--- /dev/null
+/*!
+ * Bootstrap v4.0.0 (https://getbootstrap.com)
+ * Copyright 2011-2018 The Bootstrap Authors (https://github.com/twbs/bootstrap/graphs/contributors)
+ * Licensed under MIT (https://github.com/twbs/bootstrap/blob/master/LICENSE)
+ */
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s=t.Event(h.SHOWN,{relatedTarget:e}),r=function(){n._config.focus&&n._element.focus(),n._isTransitioning=!1,t(n._element).trigger(s)};i?t(this._dialog).one(P.TRANSITION_END,r).emulateTransitionEnd(300):r()},p._enforceFocus=function(){var e=this;t(document).off(h.FOCUSIN).on(h.FOCUSIN,function(n){document!==n.target&&e._element!==n.target&&0===t(e._element).has(n.target).length&&e._element.focus()})},p._setEscapeEvent=function(){var e=this;this._isShown&&this._config.keyboard?t(this._element).on(h.KEYDOWN_DISMISS,function(t){27===t.which&&(t.preventDefault(),e.hide())}):this._isShown||t(this._element).off(h.KEYDOWN_DISMISS)},p._setResizeEvent=function(){var e=this;this._isShown?t(window).on(h.RESIZE,function(t){return e.handleUpdate(t)}):t(window).off(h.RESIZE)},p._hideModal=function(){var e=this;this._element.style.display="none",this._element.setAttribute("aria-hidden",!0),this._isTransitioning=!1,this._showBackdrop(function(){t(document.body).removeClass(f),e._resetAdjustments(),e._resetScrollbar(),t(e._element).trigger(h.HIDDEN)})},p._removeBackdrop=function(){this._backdrop&&(t(this._backdrop).remove(),this._backdrop=null)},p._showBackdrop=function(e){var n=this,i=t(this._element).hasClass(d)?d:"";if(this._isShown&&this._config.backdrop){var s=P.supportsTransitionEnd()&&i;if(this._backdrop=document.createElement("div"),this._backdrop.className=u,i&&t(this._backdrop).addClass(i),t(this._backdrop).appendTo(document.body),t(this._element).on(h.CLICK_DISMISS,function(t){n._ignoreBackdropClick?n._ignoreBackdropClick=!1:t.target===t.currentTarget&&("static"===n._config.backdrop?n._element.focus():n.hide())}),s&&P.reflow(this._backdrop),t(this._backdrop).addClass(_),!e)return;if(!s)return void e();t(this._backdrop).one(P.TRANSITION_END,e).emulateTransitionEnd(150)}else 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r=this.getTipElement(),o=P.getUID(this.constructor.NAME);r.setAttribute("id",o),this.element.setAttribute("aria-describedby",o),this.setContent(),this.config.animation&&t(r).addClass(g);var l="function"==typeof this.config.placement?this.config.placement.call(this,r,this.element):this.config.placement,h=this._getAttachment(l);this.addAttachmentClass(h);var c=!1===this.config.container?document.body:t(this.config.container);t(r).data(this.constructor.DATA_KEY,this),t.contains(this.element.ownerDocument.documentElement,this.tip)||t(r).appendTo(c),t(this.element).trigger(this.constructor.Event.INSERTED),this._popper=new 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n=this,i=this.getTipElement(),s=t.Event(this.constructor.Event.HIDE),r=function(){n._hoverState!==f&&i.parentNode&&i.parentNode.removeChild(i),n._cleanTipClass(),n.element.removeAttribute("aria-describedby"),t(n.element).trigger(n.constructor.Event.HIDDEN),null!==n._popper&&n._popper.destroy(),e&&e()};t(this.element).trigger(s),s.isDefaultPrevented()||(t(i).removeClass(p),"ontouchstart"in document.documentElement&&t("body").children().off("mouseover",null,t.noop),this._activeTrigger[y]=!1,this._activeTrigger[T]=!1,this._activeTrigger[E]=!1,P.supportsTransitionEnd()&&t(this.tip).hasClass(g)?t(i).one(P.TRANSITION_END,r).emulateTransitionEnd(150):r(),this._hoverState="")},I.update=function(){null!==this._popper&&this._popper.scheduleUpdate()},I.isWithContent=function(){return Boolean(this.getTitle())},I.addAttachmentClass=function(e){t(this.getTipElement()).addClass("bs-tooltip-"+e)},I.getTipElement=function(){return 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--- /dev/null
+/*!
+* @license EaselJS
+* Visit http://createjs.com/ for documentation, updates and examples.
+*
+* Copyright (c) 2011-2013 gskinner.com, inc.
+*
+* Distributed under the terms of the MIT license.
+* http://www.opensource.org/licenses/mit-license.html
+*
+* This notice shall be included in all copies or substantial portions of the Software.
+*/
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this._dirty=this._active=!0,this._activeInstructions.push(new a(b,[c])),this},c.drawPolyStar=function(b,c,d,e,f,g){this._dirty=this._active=!0,null==f&&(f=0),f=1-f,null==g?g=0:g/=180/Math.PI;var h=Math.PI/e;this._activeInstructions.push(new a(this._ctx.moveTo,[b+Math.cos(g)*d,c+Math.sin(g)*d]));for(var i=0;e>i;i++)g+=h,1!=f&&this._activeInstructions.push(new a(this._ctx.lineTo,[b+Math.cos(g)*d*f,c+Math.sin(g)*d*f])),g+=h,this._activeInstructions.push(new a(this._ctx.lineTo,[b+Math.cos(g)*d,c+Math.sin(g)*d]));return this},c.decodePath=function(a){for(var c=[this.moveTo,this.lineTo,this.quadraticCurveTo,this.bezierCurveTo,this.closePath],d=[2,2,4,6,0],e=0,f=a.length,g=[],h=0,i=0,j=b.BASE_64;f>e;){var k=a.charAt(e),l=j[k],m=l>>3,n=c[m];if(!n||3&l)throw"bad path data (@"+e+"): "+k;var o=d[m];m||(h=i=0),g.length=0,e++;for(var p=(1&l>>2)+2,q=0;o>q;q++){var 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c=createjs.createCanvas?createjs.createCanvas():document.createElement("canvas");c.getContext&&(a._hitTestCanvas=c,a._hitTestContext=c.getContext("2d"),c.width=c.height=1),a._nextCacheID=1,b.alpha=1,b.cacheCanvas=null,b.id=-1,b.mouseEnabled=!0,b.tickEnabled=!0,b.name=null,b.parent=null,b.regX=0,b.regY=0,b.rotation=0,b.scaleX=1,b.scaleY=1,b.skewX=0,b.skewY=0,b.shadow=null,b.visible=!0,b.x=0,b.y=0,b.compositeOperation=null,b.snapToPixel=!1,b.filters=null,b.cacheID=0,b.mask=null,b.hitArea=null,b.cursor=null,b._cacheOffsetX=0,b._cacheOffsetY=0,b._cacheScale=1,b._cacheDataURLID=0,b._cacheDataURL=null,b._matrix=null,b._rectangle=null,b._bounds=null,b.initialize=function(){this.id=createjs.UID.get(),this._matrix=new createjs.Matrix2D,this._rectangle=new createjs.Rectangle},b.isVisible=function(){return!!(this.visible&&this.alpha>0&&0!=this.scaleX&&0!=this.scaleY)},b.draw=function(a,b){var c=this.cacheCanvas;if(b||!c)return!1;var d,e=this._cacheScale,f=this._cacheOffsetX,g=this._cacheOffsetY;return(d=this._applyFilterBounds(f,g,0,0))&&(f=d.x,g=d.y),a.drawImage(c,f,g,c.width/e,c.height/e),!0},b.updateContext=function(a){var b,c=this.mask,d=this;c&&c.graphics&&!c.graphics.isEmpty()&&(b=c.getMatrix(c._matrix),a.transform(b.a,b.b,b.c,b.d,b.tx,b.ty),c.graphics.drawAsPath(a),a.clip(),b.invert(),a.transform(b.a,b.b,b.c,b.d,b.tx,b.ty)),b=d._matrix.identity().appendTransform(d.x,d.y,d.scaleX,d.scaleY,d.rotation,d.skewX,d.skewY,d.regX,d.regY),createjs.Stage._snapToPixelEnabled&&d.snapToPixel?a.transform(b.a,b.b,b.c,b.d,0|b.tx+.5,0|b.ty+.5):a.transform(b.a,b.b,b.c,b.d,b.tx,b.ty),a.globalAlpha*=d.alpha,d.compositeOperation&&(a.globalCompositeOperation=d.compositeOperation),d.shadow&&this._applyShadow(a,d.shadow)},b.cache=function(a,b,c,d,e){e=e||1,this.cacheCanvas||(this.cacheCanvas=createjs.createCanvas?createjs.createCanvas():document.createElement("canvas")),this._cacheWidth=c,this._cacheHeight=d,this._cacheOffsetX=a,this._cacheOffsetY=b,this._cacheScale=e,this.updateCache()},b.updateCache=function(b){var c,d=this.cacheCanvas,e=this._cacheScale,f=this._cacheOffsetX*e,g=this._cacheOffsetY*e,h=this._cacheWidth,i=this._cacheHeight;if(!d)throw"cache() must be called before updateCache()";var j=d.getContext("2d");(c=this._applyFilterBounds(f,g,h,i))&&(f=c.x,g=c.y,h=c.width,i=c.height),h=Math.ceil(h*e),i=Math.ceil(i*e),h!=d.width||i!=d.height?(d.width=h,d.height=i):b||j.clearRect(0,0,h+1,i+1),j.save(),j.globalCompositeOperation=b,j.setTransform(e,0,0,e,-f,-g),this.draw(j,!0),this._applyFilters(),j.restore(),this.cacheID=a._nextCacheID++},b.uncache=function(){this._cacheDataURL=this.cacheCanvas=null,this.cacheID=this._cacheOffsetX=this._cacheOffsetY=0,this._cacheScale=1},b.getCacheDataURL=function(){return this.cacheCanvas?(this.cacheID!=this._cacheDataURLID&&(this._cacheDataURL=this.cacheCanvas.toDataURL()),this._cacheDataURL):null},b.getStage=function(){for(var a=this;a.parent;)a=a.parent;return a instanceof createjs.Stage?a:null},b.localToGlobal=function(a,b){var c=this.getConcatenatedMatrix(this._matrix);return null==c?null:(c.append(1,0,0,1,a,b),new createjs.Point(c.tx,c.ty))},b.globalToLocal=function(a,b){var c=this.getConcatenatedMatrix(this._matrix);return null==c?null:(c.invert(),c.append(1,0,0,1,a,b),new createjs.Point(c.tx,c.ty))},b.localToLocal=function(a,b,c){var d=this.localToGlobal(a,b);return c.globalToLocal(d.x,d.y)},b.setTransform=function(a,b,c,d,e,f,g,h,i){return this.x=a||0,this.y=b||0,this.scaleX=null==c?1:c,this.scaleY=null==d?1:d,this.rotation=e||0,this.skewX=f||0,this.skewY=g||0,this.regX=h||0,this.regY=i||0,this},b.getMatrix=function(a){var b=this;return(a?a.identity():new createjs.Matrix2D).appendTransform(b.x,b.y,b.scaleX,b.scaleY,b.rotation,b.skewX,b.skewY,b.regX,b.regY).appendProperties(b.alpha,b.shadow,b.compositeOperation)},b.getConcatenatedMatrix=function(a){a?a.identity():a=new createjs.Matrix2D;for(var b=this;null!=b;)a.prependTransform(b.x,b.y,b.scaleX,b.scaleY,b.rotation,b.skewX,b.skewY,b.regX,b.regY).prependProperties(b.alpha,b.shadow,b.compositeOperation),b=b.parent;return a},b.hitTest=function(b,c){var d=a._hitTestContext;d.setTransform(1,0,0,1,-b,-c),this.draw(d);
