From ae345d89b2989899ccef5322a2cfbb873af7e0c9 Mon Sep 17 00:00:00 2001 From: cfry Date: Wed, 3 Mar 2021 15:42:13 -0500 Subject: [PATCH] release --- core/dextersim.js | 77 +- core/index.js | 4 +- core/job.js | 78 + core/main_eval.py | 20 +- core/py.js | 14 +- core/robot.js | 26 +- core/serial.js | 12 +- core/socket.js | 218 +- core/storage.js | 37 +- core/utils.js | 18 + doc/guide.html | 4 +- doc/ref_man.html | 362 +- doc/release_notes.html | 33 + editor.js | 9 +- eval.js | 4 +- index.html | 3 + inspect.js | 34 +- jquery-1.11.3.min.js | 5 - jqwidgets/jqxchart.js | 21 + jqwidgets/jqxdraw.js | 9 + jqwidgets_thru_dde_3_5_12/jqwidgets_5_6_0.txt | 1 - jqwidgets_thru_dde_3_5_12/jqxbuttons.js | 8 - jqwidgets_thru_dde_3_5_12/jqxcheckbox.js | 8 - jqwidgets_thru_dde_3_5_12/jqxcombobox.js | 8 - jqwidgets_thru_dde_3_5_12/jqxcore.js | 15 - jqwidgets_thru_dde_3_5_12/jqxdata.js | 8 - jqwidgets_thru_dde_3_5_12/jqxdatatable.js | 8 - jqwidgets_thru_dde_3_5_12/jqxlistbox.js | 8 - jqwidgets_thru_dde_3_5_12/jqxmenu.js | 8 - jqwidgets_thru_dde_3_5_12/jqxpanel.js | 8 - jqwidgets_thru_dde_3_5_12/jqxscrollbar.js | 8 - jqwidgets_thru_dde_3_5_12/jqxsplitter.js | 8 - jqwidgets_thru_dde_3_5_12/jqxwindow.js | 8 - jqwidgets_thru_dde_3_5_12/styles/Thumbs.db | Bin 4608 -> 0 bytes .../styles/images/Thumbs.db | Bin 230912 -> 0 bytes .../styles/images/backImage.png | Bin 260 -> 0 bytes .../styles/images/backgroundTop.png | Bin 286 -> 0 bytes .../styles/images/bg_black.png | Bin 1007 -> 0 bytes .../styles/images/bg_black_horizontal.png | Bin 1193 -> 0 bytes .../styles/images/bg_blackhover.png | Bin 2962 -> 0 bytes .../images/bg_blackhover_horizontal.png | Bin 3546 -> 0 bytes .../styles/images/bg_blackpressed.png | Bin 2959 -> 0 bytes .../images/bg_blackpressed_horizontal.png | Bin 3530 -> 0 bytes .../styles/images/bg_blueenergy.png | Bin 238 -> 0 bytes .../styles/images/bg_darkblue.png | Bin 1261 -> 0 bytes .../styles/images/bg_darkbluehover.png | Bin 2851 -> 0 bytes .../styles/images/bg_darkbluepressed.png | Bin 2851 -> 0 bytes .../styles/images/black_gradient.png | Bin 2844 -> 0 bytes .../styles/images/blackbackground.png | Bin 213 -> 0 bytes .../styles/images/check_black.png | Bin 2922 -> 0 bytes .../styles/images/check_blue.png | Bin 3128 -> 0 bytes .../images/check_blue_indeterminate.png | Bin 943 -> 0 bytes .../styles/images/check_disabled.png | Bin 2959 -> 0 bytes .../images/check_indeterminate_black.png | Bin 1005 -> 0 bytes .../images/check_indeterminate_disabled.png | Bin 998 -> 0 bytes .../images/check_indeterminate_white.png | Bin 1022 -> 0 bytes .../styles/images/check_lightblue.png | Bin 3080 -> 0 bytes .../images/check_lightblue_indeterminate.png | Bin 943 -> 0 bytes .../styles/images/check_white.png | Bin 2957 -> 0 bytes .../styles/images/close.png | Bin 307 -> 0 bytes .../styles/images/close_black.png | Bin 2922 -> 0 bytes .../styles/images/close_blue.png | Bin 294 -> 0 bytes .../styles/images/close_white.png | Bin 2968 -> 0 bytes .../styles/images/colorpicker/ReadMe.txt | 4 - .../styles/images/colorpicker/Thumbs.db | Bin 37376 -> 0 bytes .../styles/images/colorpicker/bar-hue.png | Bin 226 -> 0 bytes .../images/colorpicker/bar-saturation.png | Bin 257 -> 0 bytes .../styles/images/colorpicker/map-hue.png | Bin 15712 -> 0 bytes .../colorpicker/map-saturation-overlay.png | Bin 38806 -> 0 bytes .../images/colorpicker/map-saturation.png | Bin 6260 -> 0 bytes .../styles/images/common.png | Bin 6765 -> 0 bytes .../styles/images/crosshair-white.png | Bin 149 -> 0 bytes .../styles/images/crosshair.png | Bin 160 -> 0 bytes .../styles/images/darkness/ReadMe.txt | 4 - .../styles/images/darkness/Thumbs.db | Bin 52736 -> 0 bytes .../darkness/ui-bg_flat_30_cccccc_40x100.png | Bin 180 -> 0 bytes .../darkness/ui-bg_flat_50_5c5c5c_40x100.png | Bin 180 -> 0 bytes .../darkness/ui-bg_glass_20_555555_1x400.png | Bin 115 -> 0 bytes .../darkness/ui-bg_glass_40_0078a3_1x400.png | Bin 135 -> 0 bytes .../darkness/ui-bg_glass_40_ffc73d_1x400.png | Bin 131 -> 0 bytes .../ui-bg_gloss-wave_25_333333_500x100.png | Bin 1874 -> 0 bytes .../ui-bg_highlight-soft_80_eeeeee_1x100.png | Bin 95 -> 0 bytes .../ui-bg_inset-soft_25_000000_1x100.png | Bin 98 -> 0 bytes .../ui-bg_inset-soft_30_f58400_1x100.png | Bin 117 -> 0 bytes .../darkness/ui-icons_222222_256x240.png | Bin 4369 -> 0 bytes .../darkness/ui-icons_4b8e0b_256x240.png | Bin 4369 -> 0 bytes .../darkness/ui-icons_a83300_256x240.png | Bin 5355 -> 0 bytes .../darkness/ui-icons_cccccc_256x240.png | Bin 4369 -> 0 bytes .../darkness/ui-icons_ffffff_256x240.png | Bin 4369 -> 0 bytes .../styles/images/darkred_gradient.png | Bin 2875 -> 0 bytes .../styles/images/drag.png | Bin 541 -> 0 bytes .../styles/images/dragcancel.png | Bin 334 -> 0 bytes .../styles/images/error.png | Bin 988 -> 0 bytes .../styles/images/filter.png | Bin 352 -> 0 bytes .../styles/images/html_editor.png | Bin 2035 -> 0 bytes .../styles/images/html_editor_white.png | Bin 2006 -> 0 bytes .../styles/images/icon-calendar-light.png | Bin 478 -> 0 bytes .../images/icon-calendar-metro-light.png | Bin 506 -> 0 bytes .../icon-calendar-metro-yellow-light.png | Bin 506 -> 0 bytes .../styles/images/icon-calendar-white.png | Bin 326 -> 0 bytes .../styles/images/icon-calendar.png | Bin 478 -> 0 bytes .../styles/images/icon-cancel-white.png | Bin 343 -> 0 bytes .../styles/images/icon-cancel.png | Bin 333 -> 0 bytes .../styles/images/icon-delete-white.png | Bin 276 -> 0 bytes .../styles/images/icon-delete.png | Bin 3167 -> 0 bytes .../styles/images/icon-down-blue.png | Bin 3041 -> 0 bytes .../styles/images/icon-down-transparent.png | Bin 3040 -> 0 bytes .../styles/images/icon-down-white.png | Bin 128 -> 0 bytes .../styles/images/icon-down.png | Bin 142 -> 0 bytes .../styles/images/icon-edit-white.png | Bin 367 -> 0 bytes .../styles/images/icon-edit.png | Bin 405 -> 0 bytes .../styles/images/icon-first-blue.png | Bin 3089 -> 0 bytes .../styles/images/icon-first-transparent.png | Bin 3005 -> 0 bytes .../styles/images/icon-first-white.png | Bin 153 -> 0 bytes .../styles/images/icon-first.png | Bin 152 -> 0 bytes .../styles/images/icon-last-blue.png | Bin 3072 -> 0 bytes .../styles/images/icon-last-transparent.png | Bin 2998 -> 0 bytes .../styles/images/icon-last-white.png | Bin 157 -> 0 bytes .../styles/images/icon-last.png | Bin 153 -> 0 bytes .../styles/images/icon-left-blue.png | Bin 3042 -> 0 bytes .../styles/images/icon-left-transparent.png | Bin 3036 -> 0 bytes .../styles/images/icon-left-white.png | Bin 131 -> 0 bytes .../styles/images/icon-left.png | Bin 139 -> 0 bytes .../images/icon-menu-minimized-white.png | Bin 190 -> 0 bytes .../styles/images/icon-menu-minimized.png | Bin 202 -> 0 bytes .../styles/images/icon-menu-small-white.png | Bin 154 -> 0 bytes .../styles/images/icon-menu-small.png | Bin 154 -> 0 bytes .../styles/images/icon-plus-white.png | Bin 3070 -> 0 bytes .../styles/images/icon-plus.png | Bin 2992 -> 0 bytes .../icon-recurrence-exception-white.png | Bin 347 -> 0 bytes .../images/icon-recurrence-exception.png | Bin 453 -> 0 bytes .../styles/images/icon-recurrence-white.png | Bin 265 -> 0 bytes .../styles/images/icon-recurrence.png | Bin 295 -> 0 bytes .../styles/images/icon-right-blue.png | Bin 3071 -> 0 bytes .../styles/images/icon-right-transparent.png | Bin 3040 -> 0 bytes .../styles/images/icon-right-white.png | Bin 130 -> 0 bytes .../styles/images/icon-right.png | Bin 143 -> 0 bytes .../styles/images/icon-save-white.png | Bin 255 -> 0 bytes .../styles/images/icon-save.png | Bin 3173 -> 0 bytes .../styles/images/icon-showpassword-white.png | Bin 442 -> 0 bytes .../styles/images/icon-showpassword.png | Bin 360 -> 0 bytes .../styles/images/icon-sort-asc-white.png | Bin 180 -> 0 bytes .../styles/images/icon-sort-asc.png | Bin 127 -> 0 bytes .../styles/images/icon-sort-desc-white.png | Bin 187 -> 0 bytes .../styles/images/icon-sort-desc.png | Bin 137 -> 0 bytes .../styles/images/icon-sort-remove-white.png | Bin 174 -> 0 bytes .../styles/images/icon-sort-remove.png | Bin 123 -> 0 bytes .../styles/images/icon-time-white.png | Bin 455 -> 0 bytes .../styles/images/icon-time.png | Bin 556 -> 0 bytes .../styles/images/icon-up-blue.png | Bin 3034 -> 0 bytes .../styles/images/icon-up-transparent.png | Bin 3025 -> 0 bytes .../styles/images/icon-up-white.png | Bin 125 -> 0 bytes .../styles/images/icon-up.png | Bin 130 -> 0 bytes .../styles/images/icon_collapse.png | Bin 222 -> 0 bytes .../styles/images/icon_expand.png | Bin 247 -> 0 bytes .../styles/images/info.png | Bin 542 -> 0 bytes .../styles/images/le-frog/ReadMe.txt | 4 - .../styles/images/le-frog/Thumbs.db | Bin 43520 -> 0 bytes .../ui-bg_diagonals-small_0_aaaaaa_40x40.png | Bin 128 -> 0 bytes .../ui-bg_diagonals-thick_15_444444_40x40.png | Bin 253 -> 0 bytes .../ui-bg_diagonals-thick_95_ffdc2e_40x40.png | Bin 266 -> 0 bytes .../le-frog/ui-bg_glass_55_fbf5d0_1x400.png | Bin 153 -> 0 bytes .../ui-bg_highlight-hard_30_285c00_1x100.png | Bin 121 -> 0 bytes .../ui-bg_highlight-soft_33_3a8104_1x100.png | Bin 123 -> 0 bytes .../ui-bg_highlight-soft_50_4eb305_1x100.png | Bin 126 -> 0 bytes .../ui-bg_highlight-soft_60_4ca20b_1x100.png | Bin 134 -> 0 bytes .../ui-bg_inset-soft_10_285c00_1x100.png | Bin 118 -> 0 bytes .../le-frog/ui-icons_4eb305_256x240.png | Bin 4369 -> 0 bytes .../le-frog/ui-icons_72b42d_256x240.png | Bin 4369 -> 0 bytes .../le-frog/ui-icons_cd0a0a_256x240.png | Bin 4369 -> 0 bytes .../le-frog/ui-icons_ffffff_256x240.png | Bin 4369 -> 0 bytes .../styles/images/lightness/ReadMe.txt | 4 - .../styles/images/lightness/Thumbs.db | Bin 55808 -> 0 bytes .../styles/images/lightness/icon-first.png | Bin 220 -> 0 bytes .../styles/images/lightness/icon-last.png | Bin 229 -> 0 bytes .../ui-bg_diagonals-thick_18_b81900_40x40.png | Bin 260 -> 0 bytes .../ui-bg_diagonals-thick_20_666666_40x40.png | Bin 251 -> 0 bytes .../lightness/ui-bg_flat_10_000000_40x100.png | Bin 178 -> 0 bytes .../ui-bg_glass_100_f6f6f6_1x400.png | Bin 104 -> 0 bytes .../ui-bg_glass_100_fdf5ce_1x400.png | Bin 125 -> 0 bytes .../lightness/ui-bg_glass_65_ffffff_1x400.png | Bin 105 -> 0 bytes .../ui-bg_gloss-wave_35_f6a828_500x100.png | Bin 3762 -> 0 bytes .../ui-bg_highlight-soft_100_eeeeee_1x100.png | Bin 90 -> 0 bytes .../ui-bg_highlight-soft_75_ffe45c_1x100.png | Bin 129 -> 0 bytes .../lightness/ui-icons_222222_256x240.png | Bin 4369 -> 0 bytes .../lightness/ui-icons_228ef1_256x240.png | Bin 4369 -> 0 bytes .../lightness/ui-icons_ef8c08_256x240.png | Bin 4369 -> 0 bytes .../lightness/ui-icons_ffd27a_256x240.png | Bin 4369 -> 0 bytes .../lightness/ui-icons_ffffff_256x240.png | Bin 4369 -> 0 bytes .../styles/images/loader-small.gif | Bin 4319 -> 0 bytes .../styles/images/loader.gif | Bin 4176 -> 0 bytes .../styles/images/mail.png | Bin 504 -> 0 bytes .../styles/images/menubutton.png | Bin 142 -> 0 bytes .../styles/images/metro-icon-down-white.png | Bin 149 -> 0 bytes .../styles/images/metro-icon-down.png | Bin 169 -> 0 bytes .../styles/images/metro-icon-first-white.png | Bin 155 -> 0 bytes .../styles/images/metro-icon-first.png | Bin 156 -> 0 bytes .../styles/images/metro-icon-last-white.png | Bin 157 -> 0 bytes .../styles/images/metro-icon-last.png | Bin 157 -> 0 bytes .../styles/images/metro-icon-left-white.png | Bin 142 -> 0 bytes .../styles/images/metro-icon-left.png | Bin 163 -> 0 bytes .../styles/images/metro-icon-right - Copy.png | Bin 162 -> 0 bytes .../styles/images/metro-icon-right-white.png | Bin 145 -> 0 bytes .../styles/images/metro-icon-right.png | Bin 162 -> 0 bytes .../styles/images/metro-icon-up-white.png | Bin 150 -> 0 bytes .../styles/images/metro-icon-up.png | Bin 161 -> 0 bytes .../styles/images/multi-arrow.gif | Bin 88 -> 0 bytes .../styles/images/office-icon-down.png | Bin 160 -> 0 bytes .../styles/images/office-icon-first.png | Bin 288 -> 0 bytes .../styles/images/office-icon-last.png | Bin 295 -> 0 bytes .../styles/images/office-icon-left.png | Bin 154 -> 0 bytes .../styles/images/office-icon-right.png | Bin 157 -> 0 bytes .../styles/images/office-icon-up.png | Bin 146 -> 0 bytes .../styles/images/overcast/ReadMe.txt | 4 - .../styles/images/overcast/Thumbs.db | Bin 51712 -> 0 bytes .../overcast/ui-bg_flat_0_aaaaaa_40x100.png | Bin 180 -> 0 bytes .../overcast/ui-bg_flat_0_eeeeee_40x100.png | Bin 180 -> 0 bytes .../overcast/ui-bg_flat_55_c0402a_40x100.png | Bin 182 -> 0 bytes .../overcast/ui-bg_flat_55_eeeeee_40x100.png | Bin 180 -> 0 bytes .../overcast/ui-bg_glass_100_f8f8f8_1x400.png | Bin 105 -> 0 bytes .../overcast/ui-bg_glass_35_dddddd_1x400.png | Bin 109 -> 0 bytes .../overcast/ui-bg_glass_60_eeeeee_1x400.png | Bin 110 -> 0 bytes .../ui-bg_inset-hard_75_999999_1x100.png | Bin 114 -> 0 bytes .../ui-bg_inset-soft_50_c9c9c9_1x100.png | Bin 142 -> 0 bytes .../overcast/ui-icons_3383bb_256x240.png | Bin 4369 -> 0 bytes .../overcast/ui-icons_454545_256x240.png | Bin 4369 -> 0 bytes .../overcast/ui-icons_70b2e1_256x240.png | Bin 4369 -> 0 bytes .../overcast/ui-icons_999999_256x240.png | Bin 4369 -> 0 bytes .../overcast/ui-icons_fbc856_256x240.png | Bin 4369 -> 0 bytes .../styles/images/pin-black.png | Bin 186 -> 0 bytes .../styles/images/pin-blue.png | Bin 187 -> 0 bytes .../styles/images/pin-lightblue.png | Bin 187 -> 0 bytes .../styles/images/pin-white.png | Bin 184 -> 0 bytes .../styles/images/pin-yellow.png | Bin 187 -> 0 bytes .../styles/images/pin.png | Bin 187 -> 0 bytes .../styles/images/pinned-black.png | Bin 185 -> 0 bytes .../styles/images/pinned-blue.png | Bin 185 -> 0 bytes .../styles/images/pinned-lightblue.png | Bin 185 -> 0 bytes .../styles/images/pinned-white.png | Bin 183 -> 0 bytes .../styles/images/pinned-yellow.png | Bin 185 -> 0 bytes .../styles/images/pinned.png | Bin 185 -> 0 bytes .../styles/images/plus.png | Bin 141 -> 0 bytes .../styles/images/plus_white.png | Bin 228 -> 0 bytes .../styles/images/pointer.png | Bin 171 -> 0 bytes .../styles/images/rangebar_classic.png | Bin 131 -> 0 bytes .../styles/images/rangebar_darkblue.png | Bin 130 -> 0 bytes .../styles/images/rangebar_shinyblack.png | Bin 126 -> 0 bytes .../styles/images/rangebar_summer.png | Bin 127 -> 0 bytes .../styles/images/red_arrow_down.png | Bin 2825 -> 0 bytes .../styles/images/red_arrow_up.png | Bin 2828 -> 0 bytes .../styles/images/red_gradient.png | Bin 2873 -> 0 bytes .../styles/images/redmond/ReadMe.txt | 4 - .../styles/images/redmond/Thumbs.db | Bin 74240 -> 0 bytes .../styles/images/redmond/icon-first.png | Bin 233 -> 0 bytes .../styles/images/redmond/icon-last.png | Bin 242 -> 0 bytes .../redmond/ui-bg_flat_0_aaaaaa_40x100.png | Bin 180 -> 0 bytes .../redmond/ui-bg_flat_55_fbec88_40x100.png | Bin 213 -> 0 bytes .../redmond/ui-bg_glass_75_d0e5f5_1x400.png | Bin 124 -> 0 bytes .../redmond/ui-bg_glass_85_dfeffc_1x400.png | Bin 155 -> 0 bytes .../redmond/ui-bg_glass_95_fef1ec_1x400.png | Bin 119 -> 0 bytes .../ui-bg_gloss-wave_55_5c9ccc_500x100.png | Bin 3457 -> 0 bytes .../ui-bg_inset-hard_100_f5f8f9_1x100.png | Bin 104 -> 0 bytes .../ui-bg_inset-hard_100_fcfdfd_1x100.png | Bin 88 -> 0 bytes .../redmond/ui-icons_217bc0_256x240.png | Bin 4369 -> 0 bytes .../redmond/ui-icons_2e83ff_256x240.png | Bin 4369 -> 0 bytes .../redmond/ui-icons_469bdd_256x240.png | Bin 4369 -> 0 bytes .../redmond/ui-icons_6da8d5_256x240.png | Bin 5355 -> 0 bytes .../redmond/ui-icons_cd0a0a_256x240.png | Bin 4369 -> 0 bytes .../redmond/ui-icons_d8e7f3_256x240.png | Bin 4369 -> 0 bytes .../redmond/ui-icons_f9bd01_256x240.png | Bin 4369 -> 0 bytes .../styles/images/roundbg_check_black.png | Bin 3008 -> 0 bytes .../styles/images/roundbg_check_disabled.png | Bin 2971 -> 0 bytes .../images/roundbg_check_indeterminate.png | Bin 2971 -> 0 bytes .../styles/images/roundbg_check_white.png | Bin 2889 -> 0 bytes .../styles/images/roundbg_classic_hover.png | Bin 3244 -> 0 bytes .../styles/images/roundbg_classic_normal.png | Bin 3264 -> 0 bytes .../styles/images/roundbg_disabled.png | Bin 2982 -> 0 bytes .../styles/images/search.png | Bin 414 -> 0 bytes .../styles/images/search_white.png | Bin 437 -> 0 bytes .../styles/images/smoothness/ReadMe.txt | 4 - .../styles/images/smoothness/Thumbs.db | Bin 51712 -> 0 bytes .../smoothness/ui-bg_flat_0_aaaaaa_40x100.png | Bin 180 -> 0 bytes .../ui-bg_flat_75_ffffff_40x100.png | Bin 178 -> 0 bytes .../ui-bg_glass_55_fbf9ee_1x400.png | Bin 120 -> 0 bytes .../ui-bg_glass_65_ffffff_1x400.png | Bin 105 -> 0 bytes .../ui-bg_glass_75_dadada_1x400.png | Bin 111 -> 0 bytes .../ui-bg_glass_75_e6e6e6_1x400.png | Bin 110 -> 0 bytes .../ui-bg_glass_95_fef1ec_1x400.png | Bin 119 -> 0 bytes .../ui-bg_highlight-soft_75_cccccc_1x100.png | Bin 101 -> 0 bytes .../smoothness/ui-icons_222222_256x240.png | Bin 4369 -> 0 bytes .../smoothness/ui-icons_2e83ff_256x240.png | Bin 4369 -> 0 bytes .../smoothness/ui-icons_454545_256x240.png | Bin 4369 -> 0 bytes .../smoothness/ui-icons_888888_256x240.png | Bin 4369 -> 0 bytes .../smoothness/ui-icons_cd0a0a_256x240.png | Bin 4369 -> 0 bytes .../styles/images/sortasc.png | Bin 3240 -> 0 bytes .../styles/images/sortascbutton.png | Bin 176 -> 0 bytes .../styles/images/sortdesc.png | Bin 500 -> 0 bytes .../styles/images/sortdescbutton.png | Bin 196 -> 0 bytes .../styles/images/sortremove.png | Bin 3190 -> 0 bytes .../styles/images/star.png | Bin 1394 -> 0 bytes .../styles/images/star_disabled.png | Bin 1169 -> 0 bytes .../styles/images/star_hover.png | Bin 922 -> 0 bytes .../styles/images/start/ReadMe.txt | 4 - .../styles/images/start/Thumbs.db | Bin 76800 -> 0 bytes .../start/ui-bg_flat_55_999999_40x100.png | Bin 180 -> 0 bytes .../start/ui-bg_flat_75_aaaaaa_40x100.png | Bin 180 -> 0 bytes .../start/ui-bg_glass_45_0078ae_1x400.png | Bin 136 -> 0 bytes .../start/ui-bg_glass_55_f8da4e_1x400.png | Bin 131 -> 0 bytes .../start/ui-bg_glass_75_79c9ec_1x400.png | Bin 132 -> 0 bytes .../ui-bg_gloss-wave_45_e14f1c_500x100.png | Bin 3649 -> 0 bytes .../ui-bg_gloss-wave_50_6eac2c_500x100.png | Bin 4256 -> 0 bytes .../ui-bg_gloss-wave_75_2191c0_500x100.png | Bin 3457 -> 0 bytes .../ui-bg_inset-hard_100_fcfdfd_1x100.png | Bin 112 -> 0 bytes .../images/start/ui-icons_0078ae_256x240.png | Bin 4369 -> 0 bytes .../images/start/ui-icons_056b93_256x240.png | Bin 4369 -> 0 bytes .../images/start/ui-icons_d8e7f3_256x240.png | Bin 4369 -> 0 bytes .../images/start/ui-icons_e0fdff_256x240.png | Bin 4369 -> 0 bytes .../images/start/ui-icons_f5e175_256x240.png | Bin 4369 -> 0 bytes .../images/start/ui-icons_f7a50d_256x240.png | Bin 5355 -> 0 bytes .../images/start/ui-icons_fcd113_256x240.png | Bin 5355 -> 0 bytes .../styles/images/stripes.png | Bin 193 -> 0 bytes .../styles/images/success.png | Bin 960 -> 0 bytes .../styles/images/sunny/ReadMe.txt | 4 - .../styles/images/sunny/Thumbs.db | Bin 78848 -> 0 bytes ...ui-bg_diagonals-medium_20_d34d17_40x40.png | Bin 199 -> 0 bytes .../sunny/ui-bg_flat_30_cccccc_40x100.png | Bin 180 -> 0 bytes .../sunny/ui-bg_flat_50_5c5c5c_40x100.png | Bin 180 -> 0 bytes .../ui-bg_gloss-wave_45_817865_500x100.png | Bin 4626 -> 0 bytes .../ui-bg_gloss-wave_60_fece2f_500x100.png | Bin 3512 -> 0 bytes .../ui-bg_gloss-wave_70_ffdd57_500x100.png | Bin 3122 -> 0 bytes .../ui-bg_gloss-wave_90_fff9e5_500x100.png | Bin 2257 -> 0 bytes .../ui-bg_highlight-soft_100_feeebd_1x100.png | Bin 108 -> 0 bytes .../ui-bg_inset-soft_30_ffffff_1x100.png | Bin 100 -> 0 bytes .../images/sunny/ui-icons_3d3d3d_256x240.png | Bin 4369 -> 0 bytes .../images/sunny/ui-icons_bd7b00_256x240.png | Bin 4369 -> 0 bytes .../images/sunny/ui-icons_d19405_256x240.png | Bin 5355 -> 0 bytes .../images/sunny/ui-icons_eb990f_256x240.png | Bin 5355 -> 0 bytes .../images/sunny/ui-icons_ed9f26_256x240.png | Bin 4369 -> 0 bytes .../images/sunny/ui-icons_fadc7a_256x240.png | Bin 5355 -> 0 bytes .../images/sunny/ui-icons_ffe180_256x240.png | Bin 4369 -> 0 bytes .../styles/images/tick.png | Bin 131 -> 0 bytes .../styles/images/time.png | Bin 513 -> 0 bytes .../styles/images/track_classic.png | Bin 129 -> 0 bytes .../styles/images/track_darkblue.png | Bin 130 -> 0 bytes .../styles/images/track_shinyblack.png | Bin 123 -> 0 bytes .../styles/images/track_summer.png | Bin 129 -> 0 bytes .../styles/images/warning.png | Bin 647 -> 0 bytes .../images/wp_check_indeterminate_white.png | Bin 939 -> 0 bytes .../styles/images/wp_check_white.png | Bin 505 -> 0 bytes .../styles/jqx.android.css | 523 -- .../styles/jqx.arctic.css | 536 -- jqwidgets_thru_dde_3_5_12/styles/jqx.base.css | 7012 ----------------- .../styles/jqx.black.css | 299 - .../styles/jqx.blackberry.css | 656 -- .../styles/jqx.bootstrap.css | 924 --- .../styles/jqx.classic.css | 82 - jqwidgets_thru_dde_3_5_12/styles/jqx.dark.css | 857 -- .../styles/jqx.darkblue.css | 248 - .../styles/jqx.energyblue.css | 16 - jqwidgets_thru_dde_3_5_12/styles/jqx.flat.css | 537 -- .../styles/jqx.fresh.css | 138 - .../styles/jqx.glacier.css | 257 - .../styles/jqx.highcontrast.css | 125 - .../styles/jqx.light.css | 974 --- .../styles/jqx.metro.css | 323 - .../styles/jqx.metrodark.css | 424 - .../styles/jqx.mobile.css | 780 -- .../styles/jqx.office.css | 262 - .../styles/jqx.orange.css | 211 - .../styles/jqx.shinyblack.css | 225 - .../styles/jqx.summer.css | 85 - .../styles/jqx.ui-darkness.css | 250 - .../styles/jqx.ui-le-frog.css | 297 - .../styles/jqx.ui-lightness.css | 161 - .../styles/jqx.ui-overcast.css | 177 - .../styles/jqx.ui-redmond.css | 183 - .../styles/jqx.ui-smoothness.css | 164 - .../styles/jqx.ui-start.css | 227 - .../styles/jqx.ui-sunny.css | 166 - jqwidgets_thru_dde_3_5_12/styles/jqx.web.css | 314 - .../styles/jqx.windowsphone.css | 496 -- js_info.js | 9 +- junkdir1/foo33.txt | 1 - load_job_engine.js | 2 +- math/Kin.js | 46 +- package.json | 7 +- plot.js | 312 + ready.js | 5 + series.js | 11 +- simulator/simutils.js | 57 +- 390 files changed, 1247 insertions(+), 18260 deletions(-) delete mode 100644 jquery-1.11.3.min.js create mode 100755 jqwidgets/jqxchart.js create mode 100755 jqwidgets/jqxdraw.js delete mode 100644 jqwidgets_thru_dde_3_5_12/jqwidgets_5_6_0.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxbuttons.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxcheckbox.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxcombobox.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxcore.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxdata.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxdatatable.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxlistbox.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxmenu.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxpanel.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxscrollbar.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxsplitter.js delete mode 100755 jqwidgets_thru_dde_3_5_12/jqxwindow.js delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/backImage.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/backgroundTop.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_black.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_black_horizontal.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_blackhover.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_blackhover_horizontal.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_blackpressed.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_blackpressed_horizontal.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_blueenergy.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_darkblue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_darkbluehover.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/bg_darkbluepressed.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/black_gradient.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/blackbackground.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_black.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_blue_indeterminate.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_disabled.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_indeterminate_black.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_indeterminate_disabled.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_indeterminate_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_lightblue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_lightblue_indeterminate.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/check_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/close.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/close_black.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/close_blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/close_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/colorpicker/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/colorpicker/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/colorpicker/bar-hue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/colorpicker/bar-saturation.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/colorpicker/map-hue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/colorpicker/map-saturation-overlay.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/colorpicker/map-saturation.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/common.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/crosshair-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/crosshair.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_flat_30_cccccc_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_flat_50_5c5c5c_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_glass_20_555555_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_glass_40_0078a3_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_glass_40_ffc73d_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_gloss-wave_25_333333_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_highlight-soft_80_eeeeee_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_inset-soft_25_000000_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-bg_inset-soft_30_f58400_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-icons_222222_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-icons_4b8e0b_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-icons_a83300_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-icons_cccccc_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkness/ui-icons_ffffff_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/darkred_gradient.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/drag.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/dragcancel.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/error.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/filter.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/html_editor.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/html_editor_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-calendar-light.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-calendar-metro-light.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-calendar-metro-yellow-light.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-calendar-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-calendar.