOf(".") < 0;
+ namespaces = [];
+
+ if ( !all ) {
+ // Namespaced event handlers
+ namespaces = type.split(".");
+ type = namespaces.shift();
+
+ namespace = new RegExp("(^|\\.)" +
+ jQuery.map( namespaces.slice(0).sort(), fcleanup ).join("\\.(?:.*\\.)?") + "(\\.|$)");
+ }
+
+ eventType = events[ type ];
+
+ if ( !eventType ) {
+ continue;
+ }
+
+ if ( !handler ) {
+ for ( j = 0; j < eventType.length; j++ ) {
+ handleObj = eventType[ j ];
+
+ if ( all || namespace.test( handleObj.namespace ) ) {
+ jQuery.event.remove( elem, origType, handleObj.handler, j );
+ eventType.splice( j--, 1 );
+ }
+ }
+
+ continue;
+ }
+
+ special = jQuery.event.special[ type ] || {};
+
+ for ( j = pos || 0; j < eventType.length; j++ ) {
+ handleObj = eventType[ j ];
+
+ if ( handler.guid === handleObj.guid ) {
+ // remove the given handler for the given type
+ if ( all || namespace.test( handleObj.namespace ) ) {
+ if ( pos == null ) {
+ eventType.splice( j--, 1 );
+ }
+
+ if ( special.remove ) {
+ special.remove.call( elem, handleObj );
+ }
+ }
+
+ if ( pos != null ) {
+ break;
+ }
+ }
+ }
+
+ // remove generic event handler if no more handlers exist
+ if ( eventType.length === 0 || pos != null && eventType.length === 1 ) {
+ if ( !special.teardown || special.teardown.call( elem, namespaces ) === false ) {
+ jQuery.removeEvent( elem, type, elemData.handle );
+ }
+
+ ret = null;
+ delete events[ type ];
+ }
+ }
+
+ // Remove the expando if it's no longer used
+ if ( jQuery.isEmptyObject( events ) ) {
+ var handle = elemData.handle;
+ if ( handle ) {
+ handle.elem = null;
+ }
+
+ delete elemData.events;
+ delete elemData.handle;
+
+ if ( typeof elemData === "function" ) {
+ jQuery.removeData( elem, eventKey );
+
+ } else if ( jQuery.isEmptyObject( elemData ) ) {
+ jQuery.removeData( elem );
+ }
+ }
+ },
+
+ // bubbling is internal
+ trigger: function( event, data, elem /*, bubbling */ ) {
+ // Event object or event type
+ var type = event.type || event,
+ bubbling = arguments[3];
+
+ if ( !bubbling ) {
+ event = typeof event === "object" ?
+ // jQuery.Event object
+ event[ jQuery.expando ] ? event :
+ // Object literal
+ jQuery.extend( jQuery.Event(type), event ) :
+ // Just the event type (string)
+ jQuery.Event(type);
+
+ if ( type.indexOf("!") >= 0 ) {
+ event.type = type = type.slice(0, -1);
+ event.exclusive = true;
+ }
+
+ // Handle a global trigger
+ if ( !elem ) {
+ // Don't bubble custom events when global (to avoid too much overhead)
+ event.stopPropagation();
+
+ // Only trigger if we've ever bound an event for it
+ if ( jQuery.event.global[ type ] ) {
+ jQuery.each( jQuery.cache, function() {
+ if ( this.events && this.events[type] ) {
+ jQuery.event.trigger( event, data, this.handle.elem );
+ }
+ });
+ }
+ }
+
+ // Handle triggering a single element
+
+ // don't do events on text and comment nodes
+ if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 ) {
+ return undefined;
+ }
+
+ // Clean up in case it is reused
+ event.result = undefined;
+ event.target = elem;
+
+ // Clone the incoming data, if any
+ data = jQuery.makeArray( data );
+ data.unshift( event );
+ }
+
+ event.currentTarget = elem;
+
+ // Trigger the event, it is assumed that "handle" is a function
+ var handle = elem.nodeType ?
+ jQuery.data( elem, "handle" ) :
+ (jQuery.data( elem, "__events__" ) || {}).handle;
+
+ if ( handle ) {
+ handle.apply( elem, data );
+ }
+
+ var parent = elem.parentNode || elem.ownerDocument;
+
+ // Trigger an inline bound script
+ try {
+ if ( !(elem && elem.nodeName && jQuery.noData[elem.nodeName.toLowerCase()]) ) {
+ if ( elem[ "on" + type ] && elem[ "on" + type ].apply( elem, data ) === false ) {
+ event.result = false;
+ event.preventDefault();
+ }
+ }
+
+ // prevent IE from throwing an error for some elements with some event types, see #3533
+ } catch (inlineError) {}
+
+ if ( !event.isPropagationStopped() && parent ) {
+ jQuery.event.trigger( event, data, parent, true );
+
+ } else if ( !event.isDefaultPrevented() ) {
+ var old,
+ target = event.target,
+ targetType = type.replace( rnamespaces, "" ),
+ isClick = jQuery.nodeName( target, "a" ) && targetType === "click",
+ special = jQuery.event.special[ targetType ] || {};
+
+ if ( (!special._default || special._default.call( elem, event ) === false) &&
+ !isClick && !(target && target.nodeName && jQuery.noData[target.nodeName.toLowerCase()]) ) {
+
+ try {
+ if ( target[ targetType ] ) {
+ // Make sure that we don't accidentally re-trigger the onFOO events
+ old = target[ "on" + targetType ];
+
+ if ( old ) {
+ target[ "on" + targetType ] = null;
+ }
+
+ jQuery.event.triggered = true;
+ target[ targetType ]();
+ }
+
+ // prevent IE from throwing an error for some elements with some event types, see #3533
+ } catch (triggerError) {}
+
+ if ( old ) {
+ target[ "on" + targetType ] = old;
+ }
+
+ jQuery.event.triggered = false;
+ }
+ }
+ },
+
+ handle: function( event ) {
+ var all, handlers, namespaces, namespace_re, events,
+ namespace_sort = [],
+ args = jQuery.makeArray( arguments );
+
+ event = args[0] = jQuery.event.fix( event || window.event );
+ event.currentTarget = this;
+
+ // Namespaced event handlers
+ all = event.type.indexOf(".") < 0 && !event.exclusive;
+
+ if ( !all ) {
+ namespaces = event.type.split(".");
+ event.type = namespaces.shift();
+ namespace_sort = namespaces.slice(0).sort();
+ namespace_re = new RegExp("(^|\\.)" + namespace_sort.join("\\.(?:.*\\.)?") + "(\\.|$)");
+ }
+
+ event.namespace = event.namespace || namespace_sort.join(".");
+
+ events = jQuery.data(this, this.nodeType ? "events" : "__events__");
+
+ if ( typeof events === "function" ) {
+ events = events.events;
+ }
+
+ handlers = (events || {})[ event.type ];
+
+ if ( events && handlers ) {
+ // Clone the handlers to prevent manipulation
+ handlers = handlers.slice(0);
+
+ for ( var j = 0, l = handlers.length; j < l; j++ ) {
+ var handleObj = handlers[ j ];
+
+ // Filter the functions by class
+ if ( all || namespace_re.test( handleObj.namespace ) ) {
+ // Pass in a reference to the handler function itself
+ // So that we can later remove it
+ event.handler = handleObj.handler;
+ event.data = handleObj.data;
+ event.handleObj = handleObj;
+
+ var ret = handleObj.handler.apply( this, args );
+
+ if ( ret !== undefined ) {
+ event.result = ret;
+ if ( ret === false ) {
+ event.preventDefault();
+ event.stopPropagation();
+ }
+ }
+
+ if ( event.isImmediatePropagationStopped() ) {
+ break;
+ }
+ }
+ }
+ }
+
+ return event.result;
+ },
+
+ props: "altKey attrChange attrName bubbles button cancelable charCode clientX clientY ctrlKey currentTarget data detail eventPhase fromElement handler keyCode layerX layerY metaKey newValue offsetX offsetY pageX pageY prevValue relatedNode relatedTarget screenX screenY shiftKey srcElement target toElement view wheelDelta which".split(" "),
+
+ fix: function( event ) {
+ if ( event[ jQuery.expando ] ) {
+ return event;
+ }
+
+ // store a copy of the original event object
+ // and "clone" to set read-only properties
+ var originalEvent = event;
+ event = jQuery.Event( originalEvent );
+
+ for ( var i = this.props.length, prop; i; ) {
+ prop = this.props[ --i ];
+ event[ prop ] = originalEvent[ prop ];
+ }
+
+ // Fix target property, if necessary
+ if ( !event.target ) {
+ // Fixes #1925 where srcElement might not be defined either
+ event.target = event.srcElement || document;
+ }
+
+ // check if target is a textnode (safari)
+ if ( event.target.nodeType === 3 ) {
+ event.target = event.target.parentNode;
+ }
+
+ // Add relatedTarget, if necessary
+ if ( !event.relatedTarget && event.fromElement ) {
+ event.relatedTarget = event.fromElement === event.target ? event.toElement : event.fromElement;
+ }
+
+ // Calculate pageX/Y if missing and clientX/Y available
+ if ( event.pageX == null && event.clientX != null ) {
+ var doc = document.documentElement,
+ body = document.body;
+
+ event.pageX = event.clientX + (doc && doc.scrollLeft || body && body.scrollLeft || 0) - (doc && doc.clientLeft || body && body.clientLeft || 0);
+ event.pageY = event.clientY + (doc && doc.scrollTop || body && body.scrollTop || 0) - (doc && doc.clientTop || body && body.clientTop || 0);
+ }
+
+ // Add which for key events
+ if ( event.which == null && (event.charCode != null || event.keyCode != null) ) {
+ event.which = event.charCode != null ? event.charCode : event.keyCode;
+ }
+
+ // Add metaKey to non-Mac browsers (use ctrl for PC's and Meta for Macs)
+ if ( !event.metaKey && event.ctrlKey ) {
+ event.metaKey = event.ctrlKey;
+ }
+
+ // Add which for click: 1 === left; 2 === middle; 3 === right
+ // Note: button is not normalized, so don't use it
+ if ( !event.which && event.button !== undefined ) {
+ event.which = (event.button & 1 ? 1 : ( event.button & 2 ? 3 : ( event.button & 4 ? 2 : 0 ) ));
+ }
+
+ return event;
+ },
+
+ // Deprecated, use jQuery.guid instead
+ guid: 1E8,
+
+ // Deprecated, use jQuery.proxy instead
+ proxy: jQuery.proxy,
+
+ special: {
+ ready: {
+ // Make sure the ready event is setup
+ setup: jQuery.bindReady,
+ teardown: jQuery.noop
+ },
+
+ live: {
+ add: function( handleObj ) {
+ jQuery.event.add( this,
+ liveConvert( handleObj.origType, handleObj.selector ),
+ jQuery.extend({}, handleObj, {handler: liveHandler, guid: handleObj.handler.guid}) );
+ },
+
+ remove: function( handleObj ) {
+ jQuery.event.remove( this, liveConvert( handleObj.origType, handleObj.selector ), handleObj );
+ }
+ },
+
+ 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;
+ }
+ }
+ }
+ }
+};
+
+jQuery.removeEvent = document.removeEventListener ?
+ function( elem, type, handle ) {
+ if ( elem.removeEventListener ) {
+ elem.removeEventListener( type, handle, false );
+ }
+ } :
+ function( elem, type, handle ) {
+ if ( elem.detachEvent ) {
+ elem.detachEvent( "on" + type, handle );
+ }
+ };
+
+jQuery.Event = function( src ) {
+ // Allow instantiation without the 'new' keyword
+ if ( !this.preventDefault ) {
+ return new jQuery.Event( src );
+ }
+
+ // Event object
+ if ( src && src.type ) {
+ this.originalEvent = src;
+ this.type = src.type;
+ // Event type
+ } else {
+ this.type = src;
+ }
+
+ // timeStamp is buggy for some events on Firefox(#3843)
+ // So we won't rely on the native value
+ this.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
+};
+
+// Checks if an event happened on an element within another element
+// Used in jQuery.event.special.mouseenter and mouseleave handlers
+var withinElement = function( event ) {
+ // Check if mouse(over|out) are still within the same parent element
+ var parent = event.relatedTarget;
+
+ // Firefox sometimes assigns relatedTarget a XUL element
+ // which we cannot access the parentNode property of
+ try {
+ // Traverse up the tree
+ while ( parent && parent !== this ) {
+ parent = parent.parentNode;
+ }
+
+ if ( parent !== this ) {
+ // set the correct event type
+ event.type = event.data;
+
+ // handle event if we actually just moused on to a non sub-element
+ jQuery.event.handle.apply( this, arguments );
+ }
+
+ // assuming we've left the element since we most likely mousedover a xul element
+ } catch(e) { }
+},
+
+// In case of event delegation, we only need to rename the event.type,
+// liveHandler will take care of the rest.
+delegate = function( event ) {
+ event.type = event.data;
+ jQuery.event.handle.apply( this, arguments );
+};
+
+// Create mouseenter and mouseleave events
+jQuery.each({
+ mouseenter: "mouseover",
+ mouseleave: "mouseout"
+}, function( orig, fix ) {
+ jQuery.event.special[ orig ] = {
+ setup: function( data ) {
+ jQuery.event.add( this, fix, data && data.selector ? delegate : withinElement, orig );
+ },
+ teardown: function( data ) {
+ jQuery.event.remove( this, fix, data && data.selector ? delegate : withinElement );
+ }
+ };
+});
+
+// submit delegation
+if ( !jQuery.support.submitBubbles ) {
+
+ jQuery.event.special.submit = {
+ setup: function( data, namespaces ) {
+ if ( this.nodeName.toLowerCase() !== "form" ) {
+ jQuery.event.add(this, "click.specialSubmit", function( e ) {
+ var elem = e.target,
+ type = elem.type;
+
+ if ( (type === "submit" || type === "image") && jQuery( elem ).closest("form").length ) {
+ e.liveFired = undefined;
+ return trigger( "submit", this, arguments );
+ }
+ });
+
+ jQuery.event.add(this, "keypress.specialSubmit", function( e ) {
+ var elem = e.target,
+ type = elem.type;
+
+ if ( (type === "text" || type === "password") && jQuery( elem ).closest("form").length && e.keyCode === 13 ) {
+ e.liveFired = undefined;
+ return trigger( "submit", this, arguments );
+ }
+ });
+
+ } else {
+ return false;
+ }
+ },
+
+ teardown: function( namespaces ) {
+ jQuery.event.remove( this, ".specialSubmit" );
+ }
+ };
+
+}
+
+// change delegation, happens here so we have bind.
+if ( !jQuery.support.changeBubbles ) {
+
+ var changeFilters,
+
+ getVal = function( elem ) {
+ var type = elem.type, val = elem.value;
+
+ if ( type === "radio" || type === "checkbox" ) {
+ val = elem.checked;
+
+ } else if ( type === "select-multiple" ) {
+ val = elem.selectedIndex > -1 ?