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This is most likely due to security restrictions on reading canvas pixel data with local or cross-domain images."}return c},b._applyFilters=function(){if(this.filters&&0!=this.filters.length&&this.cacheCanvas)for(var a=this.filters.length,b=this.cacheCanvas.getContext("2d"),c=this.cacheCanvas.width,d=this.cacheCanvas.height,e=0;a>e;e++)this.filters[e].applyFilter(b,0,0,c,d)},b._applyFilterBounds=function(a,b,c,d){var e,f,g=this.filters;if(!g||!(f=g.length))return null;for(var h=0;f>h;h++){var i=this.filters[h],j=i.getBounds&&i.getBounds();j&&(e||(e=this._rectangle.initialize(a,b,c,d)),e.x+=j.x,e.y+=j.y,e.width+=j.width,e.height+=j.height)}return e},b._getBounds=function(a,b){return this._transformBounds(this.getBounds(),a,b)},b._transformBounds=function(a,b,c){if(!a)return a;var d=a.x,e=a.y,f=a.width,g=a.height,h=c?this._matrix.identity():this.getMatrix(this._matrix);(d||e)&&h.appendTransform(0,0,1,1,0,0,0,-d,-e),b&&h.prependMatrix(b);var 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c=this.children.slice(0),d=0,e=c.length;e>d;d++){var f=c[d];f.isVisible()&&(a.save(),f.updateContext(a),f.draw(a),a.restore())}return!0},b.addChild=function(a){if(null==a)return a;var b=arguments.length;if(b>1){for(var c=0;b>c;c++)this.addChild(arguments[c]);return arguments[b-1]}return a.parent&&a.parent.removeChild(a),a.parent=this,this.children.push(a),a},b.addChildAt=function(a,b){var c=arguments.length,d=arguments[c-1];if(0>d||d>this.children.length)return arguments[c-2];if(c>2){for(var e=0;c-1>e;e++)this.addChildAt(arguments[e],d+e);return arguments[c-2]}return a.parent&&a.parent.removeChild(a),a.parent=this,this.children.splice(b,0,a),a},b.removeChild=function(a){var b=arguments.length;if(b>1){for(var c=!0,d=0;b>d;d++)c=c&&this.removeChild(arguments[d]);return c}return this.removeChildAt(createjs.indexOf(this.children,a))},b.removeChildAt=function(a){var b=arguments.length;if(b>1){for(var c=[],d=0;b>d;d++)c[d]=arguments[d];c.sort(function(a,b){return b-a});for(var 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c=this.children[b];c.tickEnabled&&c._tick&&c._tick(a)}this.DisplayObject__tick(a)},b._getObjectsUnderPoint=function(b,c,d,e,f){var g=createjs.DisplayObject._hitTestContext,h=this._matrix;f=f||e&&this._hasMouseEventListener();for(var i=this.children,j=i.length,k=j-1;k>=0;k--){var l=i[k],m=l.hitArea;if(l.visible&&(m||l.isVisible())&&(!e||l.mouseEnabled))if(!m&&l instanceof a){var n=l._getObjectsUnderPoint(b,c,d,e,f);if(!d&&n)return e&&!this.mouseChildren?this:n}else{if(!f&&!l._hasMouseEventListener())continue;if(l.getConcatenatedMatrix(h),m&&(h.appendTransform(m.x,m.y,m.scaleX,m.scaleY,m.rotation,m.skewX,m.skewY,m.regX,m.regY),h.alpha=m.alpha),g.globalAlpha=h.alpha,g.setTransform(h.a,h.b,h.c,h.d,h.tx-b,h.ty-c),(m||l).draw(g),!this._testHit(g))continue;if(g.setTransform(1,0,0,1,0,0),g.clearRect(0,0,2,2),!d)return e&&!this.mouseChildren?this:l;d.push(l)}}return null},b._getBounds=function(a,b){var c=this.DisplayObject_getBounds();if(c)return this._transformBounds(c,a,b);var d,e,f,g,h=b?this._matrix.identity():this.getMatrix(this._matrix);a&&h.prependMatrix(a);for(var i=this.children.length,j=0;i>j;j++){var k=this.children[j];if(k.visible&&(c=k._getBounds(h))){var l=c.x,m=c.y,n=l+c.width,o=m+c.height;(d>l||null==d)&&(d=l),(n>e||null==e)&&(e=n),(f>m||null==f)&&(f=m),(o>g||null==g)&&(g=o)}}return null==e?null:this._rectangle.initialize(d,f,e-d,g-f)},createjs.Container=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a){this.initialize(a)},b=a.prototype=new createjs.Container;a._snapToPixelEnabled=!1,b.autoClear=!0,b.canvas=null,b.mouseX=0,b.mouseY=0,b.snapToPixelEnabled=!1,b.mouseInBounds=!1,b.tickOnUpdate=!0,b.mouseMoveOutside=!1,b.nextStage=null,b._pointerData=null,b._pointerCount=0,b._primaryPointerID=null,b._mouseOverIntervalID=null,b.Container_initialize=b.initialize,b.initialize=function(a){this.Container_initialize(),this.canvas="string"==typeof a?document.getElementById(a):a,this._pointerData={},this.enableDOMEvents(!0)},b.update=function(){if(this.canvas){this.tickOnUpdate&&(this.dispatchEvent("tickstart"),this.tickEnabled&&this._tick(arguments.length?arguments:null),this.dispatchEvent("tickend")),this.dispatchEvent("drawstart"),a._snapToPixelEnabled=this.snapToPixelEnabled,this.autoClear&&this.clear();var b=this.canvas.getContext("2d");b.save(),this.updateContext(b),this.draw(b,!1),b.restore(),this.dispatchEvent("drawend")}},b.handleEvent=function(a){"tick"==a.type&&this.update(a)},b.clear=function(){if(this.canvas){var a=this.canvas.getContext("2d");a.setTransform(1,0,0,1,0,0),a.clearRect(0,0,this.canvas.width+1,this.canvas.height+1)}},b.toDataURL=function(a,b){b||(b="image/png");var c,d=this.canvas.getContext("2d"),e=this.canvas.width,f=this.canvas.height;if(a){c=d.getImageData(0,0,e,f);var g=d.globalCompositeOperation;d.globalCompositeOperation="destination-over",d.fillStyle=a,d.fillRect(0,0,e,f)}var h=this.canvas.toDataURL(b);return a&&(d.clearRect(0,0,e+1,f+1),d.putImageData(c,0,0),d.globalCompositeOperation=g),h},b.enableMouseOver=function(a){if(this._mouseOverIntervalID&&(clearInterval(this._mouseOverIntervalID),this._mouseOverIntervalID=null,0==a&&this._testMouseOver(!0)),null==a)a=20;else if(0>=a)return;var b=this;this._mouseOverIntervalID=setInterval(function(){b._testMouseOver()},1e3/Math.min(50,a))},b.enableDOMEvents=function(a){null==a&&(a=!0);var b,c,d=this._eventListeners;if(!a&&d){for(b in d)c=d[b],c.t.removeEventListener(b,c.f,!1);this._eventListeners=null}else if(a&&!d&&this.canvas){var e=window.addEventListener?window:document,f=this;d=this._eventListeners={},d.mouseup={t:e,f:function(a){f._handleMouseUp(a)}},d.mousemove={t:e,f:function(a){f._handleMouseMove(a)}},d.dblclick={t:this.canvas,f:function(a){f._handleDoubleClick(a)}},d.mousedown={t:this.canvas,f:function(a){f._handleMouseDown(a)}};for(b in d)c=d[b],c.t.addEventListener(b,c.f,!1)}},b.clone=function(){var b=new a(null);return this.cloneProps(b),b},b.toString=function(){return"[Stage (name="+this.name+")]"},b._getElementRect=function(a){var b;try{b=a.getBoundingClientRect()}catch(c){b={top:a.offsetTop,left:a.offsetLeft,width:a.offsetWidth,height:a.offsetHeight}}var d=(window.pageXOffset||document.scrollLeft||0)-(document.clientLeft||document.body.clientLeft||0),e=(window.pageYOffset||document.scrollTop||0)-(document.clientTop||document.body.clientTop||0),f=window.getComputedStyle?getComputedStyle(a):a.currentStyle,g=parseInt(f.paddingLeft)+parseInt(f.borderLeftWidth),h=parseInt(f.paddingTop)+parseInt(f.borderTopWidth),i=parseInt(f.paddingRight)+parseInt(f.borderRightWidth),j=parseInt(f.paddingBottom)+parseInt(f.borderBottomWidth);return{left:b.left+d+g,right:b.right+d-i,top:b.top+e+h,bottom:b.bottom+e-j}},b._getPointerData=function(a){var b=this._pointerData[a];return b||(b=this._pointerData[a]={x:0,y:0},null==this._primaryPointerID&&(this._primaryPointerID=a),(null==this._primaryPointerID||-1==this._primaryPointerID)&&(this._primaryPointerID=a)),b},b._handleMouseMove=function(a){a||(a=window.event),this._handlePointerMove(-1,a,a.pageX,a.pageY)},b._handlePointerMove=function(a,b,c,d){if(this.canvas){var e=this._getPointerData(a),f=e.inBounds;if(this._updatePointerPosition(a,b,c,d),f||e.inBounds||this.mouseMoveOutside){-1==a&&e.inBounds==!f&&this._dispatchMouseEvent(this,f?"mouseleave":"mouseenter",!1,a,e,b),this._dispatchMouseEvent(this,"stagemousemove",!1,a,e,b),this._dispatchMouseEvent(e.target,"pressmove",!0,a,e,b);var g=e.event;g&&g.hasEventListener("mousemove")&&g.dispatchEvent(new createjs.MouseEvent("mousemove",!1,!1,e.x,e.y,b,a,a==this._primaryPointerID,e.rawX,e.rawY),e.target),this.nextStage&&this.nextStage._handlePointerMove(a,b,c,d)}}},b._updatePointerPosition=function(a,b,c,d){var e=this._getElementRect(this.canvas);c-=e.left,d-=e.top;var f=this.canvas.width,g=this.canvas.height;c/=(e.right-e.left)/f,d/=(e.bottom-e.top)/g;var h=this._getPointerData(a);(h.inBounds=c>=0&&d>=0&&f-1>=c&&g-1>=d)?(h.x=c,h.y=d):this.mouseMoveOutside&&(h.x=0>c?0:c>f-1?f-1:c,h.y=0>d?0:d>g-1?g-1:d),h.posEvtObj=b,h.rawX=c,h.rawY=d,a==this._primaryPointerID&&(this.mouseX=h.x,this.mouseY=h.y,this.mouseInBounds=h.inBounds)},b._handleMouseUp=function(a){this._handlePointerUp(-1,a,!1)},b._handlePointerUp=function(a,b,c){var d=this._getPointerData(a);this._dispatchMouseEvent(this,"stagemouseup",!1,a,d,b);var e=d.target;e&&(this._getObjectsUnderPoint(d.x,d.y,null,!0)==e&&this._dispatchMouseEvent(e,"click",!0,a,d,b),this._dispatchMouseEvent(e,"pressup",!0,a,d,b));var f=d.event;f&&f.hasEventListener("mouseup")&&f.dispatchEvent(new createjs.MouseEvent("mouseup",!1,!1,d.x,d.y,b,a,a==this._primaryPointerID,d.rawX,d.rawY),e),c?