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-cancel-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-cancel.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-delete-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-delete.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-down-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-down-transparent.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-down-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-down.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-edit-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-edit.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-first-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-first-transparent.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-first-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-first.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-last-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-last-transparent.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-last-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-last.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-left-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-left-transparent.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-left-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-left.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-menu-minimized-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-menu-minimized.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-menu-small-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-menu-small.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-plus-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-plus.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-recurrence-exception-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-recurrence-exception.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-recurrence-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-recurrence.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-right-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-right-transparent.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-right-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-right.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-save-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-save.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-showpassword-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-showpassword.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-sort-asc-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-sort-asc.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-sort-desc-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-sort-desc.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-sort-remove-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-sort-remove.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-time-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-time.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-up-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-up-transparent.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-up-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon-up.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon_collapse.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/icon_expand.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/info.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_diagonals-small_0_aaaaaa_40x40.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_diagonals-thick_15_444444_40x40.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_diagonals-thick_95_ffdc2e_40x40.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_glass_55_fbf5d0_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_highlight-hard_30_285c00_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_highlight-soft_33_3a8104_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_highlight-soft_50_4eb305_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_highlight-soft_60_4ca20b_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-bg_inset-soft_10_285c00_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-icons_4eb305_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-icons_72b42d_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-icons_cd0a0a_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/le-frog/ui-icons_ffffff_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/icon-first.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/icon-last.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_diagonals-thick_18_b81900_40x40.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_diagonals-thick_20_666666_40x40.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_flat_10_000000_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_glass_100_f6f6f6_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_glass_100_fdf5ce_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_glass_65_ffffff_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_gloss-wave_35_f6a828_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_highlight-soft_100_eeeeee_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-bg_highlight-soft_75_ffe45c_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-icons_222222_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-icons_228ef1_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-icons_ef8c08_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-icons_ffd27a_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/lightness/ui-icons_ffffff_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/loader-small.gif delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/loader.gif delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/mail.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/menubutton.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-down-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-down.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-first-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-first.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-last-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-last.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-left-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-left.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-right - Copy.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-right-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-right.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-up-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/metro-icon-up.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/multi-arrow.gif delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/office-icon-down.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/office-icon-first.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/office-icon-last.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/office-icon-left.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/office-icon-right.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/office-icon-up.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_flat_0_aaaaaa_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_flat_0_eeeeee_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_flat_55_c0402a_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_flat_55_eeeeee_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_glass_100_f8f8f8_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_glass_35_dddddd_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_glass_60_eeeeee_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_inset-hard_75_999999_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-bg_inset-soft_50_c9c9c9_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-icons_3383bb_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-icons_454545_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-icons_70b2e1_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-icons_999999_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/overcast/ui-icons_fbc856_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pin-black.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pin-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pin-lightblue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pin-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pin-yellow.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pin.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pinned-black.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pinned-blue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pinned-lightblue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pinned-white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pinned-yellow.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pinned.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/plus.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/plus_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/pointer.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/rangebar_classic.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/rangebar_darkblue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/rangebar_shinyblack.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/rangebar_summer.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/red_arrow_down.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/red_arrow_up.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/red_gradient.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/icon-first.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/icon-last.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_flat_0_aaaaaa_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_flat_55_fbec88_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_glass_75_d0e5f5_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_glass_85_dfeffc_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_glass_95_fef1ec_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_gloss-wave_55_5c9ccc_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_inset-hard_100_f5f8f9_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-bg_inset-hard_100_fcfdfd_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-icons_217bc0_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-icons_2e83ff_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-icons_469bdd_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-icons_6da8d5_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-icons_cd0a0a_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-icons_d8e7f3_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/redmond/ui-icons_f9bd01_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/roundbg_check_black.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/roundbg_check_disabled.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/roundbg_check_indeterminate.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/roundbg_check_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/roundbg_classic_hover.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/roundbg_classic_normal.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/roundbg_disabled.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/search.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/search_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_flat_0_aaaaaa_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_flat_75_ffffff_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_glass_55_fbf9ee_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_glass_65_ffffff_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_glass_75_dadada_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_glass_75_e6e6e6_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_glass_95_fef1ec_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-bg_highlight-soft_75_cccccc_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-icons_222222_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-icons_2e83ff_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-icons_454545_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-icons_888888_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/smoothness/ui-icons_cd0a0a_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sortasc.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sortascbutton.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sortdesc.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sortdescbutton.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sortremove.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/star.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/star_disabled.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/star_hover.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_flat_55_999999_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_flat_75_aaaaaa_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_glass_45_0078ae_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_glass_55_f8da4e_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_glass_75_79c9ec_1x400.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_gloss-wave_45_e14f1c_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_gloss-wave_50_6eac2c_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_gloss-wave_75_2191c0_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-bg_inset-hard_100_fcfdfd_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-icons_0078ae_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-icons_056b93_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-icons_d8e7f3_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-icons_e0fdff_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-icons_f5e175_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-icons_f7a50d_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/start/ui-icons_fcd113_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/stripes.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/success.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ReadMe.txt delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/Thumbs.db delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_diagonals-medium_20_d34d17_40x40.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_flat_30_cccccc_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_flat_50_5c5c5c_40x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_gloss-wave_45_817865_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_gloss-wave_60_fece2f_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_gloss-wave_70_ffdd57_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_gloss-wave_90_fff9e5_500x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_highlight-soft_100_feeebd_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-bg_inset-soft_30_ffffff_1x100.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-icons_3d3d3d_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-icons_bd7b00_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-icons_d19405_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-icons_eb990f_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-icons_ed9f26_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-icons_fadc7a_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/sunny/ui-icons_ffe180_256x240.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/tick.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/time.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/track_classic.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/track_darkblue.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/track_shinyblack.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/track_summer.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/warning.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/wp_check_indeterminate_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/images/wp_check_white.png delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.android.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.arctic.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.base.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.black.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.blackberry.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.bootstrap.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.classic.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.dark.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.darkblue.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.energyblue.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.flat.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.fresh.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.glacier.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.highcontrast.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.light.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.metro.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.metrodark.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.mobile.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.office.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.orange.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.shinyblack.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.summer.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-darkness.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-le-frog.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-lightness.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-overcast.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-redmond.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-smoothness.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-start.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.ui-sunny.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.web.css delete mode 100755 jqwidgets_thru_dde_3_5_12/styles/jqx.windowsphone.css delete mode 100644 junkdir1/foo33.txt create mode 100644 plot.js diff --git a/core/dextersim.js b/core/dextersim.js index 2ef49edb..34daf905 100644 --- a/core/dextersim.js +++ b/core/dextersim.js @@ -5,9 +5,7 @@ DexterSim = class DexterSim{ this.robot_name = robot_name this.robot = Robot[robot_name] //only used by predict_move_dur DexterSim.robot_name_to_dextersim_instance_map[robot_name] = this - - this.a_angles_arcseconds = [0,0,0,0,0,0,0] - this.measured_angles_arcseconds = [0,0,0,0,0,0,0] //a_angles + pid_angles + this.measured_angles_dexter_units = [0,0,0,0,0,0,0] //a_angles + pid_angles } //sim_actual passed in is either true or "both" @@ -51,7 +49,7 @@ DexterSim = class DexterSim{ this.write_file_file_content = "" //grows as "m" instructions come in - this.pid_angles_arcseconds = [0,0,0,0,0,0,0] + // not used this.pid_angles_arcseconds = [0,0,0,0,0,0,0] this.velocity_arcseconds_per_second = [0,0,0,0,0,0,0] this.ready_to_start_new_instruction = true //true at beginning and when we've just completed an instruction but not started another @@ -108,11 +106,11 @@ DexterSim = class DexterSim{ //called from Socket.send //typically adds instruction to sim_inst.instruction_queue - static send(robot_name, arr_buff){ //instruction_array is in arcseconds + static send(robot_name, arr_buff){ //out("Sim.send passed instruction_array: " + instruction_array + " robot_name: " + robot_name) - let instruction_array = this.array_buffer_to_oplet_array(arr_buff) - let ins_args = Instruction.args(instruction_array) //in arcseconds let sim_inst = DexterSim.robot_name_to_dextersim_instance_map[robot_name] + let instruction_array = this.array_buffer_to_oplet_array(arr_buff) //instruction_array is in dexter_units + let ins_args = Instruction.args(instruction_array) //in dexter_units sim_inst.sent_instructions_count += 1 if (sim_inst.status == "closing"){ shouldnt("In a_DexterSim.send with robot_name: " + robot_name + @@ -200,7 +198,7 @@ DexterSim = class DexterSim{ let robot_status_array = Dexter.make_default_status_array_g_sm(this.status_mode) let rs_inst = new RobotStatus({robot_status: robot_status_array}) if(rs_inst.supports_measured_angles()) { - rs_inst.set_measured_angles(this.measured_angles_arcseconds, true) //we want to install arcseconds, as Societ is expected arcseconds and will convert to degrees + rs_inst.set_measured_angles(this.measured_angles_dexter_units, true) //we want to install arcseconds, as Socket is expected arcseconds and will convert to degrees } //else allow all other status modes. robot_status_array[Dexter.JOB_ID] = instruction_array[Instruction.JOB_ID] @@ -267,12 +265,6 @@ DexterSim = class DexterSim{ sim_inst.now_processing_instruction && (sim_inst.ending_time_of_cur_instruction <= the_now)) { //end the cur instruction and move to the next const oplet = sim_inst.now_processing_instruction[Dexter.INSTRUCTION_TYPE] - //if ((sim_inst.sim_actual === true) && [/*"F" , "G", "g"*/].includes(oplet)) { //dont do when sim == "both" - //let rs_copy = sim_inst.robot_status_in_arcseconds.slice() //make a copy to return as some subseqent call to this meth will modify the one "model of dexter" that we're saving in the instance - //rs_copy[Dexter.STOP_TIME] = Date.now() //in milliseconds - ///Socket.on_receive(rs_copy, sim_inst.robot.name) - // sim_inst.ack_reply(sim_inst.now_processing_instruction) - //} sim_inst.completed_instructions.push(sim_inst.now_processing_instruction) sim_inst.now_processing_instruction = null //Done with cur ins, sim_inst.ready_to_start_new_instruction = true @@ -301,7 +293,6 @@ DexterSim = class DexterSim{ let dur = 10 // in ms this.now_processing_instruction = this.instruction_queue.shift() //pop off next inst from front of the list let instruction_array = this.now_processing_instruction - //let robot_status = this.robot_status_in_arcseconds let oplet = instruction_array[Dexter.INSTRUCTION_TYPE] //robot_status[Dexter.JOB_ID] = instruction_array[Instruction.JOB_ID] //robot_status[Dexter.INSTRUCTION_ID] = instruction_array[Instruction.INSTRUCTION_ID] @@ -309,7 +300,7 @@ DexterSim = class DexterSim{ //robot_status[Dexter.INSTRUCTION_TYPE] = instruction_array[Instruction.INSTRUCTION_TYPE] //leave this as a 1 char string for now. helpful for debugging //robot_status[Dexter.ERROR_CODE] = 0 - let ins_args = Instruction.args(instruction_array) //in arcseconds + let ins_args = Instruction.args(instruction_array) //in dexter_units switch (oplet){ case "a": //move_all_joints //this.robot.angles = ins_args //only set this in move_all_joints and friends @@ -422,9 +413,10 @@ DexterSim = class DexterSim{ } //when we're running the simulator on Dexter - static render_once_node(rs_inst, job_name, robot_name, force_render=true){ //inputs in arc_seconds + static render_once_node(dexter_sim_instance, job_name, robot_name, force_render=true){ //inputs in arc_seconds //note that SimUtils.render_once has force_render=false, but //due to other changes, its best if render_once_node default to true + rs_inst = dexter_sim_instance.robot.rs if (force_render){ //let rs_inst = new RobotStatus({robot_statusa: robot_status}) let j1 = rs_inst.measured_angle(1) //joint_number)robot_status[Dexter.J1_MEASURED_ANGLE] @@ -443,54 +435,35 @@ DexterSim = class DexterSim{ } // also called by process_next_instruction_T() - process_next_instruction_a(ins_args){ //ins_args in arcseconds - /*let robot_status = this.robot_status_in_arcseconds - let idxs - if(this.status_mode === 0) { - idxs = [Dexter.J1_MEASURED_ANGLE, Dexter.J2_MEASURED_ANGLE, Dexter.J3_MEASURED_ANGLE, - Dexter.J4_MEASURED_ANGLE, Dexter.J5_MEASURED_ANGLE, Dexter.J6_MEASURED_ANGLE, Dexter.J7_MEASURED_ANGLE] - } - else if (this.status_mode === 1) { - idxs =[10, 11, 12, 13, 14, 15, 16] - } - //idxs is 7 long. But we don't want to get more than ins_args because those - //extra args aren't actually passed and it will screw up Kin.predict_move_dur to - //pass in 2 arrays of different lengths. - idxs = idxs.slice(0, ins_args.length) // - let orig_angles = [] //in arcseconds - for(let i of idxs) { orig_angles.push(robot_status[i]) } - //set the angles in this robot's robot_status - for(let i = 0; i < ins_args.length; i++){ - let angle = ins_args[i] //in arcseconds - if (!isNaN(angle)){ - robot_status[idxs[i]] = angle - } - }*/ + process_next_instruction_a(angles_dexter_units){ //predict needs its angles in degrees but ins_args are in arcseconds - const orig_angles_in_deg = this.measured_angles_arcseconds.map(function(ang) { return ang / 3600 }) - const ins_args_in_deg = ins_args.map(function(ang) { return ang / 3600 }) + const orig_angles_in_deg = Socket.dexter_units_to_degrees_array(this.measured_angles_dexter_units) //Socket.dexter_units_to_degrees(this.measured_angles_dexter_units) //this.measured_angles_dexter_units.map(function(ang) { return ang / 3600 }) + const angles_in_deg = Socket.dexter_units_to_degrees_array(angles_dexter_units) //ns_args.map(function(ang) { return ang / 3600 }) + //ins_args_in_deg[5] = Socket.dexter_units_to_degrees(ins_args[5], 6) //joint 6 + //ins_args_in_deg[6] = Socket.dexter_units_to_degrees(ins_args[6], 7) //joint 7 + //predict_move_dur takes degrees in and returns seconds - let dur_in_seconds = Math.abs(Kin.predict_move_dur(orig_angles_in_deg, ins_args_in_deg, this.robot)) + let dur_in_seconds = Math.abs(Kin.predict_move_dur(orig_angles_in_deg, angles_in_deg, this.robot)) let dur_in_milliseconds = dur_in_seconds * 1000 return dur_in_milliseconds } process_next_instruction_T(ins_args){ //ins_args xyz in microns let xyz_in_microns = [ins_args[0], ins_args[1], ins_args[2]] - let J5_direction = [ins_args[3], ins_args[4], ins_args[5]] - let config = [ins_args[6], ins_args[7], ins_args[8]] - let j6_angle = ins_args[11] - let j7_angle = ins_args[12] - let pose = undefined //its not in the ins_args, and defaults just fine + let J5_direction = [ins_args[3], ins_args[4], ins_args[5]] + let config = [ins_args[6], ins_args[7], ins_args[8]] + let j6_angle = ins_args[11] + let j7_angle = ins_args[12] + let pose = undefined //its not in the ins_args, and defaults just fine let xyz_in_meters = [xyz_in_microns[0] / 1000000, xyz_in_microns[1] / 1000000, xyz_in_microns[2] / 1000000] let angles_in_degrees = Kin.xyz_to_J_angles(xyz_in_meters, J5_direction, config, pose) - let angles_in_arcseconds = angles_in_degrees.map(function(deg) { return deg * 3600}) - angles_in_arcseconds.push(j6_angle) - angles_in_arcseconds.push(j7_angle) - return this.process_next_instruction_a(angles_in_arcseconds) + let angles_in_dexter_units = Socket.degrees_to_dexter_units(angles_in_degrees) + angles_in_dexter_units.push(j6_angle) + angles_in_dexter_units.push(j7_angle) + return this.process_next_instruction_a(angles_in_dexter_units) } process_next_instruction_r(instruction_array) { diff --git a/core/index.js b/core/index.js index 3af52692..9a5fff0d 100644 --- a/core/index.js +++ b/core/index.js @@ -1,5 +1,5 @@ -global.dde_version = "3.7.4" -global.dde_release_date = "Feb 5, 2021" +global.dde_version = "3.7.5" +global.dde_release_date = "Mar 2, 2021" console.log("dde_version: " + global.dde_version + " dde_release_date: " + global.dde_release_date + "\nRead electron_dde/core/job_engine_doc.txt for how to use the Job Engine.\n") diff --git a/core/job.js b/core/job.js index 0f827b6a..66eee091 100644 --- a/core/job.js +++ b/core/job.js @@ -2856,6 +2856,84 @@ Job.is_plausible_when_stopped_value = function(val){ ) } +//retruns an array of arrays, with the outer array having 3 inner arrays, +//one for x, y and z. +Job.prototype.three_d_points_for_plotting = function(which="auto"){ //can also be "orig_do_list" or "sent" + if((which === "auto") && this.sent_instructions) { + which = "sent" + } + else { which = "orig_do_list" } + let xarr=[], yarr=[], zarr=[] + if(which === "orig_do_list") { + let do_list = this.orig_args.do_list + for(let instr of do_list){ + let xyz = null + if((instr instanceof Instruction.Dexter) && instr.array_of_angles) { + let angs = instr.array_of_angles + if(angs.length < 5) { //todo imperfect! + angs = angs.slice() + for(let i = 0; i < 5; i++){ + if(i === angs.length) { + angs.push(0) //todo hack to get around not having 5 angles because Kin.J_angles_to_xyz will error if we don't + //but really less than 5 should mean "keep that angle in its same position + //see src for move_all_joints + } + } + } + xyz = Kin.J_angles_to_xyz(angs)[0] + } + else if((instr instanceof Instruction.Dexter) && instr.xyz) { + xyz = instr.xyz + } + else if(Instruction.is_oplet_array(instr, "a")){ + let angs = Instruction.extract_args(instr) + if(angs.length < 5) { //todo imperfect! + angs = angs.slice() + for(let i = 0; i < 5; i++){ + if(i === angs.length) { + angs.push(0) //todo hack to get around not having 5 angles because Kin.J_angles_to_xyz will error if we don't + //but really less than 5 should mean "keep that angle in its same position + //see src for move_all_joints + } + } + } + xyz = Kin.J_angles_to_xyz(angs)[0] + } + if(xyz){ + xarr.push(xyz[0]) + yarr.push(xyz[1]) + zarr.push(xyz[2]) + } + } + } // end which === "orig_do_list" + else { //we have which = "sent" + let instrs = this.sent_instructions + for(let instr of instrs){ + let xyz = null + if(Instruction.is_oplet_array(instr, "a")){ + let angs = Instruction.extract_args(instr) + if(angs.length < 5) { //todo imperfect! + angs = angs.slice() + for(let i = 0; i < 5; i++){ + if(i === angs.length) { + angs.push(0) //todo hack to get around not having 5 angles because Kin.J_angles_to_xyz will error if we don't + //but really less than 5 should mean "keep that angle in its same position + //see src for move_all_joints + } + } + } + xyz = Kin.J_angles_to_xyz(angs)[0] + } + if(xyz){ + xarr.push(xyz[0]) + yarr.push(xyz[1]) + zarr.push(xyz[2]) + } + } + } //end which == "sent" + return [xarr, yarr, zarr] +} + Job.prototype.to_source_code = function(args={}){ if(!args.indent) { args.indent = "" } let props_indent = args.indent + " " diff --git a/core/main_eval.py b/core/main_eval.py index 343f8157..5573fb86 100644 --- a/core/main_eval.py +++ b/core/main_eval.py @@ -22,15 +22,17 @@ def main(): is_py_evalable = False else: is_py_evalable = True - if is_py_evalable : + if is_py_evalable: try: - result = eval(src) - except Exception as err: + result = eval(src) + if str(type(result)) == "": + result = result.tolist() + except Exception as err : is_error = True result = traceback.format_exc() #result = result.replace(", line ", ",