+ jQuery.map( elem.options, function( elem ) {
+ return elem.selected;
+ }).join("-") :
+ "";
+
+ } else if ( elem.nodeName.toLowerCase() === "select" ) {
+ val = elem.selectedIndex;
+ }
+
+ return val;
+ },
+
+ testChange = function testChange( e ) {
+ var elem = e.target, data, val;
+
+ if ( !rformElems.test( elem.nodeName ) || elem.readOnly ) {
+ return;
+ }
+
+ data = jQuery.data( elem, "_change_data" );
+ val = getVal(elem);
+
+ // the current data will be also retrieved by beforeactivate
+ if ( e.type !== "focusout" || elem.type !== "radio" ) {
+ jQuery.data( elem, "_change_data", val );
+ }
+
+ if ( data === undefined || val === data ) {
+ return;
+ }
+
+ if ( data != null || val ) {
+ e.type = "change";
+ e.liveFired = undefined;
+ return jQuery.event.trigger( e, arguments[1], elem );
+ }
+ };
+
+ jQuery.event.special.change = {
+ filters: {
+ focusout: testChange,
+
+ beforedeactivate: testChange,
+
+ click: function( e ) {
+ var elem = e.target, type = elem.type;
+
+ if ( type === "radio" || type === "checkbox" || elem.nodeName.toLowerCase() === "select" ) {
+ return testChange.call( this, e );
+ }
+ },
+
+ // Change has to be called before submit
+ // Keydown will be called before keypress, which is used in submit-event delegation
+ keydown: function( e ) {
+ var elem = e.target, type = elem.type;
+
+ if ( (e.keyCode === 13 && elem.nodeName.toLowerCase() !== "textarea") ||
+ (e.keyCode === 32 && (type === "checkbox" || type === "radio")) ||
+ type === "select-multiple" ) {
+ return testChange.call( this, e );
+ }
+ },
+
+ // Beforeactivate happens also before the previous element is blurred
+ // with this event you can't trigger a change event, but you can store
+ // information
+ beforeactivate: function( e ) {
+ var elem = e.target;
+ jQuery.data( elem, "_change_data", getVal(elem) );
+ }
+ },
+
+ setup: function( data, namespaces ) {
+ if ( this.type === "file" ) {
+ return false;
+ }
+
+ for ( var type in changeFilters ) {
+ jQuery.event.add( this, type + ".specialChange", changeFilters[type] );
+ }
+
+ return rformElems.test( this.nodeName );
+ },
+
+ teardown: function( namespaces ) {
+ jQuery.event.remove( this, ".specialChange" );
+
+ return rformElems.test( this.nodeName );
+ }
+ };
+
+ changeFilters = jQuery.event.special.change.filters;
+
+ // Handle when the input is .focus()'d
+ changeFilters.focus = changeFilters.beforeactivate;
+}
+
+function trigger( type, elem, args ) {
+ args[0].type = type;
+ return jQuery.event.handle.apply( elem, args );
+}
+
+// Create "bubbling" focus and blur events
+if ( document.addEventListener ) {
+ jQuery.each({ focus: "focusin", blur: "focusout" }, function( orig, fix ) {
+ jQuery.event.special[ fix ] = {
+ setup: function() {
+ if ( focusCounts[fix]++ === 0 ) {
+ document.addEventListener( orig, handler, true );
+ }
+ },
+ teardown: function() {
+ if ( --focusCounts[fix] === 0 ) {
+ document.removeEventListener( orig, handler, true );
+ }
+ }
+ };
+
+ function handler( e ) {
+ e = jQuery.event.fix( e );
+ e.type = fix;
+ return jQuery.event.trigger( e, null, e.target );
+ }
+ });
+}
+
+jQuery.each(["bind", "one"], function( i, name ) {
+ jQuery.fn[ name ] = function( type, data, fn ) {
+ // Handle object literals
+ if ( typeof type === "object" ) {
+ for ( var key in type ) {
+ this[ name ](key, data, type[key], fn);
+ }
+ return this;
+ }
+
+ if ( jQuery.isFunction( data ) || data === false ) {
+ fn = data;
+ data = undefined;
+ }
+
+ var handler = name === "one" ? jQuery.proxy( fn, function( event ) {
+ jQuery( this ).unbind( event, handler );
+ return fn.apply( this, arguments );
+ }) : fn;
+
+ if ( type === "unload" && name !== "one" ) {
+ this.one( type, data, fn );
+
+ } else {
+ for ( var i = 0, l = this.length; i < l; i++ ) {
+ jQuery.event.add( this[i], type, handler, data );
+ }
+ }
+
+ return this;
+ };
+});
+
+jQuery.fn.extend({
+ unbind: function( type, fn ) {
+ // Handle object literals
+ if ( typeof type === "object" && !type.preventDefault ) {
+ for ( var key in type ) {
+ this.unbind(key, type[key]);
+ }
+
+ } else {
+ for ( var i = 0, l = this.length; i < l; i++ ) {
+ jQuery.event.remove( this[i], type, fn );
+ }
+ }
+
+ return this;
+ },
+
+ delegate: function( selector, types, data, fn ) {
+ return this.live( types, data, fn, selector );
+ },
+
+ undelegate: function( selector, types, fn ) {
+ if ( arguments.length === 0 ) {
+ return this.unbind( "live" );
+
+ } else {
+ return this.die( types, null, fn, selector );
+ }
+ },
+
+ trigger: function( type, data ) {
+ return this.each(function() {
+ jQuery.event.trigger( type, data, this );
+ });
+ },
+
+ triggerHandler: function( type, data ) {
+ if ( this[0] ) {
+ var event = jQuery.Event( type );
+ event.preventDefault();
+ event.stopPropagation();
+ jQuery.event.trigger( event, data, this[0] );
+ return event.result;
+ }
+ },
+
+ toggle: function( fn ) {
+ // Save reference to arguments for access in closure
+ var args = arguments,
+ i = 1;
+
+ // link all the functions, so any of them can unbind this click handler
+ while ( i < args.length ) {
+ jQuery.proxy( fn, args[ i++ ] );
+ }
+
+ return this.click( jQuery.proxy( fn, 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;
+ }));
+ },
+
+ hover: function( fnOver, fnOut ) {
+ return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver );
+ }
+});
+
+var liveMap = {
+ focus: "focusin",
+ blur: "focusout",
+ mouseenter: "mouseover",
+ mouseleave: "mouseout"
+};
+
+jQuery.each(["live", "die"], function( i, name ) {
+ jQuery.fn[ name ] = function( types, data, fn, origSelector /* Internal Use Only */ ) {
+ var type, i = 0, match, namespaces, preType,
+ selector = origSelector || this.selector,
+ context = origSelector ? this : jQuery( this.context );
+
+ if ( typeof types === "object" && !types.preventDefault ) {
+ for ( var key in types ) {
+ context[ name ]( key, data, types[key], selector );
+ }
+
+ return this;
+ }
+
+ if ( jQuery.isFunction( data ) ) {
+ fn = data;
+ data = undefined;
+ }
+
+ types = (types || "").split(" ");
+
+ while ( (type = types[ i++ ]) != null ) {
+ match = rnamespaces.exec( type );
+ namespaces = "";
+
+ if ( match ) {
+ namespaces = match[0];
+ type = type.replace( rnamespaces, "" );
+ }
+
+ if ( type === "hover" ) {
+ types.push( "mouseenter" + namespaces, "mouseleave" + namespaces );
+ continue;
+ }
+
+ preType = type;
+
+ if ( type === "focus" || type === "blur" ) {
+ types.push( liveMap[ type ] + namespaces );
+ type = type + namespaces;
+
+ } else {
+ type = (liveMap[ type ] || type) + namespaces;
+ }
+
+ if ( name === "live" ) {
+ // bind live handler
+ for ( var j = 0, l = context.length; j < l; j++ ) {
+ jQuery.event.add( context[j], "live." + liveConvert( type, selector ),
+ { data: data, selector: selector, handler: fn, origType: type, origHandler: fn, preType: preType } );
+ }
+
+ } else {
+ // unbind live handler
+ context.unbind( "live." + liveConvert( type, selector ), fn );
+ }
+ }
+
+ return this;
+ };
+});
+
+function liveHandler( event ) {
+ var stop, maxLevel, related, match, handleObj, elem, j, i, l, data, close, namespace, ret,
+ elems = [],
+ selectors = [],
+ events = jQuery.data( this, this.nodeType ? "events" : "__events__" );
+
+ if ( typeof events === "function" ) {
+ events = events.events;
+ }
+
+ // Make sure we avoid non-left-click bubbling in Firefox (#3861)
+ if ( event.liveFired === this || !events || !events.live || event.button && event.type === "click" ) {
+ return;
+ }
+
+ if ( event.namespace ) {
+ namespace = new RegExp("(^|\\.)" + event.namespace.split(".").join("\\.(?:.*\\.)?") + "(\\.|$)");
+ }
+
+ event.liveFired = this;
+
+ var live = events.live.slice(0);
+
+ for ( j = 0; j < live.length; j++ ) {
+ handleObj = live[j];
+
+ if ( handleObj.origType.replace( rnamespaces, "" ) === event.type ) {
+ selectors.push( handleObj.selector );
+
+ } else {
+ live.splice( j--, 1 );
+ }
+ }
+
+ match = jQuery( event.target ).closest( selectors, event.currentTarget );
+
+ for ( i = 0, l = match.length; i < l; i++ ) {
+ close = match[i];
+
+ for ( j = 0; j < live.length; j++ ) {
+ handleObj = live[j];
+
+ if ( close.selector === handleObj.selector && (!namespace || namespace.test( handleObj.namespace )) ) {
+ elem = close.elem;
+ related = null;
+
+ // Those two events require additional checking
+ if ( handleObj.preType === "mouseenter" || handleObj.preType === "mouseleave" ) {
+ event.type = handleObj.preType;
+ related = jQuery( event.relatedTarget ).closest( handleObj.selector )[0];
+ }
+
+ if ( !related || related !== elem ) {
+ elems.push({ elem: elem, handleObj: handleObj, level: close.level });
+ }
+ }
+ }
+ }
+
+ for ( i = 0, l = elems.length; i < l; i++ ) {
+ match = elems[i];
+
+ if ( maxLevel && match.level > maxLevel ) {
+ break;
+ }
+
+ event.currentTarget = match.elem;
+ event.data = match.handleObj.data;
+ event.handleObj = match.handleObj;
+
+ ret = match.handleObj.origHandler.apply( match.elem, arguments );
+
+ if ( ret === false || event.isPropagationStopped() ) {
+ maxLevel = match.level;
+
+ if ( ret === false ) {
+ stop = false;
+ }
+ if ( event.isImmediatePropagationStopped() ) {
+ break;
+ }
+ }
+ }
+
+ return stop;
+}
+
+function liveConvert( type, selector ) {
+ return (type && type !== "*" ? type + "." : "") + selector.replace(rperiod, "`").replace(rspace, "&");
+}
+
+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").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.bind( name, data, fn ) :
+ this.trigger( name );
+ };
+
+ if ( jQuery.attrFn ) {
+ jQuery.attrFn[ name ] = true;
+ }
+});
+
+// Prevent memory leaks in IE
+// Window isn't included so as not to unbind existing unload events
+// More info:
+// - http://isaacschlueter.com/2006/10/msie-memory-leaks/
+if ( window.attachEvent && !window.addEventListener ) {
+ jQuery(window).bind("unload", function() {
+ for ( var id in jQuery.cache ) {
+ if ( jQuery.cache[ id ].handle ) {
+ // Try/Catch is to handle iframes being unloaded, see #4280
+ try {
+ jQuery.event.remove( jQuery.cache[ id ].handle.elem );
+ } catch(e) {}
+ }
+ }
+ });
+}
+
+
+/*!
+ * Sizzle CSS Selector Engine - v1.0
+ * Copyright 2009, The Dojo Foundation
+ * Released under the MIT, BSD, and GPL Licenses.
+ * More information: http://sizzlejs.com/
+ */
+(function(){
+
+var chunker = /((?:\((?:\([^()]+\)|[^()]+)+\)|\[(?:\[[^\[\]]*\]|['"][^'"]*['"]|[^\[\]'"]+)+\]|\\.|[^ >+~,(\[\\]+)+|[>+~])(\s*,\s*)?((?:.|\r|\n)*)/g,
+ done = 0,
+ toString = Object.prototype.toString,
+ hasDuplicate = false,
+ baseHasDuplicate = true;
+
+// Here we check if the JavaScript engine is using some sort of
+// optimization where it does not always call our comparision
+// function. If that is the case, discard the hasDuplicate value.
+// Thus far that includes Google Chrome.
+[0, 0].sort(function() {
+ baseHasDuplicate = false;
+ return 0;
+});
+
+var Sizzle = function( selector, context, results, seed ) {
+ results = results || [];
+ context = context || document;
+
+ var origContext = context;
+
+ if ( context.nodeType !== 1 && context.nodeType !== 9 ) {
+ return [];
+ }
+
+ if ( !selector || typeof selector !== "string" ) {
+ return results;
+ }
+
+ var m, set, checkSet, extra, ret, cur, pop, i,
+ prune = true,
+ contextXML = Sizzle.isXML( context ),
+ parts = [],
+ soFar = selector;
+
+ // Reset the position of the chunker regexp (start from head)
+ do {
+ chunker.exec( "" );
+ m = chunker.exec( soFar );
+
+ if ( m ) {
+ soFar = m[3];
+
+ parts.push( m[1] );
+
+ if ( m[2] ) {
+ extra = m[3];
+ break;
+ }
+ }
+ } while ( m );
+
+ if ( parts.length > 1 && origPOS.exec( selector ) ) {
+
+ if ( parts.length === 2 && Expr.relative[ parts[0] ] ) {
+ set = posProcess( parts[0] + parts[1], context );
+
+ } else {
+ set = Expr.relative[ parts[0] ] ?
+ [ context ] :
+ Sizzle( parts.shift(), context );
+
+ while ( parts.length ) {
+ selector = parts.shift();
+
+ if ( Expr.relative[ selector ] ) {
+ selector += parts.shift();
+ }
+
+ set = posProcess( selector, set );
+ }
+ }
+
+ } else {
+ // Take a shortcut and set the context if the root selector is an ID
+ // (but not if it'll be faster if the inner selector is an ID)
+ if ( !seed && parts.length > 1 && context.nodeType === 9 && !contextXML &&
+ Expr.match.ID.test(parts[0]) && !Expr.match.ID.test(parts[parts.length - 1]) ) {
+
+ ret = Sizzle.find( parts.shift(), context, contextXML );
+ context = ret.expr ?
+ Sizzle.filter( ret.expr, ret.set )[0] :
+ ret.set[0];
+ }
+
+ if ( context ) {
+ ret = seed ?
+ { expr: parts.pop(), set: makeArray(seed) } :
+ Sizzle.find( parts.pop(), parts.length === 1 && (parts[0] === "~" || parts[0] === "+") && context.parentNode ? context.parentNode : context, contextXML );
+
+ set = ret.expr ?
+ Sizzle.filter( ret.expr, ret.set ) :
+ ret.set;
+
+ if ( parts.length > 0 ) {
+ checkSet = makeArray( set );
+
+ } else {
+ prune = false;
+ }
+
+ while ( parts.length ) {
+ cur = parts.pop();
+ pop = cur;
+
+ if ( !Expr.relative[ cur ] ) {
+ cur = "";
+ } else {
+ pop = parts.pop();
+ }
+
+ if ( pop == null ) {
+ pop = context;
+ }
+
+ Expr.relative[ cur ]( checkSet, pop, contextXML );
+ }
+
+ } else {
+ checkSet = parts = [];
+ }
+ }
+
+ if ( !checkSet ) {
+ checkSet = set;
+ }
+
+ if ( !checkSet ) {
+ Sizzle.error( cur || selector );
+ }
+
+ if ( toString.call(checkSet) === "[object Array]" ) {
+ if ( !prune ) {
+ results.push.apply( results, checkSet );
+
+ } else if ( context && context.nodeType === 1 ) {
+ for ( i = 0; checkSet[i] != null; i++ ) {
+ if ( checkSet[i] && (checkSet[i] === true || checkSet[i].nodeType === 1 && Sizzle.contains(context, checkSet[i])) ) {
+ results.push( set[i] );
+ }
+ }
+
+ } else {
+ for ( i = 0; checkSet[i] != null; i++ ) {
+ if ( checkSet[i] && checkSet[i].nodeType === 1 ) {
+ results.push( set[i] );
+ }
+ }
+ }
+
+ } else {
+ makeArray( checkSet, results );
+ }
+
+ if ( extra ) {
+ Sizzle( extra, origContext, results, seed );
+ Sizzle.uniqueSort( results );
+ }
+
+ return results;
+};
+
+Sizzle.uniqueSort = function( results ) {
+ if ( sortOrder ) {
+ hasDuplicate = baseHasDuplicate;
+ results.sort( sortOrder );
+
+ if ( hasDuplicate ) {
+ for ( var i = 1; i < results.length; i++ ) {
+ if ( results[i] === results[ i - 1 ] ) {
+ results.splice( i--, 1 );
+ }
+ }
+ }
+ }
+
+ return results;
+};
+
+Sizzle.matches = function( expr, set ) {
+ return Sizzle( expr, null, null, set );
+};
+
+Sizzle.matchesSelector = function( node, expr ) {
+ return Sizzle( expr, null, null, [node] ).length > 0;
+};
+
+Sizzle.find = function( expr, context, isXML ) {
+ var set;
+
+ if ( !expr ) {
+ return [];
+ }
+
+ for ( var i = 0, l = Expr.order.length; i < l; i++ ) {
+ var match,
+ type = Expr.order[i];
+
+ if ( (match = Expr.leftMatch[ type ].exec( expr )) ) {
+ var left = match[1];
+ match.splice( 1, 1 );
+
+ if ( left.substr( left.length - 1 ) !== "\\" ) {
+ match[1] = (match[1] || "").replace(/\\/g, "");
+ set = Expr.find[ type ]( match, context, isXML );
+
+ if ( set != null ) {
+ expr = expr.replace( Expr.match[ type ], "" );
+ break;
+ }
+ }
+ }
+ }
+
+ if ( !set ) {
+ set = context.getElementsByTagName( "*" );
+ }
+
+ return { set: set, expr: expr };
+};
+
+Sizzle.filter = function( expr, set, inplace, not ) {
+ var match, anyFound,
+ old = expr,
+ result = [],
+ curLoop = set,
+ isXMLFilter = set && set[0] && Sizzle.isXML( set[0] );
+
+ while ( expr && set.length ) {
+ for ( var type in Expr.filter ) {
+ if ( (match = Expr.leftMatch[ type ].exec( expr )) != null && match[2] ) {
+ var found, item,
+ filter = Expr.filter[ type ],
+ left = match[1];
+
+ anyFound = false;
+
+ match.splice(1,1);
+
+ if ( left.substr( left.length - 1 ) === "\\" ) {
+ continue;
+ }
+
+ if ( curLoop === result ) {
+ result = [];
+ }
+
+ if ( Expr.preFilter[ type ] ) {
+ match = Expr.preFilter[ type ]( match, curLoop, inplace, result, not, isXMLFilter );
+
+ if ( !match ) {
+ anyFound = found = true;
+
+ } else if ( match === true ) {
+ continue;
+ }
+ }
+
+ if ( match ) {
+ for ( var i = 0; (item = curLoop[i]) != null; i++ ) {
+ if ( item ) {
+ found = filter( item, match, i, curLoop );
+ var pass = not ^ !!found;
+
+ if ( inplace && found != null ) {
+ if ( pass ) {
+ anyFound = true;
+
+ } else {
+ curLoop[i] = false;
+ }
+
+ } else if ( pass ) {
+ result.push( item );
+ anyFound = true;
+ }
+ }
+ }
+ }
+
+ if ( found !== undefined ) {
+ if ( !inplace ) {
+ curLoop = result;
+ }
+
+ expr = expr.replace( Expr.match[ type ], "" );
+
+ if ( !anyFound ) {
+ return [];
+ }
+
+ break;
+ }
+ }
+ }
+
+ // Improper expression
+ if ( expr === old ) {
+ if ( anyFound == null ) {
+ Sizzle.error( expr );
+
+ } else {
+ break;
+ }
+ }
+
+ old = expr;
+ }
+
+ return curLoop;
+};
+
+Sizzle.error = function( msg ) {
+ throw "Syntax error, unrecognized expression: " + msg;
+};
+
+var Expr = Sizzle.selectors = {
+ order: [ "ID", "NAME", "TAG" ],
+
+ match: {
+ ID: /#((?:[\w\u00c0-\uFFFF\-]|\\.)+)/,
+ CLASS: /\.((?:[\w\u00c0-\uFFFF\-]|\\.)+)/,
+ NAME: /\[name=['"]*((?:[\w\u00c0-\uFFFF\-]|\\.)+)['"]*\]/,
+ ATTR: /\[\s*((?:[\w\u00c0-\uFFFF\-]|\\.)+)\s*(?:(\S?=)\s*(['"]*)(.*?)\3|)\s*\]/,
+ TAG: /^((?:[\w\u00c0-\uFFFF\*\-]|\\.)+)/,
+ CHILD: /:(only|nth|last|first)-child(?:\((even|odd|[\dn+\-]*)\))?/,
+ POS: /:(nth|eq|gt|lt|first|last|even|odd)(?:\((\d*)\))?(?=[^\-]|$)/,
+ PSEUDO: /:((?:[\w\u00c0-\uFFFF\-]|\\.)+)(?:\((['"]?)((?:\([^\)]+\)|[^\(\)]*)+)\2\))?/
+ },
+
+ leftMatch: {},
+
+ attrMap: {
+ "class": "className",
+ "for": "htmlFor"
+ },
+
+ attrHandle: {
+ href: function( elem ) {
+ return elem.getAttribute( "href" );
+ }
+ },
+
+ relative: {
+ "+": function(checkSet, part){
+ var isPartStr = typeof part === "string",
+ isTag = isPartStr && !/\W/.test( part ),
+ isPartStrNotTag = isPartStr && !isTag;
+
+ if ( isTag ) {
+ part = part.toLowerCase();
+ }
+
+ for ( var i = 0, l = checkSet.length, elem; i < l; i++ ) {
+ if ( (elem = checkSet[i]) ) {
+ while ( (elem = elem.previousSibling) && elem.nodeType !== 1 ) {}
+
+ checkSet[i] = isPartStrNotTag || elem && elem.nodeName.toLowerCase() === part ?