(a==this._primaryPointerID&&(this._primaryPointerID=null),delete this._pointerData[a]):d.event=d.target=null,this.nextStage&&this.nextStage._handlePointerUp(a,b,c)},b._handleMouseDown=function(a){this._handlePointerDown(-1,a,a.pageX,a.pageY)},b._handlePointerDown=function(a,b,c,d){null!=d&&this._updatePointerPosition(a,b,c,d);var e=this._getPointerData(a);this._dispatchMouseEvent(this,"stagemousedown",!1,a,e,b),e.target=this._getObjectsUnderPoint(e.x,e.y,null,!0),e.event=this._dispatchMouseEvent(e.target,"mousedown",!0,a,e,b),this.nextStage&&this.nextStage._handlePointerDown(a,b,c,d)},b._testMouseOver=function(a){if(-1==this._primaryPointerID&&(a||this.mouseX!=this._mouseOverX||this.mouseY!=this._mouseOverY||!this.mouseInBounds)){var b,c,d,e,f=this._getPointerData(-1),g=f.posEvtObj,h=-1,i="";(a||this.mouseInBounds&&g&&g.target==this.canvas)&&(b=this._getObjectsUnderPoint(this.mouseX,this.mouseY,null,!0),this._mouseOverX=this.mouseX,this._mouseOverY=this.mouseY);var j=this._mouseOverTarget||[],k=j[j.length-1],l=this._mouseOverTarget=[];for(c=b;c;)l.unshift(c),null!=c.cursor&&(i=c.cursor),c=c.parent;for(this.canvas.style.cursor=i,d=0,e=l.length;e>d&&l[d]==j[d];d++)h=d;for(k!=b&&this._dispatchMouseEvent(k,"mouseout",!0,-1,f,g),d=j.length-1;d>h;d--)this._dispatchMouseEvent(j[d],"rollout",!1,-1,f,g);for(d=l.length-1;d>h;d--)this._dispatchMouseEvent(l[d],"rollover",!1,-1,f,g);k!=b&&this._dispatchMouseEvent(b,"mouseover",!0,-1,f,g)}},b._handleDoubleClick=function(a){var b=this._getPointerData(-1),c=this._getObjectsUnderPoint(b.x,b.y,null,!0);this._dispatchMouseEvent(c,"dblclick",!0,-1,b,a),this.nextStage&&this.nextStage._handleDoubleClick(a)},b._dispatchMouseEvent=function(a,b,c,d,e,f){if(a&&(c||a.hasEventListener(b))){var g=new createjs.MouseEvent(b,c,!1,e.x,e.y,f,d,d==this._primaryPointerID,e.rawX,e.rawY);return a.dispatchEvent(g),g}},createjs.Stage=a}(),this.createjs=this.createjs||{},function(){var a=function(a){this.initialize(a)},b=a.prototype=new createjs.DisplayObject;b.image=null,b.snapToPixel=!0,b.sourceRect=null,b.DisplayObject_initialize=b.initialize,b.initialize=function(a){this.DisplayObject_initialize(),"string"==typeof a?(this.image=document.createElement("img"),this.image.src=a):this.image=a},b.isVisible=function(){var a=this.cacheCanvas||this.image&&(this.image.complete||this.image.getContext||this.image.readyState>=2);return!!(this.visible&&this.alpha>0&&0!=this.scaleX&&0!=this.scaleY&&a)},b.DisplayObject_draw=b.draw,b.draw=function(a,b){if(this.DisplayObject_draw(a,b))return!0;var c=this.sourceRect;return c?a.drawImage(this.image,c.x,c.y,c.width,c.height,0,0,c.width,c.height):a.drawImage(this.image,0,0),!0},b.DisplayObject_getBounds=b.getBounds,b.getBounds=function(){var a=this.DisplayObject_getBounds();if(a)return a;var b=this.sourceRect||this.image,c=this.image&&(this.image.complete||this.image.getContext||this.image.readyState>=2);return c?this._rectangle.initialize(0,0,b.width,b.height):null},b.clone=function(){var b=new a(this.image);return this.sourceRect&&(b.sourceRect=this.sourceRect.clone()),this.cloneProps(b),b},b.toString=function(){return"[Bitmap (name="+this.name+")]"},createjs.Bitmap=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a,b){this.initialize(a,b)},b=a.prototype=new createjs.DisplayObject;b.currentFrame=0,b.currentAnimation=null,b.paused=!0,b.spriteSheet=null,b.snapToPixel=!0,b.offset=0,b.currentAnimationFrame=0,b.framerate=0,b._advanceCount=0,b._animation=null,b._currentFrame=null,b.DisplayObject_initialize=b.initialize,b.initialize=function(a,b){this.DisplayObject_initialize(),this.spriteSheet=a,b&&this.gotoAndPlay(b)},b.isVisible=function(){var a=this.cacheCanvas||this.spriteSheet.complete;return!!(this.visible&&this.alpha>0&&0!=this.scaleX&&0!=this.scaleY&&a)},b.DisplayObject_draw=b.draw,b.draw=function(a,b){if(this.DisplayObject_draw(a,b))return!0;this._normalizeFrame();var c=this.spriteSheet.getFrame(0|this._currentFrame);if(!c)return!1;var d=c.rect;return a.drawImage(c.image,d.x,d.y,d.width,d.height,-c.regX,-c.regY,d.width,d.height),!0},b.play=function(){this.paused=!1},b.stop=function(){this.paused=!0},b.gotoAndPlay=function(a){this.paused=!1,this._goto(a)},b.gotoAndStop=function(a){this.paused=!0,this._goto(a)},b.advance=function(a){var b=this._animation&&this._animation.speed||1,c=this.framerate||this.spriteSheet.framerate,d=c&&null!=a?a/(1e3/c):1;this._animation?this.currentAnimationFrame+=d*b:this._currentFrame+=d*b,this._normalizeFrame()},b.DisplayObject_getBounds=b.getBounds,b.getBounds=function(){return this.DisplayObject_getBounds()||this.spriteSheet.getFrameBounds(this.currentFrame,this._rectangle)},b.clone=function(){var b=new a(this.spriteSheet);return this.cloneProps(b),b},b.toString=function(){return"[Sprite (name="+this.name+")]"},b.DisplayObject__tick=b._tick,b._tick=function(a){this.paused||this.advance(a&&a[0]&&a[0].delta),this.DisplayObject__tick(a)},b._normalizeFrame=function(){var a,b=this._animation,c=this.paused,d=this._currentFrame,e=this.currentAnimationFrame;if(b)if(a=b.frames.length,(0|e)>=a){var f=b.next;if(this._dispatchAnimationEnd(b,d,c,f,a-1));else{if(f)return this._goto(f,e-a);this.paused=!0,e=this.currentAnimationFrame=b.frames.length-1,this._currentFrame=b.frames[e]}}else this._currentFrame=b.frames[0|e];else if(a=this.spriteSheet.getNumFrames(),d>=a&&!this._dispatchAnimationEnd(b,d,c,a-1)&&(this._currentFrame-=a)>=a)return this._normalizeFrame();this.currentFrame=0|this._currentFrame},b._dispatchAnimationEnd=function(a,b,c,d,e){var f=a?a.name:null;if(this.hasEventListener("animationend")){var g=new createjs.Event("animationend");g.name=f,g.next=d,this.dispatchEvent(g)}var h=this._animation!=a||this._currentFrame!=b;return h||c||!this.paused||(this.currentAnimationFrame=e,h=!0),h},b.DisplayObject_cloneProps=b.cloneProps,b.cloneProps=function(a){this.DisplayObject_cloneProps(a),a.currentFrame=this.currentFrame,a._currentFrame=this._currentFrame,a.currentAnimation=this.currentAnimation,a.paused=this.paused,a._animation=this._animation,a.currentAnimationFrame=this.currentAnimationFrame,a.framerate=this.framerate},b._goto=function(a,b){if(isNaN(a)){var c=this.spriteSheet.getAnimation(a);c&&(this.currentAnimationFrame=b||0,this._animation=c,this.currentAnimation=a,this._normalizeFrame())}else this.currentAnimationFrame=0,this.currentAnimation=this._animation=null,this._currentFrame=a,this._normalizeFrame()},createjs.Sprite=a}(),this.createjs=this.createjs||{},function(){"use strict";var a="BitmapAnimation is deprecated in favour of Sprite. See VERSIONS file for info on changes.";if(!createjs.Sprite)throw a;(createjs.BitmapAnimation=function(b){console.log(a),this.initialize(b)}).prototype=new createjs.Sprite}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a){this.initialize(a)},b=a.prototype=new createjs.DisplayObject;b.graphics=null,b.DisplayObject_initialize=b.initialize,b.initialize=function(a){this.DisplayObject_initialize(),this.graphics=a?a:new createjs.Graphics},b.isVisible=function(){var a=this.cacheCanvas||this.graphics&&!this.graphics.isEmpty();return!!(this.visible&&this.alpha>0&&0!=this.scaleX&&0!=this.scaleY&&a)},b.DisplayObject_draw=b.draw,b.draw=function(a,b){return this.DisplayObject_draw(a,b)?!0:(this.graphics.draw(a),!0)},b.clone=function(b){var c=new a(b&&this.graphics?this.graphics.clone():this.graphics);return this.cloneProps(c),c},b.toString=function(){return"[Shape (name="+this.name+")]"},createjs.Shape=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a,b,c){this.initialize(a,b,c)},b=a.prototype=new createjs.DisplayObject,c=createjs.createCanvas?createjs.createCanvas():document.createElement("canvas");c.getContext&&(a._workingContext=c.getContext("2d"),c.width=c.height=1),a.H_OFFSETS={start:0,left:0,center:-.5,end:-1,right:-1},a.V_OFFSETS={top:0,hanging:-.01,middle:-.4,alphabetic:-.8,ideographic:-.85,bottom:-1},b.text="",b.font=null,b.color=null,b.textAlign="left",b.textBaseline="top",b.maxWidth=null,b.outline=0,b.lineHeight=0,b.lineWidth=null,b.DisplayObject_initialize=b.initialize,b.initialize=function(a,b,c){this.DisplayObject_initialize(),this.text=a,this.font=b,this.color=c},b.isVisible=function(){var a=this.cacheCanvas||null!=this.text&&""!==this.text;return!!(this.visible&&this.alpha>0&&0!=this.scaleX&&0!=this.scaleY&&a)},b.DisplayObject_draw=b.draw,b.draw=function(a,b){if(this.DisplayObject_draw(a,b))return!0;var c=this.color||"#000";return this.outline?