line ") else: #the normal, working, return a value, eval case - is_error = False + is_error = False else: try: exec(src) @@ -40,9 +42,15 @@ def main(): #result = result.replace(", line ", ",
line ") else: is_error = False - result = None + result = None json_obj = {"from": "Py.eval", "is_error": is_error, "source": src, "callback_id": callback_id, "result": result} - print(json.dumps(json_obj), sep="", flush=True) + json_str = None + try: + json_str = json.dumps(json_obj) + except Exception as err: + json_obj = {"from": "Py.eval", "is_error": True, "source": src, "callback_id": callback_id, "result": "Could not make JSON string of the result."} + json_str = json.dumps(json_obj) + print(json_str, sep="", flush=True) print("Python: main_eval.py file loaded.", "\n", flush=True) main() diff --git a/core/py.js b/core/py.js index c0968b5f..3b5195fd 100644 --- a/core/py.js +++ b/core/py.js @@ -61,9 +61,11 @@ class Py{ } static init_class(){ //does not init the process, just the Py class - if (operating_system === "win") { Py.python_executable_path = "python" } - else if (operating_system === "mac") { Py.python_executable_path = "python3" } //python gets you python2.7 - else if (operating_system === "linux") { Py.python_executable_path = "python" } + if(!Py.python_executable_path){ + if (operating_system === "win") { Py.python_executable_path = "python" } + else if (operating_system === "mac") { Py.python_executable_path = "python3" } //python gets you python2.7 + else /*(operating_system === "linux")*/ { Py.python_executable_path = "python3" } + } if(!Py.main_eval_py_path) { Py.main_eval_py_path = dde_apps_folder + "/main_eval.py" } //Py.main_eval_py_path = __dirname + "/main_eval.py" //note that __dirname, when inside the job engine core folder, ends in "/core" so don't stick that on the end. out('Py.python_executable_path set to: ' + Py.python_executable_path + '') @@ -77,9 +79,7 @@ class Py{ //document static init(){ this.kill() - if(!Py.python_executable_path) { - Py.init_class() - } + Py.init_class() this.process = spawn(this.python_executable_path, [Py.main_eval_py_path]) //[dde_apps_folder + "/main_eval.py"]); out("New Python process created.") this.process.stdout.on('data', (data) => { @@ -190,7 +190,7 @@ class Py{ //path should end in .py static load_file(path, as_name = null, callback=Py.default_callback){ path = make_full_path(path, false) //don't adjust to OS, keep as slashes. - path = replace_substrings(path, "\\", "/") + path = replace_substrings(path, "\\", "/", false) this.eval("sys.path", function(json_obj){ let folder_array = json_obj.result diff --git a/core/robot.js b/core/robot.js index a8f82e35..c57846a1 100644 --- a/core/robot.js +++ b/core/robot.js @@ -338,6 +338,22 @@ var Brain = class Brain extends Robot { /*no associated hardware */ out(reason, "red") throw new Error("send called on Robot.Brain, which has no physical robot.") } + + static eval_python(python_source, user_data_variable="python_value"){ + return [ + function() { + let the_job = this + the_job.user_data[user_data_variable + "_python_source"] = python_source + Py.eval(python_source, + function(json_obj){ + the_job.user_data[user_data_variable] = json_obj.result + }) + }, + Control.wait_until(function() { + //out("this.user_data." + user_data_variable = ": " + this.user_data.[user_data_variable]) + return this.user_data[user_data_variable] !== undefined}) + ] + } } Brain.all_names = [] @@ -2454,8 +2470,8 @@ Dexter.prototype.set_link_lengths_using_dde_db = function(job_to_start){ this.J3_angle_max = Dexter.J3_ANGLE_MAX this.J4_angle_max = Dexter.J4_ANGLE_MAX this.J5_angle_max = Dexter.J5_ANGLE_MAX - this.J6_angle_min = Dexter.J6_ANGLE_MAX - this.J7_angle_min = Dexter.J7_ANGLE_MAX + this.J6_angle_max = Dexter.J6_ANGLE_MAX + this.J7_angle_max = Dexter.J7_ANGLE_MAX } this.link_lengths_set_from_dde_computer = true if(job_to_start) { @@ -2528,9 +2544,9 @@ Dexter.J6_ANGLE_MAX = 296 Dexter.J7_ANGLE_MIN = 0 Dexter.J7_ANGLE_MAX = 296 -Dexter.MAX_SPEED = 30 //degrees per second. NOT the max speed tha robot, - //but rather for a givien instruction's envelope of speed, - //its the max speed that will be attined by that instrution. +Dexter.MAX_SPEED = 30 //degrees per second. NOT the max speed of the robot, + //but rather for a given instruction's envelope of speed, + //its the max speed that will be attined by that instruction. //The JOINT that this is the max speed for is //the joint that changes the most in a given call to move_all_joints. Dexter.START_SPEED = 0.5 //degrees per second diff --git a/core/serial.js b/core/serial.js index 5ec7b0cf..2016137f 100644 --- a/core/serial.js +++ b/core/serial.js @@ -120,9 +120,13 @@ module.exports.serial_devices_async = serial_devices_async //only used for testing. -function serial_connect_low_level(port_path, port_options, capture_n_items=1, item_delimiter="\n", +function serial_connect_low_level(port_path, + port_options, + capture_n_items=1, + item_delimiter="\n", trim_whitespace = true, - parse_items=true, capture_extras=false, + parse_items=true, + capture_extras=false, callback=onReceiveCallback_low_level, error_callback=onReceiveErrorCallback_low_level, open_callback=onOpenCallback_low_level){ @@ -138,7 +142,9 @@ function serial_connect_low_level(port_path, port_options, capture_n_items=1, it capture_extras: capture_extras, pending_input: ""} port.on('open', function(err) { open_callback.call(port, err, port_path)}) //port.open_callback(err, port_path) - port.on('data', function(data) { callback.call(port, data, port_path)}) + port.on('data', function(data) { + callback.call(port, data, port_path) + }) port.on('error', function(data) { error_callback.call(port, data, port_path)}) } diff --git a/core/socket.js b/core/socket.js index 4836f849..351b9920 100755 --- a/core/socket.js +++ b/core/socket.js @@ -113,9 +113,49 @@ var Socket = class Socket{ return arr_buff } + static degrees_to_dexter_units_array(arr){ + let new_array = [] + for(let index = 0; index < arr.length; index++){ + let joint_number = index + 1 + new_array.push(this.degrees_to_dexter_units(arr[index], joint_number)) + } + return new_array + } + + static dexter_units_to_degrees_array(arr){ + let new_array = [] + for(let index = 0; index < arr.length; index++){ + let joint_number = index + 1 + new_array.push(this.dexter_units_to_degrees(arr[index], joint_number)) + } + return new_array + } + + static degrees_to_dexter_units(deg, joint_number){ + if(joint_number == 6) { + return Math.round(deg / Socket.DEGREES_PER_DYNAMIXEL_320_UNIT) + + Socket.J6_OFFSET_SERVO_UNITS // //512 + } + else if (joint_number == 7) { + return Math.round(deg / Socket.DEGREES_PER_DYNAMIXEL_320_UNIT) + } + else { return deg * 3600 } //convert to arcseconds + } + + static dexter_units_to_degrees(du, joint_number){ + if(joint_number == 6) { + return (du - Socket.J6_OFFSET_SERVO_UNITS ) * + Socket.DEGREES_PER_DYNAMIXEL_320_UNIT + } + else if (joint_number == 7) { + return du * Socket.DEGREES_PER_DYNAMIXEL_320_UNIT + } + else { return du / 3600 } + } + //also converts S params: "MaxSpeed", "StartSpeed", "Acceleration", S params of boundry //and the z oplet. Note that instruction start and end times are always in milliseconds - static instruction_array_degrees_to_arcseconds_maybe(instruction_array, rob){ + /*static instruction_array_degrees_to_arcseconds_maybe(instruction_array, rob){ if(typeof(instruction_array) == "string") { return instruction_array} //no conversion needed. const oplet = instruction_array[Dexter.INSTRUCTION_TYPE] let number_of_args = instruction_array.length - Instruction.INSTRUCTION_ARG0 @@ -128,7 +168,8 @@ var Socket = class Socket{ let arg_val = instruction_array_copy[index] let converted_val if (i == 5) { //J6 - converted_val = 512 + Math.round(arg_val / Socket.DEGREES_PER_DYNAMIXEL_UNIT) //todo get rid of hardcode 512 convert degrees to dynamixel units to get dynamixel integer from 0 through 1023 going from 0 to 296 degrees + converted_val = Socket.J6_OFFSET_SERVO_UNITS + //512 + Math.round(arg_val / Socket.DEGREES_PER_DYNAMIXEL_UNIT) //convert degrees to dynamixel units to get dynamixel integer from 0 through 1023 going from 0 to 296 degrees } else if (i == 6) { //J7 converted_val = Math.round(arg_val / Socket.DEGREES_PER_DYNAMIXEL_UNIT) //convert degrees to dynamixel units to get dynamixel integer from 0 through 1023 going from 0 to 296 degrees @@ -141,16 +182,6 @@ var Socket = class Socket{ } return instruction_array_copy } - /*else if (oplet === "g"){ - let instruction_array_copy = instruction_array.slice() - let status_mode = instruction_array_copy[Instruction.INSTRUCTION_ARG0] //0 or 1 or undefined - if(status_mode === undefined) {} - else { - let converted_val = ("" + status_mode) - instruction_array_copy[Instruction.INSTRUCTION_ARG0] = converted_val - } - return instruction_array_copy - }*/ else if (oplet === "S") { const name = instruction_array[Instruction.INSTRUCTION_ARG0] const args = instruction_array.slice(Instruction.INSTRUCTION_ARG1, instruction_array.length) @@ -234,6 +265,108 @@ var Socket = class Socket{ return instruction_array_copy } else { return instruction_array } + }*/ + + static instruction_array_degrees_to_arcseconds_maybe(instruction_array, rob){ + if(typeof(instruction_array) == "string") { return instruction_array} //no conversion needed. + const oplet = instruction_array[Dexter.INSTRUCTION_TYPE] + let number_of_args = instruction_array.length - Instruction.INSTRUCTION_ARG0 + if ((oplet === "a") || (oplet === "P")){ + //take any number of angle args + let instruction_array_copy = instruction_array.slice() + let angle_args_count = instruction_array_copy.length - Instruction.INSTRUCTION_ARG0 + for(let i = 0; i < number_of_args; i++) { + let index = Instruction.INSTRUCTION_ARG0 + i + let arg_val = instruction_array_copy[index] + let converted_val = this.degrees_to_dexter_units(arg_val, i + 1) + instruction_array_copy[index] = converted_val + } + return instruction_array_copy + } + else if (oplet === "S") { + const name = instruction_array[Instruction.INSTRUCTION_ARG0] + const args = instruction_array.slice(Instruction.INSTRUCTION_ARG1, instruction_array.length) + const first_arg = args[0] + //first convert degrees to arcseconds + if(["MaxSpeed", "StartSpeed", "Acceleration", + "AngularSpeed", "AngularSpeedStartAndEnd", "AngularAcceleration", + "CartesianPivotSpeed", "CartesianPivotSpeedStart", "CartesianPivotSpeedEnd", + "CartesianPivotAcceleration", "CartesianPivotStepSize" ].includes(name)){ + let instruction_array_copy = instruction_array.slice() + instruction_array_copy[Instruction.INSTRUCTION_ARG1] = Math.round(first_arg * _nbits_cf) + return instruction_array_copy + } + else if (name.includes("Boundry")) { //the full name is something like J1Boundry thru J5Boundry + let instruction_array_copy = instruction_array.slice() + instruction_array_copy[Instruction.INSTRUCTION_ARG1] = this.degrees_to_dexter_units(arg_val, 1) //Math.round(first_arg * 3600) //deg to arcseconds + //only expecting j1 thru J5, and since they're all the same, just pass joint 1 + return instruction_array_copy + } + else if (["CommandedAngles", "RawEncoderErrorLimits", "RawVelocityLimits"].includes(name)){ + let instruction_array_copy = instruction_array.slice() + for(let i = Instruction.INSTRUCTION_ARG1; i < instruction_array.length; i++){ + let orig_arg = instruction_array_copy[1] + instruction_array_copy[i] = this.degrees_to_dexter_units(arg_val, i + 1) // Math.round(orig_arg * 3600) + } + return instruction_array_copy + } + //dynamixel conversion + else if (name == "EERoll"){ //J6 no actual conversion here, but this is a convenient place + //to put the setting of robot.angles and is also the same fn where we convert + // the degrees to dynamixel units of 0.20 degrees + //val is in dynamixel units + rob.angles[5] = this.dexter_units_to_degrees(first_arg, 6) //convert dynamixel units to degrees then shove that into rob.angles for use by subsequent relative move instructions + return instruction_array + } + else if (name == "EESpan") { //J7 + rob.angles[6] = this.dexter_units_to_degrees(first_arg, 7) + return instruction_array + } + //convert meters to microns + else if ((name.length == 5) && name.startsWith("Link")){ + let instruction_array_copy = instruction_array.slice() + let new_val = Math.round(first_arg / _um) //convert from meters to microns + instruction_array_copy[Instruction.INSTRUCTION_ARG1] = new_val + return instruction_array_copy + } + else if ("LinkLengths" == "name"){ + let instruction_array_copy = instruction_array.slice() + for(let i = Instruction.INSTRUCTION_ARG1; i < instruction_array.length; i++){ + let orig_arg = instruction_array_copy[1] + instruction_array_copy[i] = Math.round(orig_arg / _um) + } + return instruction_array_copy + } + else if (["CartesianSpeed", "CartesianSpeedStart", "CartesianSpeedEnd", "CartesianAcceleration", + "CartesianStepSize", ].includes(name)){ + let instruction_array_copy = instruction_array.slice() + let new_val = Math.round(first_arg / _um) //convert from meters to microns + instruction_array_copy[Instruction.INSTRUCTION_ARG1] = new_val + return instruction_array_copy + } + else { return instruction_array } + } + else if (oplet == "T") { //move_to_straight + let instruction_array_copy = instruction_array.slice() + instruction_array_copy[Instruction.INSTRUCTION_ARG0] = + Math.round(instruction_array_copy[Instruction.INSTRUCTION_ARG0] / _um) //meters to microns + instruction_array_copy[Instruction.INSTRUCTION_ARG1] = + Math.round(instruction_array_copy[Instruction.INSTRUCTION_ARG1] / _um) //meters to microns + instruction_array_copy[Instruction.INSTRUCTION_ARG2] = + Math.round(instruction_array_copy[Instruction.INSTRUCTION_ARG2] / _um) //meters to microns + instruction_array_copy[Instruction.INSTRUCTION_ARG11] = + Math.round(instruction_array_copy[Instruction.INSTRUCTION_ARG11] * 3600) //degrees to arcseconds + instruction_array_copy[Instruction.INSTRUCTION_ARG12] = + Math.round(instruction_array_copy[Instruction.INSTRUCTION_ARG12] * 3600) //degrees to arcseconds + return instruction_array_copy + } + else if (oplet == "z") { + let instruction_array_copy = instruction_array.slice() + instruction_array_copy[Instruction.INSTRUCTION_ARG0] = + Math.round(instruction_array_copy[Instruction.INSTRUCTION_ARG0] * 1000000) //seconds to microseconds + return instruction_array_copy + } + else { return instruction_array } } static send(robot_name, oplet_array_or_string){ //can't name a class method and instance method the same thing @@ -392,7 +525,7 @@ var Socket = class Socket{ } //only convert status_mode of 0 arrays. - static convert_robot_status_to_degrees(robot_status){ + /*static convert_robot_status_to_degrees(robot_status){ let raw_status_mode = robot_status[Dexter.STATUS_MODE] //out("convert_robot_status_to_degrees got raw_status_mode of: " + raw_status_mode) if((raw_status_mode === null) || (raw_status_mode === 0) || (raw_status_mode === "0")){ @@ -421,8 +554,45 @@ var Socket = class Socket{ robot_status[Dexter.J3_MEASURED_ANGLE] *= 0.0002777777777777778 robot_status[Dexter.J4_MEASURED_ANGLE] *= 0.0002777777777777778 robot_status[Dexter.J5_MEASURED_ANGLE] *= 0.0002777777777777778 - robot_status[Dexter.J6_MEASURED_ANGLE] = (robot_status[Dexter.J6_MEASURED_ANGLE] - 512) * Socket.DEGREES_PER_DYNAMIXEL_UNIT //0.0002777777777777778 - robot_status[Dexter.J7_MEASURED_ANGLE] *= Socket.DEGREES_PER_DYNAMIXEL_UNIT //0.0002777777777777778 + robot_status[Dexter.J6_MEASURED_ANGLE] = (robot_status[Dexter.J6_MEASURED_ANGLE] - Socket.J6_OFFSET_SERVO_UNITS) * Socket.DEGREES_PER_DYNAMIXEL_320_UNIT //0.0002777777777777778 + robot_status[Dexter.J7_MEASURED_ANGLE] *= Socket.DEGREES_PER_DYNAMIXEL_320_UNIT //0.0002777777777777778 + } + } + //else not g0 so no conversion + }*/ + + //only convert status_mode of 0 arrays. + static convert_robot_status_to_degrees(robot_status){ + let raw_status_mode = robot_status[Dexter.STATUS_MODE] + //out("convert_robot_status_to_degrees got raw_status_mode of: " + raw_status_mode) + if((raw_status_mode === null) || (raw_status_mode === 0) || (raw_status_mode === "0")){ + robot_status[Dexter.STATUS_MODE] = 0 + if (robot_status.length == Dexter.robot_status_labels.length){ + robot_status[Dexter.J1_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J1_ANGLE], 1) //0.0002777777777777778 //this number === _arcsec + robot_status[Dexter.J2_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J2_ANGLE], 2) + robot_status[Dexter.J3_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J3_ANGLE], 3) + robot_status[Dexter.J4_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J4_ANGLE], 4) + robot_status[Dexter.J5_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J5_ANGLE], 5) + + robot_status[Dexter.J1_DELTA] = Socket.dexter_units_to_degrees(robot_status[Dexter.J1_DELTA], 1) + robot_status[Dexter.J2_DELTA] = Socket.dexter_units_to_degrees(robot_status[Dexter.J2_DELTA], 2) + robot_status[Dexter.J3_DELTA] = Socket.dexter_units_to_degrees(robot_status[Dexter.J3_DELTA], 3) + robot_status[Dexter.J4_DELTA] *= 0.00001736111111111111 //todo get the "S" interpolation values from Defaults.make_ins instead ie robot_status[Dexter.J4_DELTA] *= _arcsec / the_make_int_number + robot_status[Dexter.J5_DELTA] *= 0.00001736111111111111 //for this one too. + + robot_status[Dexter.J1_PID_DELTA] = Socket.dexter_units_to_degrees(robot_status[Dexter.J1_PID_DELTA], 1) + robot_status[Dexter.J2_PID_DELTA] = Socket.dexter_units_to_degrees(robot_status[Dexter.J2_PID_DELTA], 2) + robot_status[Dexter.J3_PID_DELTA] = Socket.dexter_units_to_degrees(robot_status[Dexter.J3_PID_DELTA], 3) + robot_status[Dexter.J4_PID_DELTA] *= 0.00001736111111111111 //for this one too. + robot_status[Dexter.J5_PID_DELTA] *= 0.00001736111111111111 //for this one too. + + robot_status[Dexter.J1_MEASURED_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J1_MEASURED_ANGLE], 1) + robot_status[Dexter.J2_MEASURED_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J2_MEASURED_ANGLE], 2) + robot_status[Dexter.J3_MEASURED_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J3_MEASURED_ANGLE], 3) + robot_status[Dexter.J4_MEASURED_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J4_MEASURED_ANGLE], 4) + robot_status[Dexter.J5_MEASURED_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J5_MEASURED_ANGLE], 5) + robot_status[Dexter.J6_MEASURED_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J6_MEASURED_ANGLE], 6) + robot_status[Dexter.J7_MEASURED_ANGLE] = Socket.dexter_units_to_degrees(robot_status[Dexter.J7_MEASURED_ANGLE], 7) } } //else not g0 so no conversion @@ -489,7 +659,9 @@ Socket.resend_instruction = null Socket.resend_count = null Socket.robot_name_to_ws_instance_map = {} -Socket.DEGREES_PER_DYNAMIXEL_UNIT = 0.29 +Socket.DEGREES_PER_DYNAMIXEL_320_UNIT = 0.29 //range of motion sent is 0 to 1023 +Socket.DEGREES_PER_DYNAMIXEL_430_UNIT = 360 / 4096 +Socket.J6_OFFSET_SERVO_UNITS = 512 module.exports = Socket var {Robot} = require("./robot.js") @@ -498,6 +670,20 @@ var DexterSim = require("./dextersim.js") //var {_nbits_cf, _arcsec, _um} = require("./units.js") //don't do this. These units and all the rest are //already global vars. +/*dexter0.joints = [] + joint_instances + motor_instance of a 2, 320, 430 or stepper + speed=30 + + min=-360 + max=360 + gear_ratio=1 + + convert_deg_to_dexter_units() + init() // ie like reboot_servo + set_indicator(val) //ie turn on LED for J6 + */ + //Socket.on_receive_added = false \ No newline at end of file diff --git a/core/storage.js b/core/storage.js index f6fe3d09..b6900854 100644 --- a/core/storage.js +++ b/core/storage.js @@ -376,9 +376,6 @@ function read_file_async_from_dexter_using_job(dex_instance, path, callback){ }).start() } - - - module.exports.read_file_async = read_file_async function choose_file(show_dialog_options={}) { @@ -534,9 +531,22 @@ function write_file_async_to_dexter_using_job(dex_instance, path, content, callb //the callback takes 1 arg, err. IF it is passed non-null, there's an error. // opy_file_async("foo/bar.js", "Dexter.dexter0:bar_copy.js" -function copy_file_async(source_path, destination_path, callback=copy_file_async_default_callback){ +function copy_file_async(source_path, destination_path, callback=null){ + if(!callback) { + callback = function(err){ + if(err){ + dde_error("In call to: copy_file_async
from: " + source_path + "
    to: " + + destination_path + "
error: " + err.message) + } + else { + out("copy_file_async
from: " + source_path + "
    to: " + + destination_path + "
succeeded.", "green") + } + } + } read_file_async(source_path, "binary", //"binary" should faithfully read and write content without modification. // "ascii" fails on jpg files. + function(err, data){ if(err) { //only call the callback for the read IF there's a read error. callback(err) @@ -546,7 +556,7 @@ function copy_file_async(source_path, destination_path, callback=copy_file_async } }) } - +/* function copy_file_async_default_callback(err){ if(err){ dde_error("copy_file_async error: " + err.message) @@ -555,6 +565,7 @@ function copy_file_async_default_callback(err){ out("copy_file_async succeeded.") } } +*/ function copy_folder_async_default_callback(err){ if(err){ @@ -1016,7 +1027,13 @@ function load_files(...paths) { let contents = [] for (let path of resolved_paths){ //console.log("getting content for: " + path) - let content = read_file(path) //might error + let content + if(path.endsWith(".py") || path.endsWith(".pyc")){ + content = [path] + } + else { + content = read_file(path) //might error + } //onsole.log("got content: " + content) contents.push(content) } @@ -1035,7 +1052,13 @@ function load_files(...paths) { try{let prev_loading_file = window["loading_file"] window["loading_file"] = resolved_path window.Job = Job //needed if content has "Job" in it. - result = window.eval(content) + if(Array.isArray(content)){ + Py.load_file(content[0]) + result = "Loading Python files doesn't return a result." + } + else { + result = window.eval(content) + } window["loading_file"] = prev_loading_file } catch(err){ diff --git a/core/utils.js b/core/utils.js index 7a372554..47aee84c 100644 --- a/core/utils.js +++ b/core/utils.js @@ -1383,6 +1383,24 @@ function format_number(num, digits_before_point=6, digits_after_point=3, allow_f } module.exports.format_number = format_number +function array_to_html_table(values_array, labels_array=null, header_array=null, zeropad=3){ + if(labels_array == null) { + labels_array = Array.from(Array(values_array.length).keys()) + } + let result = "" + if(header_array){ + result += "" + } + for(let i = 0; i < values_array.length; i++){ + let numstr = format_number(values_array[i]) + numstr = replace_substrings(numstr, " ", " ") + result += "" + } + result += "
" + header_array[0] + "" + header_array[1] + "
" + labels_array[i] + "" + numstr + "
" + return result +} +module.exports.array_to_html_table = array_to_html_table + // ordinal_string(0) => "0th" ordinal_string(1) => "1st" // ordinal_string(11) => "11th" ordinal_string(21) => "21st" function ordinal_string(n){ diff --git a/doc/guide.html b/doc/guide.html index 4fdf7b0c..2e34b2f6 100644 --- a/doc/guide.html +++ b/doc/guide.html @@ -8,8 +8,8 @@
About This is Dexter Development Environment
- version: 3.7.4
- released: Feb 5, 2021 + version: 3.7.5
+ released: Mar 2, 2021