+ elem || false :
+ elem === part;
+ }
+ }
+
+ if ( isPartStrNotTag ) {
+ Sizzle.filter( part, checkSet, true );
+ }
+ },
+
+ ">": function( checkSet, part ) {
+ var elem,
+ isPartStr = typeof part === "string",
+ i = 0,
+ l = checkSet.length;
+
+ if ( isPartStr && !/\W/.test( part ) ) {
+ part = part.toLowerCase();
+
+ for ( ; i < l; i++ ) {
+ elem = checkSet[i];
+
+ if ( elem ) {
+ var parent = elem.parentNode;
+ checkSet[i] = parent.nodeName.toLowerCase() === part ? parent : false;
+ }
+ }
+
+ } else {
+ for ( ; i < l; i++ ) {
+ elem = checkSet[i];
+
+ if ( elem ) {
+ checkSet[i] = isPartStr ?
+ elem.parentNode :
+ elem.parentNode === part;
+ }
+ }
+
+ if ( isPartStr ) {
+ Sizzle.filter( part, checkSet, true );
+ }
+ }
+ },
+
+ "": function(checkSet, part, isXML){
+ var nodeCheck,
+ doneName = done++,
+ checkFn = dirCheck;
+
+ if ( typeof part === "string" && !/\W/.test(part) ) {
+ part = part.toLowerCase();
+ nodeCheck = part;
+ checkFn = dirNodeCheck;
+ }
+
+ checkFn( "parentNode", part, doneName, checkSet, nodeCheck, isXML );
+ },
+
+ "~": function( checkSet, part, isXML ) {
+ var nodeCheck,
+ doneName = done++,
+ checkFn = dirCheck;
+
+ if ( typeof part === "string" && !/\W/.test( part ) ) {
+ part = part.toLowerCase();
+ nodeCheck = part;
+ checkFn = dirNodeCheck;
+ }
+
+ checkFn( "previousSibling", part, doneName, checkSet, nodeCheck, isXML );
+ }
+ },
+
+ find: {
+ ID: function( match, context, isXML ) {
+ if ( typeof context.getElementById !== "undefined" && !isXML ) {
+ var m = context.getElementById(match[1]);
+ // Check parentNode to catch when Blackberry 4.6 returns
+ // nodes that are no longer in the document #6963
+ return m && m.parentNode ? [m] : [];
+ }
+ },
+
+ NAME: function( match, context ) {
+ if ( typeof context.getElementsByName !== "undefined" ) {
+ var ret = [],
+ results = context.getElementsByName( match[1] );
+
+ for ( var i = 0, l = results.length; i < l; i++ ) {
+ if ( results[i].getAttribute("name") === match[1] ) {
+ ret.push( results[i] );
+ }
+ }
+
+ return ret.length === 0 ? null : ret;
+ }
+ },
+
+ TAG: function( match, context ) {
+ return context.getElementsByTagName( match[1] );
+ }
+ },
+ preFilter: {
+ CLASS: function( match, curLoop, inplace, result, not, isXML ) {
+ match = " " + match[1].replace(/\\/g, "") + " ";
+
+ if ( isXML ) {
+ return match;
+ }
+
+ for ( var i = 0, elem; (elem = curLoop[i]) != null; i++ ) {
+ if ( elem ) {
+ if ( not ^ (elem.className && (" " + elem.className + " ").replace(/[\t\n]/g, " ").indexOf(match) >= 0) ) {
+ if ( !inplace ) {
+ result.push( elem );
+ }
+
+ } else if ( inplace ) {
+ curLoop[i] = false;
+ }
+ }
+ }
+
+ return false;
+ },
+
+ ID: function( match ) {
+ return match[1].replace(/\\/g, "");
+ },
+
+ TAG: function( match, curLoop ) {
+ return match[1].toLowerCase();
+ },
+
+ CHILD: function( match ) {
+ if ( match[1] === "nth" ) {
+ // parse equations like 'even', 'odd', '5', '2n', '3n+2', '4n-1', '-n+6'
+ var test = /(-?)(\d*)n((?:\+|-)?\d*)/.exec(
+ match[2] === "even" && "2n" || match[2] === "odd" && "2n+1" ||
+ !/\D/.test( match[2] ) && "0n+" + match[2] || match[2]);
+
+ // calculate the numbers (first)n+(last) including if they are negative
+ match[2] = (test[1] + (test[2] || 1)) - 0;
+ match[3] = test[3] - 0;
+ }
+
+ // TODO: Move to normal caching system
+ match[0] = done++;
+
+ return match;
+ },
+
+ ATTR: function( match, curLoop, inplace, result, not, isXML ) {
+ var name = match[1].replace(/\\/g, "");
+
+ if ( !isXML && Expr.attrMap[name] ) {
+ match[1] = Expr.attrMap[name];
+ }
+
+ if ( match[2] === "~=" ) {
+ match[4] = " " + match[4] + " ";
+ }
+
+ return match;
+ },
+
+ PSEUDO: function( match, curLoop, inplace, result, not ) {
+ if ( match[1] === "not" ) {
+ // If we're dealing with a complex expression, or a simple one
+ if ( ( chunker.exec(match[3]) || "" ).length > 1 || /^\w/.test(match[3]) ) {
+ match[3] = Sizzle(match[3], null, null, curLoop);
+
+ } else {
+ var ret = Sizzle.filter(match[3], curLoop, inplace, true ^ not);
+
+ if ( !inplace ) {
+ result.push.apply( result, ret );
+ }
+
+ return false;
+ }
+
+ } else if ( Expr.match.POS.test( match[0] ) || Expr.match.CHILD.test( match[0] ) ) {
+ return true;
+ }
+
+ return match;
+ },
+
+ POS: function( match ) {
+ match.unshift( true );
+
+ return match;
+ }
+ },
+
+ filters: {
+ enabled: function( elem ) {
+ return elem.disabled === false && elem.type !== "hidden";
+ },
+
+ disabled: function( elem ) {
+ return elem.disabled === true;
+ },
+
+ checked: function( elem ) {
+ return elem.checked === true;
+ },
+
+ selected: function( elem ) {
+ // Accessing this property makes selected-by-default
+ // options in Safari work properly
+ elem.parentNode.selectedIndex;
+
+ return elem.selected === true;
+ },
+
+ parent: function( elem ) {
+ return !!elem.firstChild;
+ },
+
+ empty: function( elem ) {
+ return !elem.firstChild;
+ },
+
+ has: function( elem, i, match ) {
+ return !!Sizzle( match[3], elem ).length;
+ },
+
+ header: function( elem ) {
+ return (/h\d/i).test( elem.nodeName );
+ },
+
+ text: function( elem ) {
+ return "text" === elem.type;
+ },
+ radio: function( elem ) {
+ return "radio" === elem.type;
+ },
+
+ checkbox: function( elem ) {
+ return "checkbox" === elem.type;
+ },
+
+ file: function( elem ) {
+ return "file" === elem.type;
+ },
+ password: function( elem ) {
+ return "password" === elem.type;
+ },
+
+ submit: function( elem ) {
+ return "submit" === elem.type;
+ },
+
+ image: function( elem ) {
+ return "image" === elem.type;
+ },
+
+ reset: function( elem ) {
+ return "reset" === elem.type;
+ },
+
+ button: function( elem ) {
+ return "button" === elem.type || elem.nodeName.toLowerCase() === "button";
+ },
+
+ input: function( elem ) {
+ return (/input|select|textarea|button/i).test( elem.nodeName );
+ }
+ },
+ setFilters: {
+ first: function( elem, i ) {
+ return i === 0;
+ },
+
+ last: function( elem, i, match, array ) {
+ return i === array.length - 1;
+ },
+
+ even: function( elem, i ) {
+ return i % 2 === 0;
+ },
+
+ odd: function( elem, i ) {
+ return i % 2 === 1;
+ },
+
+ lt: function( elem, i, match ) {
+ return i < match[3] - 0;
+ },
+
+ gt: function( elem, i, match ) {
+ return i > match[3] - 0;
+ },
+
+ nth: function( elem, i, match ) {
+ return match[3] - 0 === i;
+ },
+
+ eq: function( elem, i, match ) {
+ return match[3] - 0 === i;
+ }
+ },
+ filter: {
+ PSEUDO: function( elem, match, i, array ) {
+ var name = match[1],
+ filter = Expr.filters[ name ];
+
+ if ( filter ) {
+ return filter( elem, i, match, array );
+
+ } else if ( name === "contains" ) {
+ return (elem.textContent || elem.innerText || Sizzle.getText([ elem ]) || "").indexOf(match[3]) >= 0;
+
+ } else if ( name === "not" ) {
+ var not = match[3];
+
+ for ( var j = 0, l = not.length; j < l; j++ ) {
+ if ( not[j] === elem ) {
+ return false;
+ }
+ }
+
+ return true;
+
+ } else {
+ Sizzle.error( "Syntax error, unrecognized expression: " + name );
+ }
+ },
+
+ CHILD: function( elem, match ) {
+ var type = match[1],
+ 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;
+
+ case "last":
+ while ( (node = node.nextSibling) ) {
+ if ( node.nodeType === 1 ) {
+ return false;
+ }
+ }
+
+ return true;
+
+ case "nth":
+ var first = match[2],
+ last = match[3];
+
+ if ( first === 1 && last === 0 ) {
+ return true;
+ }
+
+ var doneName = match[0],
+ parent = elem.parentNode;
+
+ if ( parent && (parent.sizcache !== doneName || !elem.nodeIndex) ) {
+ var count = 0;
+
+ for ( node = parent.firstChild; node; node = node.nextSibling ) {
+ if ( node.nodeType === 1 ) {
+ node.nodeIndex = ++count;
+ }
+ }
+
+ parent.sizcache = doneName;
+ }
+
+ var diff = elem.nodeIndex - last;
+
+ if ( first === 0 ) {
+ return diff === 0;
+
+ } else {
+ return ( diff % first === 0 && diff / first >= 0 );
+ }
+ }
+ },
+
+ ID: function( elem, match ) {
+ return elem.nodeType === 1 && elem.getAttribute("id") === match;
+ },
+
+ TAG: function( elem, match ) {
+ return (match === "*" && elem.nodeType === 1) || elem.nodeName.toLowerCase() === match;
+ },
+
+ CLASS: function( elem, match ) {
+ return (" " + (elem.className || elem.getAttribute("class")) + " ")
+ .indexOf( match ) > -1;
+ },
+
+ ATTR: function( elem, match ) {
+ var name = match[1],
+ result = Expr.attrHandle[ name ] ?
+ Expr.attrHandle[ name ]( elem ) :
+ elem[ name ] != null ?
+ elem[ name ] :
+ elem.getAttribute( name ),
+ value = result + "",
+ type = match[2],
+ check = match[4];
+
+ return result == null ?
+ type === "!=" :
+ type === "=" ?
+ value === check :
+ type === "*=" ?
+ value.indexOf(check) >= 0 :
+ type === "~=" ?
+ (" " + value + " ").indexOf(check) >= 0 :
+ !check ?
+ value && result !== false :
+ type === "!=" ?
+ value !== check :
+ type === "^=" ?
+ value.indexOf(check) === 0 :
+ type === "$=" ?
+ value.substr(value.length - check.length) === check :
+ type === "|=" ?
+ value === check || value.substr(0, check.length + 1) === check + "-" :
+ false;
+ },
+
+ POS: function( elem, match, i, array ) {
+ var name = match[2],
+ filter = Expr.setFilters[ name ];
+
+ if ( filter ) {
+ return filter( elem, i, match, array );
+ }
+ }
+ }
+};
+
+var origPOS = Expr.match.POS,
+ fescape = function(all, num){
+ return "\\" + (num - 0 + 1);
+ };
+
+for ( var type in Expr.match ) {
+ Expr.match[ type ] = new RegExp( Expr.match[ type ].source + (/(?![^\[]*\])(?![^\(]*\))/.source) );
+ Expr.leftMatch[ type ] = new RegExp( /(^(?:.|\r|\n)*?)/.source + Expr.match[ type ].source.replace(/\\(\d+)/g, fescape) );
+}
+
+var makeArray = function( array, results ) {
+ array = Array.prototype.slice.call( array, 0 );
+
+ if ( results ) {
+ results.push.apply( results, array );
+ return results;
+ }
+
+ return array;
+};
+
+// Perform a simple check to determine if the browser is capable of
+// converting a NodeList to an array using builtin methods.
+// Also verifies that the returned array holds DOM nodes
+// (which is not the case in the Blackberry browser)
+try {
+ Array.prototype.slice.call( document.documentElement.childNodes, 0 )[0].nodeType;
+
+// Provide a fallback method if it does not work
+} catch( e ) {
+ makeArray = function( array, results ) {
+ var i = 0,
+ ret = results || [];
+
+ if ( toString.call(array) === "[object Array]" ) {
+ Array.prototype.push.apply( ret, array );
+
+ } else {
+ if ( typeof array.length === "number" ) {
+ for ( var l = array.length; i < l; i++ ) {
+ ret.push( array[i] );
+ }
+
+ } else {
+ for ( ; array[i]; i++ ) {
+ ret.push( array[i] );
+ }
+ }
+ }
+
+ return ret;
+ };
+}
+
+var sortOrder, siblingCheck;
+
+if ( document.documentElement.compareDocumentPosition ) {
+ sortOrder = function( a, b ) {
+ if ( a === b ) {
+ hasDuplicate = true;
+ return 0;
+ }
+
+ if ( !a.compareDocumentPosition || !b.compareDocumentPosition ) {
+ return a.compareDocumentPosition ? -1 : 1;
+ }
+
+ return a.compareDocumentPosition(b) & 4 ? -1 : 1;
+ };
+
+} else {
+ sortOrder = function( a, b ) {
+ var al, bl,
+ ap = [],
+ bp = [],
+ aup = a.parentNode,
+ bup = b.parentNode,
+ cur = aup;
+
+ // The nodes are identical, we can exit early
+ if ( a === b ) {
+ hasDuplicate = true;
+ return 0;
+
+ // If the nodes are siblings (or identical) we can do a quick check
+ } else 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 );
+ };
+
+ siblingCheck = function( a, b, ret ) {
+ if ( a === b ) {
+ return ret;
+ }
+
+ var cur = a.nextSibling;
+
+ while ( cur ) {
+ if ( cur === b ) {
+ return -1;
+ }
+
+ cur = cur.nextSibling;
+ }
+
+ return 1;
+ };
+}
+
+// Utility function for retreiving the text value of an array of DOM nodes
+Sizzle.getText = function( elems ) {
+ var ret = "", elem;
+
+ for ( var i = 0; elems[i]; i++ ) {
+ elem = elems[i];
+
+ // Get the text from text nodes and CDATA nodes
+ if ( elem.nodeType === 3 || elem.nodeType === 4 ) {
+ ret += elem.nodeValue;
+
+ // Traverse everything else, except comment nodes
+ } else if ( elem.nodeType !== 8 ) {
+ ret += Sizzle.getText( elem.childNodes );
+ }
+ }
+
+ return ret;
+};
+
+// Check to see if the browser returns elements by name when
+// querying by getElementById (and provide a workaround)
+(function(){
+ // We're going to inject a fake input element with a specified name
+ var form = document.createElement("div"),
+ id = "script" + (new Date()).getTime(),
+ root = document.documentElement;
+
+ form.innerHTML = "<a name='" + id + "'/>";
+
+ // Inject it into the root element, check its status, and remove it quickly
+ root.insertBefore( form, root.firstChild );
+
+ // The workaround has to do additional checks after a getElementById
+ // Which slows things down for other browsers (hence the branching)
+ if ( document.getElementById( id ) ) {
+ Expr.find.ID = function( match, context, isXML ) {
+ if ( typeof context.getElementById !== "undefined" && !isXML ) {
+ var m = context.getElementById(match[1]);
+
+ return m ?