(a.strokeStyle=c,a.lineWidth=1*this.outline):a.fillStyle=c,this._drawText(this._prepContext(a)),!0},b.getMeasuredWidth=function(){return this._prepContext(a._workingContext).measureText(this.text).width},b.getMeasuredLineHeight=function(){return 1.2*this._prepContext(a._workingContext).measureText("M").width},b.getMeasuredHeight=function(){return this._drawText(null,{}).height},b.DisplayObject_getBounds=b.getBounds,b.getBounds=function(){var b=this.DisplayObject_getBounds();if(b)return b;if(null==this.text||""==this.text)return null;var c=this._drawText(null,{}),d=this.maxWidth&&this.maxWidth<c.width?this.maxWidth:c.width,e=d*a.H_OFFSETS[this.textAlign||"left"],f=this.lineHeight||this.getMeasuredLineHeight(),g=f*a.V_OFFSETS[this.textBaseline||"top"];return this._rectangle.initialize(e,g,d,c.height)},b.clone=function(){var b=new a(this.text,this.font,this.color);return this.cloneProps(b),b},b.toString=function(){return"[Text (text="+(this.text.length>20?this.text.substr(0,17)+"...":this.text)+")]"},b.DisplayObject_cloneProps=b.cloneProps,b.cloneProps=function(a){this.DisplayObject_cloneProps(a),a.textAlign=this.textAlign,a.textBaseline=this.textBaseline,a.maxWidth=this.maxWidth,a.outline=this.outline,a.lineHeight=this.lineHeight,a.lineWidth=this.lineWidth},b._prepContext=function(a){return a.font=this.font,a.textAlign=this.textAlign||"left",a.textBaseline=this.textBaseline||"top",a},b._drawText=function(b,c){var d=!!b;d||(b=this._prepContext(a._workingContext));for(var e=this.lineHeight||this.getMeasuredLineHeight(),f=0,g=0,h=String(this.text).split(/(?:\r\n|\r|\n)/),i=0,j=h.length;j>i;i++){var k=h[i],l=null;if(null!=this.lineWidth&&(l=b.measureText(k).width)>this.lineWidth){var m=k.split(/(\s)/);k=m[0],l=b.measureText(k).width;for(var n=1,o=m.length;o>n;n+=2){var p=b.measureText(m[n]+m[n+1]).width;l+p>this.lineWidth?(d&&this._drawTextLine(b,k,g*e),l>f&&(f=l),k=m[n+1],l=b.measureText(k).width,g++):(k+=m[n]+m[n+1],l+=p)}}d&&this._drawTextLine(b,k,g*e),c&&null==l&&(l=b.measureText(k).width),l>f&&(f=l),g++}return c&&(c.count=g,c.width=f,c.height=g*e),c},b._drawTextLine=function(a,b,c){this.outline?a.strokeText(b,0,c,this.maxWidth||65535):a.fillText(b,0,c,this.maxWidth||65535)},createjs.Text=a}(),this.createjs=this.createjs||{},function(){"use strict";function a(a,b){this.initialize(a,b)}var b=a.prototype=new createjs.DisplayObject;b.text="",b.spriteSheet=null,b.lineHeight=0,b.letterSpacing=0,b.spaceWidth=0,b.DisplayObject_initialize=b.initialize,b.initialize=function(a,b){this.DisplayObject_initialize(),this.text=a,this.spriteSheet=b},b.DisplayObject_draw=b.draw,b.draw=function(a,b){return this.DisplayObject_draw(a,b)?!0:(this._drawText(a),void 0)},b.isVisible=function(){var a=this.cacheCanvas||this.spriteSheet&&this.spriteSheet.complete&&this.text;return!!(this.visible&&this.alpha>0&&0!=this.scaleX&&0!=this.scaleY&&a)},b.getBounds=function(){var a=this._rectangle;return this._drawText(null,a),a.width?a:null},b._getFrame=function(a,b){var c,d=b.getAnimation(a);return d||(a!=(c=a.toUpperCase())||a!=(c=a.toLowerCase())||(c=null),c&&(d=b.getAnimation(c))),d&&b.getFrame(d.frames[0])},b._getLineHeight=function(a){var b=this._getFrame("1",a)||this._getFrame("T",a)||this._getFrame("L",a)||a.getFrame(0);return b?b.rect.height:1},b._getSpaceWidth=function(a){var b=this._getFrame("1",a)||this._getFrame("l",a)||this._getFrame("e",a)||this._getFrame("a",a)||a.getFrame(0);return b?b.rect.width:1},b._drawText=function(a,b){var c,d,e,f=0,g=0,h=this.spaceWidth,i=this.lineHeight,j=this.spriteSheet,k=!!this._getFrame(" ",j);k||0!=h||(h=this._getSpaceWidth(j)),0==i&&(i=this._getLineHeight(j));for(var l=0,m=0,n=this.text.length;n>m;m++){var o=this.text.charAt(m);if(k||" "!=o)if("\n"!=o&&"\r"!=o){var p=this._getFrame(o,j);if(p){var q=p.rect;e=p.regX,c=q.width,a&&a.drawImage(p.image,q.x,q.y,c,d=q.height,f-e,g-p.regY,c,d),f+=c+this.letterSpacing}}else"\r"==o&&"\n"==this.text.charAt(m+1)&&m++,f-e>l&&(l=f-e),f=0,g+=i;else f+=h}f-e>l&&(l=f-e),b&&(b.width=l-this.letterSpacing,b.height=g+i)},createjs.BitmapText=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(){throw"SpriteSheetUtils cannot be instantiated"},b=createjs.createCanvas?createjs.createCanvas():document.createElement("canvas");b.getContext&&(a._workingCanvas=b,a._workingContext=b.getContext("2d"),b.width=b.height=1),a.addFlippedFrames=function(b,c,d,e){if(c||d||e){var f=0;c&&a._flip(b,++f,!0,!1),d&&a._flip(b,++f,!1,!0),e&&a._flip(b,++f,!0,!0)}},a.extractFrame=function(b,c){isNaN(c)&&(c=b.getAnimation(c).frames[0]);var d=b.getFrame(c);if(!d)return null;var e=d.rect,f=a._workingCanvas;f.width=e.width,f.height=e.height,a._workingContext.drawImage(d.image,e.x,e.y,e.width,e.height,0,0,e.width,e.height);var g=document.createElement("img");return g.src=f.toDataURL("image/png"),g},a.mergeAlpha=function(a,b,c){c||(c=createjs.createCanvas?createjs.createCanvas():document.createElement("canvas")),c.width=Math.max(b.width,a.width),c.height=Math.max(b.height,a.height);var d=c.getContext("2d");return d.save(),d.drawImage(a,0,0),d.globalCompositeOperation="destination-in",d.drawImage(b,0,0),d.restore(),c},a._flip=function(b,c,d,e){for(var f=b._images,g=a._workingCanvas,h=a._workingContext,i=f.length/c,j=0;i>j;j++){var k=f[j];k.__tmp=j,h.setTransform(1,0,0,1,0,0),h.clearRect(0,0,g.width+1,g.height+1),g.width=k.width,g.height=k.height,h.setTransform(d?-1:1,0,0,e?-1:1,d?k.width:0,e?k.height:0),h.drawImage(k,0,0);var l=document.createElement("img");l.src=g.toDataURL("image/png"),l.width=k.width,l.height=k.height,f.push(l)}var m=b._frames,n=m.length/c;for(j=0;n>j;j++){k=m[j];var o=k.rect.clone();l=f[k.image.__tmp+i*c];var p={image:l,rect:o,regX:k.regX,regY:k.regY};d&&(o.x=l.width-o.x-o.width,p.regX=o.width-k.regX),e&&(o.y=l.height-o.y-o.height,p.regY=o.height-k.regY),m.push(p)}var q="_"+(d?"h":"")+(e?"v":""),r=b._animations,s=b._data,t=r.length/c;for(j=0;t>j;j++){var u=r[j];k=s[u];var v={name:u+q,speed:k.speed,next:k.next,frames:[]};k.next&&(v.next+=q),m=k.frames;for(var w=0,x=m.length;x>w;w++)v.frames.push(m[w]+n*c);s[v.name]=v,r.push(v.name)}},createjs.SpriteSheetUtils=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(){this.initialize()},b=a.prototype=new createjs.EventDispatcher;a.ERR_DIMENSIONS="frame dimensions exceed max spritesheet dimensions",a.ERR_RUNNING="a build is already running",b.maxWidth=2048,b.maxHeight=2048,b.spriteSheet=null,b.scale=1,b.padding=1,b.timeSlice=.3,b.progress=-1,b._frames=null,b._animations=null,b._data=null,b._nextFrameIndex=0,b._index=0,b._timerID=null,b._scale=1,b.initialize=function(){this._frames=[],this._animations={}},b.addFrame=function(b,c,d,e,f,g){if(this._data)throw a.ERR_RUNNING;var h=c||b.bounds||b.nominalBounds;return!h&&b.getBounds&&(h=b.getBounds()),h?(d=d||1,this._frames.push({source:b,sourceRect:h,scale:d,funct:e,params:f,scope:g,index:this._frames.length,height:h.height*d})-1):null},b.addAnimation=function(b,c,d,e){if(this._data)throw a.ERR_RUNNING;this._animations[b]={frames:c,next:d,frequency:e}},b.addMovieClip=function(b,c,d){if(this._data)throw a.ERR_RUNNING;var e=b.frameBounds,f=c||b.bounds||b.nominalBounds;if(!f&&b.getBounds&&(f=b.getBounds()),!f&&!e)return null;for(var g=this._frames.length,h=b.timeline.duration,i=0;h>i;i++){var j=e&&e[i]?e[i]:f;this.addFrame(b,j,d,function(a){var b=this.actionsEnabled;this.actionsEnabled=!1,this.gotoAndStop(a),this.actionsEnabled=b},[i],b)}var k=b.timeline._labels,l=[];for(var m in k)l.push({index:k[m],label:m});if(l.length){l.sort(function(a,b){return a.index-b.index});for(var i=0,n=l.length;n>i;i++){for(var o=l[i].label,p=g+l[i].index,q=g+(i==n-1?h:l[i+1].index),r=[],s=p;q>s;s++)r.push(s);this.addAnimation(o,r,!0)}}},b.build=function(){if(this._data)throw a.ERR_RUNNING;for(this._startBuild();this._drawNext(););return this._endBuild(),this.spriteSheet},b.buildAsync=function(b){if(this._data)throw a.ERR_RUNNING;this.timeSlice=b,this._startBuild();var c=this;this._timerID=setTimeout(function(){c._run()},50-50*Math.max(.01,Math.min(.99,this.timeSlice||.3)))},b.stopAsync=function(){clearTimeout(this._timerID),this._data=null},b.clone=function(){throw"SpriteSheetBuilder cannot be cloned."},b.toString=function(){return"[SpriteSheetBuilder]"},b._startBuild=function(){var b=this.padding||0;this.progress=0,this.spriteSheet=null,this._index=0,this._scale=this.scale;var c=[];this._data={images:[],frames:c,animations:this._animations};var d=this._frames.slice();if(d.sort(function(a,b){return a.height<=b.height?