DDE helps you create, debug, and send software to a Dexter robot. You can use any JavaScript augmented with DDE-specific functions to help find out about, diff --git a/doc/ref_man.html b/doc/ref_man.html index 6af95554..0f9c2032 100644 --- a/doc/ref_man.html +++ b/doc/ref_man.html @@ -239,6 +239,9 @@

See read_file for getting the file contents as a string but not evaling it. +

+ See Py.load_file + for importing a Python file into DDE's Python process.
loading_file @@ -3828,7 +3831,7 @@ as each instruction is run, so you can do whatever you like. A function written for this purpose is Job.prototype.show_progress_and_user_data. - This allows you to see user data as it is updated by the job. + This allows you to see user_data as it is updated by the job. Eval the above code to see the method's source code. See print statements @@ -5725,10 +5728,63 @@
Brain Brain is a virtual robot used to manage other robots or do purely software tasks. -It has no special instructions of its own, but can use Control, Human, IO and the +It has few special instructions of its own, but can use Control, Human, IO and the miscellaneous Robot instructions (function definitions, etc), just like all the other robots. -

+
eval_python + Evals python code, puts result in user_data and pauses the Job until its done.
+ Parameters:
+ python_source Required. A string of Python source code. If it is exactly one + expression that returns a value, that value will be put in user_data. + Otherwise, null will be put in user_data.
+ user_data_variable Default: "python_value" A string of the + name of the user_data variable that will store the value of evaluating the python_source.
+ A user data variable whose prefix is the user_data_variable_name with a suffix of + "_python_source" is also created with the value of python_source. + This is set before the source is executed. After starting the Job, + examining the Job's user_data variables helps debugging. +

+ Example: +
new Job({
+    name: "my_py_job",
+    do_list: [
+        Brain.eval_python('import math'),
+        Brain.eval_python('2 + math.pi', "my_sum"),
+        function() {
+          let src = this.user_data.my_sum + ' * 4'
+          return Brain.eval_python(src, "my_multiply")
+        },
+        function(){
+          return Dexter.move_all_joints(0, this.user_data.my_multiply)
+        }
+    ]
+})
+
    +
  1. The first instruction initializes the Python process, + imports the math library into the process + and stores the result into Job.my_py_job.user_data.python_value => null. +
    2. +
  2. The second instruction evaluates '2 + math.pi' and stores the + result into Job.my_py_job.user_data.my_sum => 5.141592653589793. +
    3. +
  3. The third instruction must be a function because we must get the + value from Job.my_py_job.user_data.my_sum after it has been computed, + not at Job definition time. We make the value of src, "5.141592653589793 * 4", + then use it in our next instruction, + Brain.eval_python(src, "my_multiply"). + We must return the result of calling Brain.eval_python because it returns + instructions to stick on the do_list. The src is evaluated in Python + and stored in Job.my_py_job.user_data.my_multiply => 20.566370614359172. +
    4. +
  4. The last instruction uses Job.my_py_job.user_data.my_multiply to move + joint 2 of Dexter. +
    5. +
+ Eval: inspect(Job.my_py_job.user_data) to see the stored state. +

+ See Python for details on + controlling Python processes. +
Dexter @@ -6433,7 +6489,7 @@ When not simulating: "/srv/samba/share/foo.txt"
When simulating: "Documents/dde_apps/dexter_file_systems/{robot_name}/foo.txt"
destination A string. Default: "read_file_content"
- The name of a user data variable on the running + The name of a user_data variable on the running job that will be written (or over-written) with the contents of the file indicated in "source".
If the file does not exist, the value of the_job_instance.user_data.{destination} @@ -7241,7 +7297,7 @@ value of the user_data_variable. The evaluation of this item happens at Job definition time.

- Note that if you want the user data variable to have the value + Note that if you want the user_data variable to have the value as a string, you must use a format like '"foo"'. At Job definition time this becomes a string of 5 chars, "foo". Then at button-click time, that is evaled and produces a string @@ -7792,9 +7848,14 @@ serial_devices Returns an array of objects representing the available devices on serial ports. the comName field holds the path to the serial -port that you can use to connect to that device.
-Example:
- serial_devices()[0].comName => "/dev/tty.Bluetooth-Incoming-Port"
+port that you can use to connect to that device. +

+Examples:
+ serial_devices() => An array of objects that represent devices connected +to serial ports on your computer.
+ serial_devices()[0].path => "COM3" +Note that the same device plugged in to computers with different operating systems +will likely result in objects that contain different fields.
serial_devices does not work on the Job Engine. Use instead ...

serial_devices_async
@@ -7810,7 +7871,8 @@ path of a serial device and lots of properties about it, most of which come from defining the associated Serial robot. The value of this global variable is a JS literal object with keys of each path to which there is a serial connection, and values of -another JS literal object holding useful properties of that connection, i.e. its "info".