+ m.id === match[1] || typeof m.getAttributeNode !== "undefined" && m.getAttributeNode("id").nodeValue === match[1] ?
+ [m] :
+ undefined :
+ [];
+ }
+ };
+
+ Expr.filter.ID = function( elem, match ) {
+ var node = typeof elem.getAttributeNode !== "undefined" && elem.getAttributeNode("id");
+
+ return elem.nodeType === 1 && node && node.nodeValue === match;
+ };
+ }
+
+ root.removeChild( form );
+
+ // release memory in IE
+ root = form = null;
+})();
+
+(function(){
+ // Check to see if the browser returns only elements
+ // when doing getElementsByTagName("*")
+
+ // Create a fake element
+ var div = document.createElement("div");
+ div.appendChild( document.createComment("") );
+
+ // Make sure no comments are found
+ if ( div.getElementsByTagName("*").length > 0 ) {
+ Expr.find.TAG = function( match, context ) {
+ var results = context.getElementsByTagName( match[1] );
+
+ // Filter out possible comments
+ if ( match[1] === "*" ) {
+ var tmp = [];
+
+ for ( var i = 0; results[i]; i++ ) {
+ if ( results[i].nodeType === 1 ) {
+ tmp.push( results[i] );
+ }
+ }
+
+ results = tmp;
+ }
+
+ return results;
+ };
+ }
+
+ // Check to see if an attribute returns normalized href attributes
+ div.innerHTML = "<a href='#'></a>";
+
+ if ( div.firstChild && typeof div.firstChild.getAttribute !== "undefined" &&
+ div.firstChild.getAttribute("href") !== "#" ) {
+
+ Expr.attrHandle.href = function( elem ) {
+ return elem.getAttribute( "href", 2 );
+ };
+ }
+
+ // release memory in IE
+ div = null;
+})();
+
+if ( document.querySelectorAll ) {
+ (function(){
+ var oldSizzle = Sizzle,
+ div = document.createElement("div"),
+ id = "__sizzle__";
+
+ div.innerHTML = "<p class='TEST'></p>";
+
+ // Safari can't handle uppercase or unicode characters when
+ // in quirks mode.
+ if ( div.querySelectorAll && div.querySelectorAll(".TEST").length === 0 ) {
+ return;
+ }
+
+ Sizzle = function( query, context, extra, seed ) {
+ context = context || document;
+
+ // Make sure that attribute selectors are quoted
+ query = query.replace(/\=\s*([^'"\]]*)\s*\]/g, "='$1']");
+
+ // Only use querySelectorAll on non-XML documents
+ // (ID selectors don't work in non-HTML documents)
+ if ( !seed && !Sizzle.isXML(context) ) {
+ if ( context.nodeType === 9 ) {
+ try {
+ return makeArray( context.querySelectorAll(query), extra );
+ } catch(qsaError) {}
+
+ // 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
+ } else if ( context.nodeType === 1 && context.nodeName.toLowerCase() !== "object" ) {
+ var old = context.getAttribute( "id" ),
+ nid = old || id;
+
+ if ( !old ) {
+ context.setAttribute( "id", nid );
+ }
+
+ try {
+ return makeArray( context.querySelectorAll( "#" + nid + " " + query ), extra );
+
+ } catch(pseudoError) {
+ } finally {
+ if ( !old ) {
+ context.removeAttribute( "id" );
+ }
+ }
+ }
+ }
+
+ return oldSizzle(query, context, extra, seed);
+ };
+
+ for ( var prop in oldSizzle ) {
+ Sizzle[ prop ] = oldSizzle[ prop ];
+ }
+
+ // release memory in IE
+ div = null;
+ })();
+}
+
+(function(){
+ var html = document.documentElement,
+ matches = html.matchesSelector || html.mozMatchesSelector || html.webkitMatchesSelector || html.msMatchesSelector,
+ pseudoWorks = false;
+
+ try {
+ // This should fail with an exception
+ // Gecko does not error, returns false instead
+ matches.call( document.documentElement, "[test!='']:sizzle" );
+
+ } catch( pseudoError ) {
+ pseudoWorks = true;
+ }
+
+ if ( matches ) {
+ Sizzle.matchesSelector = function( node, expr ) {
+ // Make sure that attribute selectors are quoted
+ expr = expr.replace(/\=\s*([^'"\]]*)\s*\]/g, "='$1']");
+
+ if ( !Sizzle.isXML( node ) ) {
+ try {
+ if ( pseudoWorks || !Expr.match.PSEUDO.test( expr ) && !/!=/.test( expr ) ) {
+ return matches.call( node, expr );
+ }
+ } catch(e) {}
+ }
+
+ return Sizzle(expr, null, null, [node]).length > 0;
+ };
+ }
+})();
+
+(function(){
+ var div = document.createElement("div");
+
+ div.innerHTML = "<div class='test e'></div><div class='test'></div>";
+
+ // Opera can't find a second classname (in 9.6)
+ // Also, make sure that getElementsByClassName actually exists
+ if ( !div.getElementsByClassName || div.getElementsByClassName("e").length === 0 ) {
+ return;
+ }
+
+ // Safari caches class attributes, doesn't catch changes (in 3.2)
+ div.lastChild.className = "e";
+
+ if ( div.getElementsByClassName("e").length === 1 ) {
+ return;
+ }
+
+ Expr.order.splice(1, 0, "CLASS");
+ Expr.find.CLASS = function( match, context, isXML ) {
+ if ( typeof context.getElementsByClassName !== "undefined" && !isXML ) {
+ return context.getElementsByClassName(match[1]);
+ }
+ };
+
+ // release memory in IE
+ div = null;
+})();
+
+function dirNodeCheck( dir, cur, doneName, checkSet, nodeCheck, isXML ) {
+ for ( var i = 0, l = checkSet.length; i < l; i++ ) {
+ var elem = checkSet[i];
+
+ if ( elem ) {
+ var match = false;
+
+ elem = elem[dir];
+
+ while ( elem ) {
+ if ( elem.sizcache === doneName ) {
+ match = checkSet[elem.sizset];
+ break;
+ }
+
+ if ( elem.nodeType === 1 && !isXML ){
+ elem.sizcache = doneName;
+ elem.sizset = i;
+ }
+
+ if ( elem.nodeName.toLowerCase() === cur ) {
+ match = elem;
+ break;
+ }
+
+ elem = elem[dir];
+ }
+
+ checkSet[i] = match;
+ }
+ }
+}
+
+function dirCheck( dir, cur, doneName, checkSet, nodeCheck, isXML ) {
+ for ( var i = 0, l = checkSet.length; i < l; i++ ) {
+ var elem = checkSet[i];
+
+ if ( elem ) {
+ var match = false;
+
+ elem = elem[dir];
+
+ while ( elem ) {
+ if ( elem.sizcache === doneName ) {
+ match = checkSet[elem.sizset];
+ break;
+ }
+
+ if ( elem.nodeType === 1 ) {
+ if ( !isXML ) {
+ elem.sizcache = doneName;
+ elem.sizset = i;
+ }
+
+ if ( typeof cur !== "string" ) {
+ if ( elem === cur ) {
+ match = true;
+ break;
+ }
+
+ } else if ( Sizzle.filter( cur, [elem] ).length > 0 ) {
+ match = elem;
+ break;
+ }
+ }
+
+ elem = elem[dir];
+ }
+
+ checkSet[i] = match;
+ }
+ }
+}
+
+if ( document.documentElement.contains ) {
+ Sizzle.contains = function( a, b ) {
+ return a !== b && (a.contains ? a.contains(b) : true);
+ };
+
+} else if ( document.documentElement.compareDocumentPosition ) {
+ Sizzle.contains = function( a, b ) {
+ return !!(a.compareDocumentPosition(b) & 16);
+ };
+
+} else {
+ Sizzle.contains = function() {
+ return false;
+ };
+}
+
+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 : 0).documentElement;
+
+ return documentElement ? documentElement.nodeName !== "HTML" : false;
+};
+
+var posProcess = function( selector, context ) {
+ var match,
+ tmpSet = [],
+ later = "",
+ root = context.nodeType ? [context] : context;
+
+ // Position selectors must be done after the filter
+ // And so must :not(positional) so we move all PSEUDOs to the end
+ while ( (match = Expr.match.PSEUDO.exec( selector )) ) {
+ later += match[0];
+ selector = selector.replace( Expr.match.PSEUDO, "" );
+ }
+
+ selector = Expr.relative[selector] ? selector + "*" : selector;
+
+ for ( var i = 0, l = root.length; i < l; i++ ) {
+ Sizzle( selector, root[i], tmpSet );
+ }
+
+ return Sizzle.filter( later, tmpSet );
+};
+
+// EXPOSE
+jQuery.find = Sizzle;
+jQuery.expr = Sizzle.selectors;
+jQuery.expr[":"] = jQuery.expr.filters;
+jQuery.unique = Sizzle.uniqueSort;
+jQuery.text = Sizzle.getText;
+jQuery.isXMLDoc = Sizzle.isXML;
+jQuery.contains = Sizzle.contains;
+
+
+})();
+
+
+var runtil = /Until$/,
+ rparentsprev = /^(?:parents|prevUntil|prevAll)/,
+ // Note: This RegExp should be improved, or likely pulled from Sizzle
+ rmultiselector = /,/,
+ isSimple = /^.[^:#\[\.,]*$/,
+ slice = Array.prototype.slice,
+ POS = jQuery.expr.match.POS;
+
+jQuery.fn.extend({
+ find: function( selector ) {
+ var ret = this.pushStack( "", "find", selector ),
+ length = 0;
+
+ for ( var 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 ( var n = length; n < ret.length; n++ ) {
+ for ( var r = 0; r < length; r++ ) {
+ if ( ret[r] === ret[n] ) {
+ ret.splice(n--, 1);
+ break;
+ }
+ }
+ }
+ }
+ }
+
+ return ret;
+ },
+
+ has: function( target ) {
+ var targets = jQuery( target );
+ return this.filter(function() {
+ for ( var i = 0, l = targets.length; i < l; 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 && jQuery.filter( selector, this ).length > 0;
+ },
+
+ closest: function( selectors, context ) {
+ var ret = [], i, l, cur = this[0];
+
+ if ( jQuery.isArray( selectors ) ) {
+ var match, selector,
+ matches = {},
+ level = 1;
+
+ if ( cur && selectors.length ) {
+ for ( i = 0, l = selectors.length; i < l; i++ ) {
+ selector = selectors[i];
+
+ if ( !matches[selector] ) {
+ matches[selector] = jQuery.expr.match.POS.test( selector ) ?
+ jQuery( selector, context || this.context ) :
+ selector;
+ }
+ }
+
+ while ( cur && cur.ownerDocument && cur !== context ) {
+ for ( selector in matches ) {
+ match = matches[selector];
+
+ if ( match.jquery ? match.index(cur) > -1 : jQuery(cur).is(match) ) {
+ ret.push({ selector: selector, elem: cur, level: level });
+ }
+ }
+
+ cur = cur.parentNode;
+ level++;
+ }
+ }
+
+ return ret;
+ }
+
+ var pos = POS.test( selectors ) ?
+ jQuery( selectors, context || this.context ) : null;
+
+ for ( i = 0, l = this.length; i < l; i++ ) {
+ cur = this[i];
+
+ while ( cur ) {
+ if ( pos ? pos.index(cur) > -1 : jQuery.find.matchesSelector(cur, selectors) ) {
+ ret.push( cur );
+ break;
+
+ } else {
+ cur = cur.parentNode;
+ if ( !cur || !cur.ownerDocument || cur === context ) {
+ break;
+ }
+ }
+ }
+ }
+
+ 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 ) {
+ if ( !elem || typeof elem === "string" ) {
+ return jQuery.inArray( this[0],
+ // If it receives a string, the selector is used
+ // If it receives nothing, the siblings are used
+ elem ? jQuery( elem ) : this.parent().children() );
+ }
+ // 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 || this.context ) :
+ jQuery.makeArray( selector ),
+ all = jQuery.merge( this.get(), set );
+
+ return this.pushStack( isDisconnected( set[0] ) || isDisconnected( all[0] ) ?
+ all :
+ jQuery.unique( all ) );
+ },
+
+ andSelf: function() {
+ return this.add( this.prevObject );
+ }
+});
+
+// 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;
+}
+
+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 jQuery.nth( elem, 2, "nextSibling" );
+ },
+ prev: function( elem ) {
+ return jQuery.nth( elem, 2, "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.makeArray( 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 ? jQuery.unique( ret ) : ret;
+
+ if ( (this.length > 1 || rmultiselector.test( selector )) && rparentsprev.test( name ) ) {
+ ret = ret.reverse();
+ }
+
+ return this.pushStack( ret, name, 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;
+ },
+
+ nth: function( cur, result, dir, elem ) {
+ result = result || 1;
+ var num = 0;
+
+ for ( ; cur; cur = cur[dir] ) {
+ if ( cur.nodeType === 1 && ++num === result ) {
+ break;
+ }
+ }
+
+ return cur;
+ },
+
+ 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 ) {
+ 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;
+ });
+}
+
+
+
+
+var rinlinejQuery = / jQuery\d+="(?:\d+|null)"/g,
+ rleadingWhitespace = /^\s+/,
+ rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/ig,
+ rtagName = /<([\w:]+)/,
+ rtbody = /<tbody/i,
+ rhtml = /<|&#?\w+;/,
+ rnocache = /<(?:script|object|embed|option|style)/i,
+ // checked="checked" or checked (html5)
+ rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i,
+ raction = /\=([^="'>\s]+\/)>/g,
+ wrapMap = {
+ option: [ 1, "<select multiple='multiple'>", "</select>" ],
+ legend: [ 1, "<fieldset>", "</fieldset>" ],
+ thead: [ 1, "<table>", "</table>" ],
+ tr: [ 2, "<table><tbody>", "</tbody></table>" ],
+ td: [ 3, "<table><tbody><tr>", "</tr></tbody></table>" ],
+ col: [ 2, "<table><tbody></tbody><colgroup>", "</colgroup></table>" ],
+ area: [ 1, "<map>", "</map>" ],
+ _default: [ 0, "", "" ]
+ };
+
+wrapMap.optgroup = wrapMap.option;
+wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead;
+wrapMap.th = wrapMap.td;
+
+// IE can't serialize <link> and <script> tags normally
+if ( !jQuery.support.htmlSerialize ) {
+ wrapMap._default = [ 1, "div<div>", "</div>" ];
+}
+
+jQuery.fn.extend({
+ text: function( text ) {
+ if ( jQuery.isFunction(text) ) {
+ return this.each(function(i) {
+ var self = jQuery( this );
+
+ self.text( text.call(this, i, self.text()) );
+ });
+ }
+
+ if ( typeof text !== "object" && text !== undefined ) {
+ return this.empty().append( (this[0] && this[0].ownerDocument || document).createTextNode( text ) );
+ }
+
+ return jQuery.text( this );
+ },
+
+ 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 ) {
+ return this.each(function() {
+ jQuery( this ).wrapAll( 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.appendChild( elem );
+ }
+ });
+ },
+
+ prepend: function() {
+ return this.domManip(arguments, true, function( elem ) {
+ if ( this.nodeType === 1 ) {
+ this.insertBefore( elem, this.firstChild );
+ }
+ });
+ },
+
+ before: function() {
+ if ( this[0] && this[0].parentNode ) {
+ return this.domManip(arguments, false, function( elem ) {
+ this.parentNode.insertBefore( elem, this );
+ });
+ } else if ( arguments.length ) {
+ var set = jQuery(arguments[0]);
+ set.push.apply( set, this.toArray() );
+ return this.pushStack( set, "before", arguments );
+ }
+ },
+
+ after: function() {
+ if ( this[0] && this[0].parentNode ) {
+ return this.domManip(arguments, false, function( elem ) {
+ this.parentNode.insertBefore( elem, this.nextSibling );
+ });
+ } else if ( arguments.length ) {
+ var set = this.pushStack( this, "after", arguments );
+ set.push.apply( set, jQuery(arguments[0]).toArray() );
+ return set;
+ }
+ },
+
+ // keepData is for internal use only--do not document
+ remove: function( selector, keepData ) {
+ for ( var i = 0, elem; (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() {
+ for ( var i = 0, elem; (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( events ) {
+ // Do the clone
+ var ret = this.map(function() {
+ if ( !jQuery.support.noCloneEvent && !jQuery.isXMLDoc(this) ) {
+ // IE copies events bound via attachEvent when
+ // using cloneNode. Calling detachEvent on the
+ // clone will also remove the events from the orignal
+ // In order to get around this, we use innerHTML.
+ // Unfortunately, this means some modifications to
+ // attributes in IE that are actually only stored
+ // as properties will not be copied (such as the
+ // the name attribute on an input).
+ var html = this.outerHTML,
+ ownerDocument = this.ownerDocument;
+
+ if ( !html ) {
+ var div = ownerDocument.createElement("div");
+ div.appendChild( this.cloneNode(true) );
+ html = div.innerHTML;
+ }
+
+ return jQuery.clean([html.replace(rinlinejQuery, "")
+ // Handle the case in IE 8 where action=/test/> self-closes a tag
+ .replace(raction, '="$1">')
+ .replace(rleadingWhitespace, "")], ownerDocument)[0];
+ } else {
+ return this.cloneNode(true);
+ }
+ });
+
+ // Copy the events from the original to the clone
+ if ( events === true ) {
+ cloneCopyEvent( this, ret );
+ cloneCopyEvent( this.find("*"), ret.find("*") );
+ }
+
+ // Return the cloned set
+ return ret;
+ },
+
+ html: function( value ) {
+ if ( value === undefined ) {
+ return this[0] && this[0].nodeType === 1 ?