-1:1}),d[d.length-1].height+2*b>this.maxHeight)throw a.ERR_DIMENSIONS;for(var e=0,f=0,g=0;d.length;){var h=this._fillRow(d,e,g,c,b);if(h.w>f&&(f=h.w),e+=h.h,!h.h||!d.length){var i=createjs.createCanvas?createjs.createCanvas():document.createElement("canvas");i.width=this._getSize(f,this.maxWidth),i.height=this._getSize(e,this.maxHeight),this._data.images[g]=i,h.h||(f=e=0,g++)}}},b._getSize=function(a,b){for(var c=4;Math.pow(2,++c)<a;);return Math.min(b,Math.pow(2,c))},b._fillRow=function(b,c,d,e,f){var g=this.maxWidth,h=this.maxHeight;c+=f;for(var i=h-c,j=f,k=0,l=b.length-1;l>=0;l--){var m=b[l],n=this._scale*m.scale,o=m.sourceRect,p=m.source,q=Math.floor(n*o.x-f),r=Math.floor(n*o.y-f),s=Math.ceil(n*o.height+2*f),t=Math.ceil(n*o.width+2*f);if(t>g)throw a.ERR_DIMENSIONS;s>i||j+t>g||(m.img=d,m.rect=new createjs.Rectangle(j,c,t,s),k=k||s,b.splice(l,1),e[m.index]=[j,c,t,s,d,Math.round(-q+n*p.regX-f),Math.round(-r+n*p.regY-f)],j+=t)}return{w:j,h:k}},b._endBuild=function(){this.spriteSheet=new createjs.SpriteSheet(this._data),this._data=null,this.progress=1,this.dispatchEvent("complete")},b._run=function(){for(var a=50*Math.max(.01,Math.min(.99,this.timeSlice||.3)),b=(new Date).getTime()+a,c=!1;b>(new Date).getTime();)if(!this._drawNext()){c=!0;break}if(c)this._endBuild();else{var d=this;this._timerID=setTimeout(function(){d._run()},50-a)}var e=this.progress=this._index/this._frames.length;if(this.hasEventListener("progress")){var f=new createjs.Event("progress");f.progress=e,this.dispatchEvent(f)}},b._drawNext=function(){var a=this._frames[this._index],b=a.scale*this._scale,c=a.rect,d=a.sourceRect,e=this._data.images[a.img],f=e.getContext("2d");return a.funct&&a.funct.apply(a.scope,a.params),f.save(),f.beginPath(),f.rect(c.x,c.y,c.width,c.height),f.clip(),f.translate(Math.ceil(c.x-d.x*b),Math.ceil(c.y-d.y*b)),f.scale(b,b),a.source.draw(f),f.restore(),++this._index<this._frames.length},createjs.SpriteSheetBuilder=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a){this.initialize(a)},b=a.prototype=new createjs.DisplayObject;b.htmlElement=null,b._oldMtx=null,b._visible=!1,b.DisplayObject_initialize=b.initialize,b.initialize=function(a){"string"==typeof a&&(a=document.getElementById(a)),this.DisplayObject_initialize(),this.mouseEnabled=!1,this.htmlElement=a;
+var b=a.style;b.position="absolute",b.transformOrigin=b.WebkitTransformOrigin=b.msTransformOrigin=b.MozTransformOrigin=b.OTransformOrigin="0% 0%"},b.isVisible=function(){return null!=this.htmlElement},b.draw=function(){return this.visible&&(this._visible=!0),!0},b.cache=function(){},b.uncache=function(){},b.updateCache=function(){},b.hitTest=function(){},b.localToGlobal=function(){},b.globalToLocal=function(){},b.localToLocal=function(){},b.clone=function(){throw"DOMElement cannot be cloned."},b.toString=function(){return"[DOMElement (name="+this.name+")]"},b.DisplayObject__tick=b._tick,b._tick=function(a){var b=this.getStage();this._visible=!1,b&&b.on("drawend",this._handleDrawEnd,this,!0),this.DisplayObject__tick(a)},b._handleDrawEnd=function(){var a=this.htmlElement;if(a){var b=a.style,c=this._visible?"visible":"hidden";if(c!=b.visibility&&(b.visibility=c),this._visible){var d=this.getConcatenatedMatrix(this._matrix),e=this._oldMtx,f=1e4;if(e&&e.alpha==d.alpha||(b.opacity=""+(0|d.alpha*f)/f,e&&(e.alpha=d.alpha)),!e||e.tx!=d.tx||e.ty!=d.ty||e.a!=d.a||e.b!=d.b||e.c!=d.c||e.d!=d.d){var g="matrix("+(0|d.a*f)/f+","+(0|d.b*f)/f+","+(0|d.c*f)/f+","+(0|d.d*f)/f+","+(0|d.tx+.5);b.transform=b.WebkitTransform=b.OTransform=b.msTransform=g+","+(0|d.ty+.5)+")",b.MozTransform=g+"px,"+(0|d.ty+.5)+"px)",this._oldMtx=e?e.copy(d):d.clone()}}}},createjs.DOMElement=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(){this.initialize()},b=a.prototype;b.initialize=function(){},b.getBounds=function(){return null},b.applyFilter=function(){},b.toString=function(){return"[Filter]"},b.clone=function(){return new a},createjs.Filter=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a,b,c){this.initialize(a,b,c)},b=a.prototype=new createjs.Filter;b.initialize=function(a,b,c){(isNaN(a)||0>a)&&(a=0),this.blurX=0|a,(isNaN(b)||0>b)&&(b=0),this.blurY=0|b,(isNaN(c)||1>c)&&(c=1),this.quality=0|c},b.blurX=0,b.blurY=0,b.quality=1,b.mul_table=[1,171,205,293,57,373,79,137,241,27,391,357,41,19,283,265,497,469,443,421,25,191,365,349,335,161,155,149,9,278,269,261,505,245,475,231,449,437,213,415,405,395,193,377,369,361,353,345,169,331,325,319,313,307,301,37,145,285,281,69,271,267,263,259,509,501,493,243,479,118,465,459,113,446,55,435,429,423,209,413,51,403,199,393,97,3,379,375,371,367,363,359,355,351,347,43,85,337,333,165,327,323,5,317,157,311,77,305,303,75,297,294,73,289,287,71,141,279,277,275,68,135,67,133,33,262,260,129,511,507,503,499,495,491,61,121,481,477,237,235,467,232,115,457,227,451,7,445,221,439,218,433,215,427,425,211,419,417,207,411,409,203,202,401,399,396,197,49,389,387,385,383,95,189,47,187,93,185,23,183,91,181,45,179,89,177,11,175,87,173,345,343,341,339,337,21,167,83,331,329,327,163,81,323,321,319,159,79,315,313,39,155,309,307,153,305,303,151,75,299,149,37,295,147,73,291,145,289,287,143,285,71,141,281,35,279,139,69,275,137,273,17,271,135,269,267,133,265,33,263,131,261,130,259,129,257,1],b.shg_table=[0,9,10,11,9,12,10,11,12,9,13,13,10,9,13,13,14,14,14,14,10,13,14,14,14,13,13,13,9,14,14,14,15,14,15,14,15,15,14,15,15,15,14,15,15,15,15,15,14,15,15,15,15,15,15,12,14,15,15,13,15,15,15,15,16,16,16,15,16,14,16,16,14,16,13,16,16,16,15,16,13,16,15,16,14,9,16,16,16,16,16,16,16,16,16,13,14,16,16,15,16,16,10,16,15,16,14,16,16,14,16,16,14,16,16,14,15,16,16,16,14,15,14,15,13,16,16,15,17,17,17,17,17,17,14,15,17,17,16,16,17,16,15,17,16,17,11,17,16,17,16,17,16,17,17,16,17,17,16,17,17,16,16,17,17,17,16,14,17,17,17,17,15,16,14,16,15,16,13,16,15,16,14,16,15,16,12,16,15,16,17,17,17,17,17,13,16,15,17,17,17,16,15,17,17,17,16,15,17,17,14,16,17,17,16,17,17,16,15,17,16,14,17,16,15,17,16,17,17,16,17,15,16,17,14,17,16,15,17,16,17,13,17,16,17,17,16,17,14,17,16,17,16,17,16,17,9],b.getBounds=function(){var a=.5*Math.pow(this.quality,.6);return new createjs.Rectangle(-this.blurX*a,-this.blurY*a,2*this.blurX*a,2*this.blurY*a)},b.applyFilter=function(a,b,c,d,e,f,g,h){f=f||a,null==g&&(g=b),null==h&&(h=c);try{var i=a.getImageData(b,c,d,e)}catch(j){return!1}var k=this.blurX/2;if(isNaN(k)||0>k)return!1;k|=0;var l=this.blurY/2;if(isNaN(l)||0>l)return!1;if(l|=0,0==k&&0==l)return!1;var m=this.quality;(isNaN(m)||1>m)&&(m=1),m|=0,m>3&&(m=3),1>m&&(m=1);var b,c,n,o,p,q,r,s,t,u,v,w,x,y,z,A=i.data,B=k+k+1,C=l+l+1,D=d-1,E=e-1,F=k+1,G=l+1,H={r:0,b:0,g:0,a:0,next:null},I=H;for(n=1;B>n;n++)I=I.next={r:0,b:0,g:0,a:0,next:null};I.next=H;var J={r:0,b:0,g:0,a:0,next:null},K=J;for(n=1;C>n;n++)K=K.next={r:0,b:0,g:0,a:0,next:null};K.next=J;for(var L=null;m-->0;){r=q=0;var M=this.mul_table[k],N=this.shg_table[k];for(c=e;--c>-1;){for(s=F*(w=A[q]),t=F*(x=A[q+1]),u=F*(y=A[q+2]),v=F*(z=A[q+3]),I=H,n=F;--n>-1;)I.r=w,I.g=x,I.b=y,I.a=z,I=I.next;for(n=1;F>n;n++)o=q+((n>D?D:n)<<2),s+=I.r=A[o],t+=I.g=A[o+1],u+=I.b=A[o+2],v+=I.a=A[o+3],I=I.next;for(L=H,b=0;d>b;b++)A[q++]=s*M>>>N,A[q++]=t*M>>>N,A[q++]=u*M>>>N,A[q++]=v*M>>>N,o=r+((o=b+k+1)<D?o:D)<<2,s-=L.r-(L.r=A[o]),t-=L.g-(L.g=A[o+1]),u-=L.b-(L.b=A[o+2]),v-=L.a-(L.a=A[o+3]),L=L.next;r+=d}for(M=this.mul_table[l],N=this.shg_table[l],b=0;d>b;b++){for(q=b<<2,s=G*(w=A[q]),t=G*(x=A[q+1]),u=G*(y=A[q+2]),v=G*(z=A[q+3]),K=J,n=0;G>n;n++)K.r=w,K.g=x,K.b=y,K.a=z,K=K.next;for(p=d,n=1;l>=n;n++)q=p+b<<2,s+=K.r=A[q],t+=K.g=A[q+1],u+=K.b=A[q+2],v+=K.a=A[q+3],K=K.next,E>n&&(p+=d);if(q=b,L=J,m>0)for(c=0;e>c;c++)o=q<<2,A[o+3]=z=v*M>>>N,z>0?(A[o]=s*M>>>N,A[o+1]=t*M>>>N,A[o+2]=u*M>>>N):A[o]=A[o+1]=A[o+2]=0,o=b+((o=c+G)<E?o:E)*d<<2,s-=L.r-(L.r=A[o]),t-=L.g-(L.g=A[o+1]),u-=L.b-(L.b=A[o+2]),v-=L.a-(L.a=A[o+3]),L=L.next,q+=d;else for(c=0;e>c;c++)o=q<<2,A[o+3]=z=v*M>>>N,z>0?(z=255/z,A[o]=(s*M>>>N)*z,A[o+1]=(t*M>>>N)*z,A[o+2]=(u*M>>>N)*z):A[o]=A[o+1]=A[o+2]=0,o=b+((o=c+G)<E?o:E)*d<<2,s-=L.r-(L.r=A[o]),t-=L.g-(L.g=A[o+1]),u-=L.b-(L.b=A[o+2]),v-=L.a-(L.a=A[o+3]),L=L.next,q+=d}}return f.putImageData(i,g,h),!0},b.clone=function(){return new a(this.blurX,this.blurY,this.quality)},b.toString=function(){return"[BlurFilter]"},createjs.BlurFilter=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a){this.initialize(a)},b=a.prototype=new createjs.Filter;b.initialize=function(a){this.alphaMap=a},b.alphaMap=null,b._alphaMap=null,b._mapData=null,b.applyFilter=function(a,b,c,d,e,f,g,h){if(!this.alphaMap)return!0;if(!this._prepAlphaMap())return!1;f=f||a,null==g&&(g=b),null==h&&(h=c);try{var i=a.getImageData(b,c,d,e)}catch(j){return!1}for(var k=i.data,l=this._mapData,m=k.length,n=0;m>n;n+=4)k[n+3]=l[n]||0;return f.putImageData(i,g,h),!0},b.clone=function(){return new a(this.alphaMap)},b.toString=function(){return"[AlphaMapFilter]"},b._prepAlphaMap=function(){if(!this.alphaMap)return!1;if(this.alphaMap==this._alphaMap&&this._mapData)return!0;this._mapData=null;var a,b=this._alphaMap=this.alphaMap,c=b;b instanceof HTMLCanvasElement?a=c.getContext("2d"):(c=createjs.createCanvas?createjs.createCanvas():document.createElement("canvas"),c.width=b.width,c.height=b.height,a=c.getContext("2d"),a.drawImage(b,0,0));try{var d=a.getImageData(0,0,b.width,b.height)}catch(e){return!1}return this._mapData=d.data,!0},createjs.AlphaMapFilter=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a){this.initialize(a)},b=a.prototype=new createjs.Filter;b.initialize=function(a){this.mask=a},b.mask=null,b.applyFilter=function(a,b,c,d,e,f,g,h){return this.mask?