+another JS literal object holding useful properties of that connection, i.e. its "info". +

Example:
serial_port_path_to_info_map[spath]

@@ -8519,8 +8581,13 @@

Base Units

Examples:
dde_version_between("0.1.0", "100.1.1") => true
+
quit_dde + Exits DDE immediately. Make sure you have files saved first!
+ Example:
+ quit_dde() +
-
+
Window System Dealing with HTML, CSS and JavaScript of traditional web apps is complex. @@ -8931,6 +8998,164 @@

Base Units

+
Plot + DDE makes it easy to make plots (graphs) of 1D, 2D, 3D arrays as well as + the move-points of Jobs. +
Inspector + When you inspect a 1D, 2D, or 3D array of numbers, or a Job, + there will be a button in the title of the inspector pane. + Clicking it pops up a window showing the points plotted. + 1D array This will be treated as a 2D array, wherein the "Y" values + are the array values, and the "X" values are their associated index in the array.
+ Example:
+ [0, 2, 4, 8, 16] Eval this array. In the Inspector window, + click in the button. +

+ 2D array An array of 2 elements. The first is the "X" values. The second + is the "Y" values.
+ Example: + 
[[0, 1, 2, 3, 4],
+ [0, 2, 4, 8, 16]]
This will plot the same + as the preceeding example. +

+ 3D array Its not really a 3D array, its a 2D array that represents + 3D points. The array has 3 elements. The first is the "X" values. The second + is the "Y" values. The 3rd is the "Z" values.
+ Example: + 
[[0, 1, 2, 3, 4],
+ [0, 2, 4, 8, 16],
+ [0, 2, 4, 6, 8]]
+ Job Instance Jobs have lots of different instructions, but the + ones that move the robot are the most important. The inspector can extract + the move-points from a job and graph them.
+ Example: + 
new Job({
+    name: "my_job3",
+    do_list: [
+        Dexter.move_all_joints(10, 20, 30, 40, 50),
+        Dexter.move_to([0.1, 0.2, 0.3]),
+        make_ins("a", 10, 11, 16, 21, 26),
+        function(){ return make_ins("a", 20, 11, 16, 21, 26)},
+        Dexter.move_all_joints( 1, 1, 1, 1, 1),
+    ]})
+ When you eval the above Job definition, you'll see the Job instance in the inspector pane. + Click on the button. You'll see just 4 points, because + the Job has not yet been run, and without being run, the inspector extracts just the + top level points from the Job. Now click the Job's button to run it. + After its run, click the plot button again. Now you'll see 5 points because + that point in the function def gets "surfaced" and is now available to be plotted. + Comparing such plots is an easy way to see what points are computed during the + running of the Job vs just those that are at top level when the Job is merely defined. +

+ All Job Instances
+ Example: + 
new Job({
+    name: "my_job2",
+    do_list: [
+        Dexter.move_all_joints(10, 20, 30, 40, 50),
+        Dexter.move_all_joints( 6, 11, 16, 21, 26),
+        Dexter.move_all_joints(10, 11, 16, 21, 26),
+        Dexter.move_all_joints( 10, 1, 1, 1, 1),
+    ]})
Eval the above and observe that in the inspector pane title bar, + there's a button. Click it. + You'll see all the defined Jobs plotted in the same window. +
    +
  • You can click on a legend item to show/hide the given Job.
    • +
  • You can also delete a Job's button by clicking its "X". Then the next time + you click , that deleted Job won't show up.
    • +
  • Mouse over a point to see its details.
    • +
  • Right click (or Two fingers on track pad) and dragging shrinks/expands the plot.
    • +
+
+
Plot.show + DDE's plot capability is based on a library named Plotly (see below). + Plotly (and Plot.show) can display *lots* of 2D and 3D graphs with many options each. + All the graphs in DDE's inspector are made with Plot.show. +

+ We've made a thin wrapper to Plotly to make it slightly easier to make plots, + especially ones involving Jobs. The class Plot implements + this thin wrapper. Its primary method is: Plot.show. It takes the same arguments + as the underlying Plotly.newPlot, though the arguments to Plot.show can encode + a superset of the functionality of Plotly.newPlot
+ Parameters:
+ graphDiv A div dom-element or the string id of that dom element. Default "plot_id". + This is the div where the plot will be shown. Unlike Plotly.newPlot. + Plot.show automatically creates that dom element and pops up a + show_window to display it. +

+ data Takes an array of "trace" objects just like Plotly.newPlot. + But it can also take a 1D, 2D or 3D array of numbers as described under Plot/Inspector. + It can also take a Job instance, an array of Job instances (to show each in + their own "trace" or the string "Job" to show all Job instances in + one window.
+ Example:
+ Plot.show(undefined, "Job") +

+ layout Same as Plotly.newPlot's layout argument. +

+ config Same as Plotly.newPlot's config argument.
+

+ Examples:
+ Customizing the window title and axis titles. + 
Plot.show(undefined,
+    [[10, 20, 33, 40],
+     [2, 4.33, 6, 8]],
+    {title:  "Not so great title",
+     xaxis:  {title: {text: 'the x Axis'}},
+     yaxis:  {title: {text: 'the y Axis'}}
+    })
+ +

+ Boxes and whiskers plot. + 
function make_random_array(length=50, offset=0){
+    let arr = []
+    for (var i = 0; i < length; i ++) {
+        arr[i] = Math.random() + offset
+    }
+    return arr
+}
+var trace0 = { y: make_random_array(50, 0),
+               type: 'box'
+}
+var trace1 = { y: make_random_array(50, 1),
+              type: 'box'
+}
+Plot.show(undefined, [trace0, trace1])
+ + Plot of 3D points. + 
Plot.show(
+    undefined,
+    [[0, 1, 2, 3, 4],
+     [0, 2, 4, 8, 16],
+     [0, 2, 4, 6, 8]])
+ + Plot the move-points of a job.
+ Plot.show(undefined, Job.my_job) +
+ +
Plotly + Plotly is the graphing library underlying DDE's plotting facility. + You can access all of its functionality within DDE. + Its + documentation is better than average, though it takes a bit of finding your + way around it. +

+ Plotly.newPlot is a (large) subset of the functionality of + Plot.show. It takes the same 4 args as Plot.show + but it doesn't: +
  • show the plot unless its first arg of graphDiv is the id of + a "div" html element already shown on the screen.
    • +
  • show 1D, 2D, and "3D" arrays that are the value of the data (2nd) arg. + You can still show them, but you must pass in, as data, an array of + "trace" objects, which is a bit more complex.
    • +
  • allow a Job instance, array of Job instances or "Job" as the data arg.
    • +
+ +
+ +
+ +
Set DDE Colors Users can customize the DDE colors by calling the below functions. Calls to these functions appear in the default dde_init.js file @@ -9894,7 +10119,7 @@

Cover DDE Window

job_name Default: null. If null, variable_name is a global variable or at least its first path part is a global variable. Otherwise, job_name should be the name of a defined Job in the receiver's DDE. - In that case, variable_name is the name of a user data variable or + In that case, variable_name is the name of a user_data variable or the first path part is a top level user_data variable. Thus a Job name of "my_job" with a variable_name of "foo.bar" is equivalent to @@ -10776,19 +11001,54 @@

Cover DDE Window

Similarities between JavaScript and Python. -

Installation +
Installing Python To use Python from DDE, the Python 3 interpreter must be installed on your computer.
- MacOS has, for years, included Python 2.7.
+
MacOS + MacOS has, for years, included Python 2.7.
In the terminal, type: python
More modern versions of MacOS include Python 3.
In the terminal, type: python3 to get a read_eval_print loop for Python. -

- To install Python on other Operating Systems see - Python.org +

+ For a more recent version, browse Python.org + for download instructions. +
+
WinOS + Windows7
We've had a hard time installing Python3 on Windows 7 + from the download direction in Python.org. + There is a "missing file". The web documents some work arounds, + but they aren't easy. We recommend using Windows 10. +

+ Windows 10 +

    +
  1. In the lower right search type in, type in "cmd' and hit the ENTER key.
    2. +
  2. In the terminal window that comes up, type in "python" and hit the ENTER key.
    3. +
  3. If Python is installed on your computer, you should see a >>> prompt + after it prints out the Python version number. + If its a recent version 3 python, you're all set. +

    + If there's NO Python installed, you get a new browser window in the Microsoft store. + On Feb 6, 2021, that window says Python 3.91.
    4. +
  4. Its free. Click the GET button.
    5. +
  5. You'll be asked to log in, but you can click "no thanks" and still get it.
    6. +
  6. The size of the download is hard to determine from the confusing "progress bar" + but looks like about 30Mbytes.
    7. +
  7. After its installed, again type in "python" into your terminal window + and you should see the python prompt >>> proceeded by a version number of Python.
    8. +
  8. This install puts two items on your start menu: Python and IDLE(python).
    + Choosing Python launches the terminal window in Python.
    + Choosing IDLE(python) launches a small development environment for Python. +
    9. +
+
+
Linux, etc + To install Python on other Operating Systems browse + Python.org + for download instructions. +
-
User Interface +
DDE's Python User Interface
  • When you are editing a file who's name ends in ".py", clicking will evaluate the selection (or whole editor text if @@ -10813,10 +11073,11 @@

    Cover DDE Window

-
Py.python_executable_path +
Py.python_executable_path This variable contains a string that is the path to the Python3 interpreter on your computer. - It defaults to something that may just work on your computer, but if it doesn't, - you can set this variable before Py.init is called, + For MacOS, it defaults to "python3". For + other OSes, it defaults to "python". + If this is incorrect, you can set this variable before Py.init is called, (or Py.eval is called the first time).

If you can type in to a terminal some string like python3, @@ -10828,7 +11089,7 @@

Cover DDE Window

Py.python_executable_path = "python3"
Py.eval - The Py class holds utilites for evaluating Python code embedded in JavaScript code. + The Py class holds utilities for evaluating Python code embedded in JavaScript code. The most important function is Py.eval.
Parameters:
python_source_code Required. A string of Python source code to be @@ -10840,7 +11101,11 @@

Cover DDE Window

  • from Always "Py.eval". Allows you to distinguish this JSON object from others.
    • -
  • is_error Boolean.
    • +
  • is_error Boolean. If evaling the python_source_code errors, or if + converting its result to JSON errors, this will be true. + Results of numpy arrays will be automatically converted to Python lists before + JSONizing, so they won't error. +
  • source The string of python_source_code that Py.eval was called with.
  • callback_id (internal) The id of the callback that Py.eval was called with.
  • result The result of the evaluation of the python_source_code. @@ -10944,6 +11209,8 @@

    Cover DDE Window

    must be evaled when this instruction is run, not at Job definition time.
    • + For a simpler way to call Python from within a Job, see + Brain.eval_python
Py.load_file Imports a file into DDE's Python process.
@@ -10962,7 +11229,15 @@

Cover DDE Window

Py.load_file("hello.py") which means the same as
Py.load_file("/Users/Fry/Documents/dde_apps/hello.py") (or whatever folder dde_apps_folder evals to.)
- Py.load_file("hello.py", "howdy") (uses "howdy" as the "as name".) + Py.load_file("hello.py", "howdy") (uses "howdy" as the "as name".)
+ load_files("hello.py") (loads the Python file "hello.py" in + the dde_apps_folder using the default "hello" as the "as_name")
+ load_files("hello.pyc")(loads the Python file "hello.pyc")
+ For all of the loads above, if the folder of the file being loaded is not on + Python's sys.path, then it is added before the file is imported. +

+ See load_files for loading + JavaScript files
Py.kill Ends the Python process. The Python process shouldn't take up much resources @@ -10985,5 +11260,46 @@

Cover DDE Window

After calling this function, your first call to Py.eval will be a fraction of a second faster.
+
Troubleshooting + Python, like all modern popular programming languages, has + confusing aspects. This section helps you get through *some* of them + that we've found useful. +

+ The Python interface automatically imports +
  • json
  • sys
  • traceback
+ so you won't have to import those when using DDE's python interface. +

+ To see what folders you can import files from: + Py.eval("sys.path")
+ To extend sys.path to include another folder
+ Py.eval('sys.path.append("/my/other/folder")'
+ Note that load_files("/my/other/folder/hi.py") + automatically adds "/my/other/folder" to sys.path, then + runs import("hi.py") +