+ this[0].innerHTML.replace(rinlinejQuery, "") :
+ null;
+
+ // See if we can take a shortcut and just use innerHTML
+ } else if ( typeof value === "string" && !rnocache.test( value ) &&
+ (jQuery.support.leadingWhitespace || !rleadingWhitespace.test( value )) &&
+ !wrapMap[ (rtagName.exec( value ) || ["", ""])[1].toLowerCase() ] ) {
+
+ value = value.replace(rxhtmlTag, "<$1></$2>");
+
+ try {
+ for ( var i = 0, l = this.length; i < l; i++ ) {
+ // Remove element nodes and prevent memory leaks
+ if ( this[i].nodeType === 1 ) {
+ jQuery.cleanData( this[i].getElementsByTagName("*") );
+ this[i].innerHTML = value;
+ }
+ }
+
+ // If using innerHTML throws an exception, use the fallback method
+ } catch(e) {
+ this.empty().append( value );
+ }
+
+ } else if ( jQuery.isFunction( value ) ) {
+ this.each(function(i){
+ var self = jQuery( this );
+
+ self.html( value.call(this, i, self.html()) );
+ });
+
+ } else {
+ this.empty().append( value );
+ }
+
+ return this;
+ },
+
+ replaceWith: function( value ) {
+ if ( this[0] && this[0].parentNode ) {
+ // 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 );
+ }
+ });
+ } else {
+ return this.pushStack( jQuery(jQuery.isFunction(value) ? value() : value), "replaceWith", value );
+ }
+ },
+
+ detach: function( selector ) {
+ return this.remove( selector, true );
+ },
+
+ domManip: function( args, table, callback ) {
+ var results, first, fragment, parent,
+ value = args[0],
+ scripts = [];
+
+ // We can't cloneNode fragments that contain checked, in WebKit
+ if ( !jQuery.support.checkClone && arguments.length === 3 && typeof value === "string" && rchecked.test( value ) ) {
+ return this.each(function() {
+ jQuery(this).domManip( args, table, callback, true );
+ });
+ }
+
+ 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] ) {
+ parent = value && value.parentNode;
+
+ // If we're in a fragment, just use that instead of building a new one
+ if ( jQuery.support.parentNode && parent && parent.nodeType === 11 && parent.childNodes.length === this.length ) {
+ results = { fragment: parent };
+
+ } else {
+ results = jQuery.buildFragment( args, this, scripts );
+ }
+
+ fragment = results.fragment;
+
+ if ( fragment.childNodes.length === 1 ) {
+ first = fragment = fragment.firstChild;
+ } else {
+ first = fragment.firstChild;
+ }
+
+ if ( first ) {
+ table = table && jQuery.nodeName( first, "tr" );
+
+ for ( var i = 0, l = this.length; i < l; i++ ) {
+ callback.call(
+ table ?
+ root(this[i], first) :
+ this[i],
+ i > 0 || results.cacheable || this.length > 1 ?
+ fragment.cloneNode(true) :
+ fragment
+ );
+ }
+ }
+
+ if ( scripts.length ) {
+ jQuery.each( scripts, evalScript );
+ }
+ }
+
+ return this;
+ }
+});
+
+function root( elem, cur ) {
+ return jQuery.nodeName(elem, "table") ?
+ (elem.getElementsByTagName("tbody")[0] ||
+ elem.appendChild(elem.ownerDocument.createElement("tbody"))) :
+ elem;
+}
+
+function cloneCopyEvent(orig, ret) {
+ var i = 0;
+
+ ret.each(function() {
+ if ( this.nodeName !== (orig[i] && orig[i].nodeName) ) {
+ return;
+ }
+
+ var oldData = jQuery.data( orig[i++] ),
+ curData = jQuery.data( this, oldData ),
+ events = oldData && oldData.events;
+
+ if ( events ) {
+ delete curData.handle;
+ curData.events = {};
+
+ for ( var type in events ) {
+ for ( var handler in events[ type ] ) {
+ jQuery.event.add( this, type, events[ type ][ handler ], events[ type ][ handler ].data );
+ }
+ }
+ }
+ });
+}
+
+jQuery.buildFragment = function( args, nodes, scripts ) {
+ var fragment, cacheable, cacheresults,
+ doc = (nodes && nodes[0] ? nodes[0].ownerDocument || nodes[0] : document);
+
+ // Only cache "small" (1/2 KB) 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 <object> or <embed> elements in a fragment
+ // Also, WebKit does not clone 'checked' attributes on cloneNode, so don't cache
+ if ( args.length === 1 && typeof args[0] === "string" && args[0].length < 512 && doc === document &&
+ !rnocache.test( args[0] ) && (jQuery.support.checkClone || !rchecked.test( args[0] )) ) {
+
+ cacheable = true;
+ cacheresults = jQuery.fragments[ args[0] ];
+ if ( cacheresults ) {
+ if ( cacheresults !== 1 ) {
+ fragment = cacheresults;
+ }
+ }
+ }
+
+ if ( !fragment ) {
+ fragment = doc.createDocumentFragment();
+ jQuery.clean( args, doc, fragment, scripts );
+ }
+
+ if ( cacheable ) {
+ jQuery.fragments[ args[0] ] = cacheresults ? fragment : 1;
+ }
+
+ 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 ret = [],
+ insert = jQuery( selector ),
+ parent = this.length === 1 && this[0].parentNode;
+
+ if ( parent && parent.nodeType === 11 && parent.childNodes.length === 1 && insert.length === 1 ) {
+ insert[ original ]( this[0] );
+ return this;
+
+ } else {
+ for ( var i = 0, l = insert.length; i < l; i++ ) {
+ var elems = (i > 0 ? this.clone(true) : this).get();
+ jQuery( insert[i] )[ original ]( elems );
+ ret = ret.concat( elems );
+ }
+
+ return this.pushStack( ret, name, insert.selector );
+ }
+ };
+});
+
+jQuery.extend({
+ clean: function( elems, context, fragment, scripts ) {
+ context = context || document;
+
+ // !context.createElement fails in IE with an error but returns typeof 'object'
+ if ( typeof context.createElement === "undefined" ) {
+ context = context.ownerDocument || context[0] && context[0].ownerDocument || document;
+ }
+
+ var ret = [];
+
+ for ( var i = 0, elem; (elem = elems[i]) != null; i++ ) {
+ if ( typeof elem === "number" ) {
+ elem += "";
+ }
+
+ if ( !elem ) {
+ continue;
+ }
+
+ // Convert html string into DOM nodes
+ if ( typeof elem === "string" && !rhtml.test( elem ) ) {
+ elem = context.createTextNode( elem );
+
+ } else if ( typeof elem === "string" ) {
+ // Fix "XHTML"-style tags in all browsers
+ elem = elem.replace(rxhtmlTag, "<$1></$2>");
+
+ // Trim whitespace, otherwise indexOf won't work as expected
+ var tag = (rtagName.exec( elem ) || ["", ""])[1].toLowerCase(),
+ wrap = wrapMap[ tag ] || wrapMap._default,
+ depth = wrap[0],
+ div = context.createElement("div");
+
+ // Go to html and back, then peel off extra wrappers
+ div.innerHTML = wrap[1] + elem + wrap[2];
+
+ // Move to the right depth
+ while ( depth-- ) {
+ div = div.lastChild;
+ }
+
+ // Remove IE's autoinserted <tbody> from table fragments
+ if ( !jQuery.support.tbody ) {
+
+ // String was a <table>, *may* have spurious <tbody>
+ var hasBody = rtbody.test(elem),
+ tbody = tag === "table" && !hasBody ?
+ div.firstChild && div.firstChild.childNodes :
+
+ // String was a bare <thead> or <tfoot>
+ wrap[1] === "<table>" && !hasBody ?
+ div.childNodes :
+ [];
+
+ for ( var 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;
+ }
+
+ if ( elem.nodeType ) {
+ ret.push( elem );
+ } else {
+ ret = jQuery.merge( ret, elem );
+ }
+ }
+
+ if ( fragment ) {
+ for ( i = 0; ret[i]; i++ ) {
+ if ( scripts && jQuery.nodeName( ret[i], "script" ) && (!ret[i].type || ret[i].type.toLowerCase() === "text/javascript") ) {
+ scripts.push( ret[i].parentNode ? ret[i].parentNode.removeChild( ret[i] ) : ret[i] );
+
+ } else {
+ if ( ret[i].nodeType === 1 ) {
+ ret.splice.apply( ret, [i + 1, 0].concat(jQuery.makeArray(ret[i].getElementsByTagName("script"))) );
+ }
+ fragment.appendChild( ret[i] );
+ }
+ }
+ }
+
+ return ret;
+ },
+
+ cleanData: function( elems ) {
+ var data, id, cache = jQuery.cache,
+ special = jQuery.event.special,
+ deleteExpando = jQuery.support.deleteExpando;
+
+ for ( var i = 0, elem; (elem = elems[i]) != null; i++ ) {
+ if ( elem.nodeName && jQuery.noData[elem.nodeName.toLowerCase()] ) {
+ continue;
+ }
+
+ id = elem[ jQuery.expando ];
+
+ if ( id ) {
+ data = cache[ id ];
+
+ if ( data && data.events ) {
+ for ( var type in data.events ) {
+ if ( special[ type ] ) {
+ jQuery.event.remove( elem, type );
+
+ } else {
+ jQuery.removeEvent( elem, type, data.handle );
+ }
+ }
+ }
+
+ if ( deleteExpando ) {
+ delete elem[ jQuery.expando ];
+
+ } else if ( elem.removeAttribute ) {
+ elem.removeAttribute( jQuery.expando );
+ }
+
+ delete cache[ id ];
+ }
+ }
+ }
+});
+
+function evalScript( i, elem ) {
+ if ( elem.src ) {
+ jQuery.ajax({
+ url: elem.src,
+ async: false,
+ dataType: "script"
+ });
+ } else {
+ jQuery.globalEval( elem.text || elem.textContent || elem.innerHTML || "" );
+ }
+
+ if ( elem.parentNode ) {
+ elem.parentNode.removeChild( elem );
+ }
+}
+
+
+
+
+var ralpha = /alpha\([^)]*\)/i,
+ ropacity = /opacity=([^)]*)/,
+ rdashAlpha = /-([a-z])/ig,
+ rupper = /([A-Z])/g,
+ rnumpx = /^-?\d+(?:px)?$/i,
+ rnum = /^-?\d/,
+
+ cssShow = { position: "absolute", visibility: "hidden", display: "block" },
+ cssWidth = [ "Left", "Right" ],
+ cssHeight = [ "Top", "Bottom" ],
+ curCSS,
+
+ getComputedStyle,
+ currentStyle,
+
+ fcamelCase = function( all, letter ) {
+ return letter.toUpperCase();
+ };
+
+jQuery.fn.css = function( name, value ) {
+ // Setting 'undefined' is a no-op
+ if ( arguments.length === 2 && value === undefined ) {
+ return this;
+ }
+
+ return jQuery.access( this, name, value, true, function( elem, name, value ) {
+ return value !== undefined ?
+ jQuery.style( elem, name, value ) :
+ jQuery.css( elem, name );
+ });
+};
+
+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", "opacity" );
+ return ret === "" ? "1" : ret;
+
+ } else {
+ return elem.style.opacity;
+ }
+ }
+ }
+ },
+
+ // Exclude the following css properties to add px
+ cssNumber: {
+ "zIndex": true,
+ "fontWeight": true,
+ "opacity": true,
+ "zoom": true,
+ "lineHeight": 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, origName = jQuery.camelCase( name ),
+ style = elem.style, hooks = jQuery.cssHooks[ origName ];
+
+ name = jQuery.cssProps[ origName ] || origName;
+
+ // Check if we're setting a value
+ if ( value !== undefined ) {
+ // Make sure that NaN and null values aren't set. See: #7116
+ if ( typeof value === "number" && isNaN( value ) || value == null ) {
+ return;
+ }
+
+ // If a number was passed in, add 'px' to the (except for certain CSS properties)
+ if ( typeof value === "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 )) !== 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, extra ) {
+ // Make sure that we're working with the right name
+ var ret, origName = jQuery.camelCase( name ),
+ hooks = jQuery.cssHooks[ origName ];
+
+ name = jQuery.cssProps[ origName ] || origName;
+
+ // If a hook was provided get the computed value from there
+ if ( hooks && "get" in hooks && (ret = hooks.get( elem, true, extra )) !== undefined ) {
+ return ret;
+
+ // Otherwise, if a way to get the computed value exists, use that
+ } else if ( curCSS ) {
+ return curCSS( elem, name, origName );
+ }
+ },
+
+ // A method for quickly swapping in/out CSS properties to get correct calculations
+ swap: function( elem, options, callback ) {
+ var old = {};
+
+ // Remember the old values, and insert the new ones
+ for ( var name in options ) {
+ old[ name ] = elem.style[ name ];
+ elem.style[ name ] = options[ name ];
+ }
+
+ callback.call( elem );
+
+ // Revert the old values
+ for ( name in options ) {
+ elem.style[ name ] = old[ name ];
+ }
+ },
+
+ camelCase: function( string ) {
+ return string.replace( rdashAlpha, fcamelCase );
+ }
+});
+
+// DEPRECATED, Use jQuery.css() instead
+jQuery.curCSS = jQuery.css;
+
+jQuery.each(["height", "width"], function( i, name ) {
+ jQuery.cssHooks[ name ] = {
+ get: function( elem, computed, extra ) {
+ var val;
+
+ if ( computed ) {
+ if ( elem.offsetWidth !== 0 ) {
+ val = getWH( elem, name, extra );
+
+ } else {
+ jQuery.swap( elem, cssShow, function() {
+ val = getWH( elem, name, extra );
+ });
+ }
+
+ if ( val <= 0 ) {
+ val = curCSS( elem, name, name );
+
+ if ( val === "0px" && currentStyle ) {
+ val = currentStyle( elem, name, name );
+ }
+
+ if ( val != null ) {
+ // Should return "auto" instead of 0, use 0 for
+ // temporary backwards-compat
+ return val === "" || val === "auto" ? "0px" : val;
+ }
+ }
+
+ if ( val < 0 || val == null ) {
+ val = elem.style[ name ];
+
+ // Should return "auto" instead of 0, use 0 for
+ // temporary backwards-compat
+ return val === "" || val === "auto" ? "0px" : val;
+ }
+
+ return typeof val === "string" ? val : val + "px";
+ }
+ },
+
+ set: function( elem, value ) {
+ if ( rnumpx.test( value ) ) {
+ // ignore negative width and height values #1599
+ value = parseFloat(value);
+
+ if ( value >= 0 ) {
+ return value + "px";
+ }
+
+ } else {
+ return value;
+ }
+ }
+ };
+});
+
+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) || "") ?
+ (parseFloat(RegExp.$1) / 100) + "" :
+ computed ? "1" : "";
+ },
+
+ set: function( elem, value ) {
+ var style = elem.style;
+
+ // IE has trouble with opacity if it does not have layout
+ // Force it by setting the zoom level
+ style.zoom = 1;
+
+ // Set the alpha filter to set the opacity
+ var opacity = jQuery.isNaN(value) ?
+ "" :
+ "alpha(opacity=" + value * 100 + ")",
+ filter = style.filter || "";
+
+ style.filter = ralpha.test(filter) ?