(f=f||a,null==g&&(g=b),null==h&&(h=c),f.save(),f.globalCompositeOperation="destination-in",f.drawImage(this.mask,g,h),f.restore(),!0):!0},b.clone=function(){return new a(this.mask)},b.toString=function(){return"[AlphaMaskFilter]"},createjs.AlphaMaskFilter=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a,b,c,d,e,f,g,h){this.initialize(a,b,c,d,e,f,g,h)},b=a.prototype=new createjs.Filter;b.redMultiplier=1,b.greenMultiplier=1,b.blueMultiplier=1,b.alphaMultiplier=1,b.redOffset=0,b.greenOffset=0,b.blueOffset=0,b.alphaOffset=0,b.initialize=function(a,b,c,d,e,f,g,h){this.redMultiplier=null!=a?a:1,this.greenMultiplier=null!=b?b:1,this.blueMultiplier=null!=c?c:1,this.alphaMultiplier=null!=d?d:1,this.redOffset=e||0,this.greenOffset=f||0,this.blueOffset=g||0,this.alphaOffset=h||0},b.applyFilter=function(a,b,c,d,e,f,g,h){f=f||a,null==g&&(g=b),null==h&&(h=c);try{var i=a.getImageData(b,c,d,e)}catch(j){return!1}for(var k=i.data,l=k.length,m=0;l>m;m+=4)k[m]=k[m]*this.redMultiplier+this.redOffset,k[m+1]=k[m+1]*this.greenMultiplier+this.greenOffset,k[m+2]=k[m+2]*this.blueMultiplier+this.blueOffset,k[m+3]=k[m+3]*this.alphaMultiplier+this.alphaOffset;return f.putImageData(i,g,h),!0},b.toString=function(){return"[ColorFilter]"},b.clone=function(){return new a(this.redMultiplier,this.greenMultiplier,this.blueMultiplier,this.alphaMultiplier,this.redOffset,this.greenOffset,this.blueOffset,this.alphaOffset)},createjs.ColorFilter=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a,b,c,d){this.initialize(a,b,c,d)},b=a.prototype;a.DELTA_INDEX=[0,.01,.02,.04,.05,.06,.07,.08,.1,.11,.12,.14,.15,.16,.17,.18,.2,.21,.22,.24,.25,.27,.28,.3,.32,.34,.36,.38,.4,.42,.44,.46,.48,.5,.53,.56,.59,.62,.65,.68,.71,.74,.77,.8,.83,.86,.89,.92,.95,.98,1,1.06,1.12,1.18,1.24,1.3,1.36,1.42,1.48,1.54,1.6,1.66,1.72,1.78,1.84,1.9,1.96,2,2.12,2.25,2.37,2.5,2.62,2.75,2.87,3,3.2,3.4,3.6,3.8,4,4.3,4.7,4.9,5,5.5,6,6.5,6.8,7,7.3,7.5,7.8,8,8.4,8.7,9,9.4,9.6,9.8,10],a.IDENTITY_MATRIX=[1,0,0,0,0,0,1,0,0,0,0,0,1,0,0,0,0,0,1,0,0,0,0,0,1],a.LENGTH=a.IDENTITY_MATRIX.length,b.initialize=function(a,b,c,d){return this.reset(),this.adjustColor(a,b,c,d),this},b.reset=function(){return this.copyMatrix(a.IDENTITY_MATRIX)},b.adjustColor=function(a,b,c,d){return this.adjustHue(d),this.adjustContrast(b),this.adjustBrightness(a),this.adjustSaturation(c)},b.adjustBrightness=function(a){return 0==a||isNaN(a)?this:(a=this._cleanValue(a,255),this._multiplyMatrix([1,0,0,0,a,0,1,0,0,a,0,0,1,0,a,0,0,0,1,0,0,0,0,0,1]),this)},b.adjustContrast=function(b){if(0==b||isNaN(b))return this;b=this._cleanValue(b,100);var c;return 0>b?c=127+127*(b/100):(c=b%1,c=0==c?a.DELTA_INDEX[b]:a.DELTA_INDEX[b<<0]*(1-c)+a.DELTA_INDEX[(b<<0)+1]*c,c=127*c+127),this._multiplyMatrix([c/127,0,0,0,.5*(127-c),0,c/127,0,0,.5*(127-c),0,0,c/127,0,.5*(127-c),0,0,0,1,0,0,0,0,0,1]),this},b.adjustSaturation=function(a){if(0==a||isNaN(a))return this;a=this._cleanValue(a,100);var b=1+(a>0?3*a/100:a/100),c=.3086,d=.6094,e=.082;return this._multiplyMatrix([c*(1-b)+b,d*(1-b),e*(1-b),0,0,c*(1-b),d*(1-b)+b,e*(1-b),0,0,c*(1-b),d*(1-b),e*(1-b)+b,0,0,0,0,0,1,0,0,0,0,0,1]),this},b.adjustHue=function(a){if(0==a||isNaN(a))return this;a=this._cleanValue(a,180)/180*Math.PI;var b=Math.cos(a),c=Math.sin(a),d=.213,e=.715,f=.072;return this._multiplyMatrix([d+b*(1-d)+c*-d,e+b*-e+c*-e,f+b*-f+c*(1-f),0,0,d+b*-d+.143*c,e+b*(1-e)+.14*c,f+b*-f+c*-.283,0,0,d+b*-d+c*-(1-d),e+b*-e+c*e,f+b*(1-f)+c*f,0,0,0,0,0,1,0,0,0,0,0,1]),this},b.concat=function(b){return b=this._fixMatrix(b),b.length!=a.LENGTH?this:(this._multiplyMatrix(b),this)},b.clone=function(){return(new a).copyMatrix(this)},b.toArray=function(){for(var b=[],c=0,d=a.LENGTH;d>c;c++)b[c]=this[c];return b},b.copyMatrix=function(b){for(var c=a.LENGTH,d=0;c>d;d++)this[d]=b[d];return this},b.toString=function(){return"[ColorMatrix]"},b._multiplyMatrix=function(a){for(var b=[],c=0;5>c;c++){for(var d=0;5>d;d++)b[d]=this[d+5*c];for(var d=0;5>d;d++){for(var e=0,f=0;5>f;f++)e+=a[d+5*f]*b[f];this[d+5*c]=e}}},b._cleanValue=function(a,b){return Math.min(b,Math.max(-b,a))},b._fixMatrix=function(b){return b instanceof a&&(b=b.toArray()),b.length<a.LENGTH?b=b.slice(0,b.length).concat(a.IDENTITY_MATRIX.slice(b.length,a.LENGTH)):b.length>a.LENGTH&&(b=b.slice(0,a.LENGTH)),b},createjs.ColorMatrix=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(a){this.initialize(a)},b=a.prototype=new createjs.Filter;b.matrix=null,b.initialize=function(a){this.matrix=a},b.applyFilter=function(a,b,c,d,e,f,g,h){f=f||a,null==g&&(g=b),null==h&&(h=c);try{var i=a.getImageData(b,c,d,e)}catch(j){return!1}for(var k,l,m,n,o=i.data,p=o.length,q=this.matrix,r=q[0],s=q[1],t=q[2],u=q[3],v=q[4],w=q[5],x=q[6],y=q[7],z=q[8],A=q[9],B=q[10],C=q[11],D=q[12],E=q[13],F=q[14],G=q[15],H=q[16],I=q[17],J=q[18],K=q[19],L=0;p>L;L+=4)k=o[L],l=o[L+1],m=o[L+2],n=o[L+3],o[L]=k*r+l*s+m*t+n*u+v,o[L+1]=k*w+l*x+m*y+n*z+A,o[L+2]=k*B+l*C+m*D+n*E+F,o[L+3]=k*G+l*H+m*I+n*J+K;return f.putImageData(i,g,h),!0},b.toString=function(){return"[ColorMatrixFilter]"},b.clone=function(){return new a(this.matrix)},createjs.ColorMatrixFilter=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=function(){throw"Touch cannot be instantiated"};a.isSupported=function(){return"ontouchstart"in window||window.navigator.msPointerEnabled&&window.navigator.msMaxTouchPoints>0||window.navigator.pointerEnabled&&window.navigator.maxTouchPoints>0},a.enable=function(b,c,d){return b&&b.canvas&&a.isSupported()?(b.__touch={pointers:{},multitouch:!c,preventDefault:!d,count:0},"ontouchstart"in window?a._IOS_enable(b):(window.navigator.msPointerEnabled||window.navigator.pointerEnabled)&&a._IE_enable(b),!0):!1},a.disable=function(b){b&&("ontouchstart"in window?a._IOS_disable(b):(window.navigator.msPointerEnabled||window.navigator.pointerEnabled)&&a._IE_disable(b))},a._IOS_enable=function(b){var c=b.canvas,d=b.__touch.f=function(c){a._IOS_handleEvent(b,c)};c.addEventListener("touchstart",d,!1),c.addEventListener("touchmove",d,!1),c.addEventListener("touchend",d,!1),c.addEventListener("touchcancel",d,!1)},a._IOS_disable=function(a){var b=a.canvas;if(b){var c=a.__touch.f;b.removeEventListener("touchstart",c,!1),b.removeEventListener("touchmove",c,!1),b.removeEventListener("touchend",c,!1),b.removeEventListener("touchcancel",c,!1)}},a._IOS_handleEvent=function(a,b){if(a){a.__touch.preventDefault&&b.preventDefault&&b.preventDefault();for(var c=b.changedTouches,d=b.type,e=0,f=c.length;f>e;e++){var g=c[e],h=g.identifier;g.target==a.canvas&&("touchstart"==d?this._handleStart(a,h,b,g.pageX,g.pageY):"touchmove"==d?this._handleMove(a,h,b,g.pageX,g.pageY):("touchend"==d||"touchcancel"==d)&&this._handleEnd(a,h,b))}}},a._IE_enable=function(b){var c=b.canvas,d=b.__touch.f=function(c){a._IE_handleEvent(b,c)};void 0===window.navigator.pointerEnabled?(c.addEventListener("MSPointerDown",d,!1),window.addEventListener("MSPointerMove",d,!1),window.addEventListener("MSPointerUp",d,!1),window.addEventListener("MSPointerCancel",d,!1),b.__touch.preventDefault&&(c.style.msTouchAction="none")):(c.addEventListener("pointerdown",d,!1),window.addEventListener("pointermove",d,!1),window.addEventListener("pointerup",d,!1),window.addEventListener("pointercancel",d,!1),b.__touch.preventDefault&&(c.style.touchAction="none")),b.__touch.activeIDs={}},a._IE_disable=function(a){var b=a.__touch.f;void 0===window.navigator.pointerEnabled?(window.removeEventListener("MSPointerMove",b,!1),window.removeEventListener("MSPointerUp",b,!1),window.removeEventListener("MSPointerCancel",b,!1),a.canvas&&a.canvas.removeEventListener("MSPointerDown",b,!1)):(window.removeEventListener("pointermove",b,!1),window.removeEventListener("pointerup",b,!1),window.removeEventListener("pointercancel",b,!1),a.canvas&&a.canvas.removeEventListener("pointerdown",b,!1))},a._IE_handleEvent=function(a,b){if(a){a.__touch.preventDefault&&b.preventDefault&&b.preventDefault();var c=b.type,d=b.pointerId,e=a.__touch.activeIDs;if("MSPointerDown"==c||"pointerdown"==c){if(b.srcElement!=a.canvas)return;e[d]=!0,this._handleStart(a,d,b,b.pageX,b.pageY)}else e[d]&&("MSPointerMove"==c||"pointermove"==c?this._handleMove(a,d,b,b.pageX,b.pageY):("MSPointerUp"==c||"MSPointerCancel"==c||"pointerup"==c||"pointercancel"==c)&&(delete e[d],this._handleEnd(a,d,b)))}},a._handleStart=function(a,b,c,d,e){var f=a.__touch;if(f.multitouch||!f.count){var g=f.pointers;g[b]||(g[b]=!0,f.count++,a._handlePointerDown(b,c,d,e))}},a._handleMove=function(a,b,c,d,e){a.__touch.pointers[b]&&a._handlePointerMove(b,c,d,e)},a._handleEnd=function(a,b,c){var d=a.__touch,e=d.pointers;e[b]&&(d.count--,a._handlePointerUp(b,c,!0),delete e[b])},createjs.Touch=a}(),this.createjs=this.createjs||{},function(){"use strict";var a=createjs.EaselJS=createjs.EaselJS||{};a.version="0.7.1",a.buildDate="Thu, 12 Dec 2013 23:33:39 GMT"}();
\ No newline at end of file
--- /dev/null
+/*!