+ Python has numerous packages on the web that you can download and install on + your computer for use in your Python packages. + The easist ones to use can be found at + Python Package Index. (PyPI) + From a command line terminal, you can install a PyPI package via, for example:
+ sudo pip3 install numpy
+ Notes: +
    +
  • pip stands for Package Installer for Python. You will need + to use pip3 or a very recent version of pip for installing packages into Python3. + You can install this installer from + pip installation
    • +
  • Numpy is an often-used Python library for advanced math. + Its not included in Python distributions so you have to download it using pip
    • + +
  • numpy install is complex, requing compiling on your computer. + If you're lucky, pip will handle this compiling and installing automatically.
    • + +
  • pip attempts to install Python packages globally. You may run into + "permissions" problems doing this, which explains the need for the + sudo prefix in the above example.
    • +
+
+
\ No newline at end of file diff --git a/doc/release_notes.html b/doc/release_notes.html index b914523a..37b1f098 100644 --- a/doc/release_notes.html +++ b/doc/release_notes.html @@ -5,6 +5,39 @@ } .doc_details summary { font-weight: 600; } + +
v 3.7.5, Mar 2, 2021 +Highlights: Python Interface much more useful. + New Plot class and inspector integration. + Simulator fixes. +
    +
  • Extensions to Ref Man/Python documentation. The most substantial of which is for Windows Installation.
    • +
  • Instruction: Brain.eval_python that facilitates integrating Python code into a Job.
    • +
  • Fix for Py.init under certain circumstances for Linux.
    • +
  • The default for the python installation in non-mac, non-windows (ie Linux, etc) + is now "python3" instead of "python".
    • +
  • Fixed bug in Py.load_file when processing slashes.
    • +
  • load_files can now take a .py file and it loads it using Py.load_file.
    • +
  • When a Python numpy array is about to be returned to DDE, + it is automatically converted to a list so that it can be converted to a JSON array + and returned as a JS array.
    • +
  • Improved callback default for copy_file_async to tell you the names of the files.
    • +
  • Fixed simulator header pane numerical display for J2, J3, J4. The sign was wrong.
    • +
  • Fixed simulator for J6 and J7.
    • +
  • Serial Port: improved documentation on serial_devices.
    • +
  • Added about 10 set_parameters to the set parameters series that shows up + in the MakeInstruction dialog box for Dexter.set_parameter.
    • +
  • Fixed Dexter set_link_lengths_using_dde_db for J6_angle_max and J7_angle_max.
    • +
  • Compartmentalization of conversion of degrees to dexter_units (such as arcseconds) and back.
    • +
  • Make Instruction, instructions menu now has "empty_instruction_queue" before "empty_instruction_queue_immediately"
    • +
  • When launching DDE, now dde_init.js never comes up in the editor. + If dde_init.js is the last file saved or it is the only file ever edited, a new buffer will come up instead. + This prevents mistakes with this file, but you can still explicitly edit it.
    • +
  • New class Plot, makes it easy to plot 1D, 2D and 3D arrays as well as move-points in Jobs. + See Ref Man/Window System/Plot
    • +
+
+
v 3.7.4, Feb 5, 2021 Fix for initializing Python process with the file system.
diff --git a/editor.js b/editor.js index 04ac14f3..121c32eb 100644 --- a/editor.js +++ b/editor.js @@ -304,11 +304,18 @@ Editor.restore_files_menu_paths_and_last_file = function(){ //called by on ready html += '" } file_name_id.innerHTML = html - let latest_file = paths[0] if(Editor.files_menu_paths_empty_or_contains_only_dde_init()){ Editor.edit_new_file() } else { + let latest_file = paths[0] + if(latest_file.endsWith("/dde_init.js")){ + if(paths.length > 1) { latest_file = paths[1]} + else { + Editor.edit_new_file() + return + } + } try { Editor.edit_file(latest_file) //sometimes paths[0] will be 'new buffer' and that's fine } diff --git a/eval.js b/eval.js index 8c2d11ec..0d1c5bdd 100644 --- a/eval.js +++ b/eval.js @@ -123,7 +123,7 @@ function render_html(str){ } //part 2 of 3 is in eval.js, window.addEventListener('message' under the message name of "eval" -function eval_js_part2(command, calL_eval_part3_if_no_error=true){ //2nd arg passed in as false for eval_and_play +function eval_js_part2(command, call_eval_part3_if_no_error=true){ //2nd arg passed in as false for eval_and_play command = fix_code_to_be_evaled(command) let suffix_to_evaled_src let prefix_to_evaled_src @@ -177,7 +177,7 @@ function eval_js_part2(command, calL_eval_part3_if_no_error=true){ //2nd arg pas eval_js_part3(result) return "Error: " + err.message } - if (calL_eval_part3_if_no_error) { eval_js_part3(result) } + if (call_eval_part3_if_no_error) { eval_js_part3(result) } return result } diff --git a/index.html b/index.html index 82d5e2be..6fd812c1 100644 --- a/index.html +++ b/index.html @@ -19,6 +19,8 @@ + + + diff --git a/inspect.js b/inspect.js index 1470abda..99d59bc1 100644 --- a/inspect.js +++ b/inspect.js @@ -117,6 +117,31 @@ function inspect_toggle_2d_checkbox(stack_number, in_stack_position){ ) } +function make_plot_button_html_maybe(stack_number, in_stack_position){ + let item = inspect_stacks[stack_number][in_stack_position] + let result = "" + if(window.Plot) { + if(Plot.is_data_array_ok(item)) { + result = " " + } + else if (item instanceof Job){ + result = " " + + + " ` + } + } + return result +} + function inspect_aux(item, stack_number, in_stack_position, increase_max_display_length=false){ // still causes jquery infinite error if the below is commented in. //if (typeof(new_object_or_path) == "string") { return new_object_or_path } @@ -131,7 +156,8 @@ function inspect_aux(item, stack_number, in_stack_position, increase_max_display let result let title = "" let array_type = typed_array_name(item) //"Array", "Int8Array" ... or null - let checkbox_2d_html_maybe = "" + let checkbox_2d_html_maybe = "" + let plot_button_html_maybe = make_plot_button_html_maybe(stack_number, in_stack_position) //returns non-empty string for certain arrays, and all Job instances let div_id = make_inspector_id_string(stack_number, in_stack_position) let max_display_factor = (increase_max_display_length ? 4 : 1) //each clause below sets title and result @@ -142,8 +168,8 @@ function inspect_aux(item, stack_number, in_stack_position, increase_max_display result = inspect_one_liner(item) } else if (array_type){ //return "Array of " + item.length - checkbox_2d_html_maybe = '  2D' if (inspect_2d && (item.length > 0) && is_array_of_same_lengthed_arrays(item)) { //2D arrays can't be "typed arrays" @@ -365,7 +391,7 @@ function inspect_aux(item, stack_number, in_stack_position, increase_max_display "   >\n" + //"" + "⟳\n" + "\n" + - "INSPECTing  " + title + " " + checkbox_2d_html_maybe + "
\n" + + "INSPECTing  " + title + " " + checkbox_2d_html_maybe + plot_button_html_maybe + "
\n" + result + "" inspect_set_prev_onclick( stack_number, in_stack_position, prev_id) inspect_set_next_onclick( stack_number, in_stack_position, next_id) diff --git a/jquery-1.11.3.min.js b/jquery-1.11.3.min.js deleted file mode 100644 index 0f60b7bd..00000000 --- a/jquery-1.11.3.min.js +++ /dev/null @@ -1,5 +0,0 @@ -/*! jQuery v1.11.3 | (c) 2005, 2015 jQuery Foundation, Inc. | jquery.org/license */ -!function(a,b){"object"==typeof module&&"object"==typeof module.exports?module.exports=a.document?b(a,!0):function(a){if(!a.document)throw new Error("jQuery requires a window with a document");return b(a)}:b(a)}("undefined"!=typeof window?window:this,function(a,b){var c=[],d=c.slice,e=c.concat,f=c.push,g=c.indexOf,h={},i=h.toString,j=h.hasOwnProperty,k={},l="1.11.3",m=function(a,b){return new m.fn.init(a,b)},n=/^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g,o=/^-ms-/,p=/-([\da-z])/gi,q=function(a,b){return b.toUpperCase()};m.fn=m.prototype={jquery:l,constructor:m,selector:"",length:0,toArray:function(){return d.call(this)},get:function(a){return null!=a?0>a?this[a+this.length]:this[a]:d.call(this)},pushStack:function(a){var b=m.merge(this.constructor(),a);return b.prevObject=this,b.context=this.context,b},each:function(a,b){return m.each(this,a,b)},map:function(a){return this.pushStack(m.map(this,function(b,c){return a.call(b,c,b)}))},slice:function(){return this.pushStack(d.apply(this,arguments))},first:function(){return this.eq(0)},last:function(){return this.eq(-1)},eq:function(a){var b=this.length,c=+a+(0>a?b:0);return this.pushStack(c>=0&&b>c?[this[c]]:[])},end:function(){return this.prevObject||this.constructor(null)},push:f,sort:c.sort,splice:c.splice},m.extend=m.fn.extend=function(){var a,b,c,d,e,f,g=arguments[0]||{},h=1,i=arguments.length,j=!1;for("boolean"==typeof g&&(j=g,g=arguments[h]||{},h++),"object"==typeof g||m.isFunction(g)||(g={}),h===i&&(g=this,h--);i>h;h++)if(null!=(e=arguments[h]))for(d in e)a=g[d],c=e[d],g!==c&&(j&&c&&(m.isPlainObject(c)||(b=m.isArray(c)))?(b?(b=!1,f=a&&m.isArray(a)?a:[]):f=a&&m.isPlainObject(a)?a:{},g[d]=m.extend(j,f,c)):void 0!==c&&(g[d]=c));return g},m.extend({expando:"jQuery"+(l+Math.random()).replace(/\D/g,""),isReady:!0,error:function(a){throw new Error(a)},noop:function(){},isFunction:function(a){return"function"===m.type(a)},isArray:Array.isArray||function(a){return"array"===m.type(a)},isWindow:function(a){return null!=a&&a==a.window},isNumeric:function(a){return!m.isArray(a)&&a-parseFloat(a)+1>=0},isEmptyObject:function(a){var b;for(b in a)return!1;return!0},isPlainObject:function(a){var b;if(!a||"object"!==m.type(a)||a.nodeType||m.isWindow(a))return!1;try{if(a.constructor&&!j.call(a,"constructor")&&!j.call(a.constructor.prototype,"isPrototypeOf"))return!1}catch(c){return!1}if(k.ownLast)for(b in a)return j.call(a,b);for(b in a);return void 0===b||j.call(a,b)},type:function(a){return null==a?a+"":"object"==typeof a||"function"==typeof a?h[i.call(a)]||"object":typeof a},globalEval:function(b){b&&m.trim(b)&&(a.execScript||function(b){a.eval.call(a,b)})(b)},camelCase:function(a){return a.replace(o,"ms-").replace(p,q)},nodeName:function(a,b){return a.nodeName&&a.nodeName.toLowerCase()===b.toLowerCase()},each:function(a,b,c){var d,e=0,f=a.length,g=r(a);if(c){if(g){for(;f>e;e++)if(d=b.apply(a[e],c),d===!1)break}else for(e in a)if(d=b.apply(a[e],c),d===!1)break}else if(g){for(;f>e;e++)if(d=b.call(a[e],e,a[e]),d===!1)break}else for(e in a)if(d=b.call(a[e],e,a[e]),d===!1)break;return a},trim:function(a){return null==a?"":(a+"").replace(n,"")},makeArray:function(a,b){var c=b||[];return null!=a&&(r(Object(a))?m.merge(c,"string"==typeof a?[a]:a):f.call(c,a)),c},inArray:function(a,b,c){var d;if(b){if(g)return g.call(b,a,c);for(d=b.length,c=c?0>c?Math.max(0,d+c):c:0;d>c;c++)if(c in b&&b[c]===a)return c}return-1},merge:function(a,b){var c=+b.length,d=0,e=a.length;while(c>d)a[e++]=b[d++];if(c!==c)while(void 0!==b[d])a[e++]=b[d++];return a.length=e,a},grep:function(a,b,c){for(var d,e=[],f=0,g=a.length,h=!c;g>f;f++)d=!b(a[f],f),d!==h&&e.push(a[f]);return e},map:function(a,b,c){var d,f=0,g=a.length,h=r(a),i=[];if(h)for(;g>f;f++)d=b(a[f],f,c),null!=d&&i.push(d);else for(f in a)d=b(a[f],f,c),null!=d&&i.push(d);return e.apply([],i)},guid:1,proxy:function(a,b){var c,e,f;return"string"==typeof b&&(f=a[b],b=a,a=f),m.isFunction(a)?(c=d.call(arguments,2),e=function(){return a.apply(b||this,c.concat(d.call(arguments)))},e.guid=a.guid=a.guid||m.guid++,e):void 0},now:function(){return+new Date},support:k}),m.each("Boolean Number String Function Array Date RegExp Object Error".split(" "),function(a,b){h["[object "+b+"]"]=b.toLowerCase()});function r(a){var b="length"in a&&a.length,c=m.type(a);return"function"===c||m.isWindow(a)?!1:1===a.nodeType&&b?!0:"array"===c||0===b||"number"==typeof b&&b>0&&b-1 in a}var s=function(a){var b,c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u="sizzle"+1*new Date,v=a.document,w=0,x=0,y=ha(),z=ha(),A=ha(),B=function(a,b){return a===b&&(l=!0),0},C=1<<31,D={}.hasOwnProperty,E=[],F=E.pop,G=E.push,H=E.push,I=E.slice,J=function(a,b){for(var c=0,d=a.length;d>c;c++)if(a[c]===b)return c;return-1},K="checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|ismap|loop|multiple|open|readonly|required|scoped",L="[\\x20\\t\\r\\n\\f]",M="(?:\\\\.|[\\w-]|[^\\x00-\\xa0])+",N=M.replace("w","w#"),O="\\["+L+"*("+M+")(?:"+L+"*([*^$|!~]?=)"+L+"*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|("+N+"))|)"+L+"*\\]",P=":("+M+")(?:\\((('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|((?:\\\\.|[^\\\\()[\\]]|"+O+")*)|.*)\\)|)",Q=new RegExp(L+"+","g"),R=new RegExp("^"+L+"+|((?:^|[^\\\\])(?:\\\\.)*)"+L+"+$","g"),S=new RegExp("^"+L+"*,"+L+"*"),T=new RegExp("^"+L+"*([>+~]|"+L+")"+L+"*"),U=new RegExp("="+L+"*([^\\]'\"]*?)"+L+"*\\]","g"),V=new RegExp(P),W=new RegExp("^"+N+"$"),X={ID:new RegExp("^#("+M+")"),CLASS:new RegExp("^\\.("+M+")"),TAG:new RegExp("^("+M.replace("w","w*")+")"),ATTR:new RegExp("^"+O),PSEUDO:new RegExp("^"+P),CHILD:new RegExp("^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\("+L+"*(even|odd|(([+-]|)(\\d*)n|)"+L+"*(?:([+-]|)"+L+"*(\\d+)|))"+L+"*\\)|)","i"),bool:new RegExp("^(?:"+K+")$","i"),needsContext:new RegExp("^"+L+"*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\("+L+"*((?:-\\d)?\\d*)"+L+"*\\)|)(?=[^-]|$)","i")},Y=/^(?:input|select|textarea|button)$/i,Z=/^h\d$/i,$=/^[^{]+\{\s*\[native \w/,_=/^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/,aa=/[+~]/,ba=/'|\\/g,ca=new RegExp("\\\\([\\da-f]{1,6}"+L+"?|("+L+")|.)","ig"),da=function(a,b,c){var d="0x"+b-65536;return d!==d||c?b:0>d?String.fromCharCode(d+65536):String.fromCharCode(d>>10|55296,1023&d|56320)},ea=function(){m()};try{H.apply(E=I.call(v.childNodes),v.childNodes),E[v.childNodes.length].nodeType}catch(fa){H={apply:E.length?function(a,b){G.apply(a,I.call(b))}:function(a,b){var c=a.length,d=0;while(a[c++]=b[d++]);a.length=c-1}}}function ga(a,b,d,e){var f,h,j,k,l,o,r,s,w,x;if((b?b.ownerDocument||b:v)!==n&&m(b),b=b||n,d=d||[],k=b.nodeType,"string"!=typeof a||!a||1!==k&&9!==k&&11!==k)return d;if(!e&&p){if(11!==k&&(f=_.exec(a)))if(j=f[1]){if(9===k){if(h=b.getElementById(j),!h||!h.parentNode)return d;if(h.id===j)return d.push(h),d}else if(b.ownerDocument&&(h=b.ownerDocument.getElementById(j))&&t(b,h)&&h.id===j)return d.push(h),d}else{if(f[2])return H.apply(d,b.getElementsByTagName(a)),d;if((j=f[3])&&c.getElementsByClassName)return H.apply(d,b.getElementsByClassName(j)),d}if(c.qsa&&(!q||!q.test(a))){if(s=r=u,w=b,x=1!==k&&a,1===k&&"object"!==b.nodeName.toLowerCase()){o=g(a),(r=b.getAttribute("id"))?s=r.replace(ba,"\\$&"):b.setAttribute("id",s),s="[id='"+s+"'] ",l=o.length;while(l--)o[l]=s+ra(o[l]);w=aa.test(a)&&pa(b.parentNode)||b,x=o.join(",")}if(x)try{return H.apply(d,w.querySelectorAll(x)),d}catch(y){}finally{r||b.removeAttribute("id")}}}return i(a.replace(R,"$1"),b,d,e)}function ha(){var a=[];function b(c,e){return a.push(c+" ")>d.cacheLength&&delete b[a.shift()],b[c+" "]=e}return b}function ia(a){return a[u]=!0,a}function ja(a){var b=n.createElement("div");try{return!!a(b)}catch(c){return!1}finally{b.parentNode&&b.parentNode.removeChild(b),b=null}}function ka(a,b){var c=a.split("|"),e=a.length;while(e--)d.attrHandle[c[e]]=b}function la(a,b){var c=b&&a,d=c&&1===a.nodeType&&1===b.nodeType&&(~b.sourceIndex||C)-(~a.sourceIndex||C);if(d)return d;if(c)while(c=c.nextSibling)if(c===b)return-1;return a?1:-1}function ma(a){return function(b){var c=b.nodeName.toLowerCase();return"input"===c&&b.type===a}}function na(a){return function(b){var c=b.nodeName.toLowerCase();return("input"===c||"button"===c)&&b.type===a}}function oa(a){return ia(function(b){return b=+b,ia(function(c,d){var e,f=a([],c.length,b),g=f.length;while(g--)c[e=f[g]]&&(c[e]=!(d[e]=c[e]))})})}function pa(a){return a&&"undefined"!=typeof a.getElementsByTagName&&a}c=ga.support={},f=ga.isXML=function(a){var b=a&&(a.ownerDocument||a).documentElement;return b?"HTML"!==b.nodeName:!1},m=ga.setDocument=function(a){var b,e,g=a?a.ownerDocument||a:v;return g!==n&&9===g.nodeType&&g.documentElement?(n=g,o=g.documentElement,e=g.defaultView,e&&e!==e.top&&(e.addEventListener?e.addEventListener("unload",ea,!1):e.attachEvent&&e.attachEvent("onunload",ea)),p=!f(g),c.attributes=ja(function(a){return a.className="i",!a.getAttribute("className")}),c.getElementsByTagName=ja(function(a){return a.appendChild(g.createComment("")),!a.getElementsByTagName("*").length}),c.getElementsByClassName=$.test(g.getElementsByClassName),c.getById=ja(function(a){return o.appendChild(a).id=u,!g.getElementsByName||!g.getElementsByName(u).length}),c.getById?(d.find.ID=function(a,b){if("undefined"!=typeof b.getElementById&&p){var c=b.getElementById(a);return c&&c.parentNode?[c]:[]}},d.filter.ID=function(a){var b=a.replace(ca,da);return function(a){return a.getAttribute("id")===b}}):(delete d.find.ID,d.filter.ID=function(a){var b=a.replace(ca,da);return function(a){var c="undefined"!=typeof a.getAttributeNode&&a.getAttributeNode("id");return c&&c.value===b}}),d.find.TAG=c.getElementsByTagName?function(a,b){return"undefined"!=typeof b.getElementsByTagName?b.getElementsByTagName(a):c.qsa?b.querySelectorAll(a):void 0}:function(a,b){var c,d=[],e=0,f=b.getElementsByTagName(a);if("*"===a){while(c=f[e++])1===c.nodeType&&d.push(c);return d}return f},d.find.CLASS=c.getElementsByClassName&&function(a,b){return p?b.getElementsByClassName(a):void 0},r=[],q=[],(c.qsa=$.test(g.querySelectorAll))&&(ja(function(a){o.appendChild(a).innerHTML="",a.querySelectorAll("[msallowcapture^='']").length&&q.push("[*^$]="+L+"*(?:''|\"\")"),a.querySelectorAll("[selected]").length||q.push("\\["+L+"*(?:value|"+K+")"),a.querySelectorAll("[id~="+u+"-]").length||q.push("~="),a.querySelectorAll(":checked").length||q.push(":checked"),a.querySelectorAll("a#"+u+"+*").length||q.push(".#.+[+~]")}),ja(function(a){var b=g.createElement("input");b.setAttribute("type","hidden"),a.appendChild(b).setAttribute("name","D"),a.querySelectorAll("[name=d]").length&&q.push("name"+L+"*[*^$|!