+ filter.replace(ralpha, opacity) :
+ style.filter + ' ' + opacity;
+ }
+ };
+}
+
+if ( document.defaultView && document.defaultView.getComputedStyle ) {
+ getComputedStyle = function( elem, newName, name ) {
+ var ret, defaultView, computedStyle;
+
+ name = name.replace( rupper, "-$1" ).toLowerCase();
+
+ if ( !(defaultView = elem.ownerDocument.defaultView) ) {
+ return undefined;
+ }
+
+ if ( (computedStyle = defaultView.getComputedStyle( elem, null )) ) {
+ ret = computedStyle.getPropertyValue( name );
+ if ( ret === "" && !jQuery.contains( elem.ownerDocument.documentElement, elem ) ) {
+ ret = jQuery.style( elem, name );
+ }
+ }
+
+ return ret;
+ };
+}
+
+if ( document.documentElement.currentStyle ) {
+ currentStyle = function( elem, name ) {
+ var left, rsLeft,
+ ret = elem.currentStyle && elem.currentStyle[ name ],
+ style = elem.style;
+
+ // 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
+ if ( !rnumpx.test( ret ) && rnum.test( ret ) ) {
+ // Remember the original values
+ left = style.left;
+ rsLeft = elem.runtimeStyle.left;
+
+ // Put in the new values to get a computed value out
+ elem.runtimeStyle.left = elem.currentStyle.left;
+ style.left = name === "fontSize" ? "1em" : (ret || 0);
+ ret = style.pixelLeft + "px";
+
+ // Revert the changed values
+ style.left = left;
+ elem.runtimeStyle.left = rsLeft;
+ }
+
+ return ret === "" ? "auto" : ret;
+ };
+}
+
+curCSS = getComputedStyle || currentStyle;
+
+function getWH( elem, name, extra ) {
+ var which = name === "width" ? cssWidth : cssHeight,
+ val = name === "width" ? elem.offsetWidth : elem.offsetHeight;
+
+ if ( extra === "border" ) {
+ return val;
+ }
+
+ jQuery.each( which, function() {
+ if ( !extra ) {
+ val -= parseFloat(jQuery.css( elem, "padding" + this )) || 0;
+ }
+
+ if ( extra === "margin" ) {
+ val += parseFloat(jQuery.css( elem, "margin" + this )) || 0;
+
+ } else {
+ val -= parseFloat(jQuery.css( elem, "border" + this + "Width" )) || 0;
+ }
+ });
+
+ return val;
+}
+
+if ( jQuery.expr && jQuery.expr.filters ) {
+ jQuery.expr.filters.hidden = function( elem ) {
+ var width = elem.offsetWidth,
+ height = elem.offsetHeight;
+
+ return (width === 0 && height === 0) || (!jQuery.support.reliableHiddenOffsets && (elem.style.display || jQuery.css( elem, "display" )) === "none");
+ };
+
+ jQuery.expr.filters.visible = function( elem ) {
+ return !jQuery.expr.filters.hidden( elem );
+ };
+}
+
+
+
+
+var jsc = jQuery.now(),
+ rscript = /<script\b[^<]*(?:(?!<\/script>)<[^<]*)*<\/script>/gi,
+ rselectTextarea = /^(?:select|textarea)/i,
+ rinput = /^(?:color|date|datetime|email|hidden|month|number|password|range|search|tel|text|time|url|week)$/i,
+ rnoContent = /^(?:GET|HEAD)$/,
+ rbracket = /\[\]$/,
+ jsre = /\=\?(&|$)/,
+ rquery = /\?/,
+ rts = /([?&])_=[^&]*/,
+ rurl = /^(\w+:)?\/\/([^\/?#]+)/,
+ r20 = /%20/g,
+ rhash = /#.*$/,
+
+ // Keep a copy of the old load method
+ _load = jQuery.fn.load;
+
+jQuery.fn.extend({
+ 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
+ } else if ( !this.length ) {
+ return this;
+ }
+
+ var off = url.indexOf(" ");
+ if ( off >= 0 ) {
+ var selector = url.slice(off, url.length);
+ url = url.slice(0, off);
+ }
+
+ // Default to a GET request
+ var type = "GET";
+
+ // If the second parameter was provided
+ if ( params ) {
+ // If it's a function
+ if ( jQuery.isFunction( params ) ) {
+ // We assume that it's the callback
+ callback = params;
+ params = null;
+
+ // Otherwise, build a param string
+ } else if ( typeof params === "object" ) {
+ params = jQuery.param( params, jQuery.ajaxSettings.traditional );
+ type = "POST";
+ }
+ }
+
+ var self = this;
+
+ // Request the remote document
+ jQuery.ajax({
+ url: url,
+ type: type,
+ dataType: "html",
+ data: params,
+ complete: function( res, status ) {
+ // If successful, inject the HTML into all the matched elements
+ if ( status === "success" || status === "notmodified" ) {
+ // See if a selector was specified
+ self.html( selector ?
+ // Create a dummy div to hold the results
+ jQuery("<div>")
+ // inject the contents of the document in, removing the scripts
+ // to avoid any 'Permission Denied' errors in IE
+ .append(res.responseText.replace(rscript, ""))
+
+ // Locate the specified elements
+ .find(selector) :
+
+ // If not, just inject the full result
+ res.responseText );
+ }
+
+ if ( callback ) {
+ self.each( callback, [res.responseText, status, res] );
+ }
+ }
+ });
+
+ return this;
+ },
+
+ 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 };
+ }) :
+ { name: elem.name, value: val };
+ }).get();
+ }
+});
+
+// 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.bind(o, f);
+ };
+});
+
+jQuery.extend({
+ get: function( url, data, callback, type ) {
+ // shift arguments if data argument was omited
+ if ( jQuery.isFunction( data ) ) {
+ type = type || callback;
+ callback = data;
+ data = null;
+ }
+
+ return jQuery.ajax({
+ type: "GET",
+ url: url,
+ data: data,
+ success: callback,
+ dataType: type
+ });
+ },
+
+ getScript: function( url, callback ) {
+ return jQuery.get(url, null, callback, "script");
+ },
+
+ getJSON: function( url, data, callback ) {
+ return jQuery.get(url, data, callback, "json");
+ },
+
+ post: function( url, data, callback, type ) {
+ // shift arguments if data argument was omited
+ if ( jQuery.isFunction( data ) ) {
+ type = type || callback;
+ callback = data;
+ data = {};
+ }
+
+ return jQuery.ajax({
+ type: "POST",
+ url: url,
+ data: data,
+ success: callback,
+ dataType: type
+ });
+ },
+
+ ajaxSetup: function( settings ) {
+ jQuery.extend( jQuery.ajaxSettings, settings );
+ },
+
+ ajaxSettings: {
+ url: location.href,
+ global: true,
+ type: "GET",
+ contentType: "application/x-www-form-urlencoded",
+ processData: true,
+ async: true,
+ /*
+ timeout: 0,
+ data: null,
+ username: null,
+ password: null,
+ traditional: false,
+ */
+ // This function can be overriden by calling jQuery.ajaxSetup
+ xhr: function() {
+ return new window.XMLHttpRequest();
+ },
+ accepts: {
+ xml: "application/xml, text/xml",
+ html: "text/html",
+ script: "text/javascript, application/javascript",
+ json: "application/json, text/javascript",
+ text: "text/plain",
+ _default: "*/*"
+ }
+ },
+
+ ajax: function( origSettings ) {
+ var s = jQuery.extend(true, {}, jQuery.ajaxSettings, origSettings),
+ jsonp, status, data, type = s.type.toUpperCase(), noContent = rnoContent.test(type);
+
+ s.url = s.url.replace( rhash, "" );
+
+ // Use original (not extended) context object if it was provided
+ s.context = origSettings && origSettings.context != null ? origSettings.context : s;
+
+ // convert data if not already a string
+ if ( s.data && s.processData && typeof s.data !== "string" ) {
+ s.data = jQuery.param( s.data, s.traditional );
+ }
+
+ // Handle JSONP Parameter Callbacks
+ if ( s.dataType === "jsonp" ) {
+ if ( type === "GET" ) {
+ if ( !jsre.test( s.url ) ) {
+ s.url += (rquery.test( s.url ) ? "&" : "?") + (s.jsonp || "callback") + "=?";
+ }
+ } else if ( !s.data || !jsre.test(s.data) ) {
+ s.data = (s.data ? s.data + "&" : "") + (s.jsonp || "callback") + "=?";
+ }
+ s.dataType = "json";
+ }
+
+ // Build temporary JSONP function
+ if ( s.dataType === "json" && (s.data && jsre.test(s.data) || jsre.test(s.url)) ) {
+ jsonp = s.jsonpCallback || ("jsonp" + jsc++);
+
+ // Replace the =? sequence both in the query string and the data
+ if ( s.data ) {
+ s.data = (s.data + "").replace(jsre, "=" + jsonp + "$1");
+ }
+
+ s.url = s.url.replace(jsre, "=" + jsonp + "$1");
+
+ // We need to make sure
+ // that a JSONP style response is executed properly
+ s.dataType = "script";
+
+ // Handle JSONP-style loading
+ var customJsonp = window[ jsonp ];
+
+ window[ jsonp ] = function( tmp ) {
+ if ( jQuery.isFunction( customJsonp ) ) {
+ customJsonp( tmp );
+
+ } else {
+ // Garbage collect
+ window[ jsonp ] = undefined;
+
+ try {
+ delete window[ jsonp ];
+ } catch( jsonpError ) {}
+ }
+
+ data = tmp;
+ jQuery.handleSuccess( s, xhr, status, data );
+ jQuery.handleComplete( s, xhr, status, data );
+
+ if ( head ) {
+ head.removeChild( script );
+ }
+ };
+ }
+
+ if ( s.dataType === "script" && s.cache === null ) {
+ s.cache = false;
+ }
+
+ if ( s.cache === false && noContent ) {
+ var ts = jQuery.now();
+
+ // try replacing _= if it is there
+ var 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 : "");
+ }
+
+ // If data is available, append data to url for GET/HEAD requests
+ if ( s.data && noContent ) {
+ s.url += (rquery.test(s.url) ? "&" : "?") + s.data;
+ }
+
+ // Watch for a new set of requests
+ if ( s.global && jQuery.active++ === 0 ) {
+ jQuery.event.trigger( "ajaxStart" );
+ }
+
+ // Matches an absolute URL, and saves the domain
+ var parts = rurl.exec( s.url ),
+ remote = parts && (parts[1] && parts[1].toLowerCase() !== location.protocol || parts[2].toLowerCase() !== location.host);
+
+ // If we're requesting a remote document
+ // and trying to load JSON or Script with a GET
+ if ( s.dataType === "script" && type === "GET" && remote ) {
+ var head = document.getElementsByTagName("head")[0] || document.documentElement;
+ var script = document.createElement("script");
+ if ( s.scriptCharset ) {
+ script.charset = s.scriptCharset;
+ }
+ script.src = s.url;
+
+ // Handle Script loading
+ if ( !jsonp ) {
+ var done = false;
+
+ // Attach handlers for all browsers
+ script.onload = script.onreadystatechange = function() {
+ if ( !done && (!this.readyState ||
+ this.readyState === "loaded" || this.readyState === "complete") ) {
+ done = true;
+ jQuery.handleSuccess( s, xhr, status, data );
+ jQuery.handleComplete( s, xhr, status, data );
+
+ // Handle memory leak in IE
+ script.onload = script.onreadystatechange = null;
+ if ( head && script.parentNode ) {
+ head.removeChild( script );
+ }
+ }
+ };
+ }
+
+ // 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 );
+
+ // We handle everything using the script element injection
+ return undefined;
+ }
+
+ var requestDone = false;
+
+ // Create the request object
+ var xhr = s.xhr();
+
+ if ( !xhr ) {
+ return;
+ }
+
+ // Open the socket
+ // Passing null username, generates a login popup on Opera (#2865)
+ if ( s.username ) {
+ xhr.open(type, s.url, s.async, s.username, s.password);
+ } else {
+ xhr.open(type, s.url, s.async);
+ }
+
+ // Need an extra try/catch for cross domain requests in Firefox 3
+ try {
+ // Set content-type if data specified and content-body is valid for this type
+ if ( (s.data != null && !noContent) || (origSettings && origSettings.contentType) ) {
+ xhr.setRequestHeader("Content-Type", s.contentType);
+ }
+
+ // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
+ if ( s.ifModified ) {
+ if ( jQuery.lastModified[s.url] ) {
+ xhr.setRequestHeader("If-Modified-Since", jQuery.lastModified[s.url]);
+ }
+
+ if ( jQuery.etag[s.url] ) {
+ xhr.setRequestHeader("If-None-Match", jQuery.etag[s.url]);
+ }
+ }
+
+ // Set header so the called script knows that it's an XMLHttpRequest
+ // Only send the header if it's not a remote XHR
+ if ( !remote ) {
+ xhr.setRequestHeader("X-Requested-With", "XMLHttpRequest");
+ }
+
+ // Set the Accepts header for the server, depending on the dataType
+ xhr.setRequestHeader("Accept", s.dataType && s.accepts[ s.dataType ] ?
+ s.accepts[ s.dataType ] + ", */*; q=0.01" :
+ s.accepts._default );
+ } catch( headerError ) {}
+
+ // Allow custom headers/mimetypes and early abort
+ if ( s.beforeSend && s.beforeSend.call(s.context, xhr, s) === false ) {
+ // Handle the global AJAX counter
+ if ( s.global && jQuery.active-- === 1 ) {
+ jQuery.event.trigger( "ajaxStop" );
+ }
+
+ // close opended socket
+ xhr.abort();
+ return false;
+ }
+
+ if ( s.global ) {
+ jQuery.triggerGlobal( s, "ajaxSend", [xhr, s] );
+ }
+
+ // Wait for a response to come back
+ var onreadystatechange = xhr.onreadystatechange = function( isTimeout ) {
+ // The request was aborted
+ if ( !xhr || xhr.readyState === 0 || isTimeout === "abort" ) {
+ // Opera doesn't call onreadystatechange before this point
+ // so we simulate the call
+ if ( !requestDone ) {
+ jQuery.handleComplete( s, xhr, status, data );
+ }
+
+ requestDone = true;
+ if ( xhr ) {
+ xhr.onreadystatechange = jQuery.noop;
+ }
+
+ // The transfer is complete and the data is available, or the request timed out
+ } else if ( !requestDone && xhr && (xhr.readyState === 4 || isTimeout === "timeout") ) {
+ requestDone = true;
+ xhr.onreadystatechange = jQuery.noop;
+
+ status = isTimeout === "timeout" ?
+ "timeout" :
+ !jQuery.httpSuccess( xhr ) ?
+ "error" :
+ s.ifModified && jQuery.httpNotModified( xhr, s.url ) ?
+ "notmodified" :
+ "success";
+
+ var errMsg;
+
+ if ( status === "success" ) {
+ // Watch for, and catch, XML document parse errors
+ try {
+ // process the data (runs the xml through httpData regardless of callback)
+ data = jQuery.httpData( xhr, s.dataType, s );
+ } catch( parserError ) {
+ status = "parsererror";
+ errMsg = parserError;
+ }
+ }
+
+ // Make sure that the request was successful or notmodified
+ if ( status === "success" || status === "notmodified" ) {
+ // JSONP handles its own success callback
+ if ( !jsonp ) {
+ jQuery.handleSuccess( s, xhr, status, data );
+ }
+ } else {
+ jQuery.handleError( s, xhr, status, errMsg );
+ }
+
+ // Fire the complete handlers
+ if ( !jsonp ) {
+ jQuery.handleComplete( s, xhr, status, data );
+ }
+
+ if ( isTimeout === "timeout" ) {
+ xhr.abort();
+ }
+
+ // Stop memory leaks
+ if ( s.async ) {
+ xhr = null;
+ }
+ }
+ };
+
+ // Override the abort handler, if we can (IE 6 doesn't allow it, but that's OK)
+ // Opera doesn't fire onreadystatechange at all on abort
+ try {
+ var oldAbort = xhr.abort;
+ xhr.abort = function() {
+ if ( xhr ) {
+ // oldAbort has no call property in IE7 so
+ // just do it this way, which works in all
+ // browsers
+ Function.prototype.call.call( oldAbort, xhr );
+ }
+
+ onreadystatechange( "abort" );
+ };
+ } catch( abortError ) {}
+
+ // Timeout checker
+ if ( s.async && s.timeout > 0 ) {
+ setTimeout(function() {
+ // Check to see if the request is still happening
+ if ( xhr && !requestDone ) {
+ onreadystatechange( "timeout" );
+ }
+ }, s.timeout);
+ }
+
+ // Send the data
+ try {
+ xhr.send( noContent || s.data == null ? null : s.data );
+
+ } catch( sendError ) {
+ jQuery.handleError( s, xhr, null, sendError );
+
+ // Fire the complete handlers
+ jQuery.handleComplete( s, xhr, status, data );
+ }
+
+ // firefox 1.5 doesn't fire statechange for sync requests
+ if ( !s.async ) {
+ onreadystatechange();
+ }
+
+ // return XMLHttpRequest to allow aborting the request etc.
+ return xhr;
+ },
+
+ // Serialize an array of form elements or a set of
+ // key/values into a query string
+ param: function( a, traditional ) {
+ var s = [],
+ add = function( key, value ) {
+ // If value is a function, invoke it and return its value
+ value = jQuery.isFunction(value) ? value() : value;
+ s[ s.length ] = encodeURIComponent(key) + "=" + encodeURIComponent(value);
+ };
+
+ // Set traditional to true for jQuery <= 1.3.2 behavior.
+ if ( traditional === undefined ) {
+ traditional = jQuery.ajaxSettings.traditional;
+ }
+
+ // If an array was passed in, assume that it is an array of form elements.
+ if ( jQuery.isArray(a) || a.jquery ) {
+ // 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 ( var prefix in a ) {
+ buildParams( prefix, a[prefix], traditional, add );
+ }
+ }
+
+ // Return the resulting serialization
+ return s.join("&").replace(r20, "+");
+ }
+});
+
+function buildParams( prefix, obj, traditional, add ) {
+ if ( jQuery.isArray(obj) && obj.length ) {
+ // 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" || jQuery.isArray(v) ? i : "" ) + "]", v, traditional, add );
+ }
+ });
+
+ } else if ( !traditional && obj != null && typeof obj === "object" ) {
+ if ( jQuery.isEmptyObject( obj ) ) {
+ add( prefix, "" );
+
+ // Serialize object item.
+ } else {
+ jQuery.each( obj, function( k, v ) {
+ buildParams( prefix + "[" + k + "]", v, traditional, add );
+ });
+ }
+
+ } else {
+ // Serialize scalar item.