+ * EventEmitter2
+ * https://github.com/hij1nx/EventEmitter2
+ *
+ * Copyright (c) 2013 hij1nx
+ * Licensed under the MIT license.
+ */
+;!function(undefined) {
+
+ var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
+ return Object.prototype.toString.call(obj) === "[object Array]";
+ };
+ var defaultMaxListeners = 10;
+
+ function init() {
+ this._events = {};
+ if (this._conf) {
+ configure.call(this, this._conf);
+ }
+ }
+
+ function configure(conf) {
+ if (conf) {
+
+ this._conf = conf;
+
+ conf.delimiter && (this.delimiter = conf.delimiter);
+ conf.maxListeners && (this._events.maxListeners = conf.maxListeners);
+ conf.wildcard && (this.wildcard = conf.wildcard);
+ conf.newListener && (this.newListener = conf.newListener);
+
+ if (this.wildcard) {
+ this.listenerTree = {};
+ }
+ }
+ }
+
+ function EventEmitter(conf) {
+ this._events = {};
+ this.newListener = false;
+ configure.call(this, conf);
+ }
+
+ //
+ // Attention, function return type now is array, always !
+ // It has zero elements if no any matches found and one or more
+ // elements (leafs) if there are matches
+ //
+ function searchListenerTree(handlers, type, tree, i) {
+ if (!tree) {
+ return [];
+ }
+ var listeners=[], leaf, len, branch, xTree, xxTree, isolatedBranch, endReached,
+ typeLength = type.length, currentType = type[i], nextType = type[i+1];
+ if (i === typeLength && tree._listeners) {
+ //
+ // If at the end of the event(s) list and the tree has listeners
+ // invoke those listeners.
+ //
+ if (typeof tree._listeners === 'function') {
+ handlers && handlers.push(tree._listeners);
+ return [tree];
+ } else {
+ for (leaf = 0, len = tree._listeners.length; leaf < len; leaf++) {
+ handlers && handlers.push(tree._listeners[leaf]);
+ }
+ return [tree];
+ }
+ }
+
+ if ((currentType === '*' || currentType === '**') || tree[currentType]) {
+ //
+ // If the event emitted is '*' at this part
+ // or there is a concrete match at this patch
+ //
+ if (currentType === '*') {
+ for (branch in tree) {
+ if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+1));
+ }
+ }
+ return listeners;
+ } else if(currentType === '**') {
+ endReached = (i+1 === typeLength || (i+2 === typeLength && nextType === '*'));
+ if(endReached && tree._listeners) {
+ // The next element has a _listeners, add it to the handlers.
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree, typeLength));
+ }
+
+ for (branch in tree) {
+ if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
+ if(branch === '*' || branch === '**') {
+ if(tree[branch]._listeners && !endReached) {
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], typeLength));
+ }
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
+ } else if(branch === nextType) {
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+2));
+ } else {
+ // No match on this one, shift into the tree but not in the type array.
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
+ }
+ }
+ }
+ return listeners;
+ }
+
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[currentType], i+1));
+ }
+
+ xTree = tree['*'];
+ if (xTree) {
+ //
+ // If the listener tree will allow any match for this part,
+ // then recursively explore all branches of the tree
+ //
+ searchListenerTree(handlers, type, xTree, i+1);
+ }
+
+ xxTree = tree['**'];
+ if(xxTree) {
+ if(i < typeLength) {
+ if(xxTree._listeners) {
+ // If we have a listener on a '**', it will catch all, so add its handler.
+ searchListenerTree(handlers, type, xxTree, typeLength);
+ }
+
+ // Build arrays of matching next branches and others.
+ for(branch in xxTree) {
+ if(branch !== '_listeners' && xxTree.hasOwnProperty(branch)) {
+ if(branch === nextType) {
+ // We know the next element will match, so jump twice.
+ searchListenerTree(handlers, type, xxTree[branch], i+2);
+ } else if(branch === currentType) {
+ // Current node matches, move into the tree.
+ searchListenerTree(handlers, type, xxTree[branch], i+1);
+ } else {
+ isolatedBranch = {};
+ isolatedBranch[branch] = xxTree[branch];
+ searchListenerTree(handlers, type, { '**': isolatedBranch }, i+1);
+ }
+ }
+ }
+ } else if(xxTree._listeners) {
+ // We have reached the end and still on a '**'
+ searchListenerTree(handlers, type, xxTree, typeLength);
+ } else if(xxTree['*'] && xxTree['*']._listeners) {
+ searchListenerTree(handlers, type, xxTree['*'], typeLength);
+ }
+ }
+
+ return listeners;
+ }
+
+ function growListenerTree(type, listener) {
+
+ type = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+
+ //
+ // Looks for two consecutive '**', if so, don't add the event at all.
+ //
+ for(var i = 0, len = type.length; i+1 < len; i++) {
+ if(type[i] === '**' && type[i+1] === '**') {
+ return;
+ }
+ }
+
+ var tree = this.listenerTree;
+ var name = type.shift();
+
+ while (name) {
+
+ if (!tree[name]) {
+ tree[name] = {};
+ }
+
+ tree = tree[name];
+
+ if (type.length === 0) {
+
+ if (!tree._listeners) {
+ tree._listeners = listener;
+ }
+ else if(typeof tree._listeners === 'function') {
+ tree._listeners = [tree._listeners, listener];
+ }
+ else if (isArray(tree._listeners)) {
+
+ tree._listeners.push(listener);
+
+ if (!tree._listeners.warned) {
+
+ var m = defaultMaxListeners;
+
+ if (typeof this._events.maxListeners !== 'undefined') {
+ m = this._events.maxListeners;
+ }
+
+ if (m > 0 && tree._listeners.length > m) {
+
+ tree._listeners.warned = true;
+ console.error('(node) warning: possible EventEmitter memory ' +
+ 'leak detected. %d listeners added. ' +
+ 'Use emitter.setMaxListeners() to increase limit.',
+ tree._listeners.length);
+ console.trace();
+ }
+ }
+ }
+ return true;
+ }
+ name = type.shift();
+ }
+ return true;
+ }
+
+ // By default EventEmitters will print a warning if more than
+ // 10 listeners are added to it. This is a useful default which
+ // helps finding memory leaks.
+ //
+ // Obviously not all Emitters should be limited to 10. This function allows
+ // that to be increased. Set to zero for unlimited.
+
+ EventEmitter.prototype.delimiter = '.';
+
+ EventEmitter.prototype.setMaxListeners = function(n) {
+ this._events || init.call(this);
+ this._events.maxListeners = n;
+ if (!this._conf) this._conf = {};
+ this._conf.maxListeners = n;
+ };
+
+ EventEmitter.prototype.event = '';
+
+ EventEmitter.prototype.once = function(event, fn) {
+ this.many(event, 1, fn);
+ return this;
+ };
+
+ EventEmitter.prototype.many = function(event, ttl, fn) {
+ var self = this;
+
+ if (typeof fn !== 'function') {
+ throw new Error('many only accepts instances of Function');
+ }
+
+ function listener() {
+ if (--ttl === 0) {
+ self.off(event, listener);
+ }
+ fn.apply(this, arguments);
+ }
+
+ listener._origin = fn;
+
+ this.on(event, listener);
+
+ return self;
+ };
+
+ EventEmitter.prototype.emit = function() {
+
+ this._events || init.call(this);
+
+ var type = arguments[0];
+
+ if (type === 'newListener' && !this.newListener) {
+ if (!this._events.newListener) { return false; }
+ }
+
+ // Loop through the *_all* functions and invoke them.
+ if (this._all) {
+ var l = arguments.length;
+ var args = new Array(l - 1);
+ for (var i = 1; i < l; i++) args[i - 1] = arguments[i];
+ for (i = 0, l = this._all.length; i < l; i++) {
+ this.event = type;
+ this._all[i].apply(this, args);
+ }
+ }
+
+ // If there is no 'error' event listener then throw.
+ if (type === 'error') {
+
+ if (!this._all &&
+ !this._events.error &&
+ !(this.wildcard && this.listenerTree.error)) {
+
+ if (arguments[1] instanceof Error) {
+ throw arguments[1]; // Unhandled 'error' event
+ } else {
+ throw new Error("Uncaught, unspecified 'error' event.");
+ }
+ return false;
+ }
+ }
+
+ var handler;
+
+ if(this.wildcard) {
+ handler = [];
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+ searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
+ }
+ else {
+ handler = this._events[type];
+ }
+
+ if (typeof handler === 'function') {
+ this.event = type;
+ if (arguments.length === 1) {
+ handler.call(this);
+ }
+ else if (arguments.length > 1)
+ switch (arguments.length) {
+ case 2:
+ handler.call(this, arguments[1]);
+ break;
+ case 3:
+ handler.call(this, arguments[1], arguments[2]);
+ break;
+ // slower
+ default:
+ var l = arguments.length;
+ var args = new Array(l - 1);
+ for (var i = 1; i < l; i++) args[i - 1] = arguments[i];
+ handler.apply(this, args);
+ }
+ return true;
+ }
+ else if (handler) {
+ var l = arguments.length;
+ var args = new Array(l - 1);
+ for (var i = 1; i < l; i++) args[i - 1] = arguments[i];
+
+ var listeners = handler.slice();
+ for (var i = 0, l = listeners.length; i < l; i++) {
+ this.event = type;
+ listeners[i].apply(this, args);
+ }
+ return (listeners.length > 0) || !!this._all;
+ }
+ else {
+ return !!this._all;
+ }
+
+ };
+
+ EventEmitter.prototype.on = function(type, listener) {
+
+ if (typeof type === 'function') {
+ this.onAny(type);
+ return this;
+ }
+
+ if (typeof listener !== 'function') {
+ throw new Error('on only accepts instances of Function');
+ }
+ this._events || init.call(this);
+
+ // To avoid recursion in the case that type == "newListeners"! Before
+ // adding it to the listeners, first emit "newListeners".