~]?="),a.querySelectorAll(":enabled").length||q.push(":enabled",":disabled"),a.querySelectorAll("*,:x"),q.push(",.*:")})),(c.matchesSelector=$.test(s=o.matches||o.webkitMatchesSelector||o.mozMatchesSelector||o.oMatchesSelector||o.msMatchesSelector))&&ja(function(a){c.disconnectedMatch=s.call(a,"div"),s.call(a,"[s!='']:x"),r.push("!=",P)}),q=q.length&&new RegExp(q.join("|")),r=r.length&&new RegExp(r.join("|")),b=$.test(o.compareDocumentPosition),t=b||$.test(o.contains)?function(a,b){var c=9===a.nodeType?a.documentElement:a,d=b&&b.parentNode;return a===d||!(!d||1!==d.nodeType||!(c.contains?c.contains(d):a.compareDocumentPosition&&16&a.compareDocumentPosition(d)))}:function(a,b){if(b)while(b=b.parentNode)if(b===a)return!0;return!1},B=b?function(a,b){if(a===b)return l=!0,0;var d=!a.compareDocumentPosition-!b.compareDocumentPosition;return d?d:(d=(a.ownerDocument||a)===(b.ownerDocument||b)?a.compareDocumentPosition(b):1,1&d||!c.sortDetached&&b.compareDocumentPosition(a)===d?a===g||a.ownerDocument===v&&t(v,a)?-1:b===g||b.ownerDocument===v&&t(v,b)?1:k?J(k,a)-J(k,b):0:4&d?-1:1)}:function(a,b){if(a===b)return l=!0,0;var c,d=0,e=a.parentNode,f=b.parentNode,h=[a],i=[b];if(!e||!f)return a===g?-1:b===g?1:e?-1:f?1:k?J(k,a)-J(k,b):0;if(e===f)return la(a,b);c=a;while(c=c.parentNode)h.unshift(c);c=b;while(c=c.parentNode)i.unshift(c);while(h[d]===i[d])d++;return d?la(h[d],i[d]):h[d]===v?-1:i[d]===v?1:0},g):n},ga.matches=function(a,b){return ga(a,null,null,b)},ga.matchesSelector=function(a,b){if((a.ownerDocument||a)!==n&&m(a),b=b.replace(U,"='$1']"),!(!c.matchesSelector||!p||r&&r.test(b)||q&&q.test(b)))try{var d=s.call(a,b);if(d||c.disconnectedMatch||a.document&&11!==a.document.nodeType)return d}catch(e){}return ga(b,n,null,[a]).length>0},ga.contains=function(a,b){return(a.ownerDocument||a)!==n&&m(a),t(a,b)},ga.attr=function(a,b){(a.ownerDocument||a)!==n&&m(a);var e=d.attrHandle[b.toLowerCase()],f=e&&D.call(d.attrHandle,b.toLowerCase())?e(a,b,!p):void 0;return void 0!==f?f:c.attributes||!p?a.getAttribute(b):(f=a.getAttributeNode(b))&&f.specified?f.value:null},ga.error=function(a){throw new Error("Syntax error, unrecognized expression: "+a)},ga.uniqueSort=function(a){var b,d=[],e=0,f=0;if(l=!c.detectDuplicates,k=!c.sortStable&&a.slice(0),a.sort(B),l){while(b=a[f++])b===a[f]&&(e=d.push(f));while(e--)a.splice(d[e],1)}return k=null,a},e=ga.getText=function(a){var b,c="",d=0,f=a.nodeType;if(f){if(1===f||9===f||11===f){if("string"==typeof a.textContent)return a.textContent;for(a=a.firstChild;a;a=a.nextSibling)c+=e(a)}else if(3===f||4===f)return a.nodeValue}else while(b=a[d++])c+=e(b);return c},d=ga.selectors={cacheLength:50,createPseudo:ia,match:X,attrHandle:{},find:{},relative:{">":{dir:"parentNode",first:!0}," ":{dir:"parentNode"},"+":{dir:"previousSibling",first:!0},"~":{dir:"previousSibling"}},preFilter:{ATTR:function(a){return a[1]=a[1].replace(ca,da),a[3]=(a[3]||a[4]||a[5]||"").replace(ca,da),"~="===a[2]&&(a[3]=" "+a[3]+" "),a.slice(0,4)},CHILD:function(a){return a[1]=a[1].toLowerCase(),"nth"===a[1].slice(0,3)?(a[3]||ga.error(a[0]),a[4]=+(a[4]?a[5]+(a[6]||1):2*("even"===a[3]||"odd"===a[3])),a[5]=+(a[7]+a[8]||"odd"===a[3])):a[3]&&ga.error(a[0]),a},PSEUDO:function(a){var b,c=!a[6]&&a[2];return X.CHILD.test(a[0])?null:(a[3]?a[2]=a[4]||a[5]||"":c&&V.test(c)&&(b=g(c,!0))&&(b=c.indexOf(")",c.length-b)-c.length)&&(a[0]=a[0].slice(0,b),a[2]=c.slice(0,b)),a.slice(0,3))}},filter:{TAG:function(a){var b=a.replace(ca,da).toLowerCase();return"*"===a?function(){return!0}:function(a){return a.nodeName&&a.nodeName.toLowerCase()===b}},CLASS:function(a){var b=y[a+" "];return b||(b=new RegExp("(^|"+L+")"+a+"("+L+"|$)"))&&y(a,function(a){return b.test("string"==typeof a.className&&a.className||"undefined"!=typeof a.getAttribute&&a.getAttribute("class")||"")})},ATTR:function(a,b,c){return function(d){var e=ga.attr(d,a);return null==e?"!="===b:b?(e+="","="===b?e===c:"!="===b?e!==c:"^="===b?c&&0===e.indexOf(c):"*="===b?c&&e.indexOf(c)>-1:"$="===b?c&&e.slice(-c.length)===c:"~="===b?(" "+e.replace(Q," ")+" ").indexOf(c)>-1:"|="===b?e===c||e.slice(0,c.length+1)===c+"-":!1):!0}},CHILD:function(a,b,c,d,e){var f="nth"!==a.slice(0,3),g="last"!==a.slice(-4),h="of-type"===b;return 1===d&&0===e?function(a){return!!a.parentNode}:function(b,c,i){var j,k,l,m,n,o,p=f!==g?"nextSibling":"previousSibling",q=b.parentNode,r=h&&b.nodeName.toLowerCase(),s=!i&&!h;if(q){if(f){while(p){l=b;while(l=l[p])if(h?l.nodeName.toLowerCase()===r:1===l.nodeType)return!1;o=p="only"===a&&!o&&"nextSibling"}return!0}if(o=[g?q.firstChild:q.lastChild],g&&s){k=q[u]||(q[u]={}),j=k[a]||[],n=j[0]===w&&j[1],m=j[0]===w&&j[2],l=n&&q.childNodes[n];while(l=++n&&l&&l[p]||(m=n=0)||o.pop())if(1===l.nodeType&&++m&&l===b){k[a]=[w,n,m];break}}else if(s&&(j=(b[u]||(b[u]={}))[a])&&j[0]===w)m=j[1];else while(l=++n&&l&&l[p]||(m=n=0)||o.pop())if((h?l.nodeName.toLowerCase()===r:1===l.nodeType)&&++m&&(s&&((l[u]||(l[u]={}))[a]=[w,m]),l===b))break;return m-=e,m===d||m%d===0&&m/d>=0}}},PSEUDO:function(a,b){var c,e=d.pseudos[a]||d.setFilters[a.toLowerCase()]||ga.error("unsupported pseudo: "+a);return e[u]?e(b):e.length>1?(c=[a,a,"",b],d.setFilters.hasOwnProperty(a.toLowerCase())?ia(function(a,c){var d,f=e(a,b),g=f.length;while(g--)d=J(a,f[g]),a[d]=!(c[d]=f[g])}):function(a){return e(a,0,c)}):e}},pseudos:{not:ia(function(a){var b=[],c=[],d=h(a.replace(R,"$1"));return d[u]?ia(function(a,b,c,e){var f,g=d(a,null,e,[]),h=a.length;while(h--)(f=g[h])&&(a[h]=!(b[h]=f))}):function(a,e,f){return b[0]=a,d(b,null,f,c),b[0]=null,!c.pop()}}),has:ia(function(a){return function(b){return ga(a,b).length>0}}),contains:ia(function(a){return a=a.replace(ca,da),function(b){return(b.textContent||b.innerText||e(b)).indexOf(a)>-1}}),lang:ia(function(a){return W.test(a||"")||ga.error("unsupported lang: "+a),a=a.replace(ca,da).toLowerCase(),function(b){var c;do if(c=p?b.lang:b.getAttribute("xml:lang")||b.getAttribute("lang"))return c=c.toLowerCase(),c===a||0===c.indexOf(a+"-");while((b=b.parentNode)&&1===b.nodeType);return!1}}),target:function(b){var c=a.location&&a.location.hash;return c&&c.slice(1)===b.id},root:function(a){return a===o},focus:function(a){return a===n.activeElement&&(!n.hasFocus||n.hasFocus())&&!!(a.type||a.href||~a.tabIndex)},enabled:function(a){return a.disabled===!1},disabled:function(a){return a.disabled===!0},checked:function(a){var b=a.nodeName.toLowerCase();return"input"===b&&!!a.checked||"option"===b&&!!a.selected},selected:function(a){return a.parentNode&&a.parentNode.selectedIndex,a.selected===!0},empty:function(a){for(a=a.firstChild;a;a=a.nextSibling)if(a.nodeType<6)return!1;return!0},parent:function(a){return!d.pseudos.empty(a)},header:function(a){return Z.test(a.nodeName)},input:function(a){return Y.test(a.nodeName)},button:function(a){var b=a.nodeName.toLowerCase();return"input"===b&&"button"===a.type||"button"===b},text:function(a){var b;return"input"===a.nodeName.toLowerCase()&&"text"===a.type&&(null==(b=a.getAttribute("type"))||"text"===b.toLowerCase())},first:oa(function(){return[0]}),last:oa(function(a,b){return[b-1]}),eq:oa(function(a,b,c){return[0>c?c+b:c]}),even:oa(function(a,b){for(var c=0;b>c;c+=2)a.push(c);return a}),odd:oa(function(a,b){for(var c=1;b>c;c+=2)a.push(c);return a}),lt:oa(function(a,b,c){for(var d=0>c?c+b:c;--d>=0;)a.push(d);return a}),gt:oa(function(a,b,c){for(var d=0>c?c+b:c;++db;b++)d+=a[b].value;return d}function sa(a,b,c){var d=b.dir,e=c&&"parentNode"===d,f=x++;return b.first?function(b,c,f){while(b=b[d])if(1===b.nodeType||e)return a(b,c,f)}:function(b,c,g){var h,i,j=[w,f];if(g){while(b=b[d])if((1===b.nodeType||e)&&a(b,c,g))return!0}else while(b=b[d])if(1===b.nodeType||e){if(i=b[u]||(b[u]={}),(h=i[d])&&h[0]===w&&h[1]===f)return j[2]=h[2];if(i[d]=j,j[2]=a(b,c,g))return!0}}}function ta(a){return a.length>1?function(b,c,d){var e=a.length;while(e--)if(!a[e](b,c,d))return!1;return!0}:a[0]}function ua(a,b,c){for(var d=0,e=b.length;e>d;d++)ga(a,b[d],c);return c}function va(a,b,c,d,e){for(var f,g=[],h=0,i=a.length,j=null!=b;i>h;h++)(f=a[h])&&(!c||c(f,d,e))&&(g.push(f),j&&b.push(h));return g}function wa(a,b,c,d,e,f){return d&&!d[u]&&(d=wa(d)),e&&!e[u]&&(e=wa(e,f)),ia(function(f,g,h,i){var j,k,l,m=[],n=[],o=g.length,p=f||ua(b||"*",h.nodeType?[h]:h,[]),q=!a||!f&&b?p:va(p,m,a,h,i),r=c?e||(f?a:o||d)?[]:g:q;if(c&&c(q,r,h,i),d){j=va(r,n),d(j,[],h,i),k=j.length;while(k--)(l=j[k])&&(r[n[k]]=!(q[n[k]]=l))}if(f){if(e||a){if(e){j=[],k=r.length;while(k--)(l=r[k])&&j.push(q[k]=l);e(null,r=[],j,i)}k=r.length;while(k--)(l=r[k])&&(j=e?J(f,l):m[k])>-1&&(f[j]=!(g[j]=l))}}else r=va(r===g?r.splice(o,r.length):r),e?e(null,g,r,i):H.apply(g,r)})}function xa(a){for(var b,c,e,f=a.length,g=d.relative[a[0].type],h=g||d.relative[" "],i=g?1:0,k=sa(function(a){return a===b},h,!0),l=sa(function(a){return J(b,a)>-1},h,!0),m=[function(a,c,d){var e=!g&&(d||c!==j)||((b=c).nodeType?k(a,c,d):l(a,c,d));return b=null,e}];f>i;i++)if(c=d.relative[a[i].type])m=[sa(ta(m),c)];else{if(c=d.filter[a[i].type].apply(null,a[i].matches),c[u]){for(e=++i;f>e;e++)if(d.relative[a[e].type])break;return wa(i>1&&ta(m),i>1&&ra(a.slice(0,i-1).concat({value:" "===a[i-2].type?"*":""})).replace(R,"$1"),c,e>i&&xa(a.slice(i,e)),f>e&&xa(a=a.slice(e)),f>e&&ra(a))}m.push(c)}return ta(m)}function ya(a,b){var c=b.length>0,e=a.length>0,f=function(f,g,h,i,k){var l,m,o,p=0,q="0",r=f&&[],s=[],t=j,u=f||e&&d.find.TAG("*",k),v=w+=null==t?1:Math.random()||.1,x=u.length;for(k&&(j=g!==n&&g);q!==x&&null!=(l=u[q]);q++){if(e&&l){m=0;while(o=a[m++])if(o(l,g,h)){i.push(l);break}k&&(w=v)}c&&((l=!o&&l)&&p--,f&&r.push(l))}if(p+=q,c&&q!==p){m=0;while(o=b[m++])o(r,s,g,h);if(f){if(p>0)while(q--)r[q]||s[q]||(s[q]=F.call(i));s=va(s)}H.apply(i,s),k&&!f&&s.length>0&&p+b.length>1&&ga.uniqueSort(i)}return k&&(w=v,j=t),r};return c?ia(f):f}return h=ga.compile=function(a,b){var c,d=[],e=[],f=A[a+" "];if(!f){b||(b=g(a)),c=b.length;while(c--)f=xa(b[c]),f[u]?d.push(f):e.push(f);f=A(a,ya(e,d)),f.selector=a}return f},i=ga.select=function(a,b,e,f){var i,j,k,l,m,n="function"==typeof a&&a,o=!f&&g(a=n.selector||a);if(e=e||[],1===o.length){if(j=o[0]=o[0].slice(0),j.length>2&&"ID"===(k=j[0]).type&&c.getById&&9===b.nodeType&&p&&d.relative[j[1].type]){if(b=(d.find.ID(k.matches[0].replace(ca,da),b)||[])[0],!b)return e;n&&(b=b.parentNode),a=a.slice(j.shift().value.length)}i=X.needsContext.test(a)?0:j.length;while(i--){if(k=j[i],d.relative[l=k.type])break;if((m=d.find[l])&&(f=m(k.matches[0].replace(ca,da),aa.test(j[0].type)&&pa(b.parentNode)||b))){if(j.splice(i,1),a=f.length&&ra(j),!a)return H.apply(e,f),e;break}}}return(n||h(a,o))(f,b,!p,e,aa.test(a)&&pa(b.parentNode)||b),e},c.sortStable=u.split("").sort(B).join("")===u,c.detectDuplicates=!!l,m(),c.sortDetached=ja(function(a){return 1&a.compareDocumentPosition(n.createElement("div"))}),ja(function(a){return a.innerHTML="","#"===a.firstChild.getAttribute("href")})||ka("type|href|height|width",function(a,b,c){return c?void 0:a.getAttribute(b,"type"===b.toLowerCase()?1:2)}),c.attributes&&ja(function(a){return a.innerHTML="",a.firstChild.setAttribute("value",""),""===a.firstChild.getAttribute("value")})||ka("value",function(a,b,c){return c||"input"!==a.nodeName.toLowerCase()?void 0:a.defaultValue}),ja(function(a){return null==a.getAttribute("disabled")})||ka(K,function(a,b,c){var d;return c?void 0:a[b]===!0?b.toLowerCase():(d=a.getAttributeNode(b))&&d.specified?d.value:null}),ga}(a);m.find=s,m.expr=s.selectors,m.expr[":"]=m.expr.pseudos,m.unique=s.uniqueSort,m.text=s.getText,m.isXMLDoc=s.isXML,m.contains=s.contains;var t=m.expr.match.needsContext,u=/^<(\w+)\s*\/?>(?:<\/\1>|)$/,v=/^.[^:#\[\.,]*$/;function w(a,b,c){if(m.isFunction(b))return m.grep(a,function(a,d){return!!b.call(a,d,a)!==c});if(b.nodeType)return m.grep(a,function(a){return a===b!==c});if("string"==typeof b){if(v.test(b))return m.filter(b,a,c);b=m.filter(b,a)}return m.grep(a,function(a){return m.inArray(a,b)>=0!==c})}m.filter=function(a,b,c){var d=b[0];return c&&(a=":not("+a+")"),1===b.length&&1===d.nodeType?m.find.matchesSelector(d,a)?[d]:[]:m.find.matches(a,m.grep(b,function(a){return 1===a.nodeType}))},m.fn.extend({find:function(a){var b,c=[],d=this,e=d.length;if("string"!=typeof a)return this.pushStack(m(a).filter(function(){for(b=0;e>b;b++)if(m.contains(d[b],this))return!0}));for(b=0;e>b;b++)m.find(a,d[b],c);return c=this.pushStack(e>1?m.unique(c):c),c.selector=this.selector?this.selector+" "+a:a,c},filter:function(a){return this.pushStack(w(this,a||[],!1))},not:function(a){return this.pushStack(w(this,a||[],!0))},is:function(a){return!!w(this,"string"==typeof a&&t.test(a)?m(a):a||[],!1).length}});var x,y=a.document,z=/^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]*))$/,A=m.fn.init=function(a,b){var c,d;if(!a)return this;if("string"==typeof a){if(c="<"===a.charAt(0)&&">"===a.charAt(a.length-1)&&a.length>=3?[null,a,null]:z.exec(a),!c||!c[1]&&b)return!b||b.jquery?(b||x).find(a):this.constructor(b).find(a);if(c[1]){if(b=b instanceof m?b[0]:b,m.merge(this,m.parseHTML(c[1],b&&b.nodeType?b.ownerDocument||b:y,!0)),u.test(c[1])&&m.isPlainObject(b))for(c in b)m.isFunction(this[c])?this[c](b[c]):this.attr(c,b[c]);return this}if(d=y.getElementById(c[2]),d&&d.parentNode){if(d.id!==c[2])return x.find(a);this.length=1,this[0]=d}return this.context=y,this.selector=a,this}return a.nodeType?(this.context=this[0]=a,this.length=1,this):m.isFunction(a)?"undefined"!=typeof x.ready?x.ready(a):a(m):(void 0!==a.selector&&(this.selector=a.selector,this.context=a.context),m.makeArray(a,this))};A.prototype=m.fn,x=m(y);var B=/^(?:parents|prev(?:Until|All))/,C={children:!0,contents:!0,next:!0,prev:!0};m.extend({dir:function(a,b,c){var d=[],e=a[b];while(e&&9!==e.nodeType&&(void 0===c||1!==e.nodeType||!m(e).is(c)))1===e.nodeType&&d.push(e),e=e[b];return d},sibling:function(a,b){for(var c=[];a;a=a.nextSibling)1===a.nodeType&&a!==b&&c.push(a);return c}}),m.fn.extend({has:function(a){var b,c=m(a,this),d=c.length;return this.filter(function(){for(b=0;d>b;b++)if(m.contains(this,c[b]))return!0})},closest:function(a,b){for(var c,d=0,e=this.length,f=[],g=t.test(a)||"string"!=typeof a?m(a,b||this.context):0;e>d;d++)for(c=this[d];c&&c!==b;c=c.parentNode)if(c.nodeType<11&&(g?g.index(c)>-1:1===c.nodeType&&m.find.matchesSelector(c,a))){f.push(c);break}return this.pushStack(f.length>1?m.unique(f):f)},index:function(a){return a?"string"==typeof a?m.inArray(this[0],m(a)):m.inArray(a.jquery?a[0]:a,this):this[0]&&this[0].parentNode?this.first().prevAll().length:-1},add:function(a,b){return this.pushStack(m.unique(m.merge(this.get(),m(a,b))))},addBack:function(a){return this.add(null==a?this.prevObject:this.prevObject.filter(a))}});function D(a,b){do a=a[b];while(a&&1!==a.nodeType);return a}m.each({parent:function(a){var b=a.parentNode;return b&&11!==b.nodeType?b:null},parents:function(a){return m.dir(a,"parentNode")},parentsUntil:function(a,b,c){return m.dir(a,"parentNode",c)},next:function(a){return D(a,"nextSibling")},prev:function(a){return D(a,"previousSibling")},nextAll:function(a){return m.dir(a,"nextSibling")},prevAll:function(a){return m.dir(a,"previousSibling")},nextUntil:function(a,b,c){return m.dir(a,"nextSibling",c)},prevUntil:function(a,b,c){return m.dir(a,"previousSibling",c)},siblings:function(a){return m.sibling((a.parentNode||{}).firstChild,a)},children:function(a){return m.sibling(a.firstChild)},contents:function(a){return m.nodeName(a,"iframe")?a.contentDocument||a.contentWindow.document:m.merge([],a.childNodes)}},function(a,b){m.fn[a]=function(c,d){var e=m.map(this,b,c);return"Until"!==a.slice(-5)&&(d=c),d&&"string"==typeof d&&(e=m.filter(d,e)),this.length>1&&(C[a]||(e=m.unique(e)),B.test(a)&&(e=e.reverse())),this.pushStack(e)}});var E=/\S+/g,F={};function G(a){var b=F[a]={};return m.each(a.match(E)||[],function(a,c){b[c]=!0}),b}m.Callbacks=function(a){a="string"==typeof a?F[a]||G(a):m.extend({},a);var b,c,d,e,f,g,h=[],i=!a.once&&[],j=function(l){for(c=a.memory&&l,d=!0,f=g||0,g=0,e=h.length,b=!0;h&&e>f;f++)if(h[f].apply(l[0],l[1])===!1&&a.stopOnFalse){c=!1;break}b=!1,h&&(i?i.length&&j(i.shift()):c?h=[]:k.disable())},k={add:function(){if(h){var d=h.length;!function f(b){m.each(b,function(b,c){var d=m.type(c);"function"===d?a.unique&&k.has(c)||h.push(c):c&&c.length&&"string"!==d&&f(c)})}(arguments),b?e=h.length:c&&(g=d,j(c))}return this},remove:function(){return h&&m.each(arguments,function(a,c){var d;while((d=m.inArray(c,h,d))>-1)h.splice(d,1),b&&(e>=d&&e--,f>=d&&f--)}),this},has:function(a){return a?m.inArray(a,h)>-1:!(!h||!h.length)},empty:function(){return h=[],e=0,this},disable:function(){return h=i=c=void 0,this},disabled:function(){return!h},lock:function(){return i=void 0,c||k.disable(),this},locked:function(){return!i},fireWith:function(a,c){return!h||d&&!i||(c=c||[],c=[a,c.slice?c.slice():c],b?i.push(c):j(c)),this},fire:function(){return k.fireWith(this,arguments),this},fired:function(){return!!d}};return k},m.extend({Deferred:function(a){var b=[["resolve","done",m.Callbacks("once memory"),"resolved"],["reject","fail",m.Callbacks("once memory"),"rejected"],["notify","progress",m.Callbacks("memory")]],c="pending",d={state:function(){return c},always:function(){return e.done(arguments).fail(arguments),this},then:function(){var a=arguments;return m.Deferred(function(c){m.each(b,function(b,f){var g=m.isFunction(a[b])&&a[b];e[f[1]](function(){var a=g&&g.apply(this,arguments);a&&m.isFunction(a.promise)?a.promise().done(c.resolve).fail(c.reject).progress(c.notify):c[f[0]+"With"](this===d?c.promise():this,g?[a]:arguments)})}),a=null}).promise()},promise:function(a){return null!=a?m.extend(a,d):d}},e={};return d.pipe=d.then,m.each(b,function(a,f){var g=f[2],h=f[3];d[f[1]]=g.add,h&&g.add(function(){c=h},b[1^a][2].disable,b[2][2].lock),e[f[0]]=function(){return e[f[0]+"With"](this===e?d:this,arguments),this},e[f[0]+"With"]=g.fireWith}),d.promise(e),a&&a.call(e,e),e},when:function(a){var b=0,c=d.call(arguments),e=c.length,f=1!