+ add( prefix, obj );
+ }
+}
+
+// This is still on the jQuery object... for now
+// Want to move this to jQuery.ajax some day
+jQuery.extend({
+
+ // Counter for holding the number of active queries
+ active: 0,
+
+ // Last-Modified header cache for next request
+ lastModified: {},
+ etag: {},
+
+ handleError: function( s, xhr, status, e ) {
+ // If a local callback was specified, fire it
+ if ( s.error ) {
+ s.error.call( s.context, xhr, status, e );
+ }
+
+ // Fire the global callback
+ if ( s.global ) {
+ jQuery.triggerGlobal( s, "ajaxError", [xhr, s, e] );
+ }
+ },
+
+ handleSuccess: function( s, xhr, status, data ) {
+ // If a local callback was specified, fire it and pass it the data
+ if ( s.success ) {
+ s.success.call( s.context, data, status, xhr );
+ }
+
+ // Fire the global callback
+ if ( s.global ) {
+ jQuery.triggerGlobal( s, "ajaxSuccess", [xhr, s] );
+ }
+ },
+
+ handleComplete: function( s, xhr, status ) {
+ // Process result
+ if ( s.complete ) {
+ s.complete.call( s.context, xhr, status );
+ }
+
+ // The request was completed
+ if ( s.global ) {
+ jQuery.triggerGlobal( s, "ajaxComplete", [xhr, s] );
+ }
+
+ // Handle the global AJAX counter
+ if ( s.global && jQuery.active-- === 1 ) {
+ jQuery.event.trigger( "ajaxStop" );
+ }
+ },
+
+ triggerGlobal: function( s, type, args ) {
+ (s.context && s.context.url == null ? jQuery(s.context) : jQuery.event).trigger(type, args);
+ },
+
+ // Determines if an XMLHttpRequest was successful or not
+ httpSuccess: function( xhr ) {
+ try {
+ // IE error sometimes returns 1223 when it should be 204 so treat it as success, see #1450
+ return !xhr.status && location.protocol === "file:" ||
+ xhr.status >= 200 && xhr.status < 300 ||
+ xhr.status === 304 || xhr.status === 1223;
+ } catch(e) {}
+
+ return false;
+ },
+
+ // Determines if an XMLHttpRequest returns NotModified
+ httpNotModified: function( xhr, url ) {
+ var lastModified = xhr.getResponseHeader("Last-Modified"),
+ etag = xhr.getResponseHeader("Etag");
+
+ if ( lastModified ) {
+ jQuery.lastModified[url] = lastModified;
+ }
+
+ if ( etag ) {
+ jQuery.etag[url] = etag;
+ }
+
+ return xhr.status === 304;
+ },
+
+ httpData: function( xhr, type, s ) {
+ var ct = xhr.getResponseHeader("content-type") || "",
+ xml = type === "xml" || !type && ct.indexOf("xml") >= 0,
+ data = xml ? xhr.responseXML : xhr.responseText;
+
+ if ( xml && data.documentElement.nodeName === "parsererror" ) {
+ jQuery.error( "parsererror" );
+ }
+
+ // Allow a pre-filtering function to sanitize the response
+ // s is checked to keep backwards compatibility
+ if ( s && s.dataFilter ) {
+ data = s.dataFilter( data, type );
+ }
+
+ // The filter can actually parse the response
+ if ( typeof data === "string" ) {
+ // Get the JavaScript object, if JSON is used.
+ if ( type === "json" || !type && ct.indexOf("json") >= 0 ) {
+ data = jQuery.parseJSON( data );
+
+ // If the type is "script", eval it in global context
+ } else if ( type === "script" || !type && ct.indexOf("javascript") >= 0 ) {
+ jQuery.globalEval( data );
+ }
+ }
+
+ return data;
+ }
+
+});
+
+/*
+ * Create the request object; 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.
+ */
+if ( window.ActiveXObject ) {
+ jQuery.ajaxSettings.xhr = function() {
+ if ( window.location.protocol !== "file:" ) {
+ try {
+ return new window.XMLHttpRequest();
+ } catch(xhrError) {}
+ }
+
+ try {
+ return new window.ActiveXObject("Microsoft.XMLHTTP");
+ } catch(activeError) {}
+ };
+}
+
+// Does this browser support XHR requests?
+jQuery.support.ajax = !!jQuery.ajaxSettings.xhr();
+
+
+
+
+var elemdisplay = {},
+ rfxtypes = /^(?:toggle|show|hide)$/,
+ rfxnum = /^([+\-]=)?([\d+.\-]+)(.*)$/,
+ timerId,
+ fxAttrs = [
+ // height animations
+ [ "height", "marginTop", "marginBottom", "paddingTop", "paddingBottom" ],
+ // width animations
+ [ "width", "marginLeft", "marginRight", "paddingLeft", "paddingRight" ],
+ // opacity animations
+ [ "opacity" ]
+ ];
+
+jQuery.fn.extend({
+ show: function( speed, easing, callback ) {
+ var elem, display;
+
+ if ( speed || speed === 0 ) {
+ return this.animate( genFx("show", 3), speed, easing, callback);
+
+ } else {
+ for ( var i = 0, j = this.length; i < j; i++ ) {
+ elem = this[i];
+ display = elem.style.display;
+
+ // Reset the inline display of this element to learn if it is
+ // being hidden by cascaded rules or not
+ if ( !jQuery.data(elem, "olddisplay") && display === "none" ) {
+ display = 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 ( display === "" && jQuery.css( elem, "display" ) === "none" ) {
+ jQuery.data(elem, "olddisplay", defaultDisplay(elem.nodeName));
+ }
+ }
+
+ // Set the display of most of the elements in a second loop
+ // to avoid the constant reflow
+ for ( i = 0; i < j; i++ ) {
+ elem = this[i];
+ display = elem.style.display;
+
+ if ( display === "" || display === "none" ) {
+ elem.style.display = jQuery.data(elem, "olddisplay") || "";
+ }
+ }
+
+ return this;
+ }
+ },
+
+ hide: function( speed, easing, callback ) {
+ if ( speed || speed === 0 ) {
+ return this.animate( genFx("hide", 3), speed, easing, callback);
+
+ } else {
+ for ( var i = 0, j = this.length; i < j; i++ ) {
+ var display = jQuery.css( this[i], "display" );
+
+ if ( display !== "none" ) {
+ jQuery.data( this[i], "olddisplay", display );
+ }
+ }
+
+ // Set the display of the elements in a second loop
+ // to avoid the constant reflow
+ for ( i = 0; i < j; i++ ) {
+ this[i].style.display = "none";
+ }
+
+ return this;
+ }
+ },
+
+ // Save the old toggle function
+ _toggle: jQuery.fn.toggle,
+
+ toggle: function( fn, fn2, callback ) {
+ var bool = typeof fn === "boolean";
+
+ if ( jQuery.isFunction(fn) && jQuery.isFunction(fn2) ) {
+ this._toggle.apply( this, arguments );
+
+ } else if ( fn == null || bool ) {
+ this.each(function() {
+ var state = bool ? fn : jQuery(this).is(":hidden");
+ jQuery(this)[ state ? "show" : "hide" ]();
+ });
+
+ } else {
+ this.animate(genFx("toggle", 3), fn, fn2, callback);
+ }
+
+ return this;
+ },
+
+ fadeTo: function( speed, to, easing, callback ) {
+ return this.filter(":hidden").css("opacity", 0).show().end()
+ .animate({opacity: to}, speed, easing, callback);
+ },
+
+ animate: function( prop, speed, easing, callback ) {
+ var optall = jQuery.speed(speed, easing, callback);
+
+ if ( jQuery.isEmptyObject( prop ) ) {
+ return this.each( optall.complete );
+ }
+
+ return this[ optall.queue === false ? "each" : "queue" ](function() {
+ // XXX 'this' does not always have a nodeName when running the
+ // test suite
+
+ var opt = jQuery.extend({}, optall), p,
+ isElement = this.nodeType === 1,
+ hidden = isElement && jQuery(this).is(":hidden"),
+ self = this;
+
+ for ( p in prop ) {
+ var name = jQuery.camelCase( p );
+
+ if ( p !== name ) {
+ prop[ name ] = prop[ p ];
+ delete prop[ p ];
+ p = name;
+ }
+
+ if ( prop[p] === "hide" && hidden || prop[p] === "show" && !hidden ) {
+ return opt.complete.call(this);
+ }
+
+ if ( isElement && ( p === "height" || p === "width" ) ) {
+ // 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
+ opt.overflow = [ this.style.overflow, this.style.overflowX, this.style.overflowY ];
+
+ // Set display property to inline-block for height/width
+ // animations on inline elements that are having width/height
+ // animated
+ if ( jQuery.css( this, "display" ) === "inline" &&
+ jQuery.css( this, "float" ) === "none" ) {
+ if ( !jQuery.support.inlineBlockNeedsLayout ) {
+ this.style.display = "inline-block";
+
+ } else {
+ var display = defaultDisplay(this.nodeName);
+
+ // inline-level elements accept inline-block;
+ // block-level elements need to be inline with layout
+ if ( display === "inline" ) {
+ this.style.display = "inline-block";
+
+ } else {
+ this.style.display = "inline";
+ this.style.zoom = 1;
+ }
+ }
+ }
+ }
+
+ if ( jQuery.isArray( prop[p] ) ) {
+ // Create (if needed) and add to specialEasing
+ (opt.specialEasing = opt.specialEasing || {})[p] = prop[p][1];
+ prop[p] = prop[p][0];
+ }
+ }
+
+ if ( opt.overflow != null ) {
+ this.style.overflow = "hidden";
+ }
+
+ opt.curAnim = jQuery.extend({}, prop);
+
+ jQuery.each( prop, function( name, val ) {
+ var e = new jQuery.fx( self, opt, name );
+
+ if ( rfxtypes.test(val) ) {
+ e[ val === "toggle" ? hidden ? "show" : "hide" : val ]( prop );
+
+ } else {
+ var parts = rfxnum.exec(val),
+ start = e.cur() || 0;
+
+ if ( parts ) {
+ var end = parseFloat( parts[2] ),
+ unit = parts[3] || "px";
+
+ // We need to compute starting value
+ if ( unit !== "px" ) {
+ jQuery.style( self, name, (end || 1) + unit);
+ start = ((end || 1) / e.cur()) * start;
+ jQuery.style( self, name, start + unit);
+ }
+
+ // If a +=/-= token was provided, we're doing a relative animation
+ if ( parts[1] ) {
+ end = ((parts[1] === "-=" ? -1 : 1) * end) + start;
+ }
+
+ e.custom( start, end, unit );
+
+ } else {
+ e.custom( start, val, "" );
+ }
+ }
+ });
+
+ // For JS strict compliance
+ return true;
+ });
+ },
+
+ stop: function( clearQueue, gotoEnd ) {
+ var timers = jQuery.timers;
+
+ if ( clearQueue ) {
+ this.queue([]);
+ }
+
+ this.each(function() {
+ // go in reverse order so anything added to the queue during the loop is ignored
+ for ( var i = timers.length - 1; i >= 0; i-- ) {
+ if ( timers[i].elem === this ) {
+ if (gotoEnd) {
+ // force the next step to be the last
+ timers[i](true);
+ }
+
+ timers.splice(i, 1);
+ }
+ }
+ });
+
+ // start the next in the queue if the last step wasn't forced
+ if ( !gotoEnd ) {
+ this.dequeue();
+ }
+
+ return this;
+ }
+
+});
+
+function genFx( type, num ) {
+ var obj = {};
+
+ jQuery.each( fxAttrs.concat.apply([], fxAttrs.slice(0,num)), function() {
+ obj[ this ] = type;
+ });
+
+ return obj;
+}
+
+// Generate shortcuts for custom animations
+jQuery.each({
+ slideDown: genFx("show", 1),
+ slideUp: genFx("hide", 1),
+ slideToggle: genFx("toggle", 1),
+ 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.extend({
+ 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;
+
+ // Queueing
+ opt.old = opt.complete;
+ opt.complete = function() {
+ if ( opt.queue !== false ) {
+ jQuery(this).dequeue();
+ }
+ if ( jQuery.isFunction( opt.old ) ) {
+ opt.old.call( this );
+ }
+ };
+
+ return opt;
+ },
+
+ easing: {
+ linear: function( p, n, firstNum, diff ) {
+ return firstNum + diff * p;
+ },
+ swing: function( p, n, firstNum, diff ) {
+ return ((-Math.cos(p*Math.PI)/2) + 0.5) * diff + firstNum;
+ }
+ },
+
+ timers: [],
+
+ fx: function( elem, options, prop ) {
+ this.options = options;
+ this.elem = elem;
+ this.prop = prop;
+
+ if ( !options.orig ) {
+ options.orig = {};
+ }
+ }
+
+});
+
+jQuery.fx.prototype = {
+ // Simple function for setting a style value
+ update: function() {
+ if ( this.options.step ) {
+ this.options.step.call( this.elem, this.now, this );
+ }
+
+ (jQuery.fx.step[this.prop] || jQuery.fx.step._default)( this );
+ },
+
+ // Get the current size
+ cur: function() {
+ if ( this.elem[this.prop] != null && (!this.elem.style || this.elem.style[this.prop] == null) ) {
+ return this.elem[ this.prop ];
+ }
+
+ var r = parseFloat( jQuery.css( this.elem, this.prop ) );
+ return r && r > -10000 ? r : 0;
+ },
+
+ // Start an animation from one number to another
+ custom: function( from, to, unit ) {
+ var self = this,
+ fx = jQuery.fx;
+
+ this.startTime = jQuery.now();
+ this.start = from;
+ this.end = to;
+ this.unit = unit || this.unit || "px";
+ this.now = this.start;
+ this.pos = this.state = 0;
+
+ function t( gotoEnd ) {
+ return self.step(gotoEnd);
+ }
+
+ t.elem = this.elem;
+
+ if ( t() && jQuery.timers.push(t) && !timerId ) {
+ timerId = setInterval(fx.tick, fx.interval);
+ }
+ },
+
+ // Simple 'show' function
+ show: function() {
+ // Remember where we started, so that we can go back to it later
+ this.options.orig[this.prop] = jQuery.style( this.elem, this.prop );
+ this.options.show = true;
+
+ // Begin the animation
+ // Make sure that we start at a small width/height to avoid any
+ // flash of content
+ this.custom(this.prop === "width" || this.prop === "height" ? 1 : 0, this.cur());
+
+ // Start by showing the element
+ jQuery( this.elem ).show();
+ },
+
+ // Simple 'hide' function
+ hide: function() {
+ // Remember where we started, so that we can go back to it later
+ this.options.orig[this.prop] = jQuery.style( this.elem, this.prop );
+ this.options.hide = true;
+
+ // Begin the animation
+ this.custom(this.cur(), 0);
+ },
+
+ // Each step of an animation
+ step: function( gotoEnd ) {
+ var t = jQuery.now(), done = true;
+
+ if ( gotoEnd || t >= this.options.duration + this.startTime ) {
+ this.now = this.end;
+ this.pos = this.state = 1;
+ this.update();
+
+ this.options.curAnim[ this.prop ] = true;
+
+ for ( var i in this.options.curAnim ) {
+ if ( this.options.curAnim[i] !== true ) {
+ done = false;
+ }
+ }
+
+ if ( done ) {
+ // Reset the overflow
+ if ( this.options.overflow != null && !jQuery.support.shrinkWrapBlocks ) {
+ var elem = this.elem,
+ options = this.options;
+
+ jQuery.each( [ "", "X", "Y" ], function (index, value) {
+ elem.style[ "overflow" + value ] = options.overflow[index];
+ } );
+ }
+
+ // Hide the element if the "hide" operation was done
+ if ( this.options.hide ) {
+ jQuery(this.elem).hide();
+ }
+
+ // Reset the properties, if the item has been hidden or shown
+ if ( this.options.hide || this.options.show ) {
+ for ( var p in this.options.curAnim ) {
+ jQuery.style( this.elem, p, this.options.orig[p] );
+ }
+ }
+
+ // Execute the complete function
+ this.options.complete.call( this.elem );
+ }
+
+ return false;
+
+ } else {
+ var n = t - this.startTime;
+ this.state = n / this.options.duration;
+
+ // Perform the easing function, defaults to swing
+ var specialEasing = this.options.specialEasing && this.options.specialEasing[this.prop];
+ var defaultEasing = this.options.easing || (jQuery.easing.swing ? "swing" : "linear");
+ this.pos = jQuery.easing[specialEasing || defaultEasing](this.state, n, 0, 1, this.options.duration);
+ this.now = this.start + ((this.end - this.start) * this.pos);
+
+ // Perform the next step of the animation
+ this.update();
+ }
+
+ return true;
+ }
+};
+
+jQuery.extend( jQuery.fx, {
+ tick: function() {
+ var timers = jQuery.timers;
+
+ for ( var i = 0; i < timers.length; i++ ) {
+ if ( !timers[i]() ) {
+ timers.splice(i--, 1);
+ }
+ }
+
+ if ( !timers.length ) {
+ jQuery.fx.stop();
+ }
+ },
+
+ interval: 13,
+
+ stop: function() {
+ clearInterval( timerId );
+ timerId = null;
+ },
+
+ speeds: {
+ slow: 600,
+ fast: 200,
+ // Default speed
+ _default: 400
+ },
+
+ step: {
+ opacity: function( fx ) {
+ jQuery.style( fx.elem, "opacity", fx.now );
+ },
+
+ _default: function( fx ) {
+ if ( fx.elem.style && fx.elem.style[ fx.prop ] != null ) {
+ fx.elem.style[ fx.prop ] = (fx.prop === "width" || fx.prop === "height" ? Math.max(0, fx.now) : fx.now) + fx.unit;
+ } else {
+ fx.elem[ fx.prop ] = fx.now;
+ }
+ }
+ }
+});
+
+if ( jQuery.expr && jQuery.expr.filters ) {
+ jQuery.expr.filters.animated = function( elem ) {
+ return jQuery.grep(jQuery.timers, function( fn ) {
+ return elem === fn.elem;
+ }).length;
+ };
+}
+
+function defaultDisplay( nodeName ) {
+ if ( !elemdisplay[ nodeName ] ) {
+ var elem = jQuery("<" + nodeName + ">").appendTo("body"),
+ display = elem.css("display");