==e||a&&m.isFunction(a.promise)?e:0,g=1===f?a:m.Deferred(),h=function(a,b,c){return function(e){b[a]=this,c[a]=arguments.length>1?d.call(arguments):e,c===i?g.notifyWith(b,c):--f||g.resolveWith(b,c)}},i,j,k;if(e>1)for(i=new Array(e),j=new Array(e),k=new Array(e);e>b;b++)c[b]&&m.isFunction(c[b].promise)?c[b].promise().done(h(b,k,c)).fail(g.reject).progress(h(b,j,i)):--f;return f||g.resolveWith(k,c),g.promise()}});var H;m.fn.ready=function(a){return m.ready.promise().done(a),this},m.extend({isReady:!1,readyWait:1,holdReady:function(a){a?m.readyWait++:m.ready(!0)},ready:function(a){if(a===!0?!--m.readyWait:!m.isReady){if(!y.body)return setTimeout(m.ready);m.isReady=!0,a!==!0&&--m.readyWait>0||(H.resolveWith(y,[m]),m.fn.triggerHandler&&(m(y).triggerHandler("ready"),m(y).off("ready")))}}});function I(){y.addEventListener?(y.removeEventListener("DOMContentLoaded",J,!1),a.removeEventListener("load",J,!1)):(y.detachEvent("onreadystatechange",J),a.detachEvent("onload",J))}function J(){(y.addEventListener||"load"===event.type||"complete"===y.readyState)&&(I(),m.ready())}m.ready.promise=function(b){if(!H)if(H=m.Deferred(),"complete"===y.readyState)setTimeout(m.ready);else if(y.addEventListener)y.addEventListener("DOMContentLoaded",J,!1),a.addEventListener("load",J,!1);else{y.attachEvent("onreadystatechange",J),a.attachEvent("onload",J);var c=!1;try{c=null==a.frameElement&&y.documentElement}catch(d){}c&&c.doScroll&&!function e(){if(!m.isReady){try{c.doScroll("left")}catch(a){return setTimeout(e,50)}I(),m.ready()}}()}return H.promise(b)};var K="undefined",L;for(L in m(k))break;k.ownLast="0"!==L,k.inlineBlockNeedsLayout=!1,m(function(){var a,b,c,d;c=y.getElementsByTagName("body")[0],c&&c.style&&(b=y.createElement("div"),d=y.createElement("div"),d.style.cssText="position:absolute;border:0;width:0;height:0;top:0;left:-9999px",c.appendChild(d).appendChild(b),typeof b.style.zoom!==K&&(b.style.cssText="display:inline;margin:0;border:0;padding:1px;width:1px;zoom:1",k.inlineBlockNeedsLayout=a=3===b.offsetWidth,a&&(c.style.zoom=1)),c.removeChild(d))}),function(){var a=y.createElement("div");if(null==k.deleteExpando){k.deleteExpando=!0;try{delete a.test}catch(b){k.deleteExpando=!1}}a=null}(),m.acceptData=function(a){var b=m.noData[(a.nodeName+" ").toLowerCase()],c=+a.nodeType||1;return 1!==c&&9!==c?!1:!b||b!==!0&&a.getAttribute("classid")===b};var M=/^(?:\{[\w\W]*\}|\[[\w\W]*\])$/,N=/([A-Z])/g;function O(a,b,c){if(void 0===c&&1===a.nodeType){var d="data-"+b.replace(N,"-$1").toLowerCase();if(c=a.getAttribute(d),"string"==typeof c){try{c="true"===c?!0:"false"===c?!1:"null"===c?null:+c+""===c?+c:M.test(c)?m.parseJSON(c):c}catch(e){}m.data(a,b,c)}else c=void 0}return c}function P(a){var b;for(b in a)if(("data"!==b||!m.isEmptyObject(a[b]))&&"toJSON"!==b)return!1; - -return!0}function Q(a,b,d,e){if(m.acceptData(a)){var f,g,h=m.expando,i=a.nodeType,j=i?m.cache:a,k=i?a[h]:a[h]&&h;if(k&&j[k]&&(e||j[k].data)||void 0!==d||"string"!=typeof b)return k||(k=i?a[h]=c.pop()||m.guid++:h),j[k]||(j[k]=i?{}:{toJSON:m.noop}),("object"==typeof b||"function"==typeof b)&&(e?j[k]=m.extend(j[k],b):j[k].data=m.extend(j[k].data,b)),g=j[k],e||(g.data||(g.data={}),g=g.data),void 0!==d&&(g[m.camelCase(b)]=d),"string"==typeof b?(f=g[b],null==f&&(f=g[m.camelCase(b)])):f=g,f}}function R(a,b,c){if(m.acceptData(a)){var d,e,f=a.nodeType,g=f?m.cache:a,h=f?a[m.expando]:m.expando;if(g[h]){if(b&&(d=c?g[h]:g[h].data)){m.isArray(b)?b=b.concat(m.map(b,m.camelCase)):b in d?b=[b]:(b=m.camelCase(b),b=b in d?[b]:b.split(" ")),e=b.length;while(e--)delete d[b[e]];if(c?!P(d):!m.isEmptyObject(d))return}(c||(delete g[h].data,P(g[h])))&&(f?m.cleanData([a],!0):k.deleteExpando||g!=g.window?delete g[h]:g[h]=null)}}}m.extend({cache:{},noData:{"applet ":!0,"embed ":!0,"object ":"clsid:D27CDB6E-AE6D-11cf-96B8-444553540000"},hasData:function(a){return a=a.nodeType?m.cache[a[m.expando]]:a[m.expando],!!a&&!P(a)},data:function(a,b,c){return Q(a,b,c)},removeData:function(a,b){return R(a,b)},_data:function(a,b,c){return Q(a,b,c,!0)},_removeData:function(a,b){return R(a,b,!0)}}),m.fn.extend({data:function(a,b){var c,d,e,f=this[0],g=f&&f.attributes;if(void 0===a){if(this.length&&(e=m.data(f),1===f.nodeType&&!m._data(f,"parsedAttrs"))){c=g.length;while(c--)g[c]&&(d=g[c].name,0===d.indexOf("data-")&&(d=m.camelCase(d.slice(5)),O(f,d,e[d])));m._data(f,"parsedAttrs",!0)}return e}return"object"==typeof a?this.each(function(){m.data(this,a)}):arguments.length>1?this.each(function(){m.data(this,a,b)}):f?O(f,a,m.data(f,a)):void 0},removeData:function(a){return this.each(function(){m.removeData(this,a)})}}),m.extend({queue:function(a,b,c){var d;return a?(b=(b||"fx")+"queue",d=m._data(a,b),c&&(!d||m.isArray(c)?d=m._data(a,b,m.makeArray(c)):d.push(c)),d||[]):void 0},dequeue:function(a,b){b=b||"fx";var c=m.queue(a,b),d=c.length,e=c.shift(),f=m._queueHooks(a,b),g=function(){m.dequeue(a,b)};"inprogress"===e&&(e=c.shift(),d--),e&&("fx"===b&&c.unshift("inprogress"),delete f.stop,e.call(a,g,f)),!d&&f&&f.empty.fire()},_queueHooks:function(a,b){var c=b+"queueHooks";return m._data(a,c)||m._data(a,c,{empty:m.Callbacks("once memory").add(function(){m._removeData(a,b+"queue"),m._removeData(a,c)})})}}),m.fn.extend({queue:function(a,b){var c=2;return"string"!=typeof a&&(b=a,a="fx",c--),arguments.lengthh;h++)b(a[h],c,g?d:d.call(a[h],h,b(a[h],c)));return e?a:j?b.call(a):i?b(a[0],c):f},W=/^(?:checkbox|radio)$/i;!function(){var a=y.createElement("input"),b=y.createElement("div"),c=y.createDocumentFragment();if(b.innerHTML="
a",k.leadingWhitespace=3===b.firstChild.nodeType,k.tbody=!b.getElementsByTagName("tbody").length,k.htmlSerialize=!!b.getElementsByTagName("link").length,k.html5Clone="<:nav>"!==y.createElement("nav").cloneNode(!0).outerHTML,a.type="checkbox",a.checked=!0,c.appendChild(a),k.appendChecked=a.checked,b.innerHTML="",k.noCloneChecked=!!b.cloneNode(!0).lastChild.defaultValue,c.appendChild(b),b.innerHTML="",k.checkClone=b.cloneNode(!0).cloneNode(!0).lastChild.checked,k.noCloneEvent=!0,b.attachEvent&&(b.attachEvent("onclick",function(){k.noCloneEvent=!1}),b.cloneNode(!0).click()),null==k.deleteExpando){k.deleteExpando=!0;try{delete b.test}catch(d){k.deleteExpando=!1}}}(),function(){var b,c,d=y.createElement("div");for(b in{submit:!0,change:!0,focusin:!0})c="on"+b,(k[b+"Bubbles"]=c in a)||(d.setAttribute(c,"t"),k[b+"Bubbles"]=d.attributes[c].expando===!1);d=null}();var X=/^(?:input|select|textarea)$/i,Y=/^key/,Z=/^(?:mouse|pointer|contextmenu)|click/,$=/^(?:focusinfocus|focusoutblur)$/,_=/^([^.]*)(?:\.(.+)|)$/;function aa(){return!0}function ba(){return!1}function ca(){try{return y.activeElement}catch(a){}}m.event={global:{},add:function(a,b,c,d,e){var f,g,h,i,j,k,l,n,o,p,q,r=m._data(a);if(r){c.handler&&(i=c,c=i.handler,e=i.selector),c.guid||(c.guid=m.guid++),(g=r.events)||(g=r.events={}),(k=r.handle)||(k=r.handle=function(a){return typeof m===K||a&&m.event.triggered===a.type?void 0:m.event.dispatch.apply(k.elem,arguments)},k.elem=a),b=(b||"").match(E)||[""],h=b.length;while(h--)f=_.exec(b[h])||[],o=q=f[1],p=(f[2]||"").split(".").sort(),o&&(j=m.event.special[o]||{},o=(e?j.delegateType:j.bindType)||o,j=m.event.special[o]||{},l=m.extend({type:o,origType:q,data:d,handler:c,guid:c.guid,selector:e,needsContext:e&&m.expr.match.needsContext.test(e),namespace:p.join(".")},i),(n=g[o])||(n=g[o]=[],n.delegateCount=0,j.setup&&j.setup.call(a,d,p,k)!==!1||(a.addEventListener?a.addEventListener(o,k,!1):a.attachEvent&&a.attachEvent("on"+o,k))),j.add&&(j.add.call(a,l),l.handler.guid||(l.handler.guid=c.guid)),e?n.splice(n.delegateCount++,0,l):n.push(l),m.event.global[o]=!0);a=null}},remove:function(a,b,c,d,e){var f,g,h,i,j,k,l,n,o,p,q,r=m.hasData(a)&&m._data(a);if(r&&(k=r.events)){b=(b||"").match(E)||[""],j=b.length;while(j--)if(h=_.exec(b[j])||[],o=q=h[1],p=(h[2]||"").split(".").sort(),o){l=m.event.special[o]||{},o=(d?l.delegateType:l.bindType)||o,n=k[o]||[],h=h[2]&&new RegExp("(^|\\.)"+p.join("\\.(?:.*\\.|)")+"(\\.|$)"),i=f=n.length;while(f--)g=n[f],!e&&q!==g.origType||c&&c.guid!==g.guid||h&&!h.test(g.namespace)||d&&d!==g.selector&&("**"!==d||!g.selector)||(n.splice(f,1),g.selector&&n.delegateCount--,l.remove&&l.remove.call(a,g));i&&!n.length&&(l.teardown&&l.teardown.call(a,p,r.handle)!==!1||m.removeEvent(a,o,r.handle),delete k[o])}else for(o in k)m.event.remove(a,o+b[j],c,d,!0);m.isEmptyObject(k)&&(delete r.handle,m._removeData(a,"events"))}},trigger:function(b,c,d,e){var f,g,h,i,k,l,n,o=[d||y],p=j.call(b,"type")?b.type:b,q=j.call(b,"namespace")?b.namespace.split("."):[];if(h=l=d=d||y,3!==d.nodeType&&8!==d.nodeType&&!$.test(p+m.event.triggered)&&(p.indexOf(".")>=0&&(q=p.split("."),p=q.shift(),q.sort()),g=p.indexOf(":")<0&&"on"+p,b=b[m.expando]?b:new m.Event(p,"object"==typeof b&&b),b.isTrigger=e?2:3,b.namespace=q.join("."),b.namespace_re=b.namespace?new RegExp("(^|\\.)"+q.join("\\.(?:.*\\.|)")+"(\\.|$)"):null,b.result=void 0,b.target||(b.target=d),c=null==c?[b]:m.makeArray(c,[b]),k=m.event.special[p]||{},e||!k.trigger||k.trigger.apply(d,c)!==!1)){if(!e&&!k.noBubble&&!m.isWindow(d)){for(i=k.delegateType||p,$.test(i+p)||(h=h.parentNode);h;h=h.parentNode)o.push(h),l=h;l===(d.ownerDocument||y)&&o.push(l.defaultView||l.parentWindow||a)}n=0;while((h=o[n++])&&!b.isPropagationStopped())b.type=n>1?i:k.bindType||p,f=(m._data(h,"events")||{})[b.type]&&m._data(h,"handle"),f&&f.apply(h,c),f=g&&h[g],f&&f.apply&&m.acceptData(h)&&(b.result=f.apply(h,c),b.result===!1&&b.preventDefault());if(b.type=p,!e&&!b.isDefaultPrevented()&&(!k._default||k._default.apply(o.pop(),c)===!1)&&m.acceptData(d)&&g&&d[p]&&!m.isWindow(d)){l=d[g],l&&(d[g]=null),m.event.triggered=p;try{d[p]()}catch(r){}m.event.triggered=void 0,l&&(d[g]=l)}return b.result}},dispatch:function(a){a=m.event.fix(a);var b,c,e,f,g,h=[],i=d.call(arguments),j=(m._data(this,"events")||{})[a.type]||[],k=m.event.special[a.type]||{};if(i[0]=a,a.delegateTarget=this,!k.preDispatch||k.preDispatch.call(this,a)!==!1){h=m.event.handlers.call(this,a,j),b=0;while((f=h[b++])&&!a.isPropagationStopped()){a.currentTarget=f.elem,g=0;while((e=f.handlers[g++])&&!a.isImmediatePropagationStopped())(!a.namespace_re||a.namespace_re.test(e.namespace))&&(a.handleObj=e,a.data=e.data,c=((m.event.special[e.origType]||{}).handle||e.handler).apply(f.elem,i),void 0!==c&&(a.result=c)===!1&&(a.preventDefault(),a.stopPropagation()))}return k.postDispatch&&k.postDispatch.call(this,a),a.result}},handlers:function(a,b){var c,d,e,f,g=[],h=b.delegateCount,i=a.target;if(h&&i.nodeType&&(!a.button||"click"!==a.type))for(;i!=this;i=i.parentNode||this)if(1===i.nodeType&&(i.disabled!==!0||"click"!==a.type)){for(e=[],f=0;h>f;f++)d=b[f],c=d.selector+" ",void 0===e[c]&&(e[c]=d.needsContext?m(c,this).index(i)>=0:m.find(c,this,null,[i]).length),e[c]&&e.push(d);e.length&&g.push({elem:i,handlers:e})}return h]","i"),ha=/^\s+/,ia=/<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/gi,ja=/<([\w:]+)/,ka=/\s*$/g,ra={option:[1,""],legend:[1,"
","
"],area:[1,"",""],param:[1,"",""],thead:[1,"","
"],tr:[2,"","
"],col:[2,"","
"],td:[3,"","
"],_default:k.htmlSerialize?[0,"",""]:[1,"X
","
"]},sa=da(y),ta=sa.appendChild(y.createElement("div"));ra.optgroup=ra.option,ra.tbody=ra.tfoot=ra.colgroup=ra.caption=ra.thead,ra.th=ra.td;function ua(a,b){var c,d,e=0,f=typeof a.getElementsByTagName!==K?a.getElementsByTagName(b||"*"):typeof a.querySelectorAll!==K?a.querySelectorAll(b||"*"):void 0;if(!f)for(f=[],c=a.childNodes||a;null!=(d=c[e]);e++)!b||m.nodeName(d,b)?f.push(d):m.merge(f,ua(d,b));return void 0===b||b&&m.nodeName(a,b)?m.merge([a],f):f}function va(a){W.test(a.type)&&(a.defaultChecked=a.checked)}function wa(a,b){return m.nodeName(a,"table")&&m.nodeName(11!==b.nodeType?b:b.firstChild,"tr")?a.getElementsByTagName("tbody")[0]||a.appendChild(a.ownerDocument.createElement("tbody")):a}function xa(a){return a.type=(null!==m.find.attr(a,"type"))+"/"+a.type,a}function ya(a){var b=pa.exec(a.type);return b?a.type=b[1]:a.removeAttribute("type"),a}function za(a,b){for(var c,d=0;null!=(c=a[d]);d++)m._data(c,"globalEval",!b||m._data(b[d],"globalEval"))}function Aa(a,b){if(1===b.nodeType&&m.hasData(a)){var c,d,e,f=m._data(a),g=m._data(b,f),h=f.events;if(h){delete g.handle,g.events={};for(c in h)for(d=0,e=h[c].length;e>d;d++)m.event.add(b,c,h[c][d])}g.data&&(g.data=m.extend({},g.data))}}function Ba(a,b){var c,d,e;if(1===b.nodeType){if(c=b.nodeName.toLowerCase(),!k.noCloneEvent&&b[m.expando]){e=m._data(b);for(d in e.events)m.removeEvent(b,d,e.handle);b.removeAttribute(m.expando)}"script"===c&&b.text!==a.text?(xa(b).text=a.text,ya(b)):"object"===c?(b.parentNode&&(b.outerHTML=a.outerHTML),k.html5Clone&&a.innerHTML&&!m.trim(b.innerHTML)&&(b.innerHTML=a.innerHTML)):"input"===c&&W.test(a.type)?(b.defaultChecked=b.checked=a.checked,b.value!==a.value&&(b.value=a.value)):"option"===c?b.defaultSelected=b.selected=a.defaultSelected:("input"===c||"textarea"===c)&&(b.defaultValue=a.defaultValue)}}m.extend({clone:function(a,b,c){var d,e,f,g,h,i=m.contains(a.ownerDocument,a);if(k.html5Clone||m.isXMLDoc(a)||!ga.test("<"+a.nodeName+">")?f=a.cloneNode(!0):(ta.innerHTML=a.outerHTML,ta.removeChild(f=ta.firstChild)),!(k.noCloneEvent&&k.noCloneChecked||1!==a.nodeType&&11!==a.nodeType||m.isXMLDoc(a)))for(d=ua(f),h=ua(a),g=0;null!=(e=h[g]);++g)d[g]&&Ba(e,d[g]);if(b)if(c)for(h=h||ua(a),d=d||ua(f),g=0;null!=(e=h[g]);g++)Aa(e,d[g]);else Aa(a,f);return d=ua(f,"script"),d.length>0&&za(d,!i&&ua(a,"script")),d=h=e=null,f},buildFragment:function(a,b,c,d){for(var e,f,g,h,i,j,l,n=a.length,o=da(b),p=[],q=0;n>q;q++)if(f=a[q],f||0===f)if("object"===m.type(f))m.merge(p,f.nodeType?[f]:f);else if(la.test(f)){h=h||o.appendChild(b.createElement("div")),i=(ja.exec(f)||["",""])[1].toLowerCase(),l=ra[i]||ra._default,h.innerHTML=l[1]+f.replace(ia,"<$1>")+l[2],e=l[0];while(e--)h=h.lastChild;if(!k.leadingWhitespace&&ha.test(f)&&p.push(b.createTextNode(ha.exec(f)[0])),!k.tbody){f="table"!==i||ka.test(f)?""!==l[1]||ka.test(f)?0:h:h.firstChild,e=f&&f.childNodes.length;while(e--)m.nodeName(j=f.childNodes[e],"tbody")&&!j.childNodes.length&&f.removeChild(j)}m.merge(p,h.childNodes),h.textContent="";while(h.firstChild)h.removeChild(h.firstChild);h=o.lastChild}else p.push(b.createTextNode(f));h&&o.removeChild(h),k.appendChecked||m.grep(ua(p,"input"),va),q=0;while(f=p[q++])if((!d||-1===m.inArray(f,d))&&(g=m.contains(f.ownerDocument,f),h=ua(o.appendChild(f),"script"),g&&za(h),c)){e=0;while(f=h[e++])oa.test(f.type||"")&&c.push(f)}return h=null,o},cleanData:function(a,b){for(var d,e,f,g,h=0,i=m.expando,j=m.cache,l=k.deleteExpando,n=m.event.special;null!=(d=a[h]);h++)if((b||m.acceptData(d))&&(f=d[i],g=f&&j[f])){if(g.events)for(e in g.events)n[e]?m.event.remove(d,e):m.removeEvent(d,e,g.handle);j[f]&&(delete j[f],l?delete d[i]:typeof d.removeAttribute!==K?d.removeAttribute(i):d[i]=null,c.push(f))}}}),m.fn.extend({text:function(a){return V(this,function(a){return void 0===a?m.text(this):this.empty().append((this[0]&&this[0].ownerDocument||y).createTextNode(a))},null,a,arguments.length)},append:function(){return this.domManip(arguments,function(a){if(1===this.nodeType||11===this.nodeType||9===this.nodeType){var b=wa(this,a);b.appendChild(a)}})},prepend:function(){return this.domManip(arguments,function(a){if(1===this.nodeType||11===this.nodeType||9===this.nodeType){var b=wa(this,a);b.insertBefore(a,b.firstChild)}})},before:function(){return this.domManip(arguments,function(a){this.parentNode&&this.parentNode.insertBefore(a,this)})},after:function(){return this.domManip(arguments,function(a){this.parentNode&&this.parentNode.insertBefore(a,this.nextSibling)})},remove:function(a,b){for(var c,d=a?m.filter(a,this):this,e=0;null!=(c=d[e]);e++)b||1!==c.nodeType||m.cleanData(ua(c)),c.parentNode&&(b&&m.contains(c.ownerDocument,c)&&za(ua(c,"script")),c.parentNode.removeChild(c));return this},empty:function(){for(var a,b=0;null!=(a=this[b]);b++){1===a.nodeType&&m.cleanData(ua(a,!1));while(a.firstChild)a.removeChild(a.firstChild);a.options&&m.nodeName(a,"select")&&(a.options.length=0)}return this},clone:function(a,b){return a=null==a?!1:a,b=null==b?a:b,this.map(function(){return m.clone(this,a,b)})},html:function(a){return V(this,function(a){var b=this[0]||{},c=0,d=this.length;if(void 0===a)return 1===b.nodeType?b.innerHTML.replace(fa,""):void 0;if(!("string"!=typeof a||ma.test(a)||!k.htmlSerialize&&ga.test(a)||!k.leadingWhitespace&&ha.test(a)||ra[(ja.exec(a)||["",""])[1].toLowerCase()])){a=a.replace(ia,"<$1>");try{for(;d>c;c++)b=this[c]||{},1===b.nodeType&&(m.cleanData(ua(b,!1)),b.innerHTML=a);b=0}catch(e){}}b&&this.empty().append(a)},null,a,arguments.length)},replaceWith:function(){var a=arguments[0];return this.domManip(arguments,function(b){a=this.parentNode,m.cleanData(ua(this)),a&&a.replaceChild(b,this)}),a&&(a.length||a.nodeType)?this:this.remove()},detach:function(a){return this.remove(a,!0)},domManip:function(a,b){a=e.apply([],a);var c,d,f,g,h,i,j=0,l=this.length,n=this,o=l-1,p=a[0],q=m.isFunction(p);if(q||l>1&&"string"==typeof p&&!k.checkClone&&na.test(p))return this.each(function(c){var d=n.eq(c);q&&(a[0]=p.call(this,c,d.html())),d.domManip(a,b)});if(l&&(i=m.buildFragment(a,this[0].ownerDocument,!1,this),c=i.firstChild,1===i.childNodes.length&&(i=c),c)){for(g=m.map(ua(i,"script"),xa),f=g.length;l>j;j++)d=i,j!==o&&(d=m.clone(d,!0,!0),f&&m.merge(g,ua(d,"script"))),b.call(this[j],d,j);if(f)for(h=g[g.length-1].ownerDocument,m.map(g,ya),j=0;f>j;j++)d=g[j],oa.test(d.type||"")&&!m._data(d,"globalEval")&&m.contains(h,d)&&(d.src?m._evalUrl&&m._evalUrl(d.src):m.globalEval((d.text||d.textContent||d.innerHTML||"").replace(qa,"")));i=c=null}return this}}),m.each({appendTo:"append",prependTo:"prepend",insertBefore:"before",insertAfter:"after",replaceAll:"replaceWith"},function(a,b){m.fn[a]=function(a){for(var c,d=0,e=[],g=m(a),h=g.length-1;h>=d;d++)c=d===h?this:this.clone(!0),m(g[d])[b](c),f.apply(e,c.get());return this.pushStack(e)}});var Ca,Da={};function Ea(b,c){var d,e=m(c.createElement(b)).appendTo(c.body),f=a.getDefaultComputedStyle&&(d=a.getDefaultComputedStyle(e[0]))?d.display:m.css(e[0],"display");return e.detach(),f}function Fa(a){var b=y,c=Da[a];return c||(c=Ea(a,b),"none"!==c&&c||(Ca=(Ca||m("