+
+ elem.remove();
+
+ if ( display === "none" || display === "" ) {
+ display = "block";
+ }
+
+ elemdisplay[ nodeName ] = display;
+ }
+
+ return elemdisplay[ nodeName ];
+}
+
+
+
+
+var rtable = /^t(?:able|d|h)$/i,
+ rroot = /^(?:body|html)$/i;
+
+if ( "getBoundingClientRect" in document.documentElement ) {
+ jQuery.fn.offset = function( options ) {
+ var elem = this[0], box;
+
+ if ( options ) {
+ return this.each(function( i ) {
+ jQuery.offset.setOffset( this, options, i );
+ });
+ }
+
+ if ( !elem || !elem.ownerDocument ) {
+ return null;
+ }
+
+ if ( elem === elem.ownerDocument.body ) {
+ return jQuery.offset.bodyOffset( elem );
+ }
+
+ try {
+ box = elem.getBoundingClientRect();
+ } catch(e) {}
+
+ var doc = elem.ownerDocument,
+ docElem = doc.documentElement;
+
+ // Make sure we're not dealing with a disconnected DOM node
+ if ( !box || !jQuery.contains( docElem, elem ) ) {
+ return box || { top: 0, left: 0 };
+ }
+
+ var body = doc.body,
+ win = getWindow(doc),
+ clientTop = docElem.clientTop || body.clientTop || 0,
+ clientLeft = docElem.clientLeft || body.clientLeft || 0,
+ scrollTop = (win.pageYOffset || jQuery.support.boxModel && docElem.scrollTop || body.scrollTop ),
+ scrollLeft = (win.pageXOffset || jQuery.support.boxModel && docElem.scrollLeft || body.scrollLeft),
+ top = box.top + scrollTop - clientTop,
+ left = box.left + scrollLeft - clientLeft;
+
+ return { top: top, left: left };
+ };
+
+} else {
+ jQuery.fn.offset = function( options ) {
+ var elem = this[0];
+
+ if ( options ) {
+ return this.each(function( i ) {
+ jQuery.offset.setOffset( this, options, i );
+ });
+ }
+
+ if ( !elem || !elem.ownerDocument ) {
+ return null;
+ }
+
+ if ( elem === elem.ownerDocument.body ) {
+ return jQuery.offset.bodyOffset( elem );
+ }
+
+ jQuery.offset.initialize();
+
+ var computedStyle,
+ offsetParent = elem.offsetParent,
+ prevOffsetParent = elem,
+ doc = elem.ownerDocument,
+ docElem = doc.documentElement,
+ body = doc.body,
+ defaultView = doc.defaultView,
+ prevComputedStyle = defaultView ? defaultView.getComputedStyle( elem, null ) : elem.currentStyle,
+ top = elem.offsetTop,
+ left = elem.offsetLeft;
+
+ while ( (elem = elem.parentNode) && elem !== body && elem !== docElem ) {
+ if ( jQuery.offset.supportsFixedPosition && prevComputedStyle.position === "fixed" ) {
+ break;
+ }
+
+ computedStyle = defaultView ? defaultView.getComputedStyle(elem, null) : elem.currentStyle;
+ top -= elem.scrollTop;
+ left -= elem.scrollLeft;
+
+ if ( elem === offsetParent ) {
+ top += elem.offsetTop;
+ left += elem.offsetLeft;
+
+ if ( jQuery.offset.doesNotAddBorder && !(jQuery.offset.doesAddBorderForTableAndCells && rtable.test(elem.nodeName)) ) {
+ top += parseFloat( computedStyle.borderTopWidth ) || 0;
+ left += parseFloat( computedStyle.borderLeftWidth ) || 0;
+ }
+
+ prevOffsetParent = offsetParent;
+ offsetParent = elem.offsetParent;
+ }
+
+ if ( jQuery.offset.subtractsBorderForOverflowNotVisible && computedStyle.overflow !== "visible" ) {
+ top += parseFloat( computedStyle.borderTopWidth ) || 0;
+ left += parseFloat( computedStyle.borderLeftWidth ) || 0;
+ }
+
+ prevComputedStyle = computedStyle;
+ }
+
+ if ( prevComputedStyle.position === "relative" || prevComputedStyle.position === "static" ) {
+ top += body.offsetTop;
+ left += body.offsetLeft;
+ }
+
+ if ( jQuery.offset.supportsFixedPosition && prevComputedStyle.position === "fixed" ) {
+ top += Math.max( docElem.scrollTop, body.scrollTop );
+ left += Math.max( docElem.scrollLeft, body.scrollLeft );
+ }
+
+ return { top: top, left: left };
+ };
+}
+
+jQuery.offset = {
+ initialize: function() {
+ var body = document.body, container = document.createElement("div"), innerDiv, checkDiv, table, td, bodyMarginTop = parseFloat( jQuery.css(body, "marginTop") ) || 0,
+ html = "<div style='position:absolute;top:0;left:0;margin:0;border:5px solid #000;padding:0;width:1px;height:1px;'><div></div></div><table style='position:absolute;top:0;left:0;margin:0;border:5px solid #000;padding:0;width:1px;height:1px;' cellpadding='0' cellspacing='0'><tr><td></td></tr></table>";
+
+ jQuery.extend( container.style, { position: "absolute", top: 0, left: 0, margin: 0, border: 0, width: "1px", height: "1px", visibility: "hidden" } );
+
+ container.innerHTML = html;
+ body.insertBefore( container, body.firstChild );
+ innerDiv = container.firstChild;
+ checkDiv = innerDiv.firstChild;
+ td = innerDiv.nextSibling.firstChild.firstChild;
+
+ this.doesNotAddBorder = (checkDiv.offsetTop !== 5);
+ this.doesAddBorderForTableAndCells = (td.offsetTop === 5);
+
+ checkDiv.style.position = "fixed";
+ checkDiv.style.top = "20px";
+
+ // safari subtracts parent border width here which is 5px
+ this.supportsFixedPosition = (checkDiv.offsetTop === 20 || checkDiv.offsetTop === 15);
+ checkDiv.style.position = checkDiv.style.top = "";
+
+ innerDiv.style.overflow = "hidden";
+ innerDiv.style.position = "relative";
+
+ this.subtractsBorderForOverflowNotVisible = (checkDiv.offsetTop === -5);
+
+ this.doesNotIncludeMarginInBodyOffset = (body.offsetTop !== bodyMarginTop);
+
+ body.removeChild( container );
+ body = container = innerDiv = checkDiv = table = td = null;
+ jQuery.offset.initialize = jQuery.noop;
+ },
+
+ bodyOffset: function( body ) {
+ var top = body.offsetTop,
+ left = body.offsetLeft;
+
+ jQuery.offset.initialize();
+
+ if ( jQuery.offset.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" && 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 absolute
+ if ( calculatePosition ) {
+ curPosition = curElem.position();
+ }
+
+ curTop = calculatePosition ? curPosition.top : parseInt( curCSSTop, 10 ) || 0;
+ curLeft = calculatePosition ? curPosition.left : parseInt( curCSSLeft, 10 ) || 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 null;
+ }
+
+ 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;
+ });
+ }
+});
+
+
+// Create scrollLeft and scrollTop methods
+jQuery.each( ["Left", "Top"], function( i, name ) {
+ var method = "scroll" + name;
+
+ jQuery.fn[ method ] = function(val) {
+ var elem = this[0], win;
+
+ if ( !elem ) {
+ return null;
+ }
+
+ if ( val !== undefined ) {
+ // Set the scroll offset
+ return this.each(function() {
+ win = getWindow( this );
+
+ if ( win ) {
+ win.scrollTo(
+ !i ? val : jQuery(win).scrollLeft(),
+ i ? val : jQuery(win).scrollTop()
+ );
+
+ } else {
+ this[ method ] = val;
+ }
+ });
+ } else {
+ win = getWindow( elem );
+
+ // Return the scroll offset
+ return win ? ("pageXOffset" in win) ? win[ i ? "pageYOffset" : "pageXOffset" ] :
+ jQuery.support.boxModel && win.document.documentElement[ method ] ||
+ win.document.body[ method ] :
+ elem[ method ];
+ }
+ };
+});
+
+function getWindow( elem ) {
+ return jQuery.isWindow( elem ) ?
+ elem :
+ elem.nodeType === 9 ?
+ elem.defaultView || elem.parentWindow :
+ false;
+}
+
+
+
+
+// Create innerHeight, innerWidth, outerHeight and outerWidth methods
+jQuery.each([ "Height", "Width" ], function( i, name ) {
+
+ var type = name.toLowerCase();
+
+ // innerHeight and innerWidth
+ jQuery.fn["inner" + name] = function() {
+ return this[0] ?
+ parseFloat( jQuery.css( this[0], type, "padding" ) ) :
+ null;
+ };
+
+ // outerHeight and outerWidth
+ jQuery.fn["outer" + name] = function( margin ) {
+ return this[0] ?
+ parseFloat( jQuery.css( this[0], type, margin ? "margin" : "border" ) ) :
+ null;
+ };
+
+ jQuery.fn[ type ] = function( size ) {
+ // Get window width or height
+ var elem = this[0];
+ if ( !elem ) {
+ return size == null ? null : this;
+ }
+
+ if ( jQuery.isFunction( size ) ) {
+ return this.each(function( i ) {
+ var self = jQuery( this );
+ self[ type ]( size.call( this, i, self[ type ]() ) );
+ });
+ }
+
+ if ( jQuery.isWindow( elem ) ) {
+ // Everyone else use document.documentElement or document.body depending on Quirks vs Standards mode
+ return elem.document.compatMode === "CSS1Compat" && elem.document.documentElement[ "client" + name ] ||
+ elem.document.body[ "client" + name ];
+
+ // Get document width or height
+ } else if ( elem.nodeType === 9 ) {
+ // Either scroll[Width/Height] or offset[Width/Height], whichever is greater
+ return Math.max(
+ elem.documentElement["client" + name],
+ elem.body["scroll" + name], elem.documentElement["scroll" + name],
+ elem.body["offset" + name], elem.documentElement["offset" + name]
+ );
+
+ // Get or set width or height on the element
+ } else if ( size === undefined ) {
+ var orig = jQuery.css( elem, type ),
+ ret = parseFloat( orig );
+
+ return jQuery.isNaN( ret ) ? orig : ret;
+
+ // Set the width or height on the element (default to pixels if value is unitless)
+ } else {
+ return this.css( type, typeof size === "string" ? size : size + "px" );
+ }
+ };
+
+});
+
+
+})(window);
diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index a1181ae..2bdf5c0 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -17,8 +17,10 @@
#include "frc971/constants.h"
#include "frc971/queues/gyro.q.h"
#include "frc971/autonomous/auto.q.h"
-#include "frc971/actors/fridge_profile_action.q.h"
#include "frc971/actors/fridge_profile_actor.h"
+#include "frc971/actors/pickup_actor.h"
+#include "frc971/actors/stack_actor.h"
+#include "frc971/actors/lift_actor.h"
using ::frc971::control_loops::claw_queue;
using ::frc971::control_loops::drivetrain_queue;
@@ -33,13 +35,11 @@
namespace input {
namespace joysticks {
-/*
// preset motion limits
-static const double kArmDebugVelocity = 0.17;
-static const double kArmDebugAcceleration = 0.8;
-static const double kElevatorDebugVelocity = 0.2;
+static const double kArmDebugVelocity = 0.40;
+static const double kArmDebugAcceleration = 1.0;
+static const double kElevatorDebugVelocity = 0.5;
static const double kElevatorDebugAcceleration = 2.2;
-*/
const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
const ButtonLocation kShiftHigh(2, 1), kShiftLow(2, 3);
@@ -58,6 +58,10 @@
const ButtonLocation kFridgeClosed(2, 11);
const ButtonLocation kRollersIn(3, 4);
const ButtonLocation kClawMiddle(3, 2);
+const ButtonLocation kPickup(2, 10);
+const ButtonLocation kZero(2, 7);
+
+const ButtonLocation kStack(3, 9);
// TODO(ben): Real buttons for all of these.
const ButtonLocation kArmPresetOne(99, 99);
@@ -119,18 +123,62 @@
}
if (data.PosEdge(kElevatorUp)) {
- elevator_goal_ = 0.4;
- arm_goal_ = 0.1;
+ actors::LiftParams params;
+ params.lift_height = 0.45;
+ params.lift_arm = 0.2;
+ action_queue_.EnqueueAction(actors::MakeLiftAction(params));
+
claw_goal_ = 0.0;
+ if (!claw_queue.goal.MakeWithBuilder()
+ .angle(claw_goal_)
+ .rollers_closed(claw_rollers_closed_)
+ .intake(0.0)
+ .Send()) {
+ LOG(ERROR, "Sending claw goal failed.\n");
+ }
+ }
+ if (data.PosEdge(kStack)) {
+ actors::StackParams params;
+ params.claw_out_angle = 0.6;
+ action_queue_.EnqueueAction(actors::MakeStackAction(params));
+ }
+ if (data.PosEdge(kPickup)) {
+ actors::PickupParams params;
+ params.pickup_angle = 0.7;
+ params.suck_angle = 0.5;
+ params.suck_angle_finish = 0.4;
+ params.pickup_finish_angle = 0.87;
+ params.intake_time = 0.5;
+ params.intake_voltage = 12.0;
+ action_queue_.EnqueueAction(actors::MakePickupAction(params));
}
if (data.PosEdge(kElevatorDown)) {
- elevator_goal_ = 0.03;
- arm_goal_ = 0.0;
claw_goal_ = 0.0;
+
+ actors::FridgeProfileParams fridge_params;
+ fridge_params.arm_max_velocity = kArmDebugVelocity;
+ fridge_params.arm_max_acceleration = kArmDebugAcceleration;
+ fridge_params.elevator_max_velocity = kElevatorDebugVelocity;
+ fridge_params.elevator_max_acceleration = kElevatorDebugAcceleration;
+
+ fridge_params.arm_angle = 0.0;
+ fridge_params.elevator_height = 0.035;
+
+ fridge_params.top_front_grabber = fridge_closed_;
+ fridge_params.top_back_grabber = fridge_closed_;
+ fridge_params.bottom_front_grabber = fridge_closed_;
+ fridge_params.bottom_back_grabber = fridge_closed_;
+ action_queue_.EnqueueAction(MakeFridgeProfileAction(fridge_params));
}
if (data.PosEdge(kClawMiddle)) {
- claw_goal_ = 0.9;
+ claw_goal_ = 0.8;
+ }
+
+ if (data.PosEdge(kZero)) {
+ elevator_goal_ = 0.0;
+ arm_goal_ = 0.0;
+ claw_goal_ = 0.0;
}
if (data.PosEdge(kClawClosed)) {
@@ -205,6 +253,24 @@
}
}
+ if (action_queue_.Running()) {
+ // If we are running an action, update our goals to the current goals.
+ control_loops::fridge_queue.status.FetchLatest();
+ if (control_loops::fridge_queue.status.get()) {
+ arm_goal_ = control_loops::fridge_queue.status->goal_angle;
+ elevator_goal_ = control_loops::fridge_queue.status->goal_height;
+ } else {
+ LOG(ERROR, "No fridge status!\n");
+ }
+
+ // If we are running an action, update our goals to the current goals.
+ control_loops::claw_queue.status.FetchLatest();
+ if (control_loops::claw_queue.status.get()) {
+ claw_goal_ = control_loops::claw_queue.status->goal_angle;
+ } else {
+ LOG(ERROR, "No fridge status!\n");
+ }
+ }
action_queue_.Tick();
was_running_ = action_queue_.Running();
}
diff --git a/frc971/prime/prime.gyp b/frc971/prime/prime.gyp
index 51e3f27..525ffcd 100644
--- a/frc971/prime/prime.gyp
+++ b/frc971/prime/prime.gyp
@@ -17,16 +17,22 @@
'../autonomous/autonomous.gyp:auto',
'../frc971.gyp:joystick_reader',
'../zeroing/zeroing.gyp:zeroing_test',
+ '../http_status/http_status.gyp:http_status',
'../control_loops/voltage_cap/voltage_cap.gyp:voltage_cap_test',
'../../aos/common/actions/actions.gyp:action_test',
'../actors/actors.gyp:drivetrain_action',
+ '../actors/actors.gyp:claw_action',
'../actors/actors.gyp:fridge_profile_action',
'../actors/actors.gyp:score_action',
+ '../actors/actors.gyp:score_action_test',
+ '../actors/actors.gyp:pickup_action',
'../actors/actors.gyp:stack_action',
- '../actors/actors.gyp:fridge_profile_action_test',
- '../actors/actors.gyp:claw_action',
- '../actors/actors.gyp:claw_action_test',
+ '../actors/actors.gyp:lift_action',
'../actors/actors.gyp:intake_action',
+ '../actors/actors.gyp:intake_action_test',
+ '../actors/actors.gyp:claw_action_test',
+ '../actors/actors.gyp:fridge_profile_action_test',
+ '../actors/actors.gyp:stack_action_test',
],
'copies': [
{
diff --git a/frc971/prime/start_list.txt b/frc971/prime/start_list.txt
index 9940679..d4c6cdc 100644
--- a/frc971/prime/start_list.txt
+++ b/frc971/prime/start_list.txt
@@ -6,3 +6,7 @@
claw
fridge
drivetrain_action
+score_action
+claw_action
+stack_action
+intake_action
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 689ca85..7364722 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -408,10 +408,10 @@
fridge_.FetchLatest();
if (fridge_.get()) {
LOG_STRUCT(DEBUG, "solenoids", *fridge_);
- fridge_grabbers_top_front_->Set(fridge_->grabbers.top_front);
- fridge_grabbers_top_back_->Set(fridge_->grabbers.top_back);
- fridge_grabbers_bottom_front_->Set(fridge_->grabbers.bottom_front);
- fridge_grabbers_bottom_back_->Set(fridge_->grabbers.bottom_back);
+ fridge_grabbers_top_front_->Set(!fridge_->grabbers.top_front);
+ fridge_grabbers_top_back_->Set(!fridge_->grabbers.top_back);
+ fridge_grabbers_bottom_front_->Set(!fridge_->grabbers.bottom_front);
+ fridge_grabbers_bottom_back_->Set(!fridge_->grabbers.bottom_back);
}
}
@@ -419,7 +419,7 @@
claw_.FetchLatest();
if (claw_.get()) {
LOG_STRUCT(DEBUG, "solenoids", *claw_);
- claw_pinchers_->Set(!claw_->rollers_closed);
+ claw_pinchers_->Set(claw_->rollers_closed);
}
}
if (!pressure_switch_->Get()) {