+ this.emit('newListener', type, listener);
+
+ if(this.wildcard) {
+ growListenerTree.call(this, type, listener);
+ return this;
+ }
+
+ if (!this._events[type]) {
+ // Optimize the case of one listener. Don't need the extra array object.
+ this._events[type] = listener;
+ }
+ else if(typeof this._events[type] === 'function') {
+ // Adding the second element, need to change to array.
+ this._events[type] = [this._events[type], listener];
+ }
+ else if (isArray(this._events[type])) {
+ // If we've already got an array, just append.
+ this._events[type].push(listener);
+
+ // Check for listener leak
+ if (!this._events[type].warned) {
+
+ var m = defaultMaxListeners;
+
+ if (typeof this._events.maxListeners !== 'undefined') {
+ m = this._events.maxListeners;
+ }
+
+ if (m > 0 && this._events[type].length > m) {
+
+ this._events[type].warned = true;
+ console.error('(node) warning: possible EventEmitter memory ' +
+ 'leak detected. %d listeners added. ' +
+ 'Use emitter.setMaxListeners() to increase limit.',
+ this._events[type].length);
+ console.trace();
+ }
+ }
+ }
+ return this;
+ };
+
+ EventEmitter.prototype.onAny = function(fn) {
+
+ if (typeof fn !== 'function') {
+ throw new Error('onAny only accepts instances of Function');
+ }
+
+ if(!this._all) {
+ this._all = [];
+ }
+
+ // Add the function to the event listener collection.
+ this._all.push(fn);
+ return this;
+ };
+
+ EventEmitter.prototype.addListener = EventEmitter.prototype.on;
+
+ EventEmitter.prototype.off = function(type, listener) {
+ if (typeof listener !== 'function') {
+ throw new Error('removeListener only takes instances of Function');
+ }
+
+ var handlers,leafs=[];
+
+ if(this.wildcard) {
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+ leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
+ }
+ else {
+ // does not use listeners(), so no side effect of creating _events[type]
+ if (!this._events[type]) return this;
+ handlers = this._events[type];
+ leafs.push({_listeners:handlers});
+ }
+
+ for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
+ var leaf = leafs[iLeaf];
+ handlers = leaf._listeners;
+ if (isArray(handlers)) {
+
+ var position = -1;
+
+ for (var i = 0, length = handlers.length; i < length; i++) {
+ if (handlers[i] === listener ||
+ (handlers[i].listener && handlers[i].listener === listener) ||
+ (handlers[i]._origin && handlers[i]._origin === listener)) {
+ position = i;
+ break;
+ }
+ }
+
+ if (position < 0) {
+ continue;
+ }
+
+ if(this.wildcard) {
+ leaf._listeners.splice(position, 1);
+ }
+ else {
+ this._events[type].splice(position, 1);
+ }
+
+ if (handlers.length === 0) {
+ if(this.wildcard) {
+ delete leaf._listeners;
+ }
+ else {
+ delete this._events[type];
+ }
+ }
+ return this;
+ }
+ else if (handlers === listener ||
+ (handlers.listener && handlers.listener === listener) ||
+ (handlers._origin && handlers._origin === listener)) {
+ if(this.wildcard) {
+ delete leaf._listeners;
+ }
+ else {
+ delete this._events[type];
+ }
+ }
+ }
+
+ return this;
+ };
+
+ EventEmitter.prototype.offAny = function(fn) {
+ var i = 0, l = 0, fns;
+ if (fn && this._all && this._all.length > 0) {
+ fns = this._all;
+ for(i = 0, l = fns.length; i < l; i++) {
+ if(fn === fns[i]) {
+ fns.splice(i, 1);
+ return this;
+ }
+ }
+ } else {
+ this._all = [];
+ }
+ return this;
+ };
+
+ EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
+
+ EventEmitter.prototype.removeAllListeners = function(type) {
+ if (arguments.length === 0) {
+ !this._events || init.call(this);
+ return this;
+ }
+
+ if(this.wildcard) {
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+ var leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
+
+ for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
+ var leaf = leafs[iLeaf];
+ leaf._listeners = null;
+ }
+ }
+ else {
+ if (!this._events[type]) return this;
+ this._events[type] = null;
+ }
+ return this;
+ };
+
+ EventEmitter.prototype.listeners = function(type) {
+ if(this.wildcard) {
+ var handlers = [];
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+ searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
+ return handlers;
+ }
+
+ this._events || init.call(this);
+
+ if (!this._events[type]) this._events[type] = [];
+ if (!isArray(this._events[type])) {
+ this._events[type] = [this._events[type]];
+ }
+ return this._events[type];
+ };
+
+ EventEmitter.prototype.listenersAny = function() {
+
+ if(this._all) {
+ return this._all;
+ }
+ else {
+ return [];
+ }
+
+ };
+
+ if (typeof define === 'function' && define.amd) {
+ // AMD. Register as an anonymous module.
+ define(function() {
+ return EventEmitter;
+ });
+ } else if (typeof exports === 'object') {
+ // CommonJS
+ exports.EventEmitter2 = EventEmitter;
+ }
+ else {
+ // Browser global.
+ window.EventEmitter2 = EventEmitter;
+ }
+}();
--- /dev/null
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+
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this.menu.element},_value:function(){return this.valueMethod.apply(this.element,arguments)},_keyEvent:function(t,e){(!this.isMultiLine||this.menu.element.is(":visible"))&&(this._move(t,e),e.preventDefault())},_isContentEditable:function(t){if(!t.length)return!1;var e=t.prop("contentEditable");return"inherit"===e?this._isContentEditable(t.parent()):"true"===e}}),t.extend(t.ui.autocomplete,{escapeRegex:function(t){return t.replace(/[\-\[\]{}()*+?.,\\\^$|#\s]/g,"\\$&")},filter:function(e,i){var s=RegExp(t.ui.autocomplete.escapeRegex(i),"i");return t.grep(e,function(t){return s.test(t.label||t.value||t)})}}),t.widget("ui.autocomplete",t.ui.autocomplete,{options:{messages:{noResults:"No search results.",results:function(t){return t+(t>1?" results are":" result is")+" available, use up and down arrow keys to navigate."}}},__response:function(e){var i;this._superApply(arguments),this.options.disabled||this.cancelSearch||(i=e&&e.length?this.options.messages.results(e.length):this.options.messages.noResults,this.liveRegion.children().hide(),t("<div>").text(i).appendTo(this.liveRegion))}}),t.ui.autocomplete;var g=/ui-corner-([a-z]){2,6}/g;t.widget("ui.controlgroup",{version:"1.12.1",defaultElement:"<div>",options:{direction:"horizontal",disabled:null,onlyVisible:!0,items:{button:"input[type=button], input[type=submit], input[type=reset], button, a",controlgroupLabel:".ui-controlgroup-label",checkboxradio:"input[type='checkbox'], input[type='radio']",selectmenu:"select",spinner:".ui-spinner-input"}},_create:function(){this._enhance()},_enhance:function(){this.element.attr("role","toolbar"),this.refresh()},_destroy:function(){this._callChildMethod("destroy"),this.childWidgets.removeData("ui-controlgroup-data"),this.element.removeAttr("role"),this.options.items.controlgroupLabel&&this.element.find(this.options.items.controlgroupLabel).find(".ui-controlgroup-label-contents").contents().unwrap()},_initWidgets:function(){var e=this,i=[];t.each(this.options.items,function(s,n){var o,a={};return n?"controlgroupLabel"===s?(o=e.element.find(n),o.each(function(){var e=t(this);e.children(".ui-controlgroup-label-contents").length||e.contents().wrapAll("<span class='ui-controlgroup-label-contents'></span>")}),e._addClass(o,null,"ui-widget ui-widget-content ui-state-default"),i=i.concat(o.get()),void 0):(t.fn[s]&&(a=e["_"+s+"Options"]?e["_"+s+"Options"]("middle"):{classes:{}},e.element.find(n).each(function(){var n=t(this),o=n[s]("instance"),r=t.widget.extend({},a);if("button"!==s||!n.parent(".ui-spinner").length){o||(o=n[s]()[s]("instance")),o&&(r.classes=e._resolveClassesValues(r.classes,o)),n[s](r);var h=n[s]("widget");t.data(h[0],"ui-controlgroup-data",o?o:n[s]("instance")),i.push(h[0])}})),void 0):void 0}),this.childWidgets=t(t.unique(i)),this._addClass(this.childWidgets,"ui-controlgroup-item")},_callChildMethod:function(e){this.childWidgets.each(function(){var i=t(this),s=i.data("ui-controlgroup-data");s&&s[e]&&s[e]()})},_updateCornerClass:function(t,e){var i="ui-corner-top ui-corner-bottom ui-corner-left ui-corner-right ui-corner-all",s=this._buildSimpleOptions(e,"label").classes.label;this._removeClass(t,null,i),this._addClass(t,null,s)},_buildSimpleOptions:function(t,e){var i="vertical"===this.options.direction,s={classes:{}};return s.classes[e]={middle:"",first:"ui-corner-"+(i?"top":"left"),last:"ui-corner-"+(i?"bottom":"right"),only:"ui-corner-all"}[t],s},_spinnerOptions:function(t){var e=this._buildSimpleOptions(t,"ui-spinner");return e.classes["ui-spinner-up"]="",e.classes["ui-spinner-down"]="",e},_buttonOptions:function(t){return this._buildSimpleOptions(t,"ui-button")},_checkboxradioOptions:function(t){return this._buildSimpleOptions(t,"ui-checkboxradio-label")},_selectmenuOptions:function(t){var e="vertical"===this.options.direction;return{width:e?"auto":!1,classes:{middle:{"ui-selectmenu-button-open":"","ui-selectmenu-button-closed":""},first:{"ui-selectmenu-button-open":"ui-corner-"+(e?"top":"tl"),"ui-selectmenu-button-closed":"ui-corner-"+(e?"top":"left")},last:{"ui-selectmenu-button-open":e?"":"ui-corner-tr","ui-selectmenu-button-closed":"ui-corner-"+(e?"bottom":"right")},only:{"ui-selectmenu-button-open":"ui-corner-top","ui-selectmenu-button-closed":"ui-corner-all"}}[t]}},_resolveClassesValues:function(e,i){var s={};return t.each(e,function(n){var o=i.options.classes[n]||"";o=t.trim(o.replace(g,"")),s[n]=(o+" "+e[n]).replace(/\s+/g," ")}),s},_setOption:function(t,e){return"direction"===t&&this._removeClass("ui-controlgroup-"+this.options.direction),this._super(t,e),"disabled"===t?(this._callChildMethod(e?"disable":"enable"),void 0):(this.refresh(),void 0)},refresh:function(){var e,i=this;this._addClass("ui-controlgroup ui-controlgroup-"+this.options.direction),"horizontal"===this.options.direction&&this._addClass(null,"ui-helper-clearfix"),this._initWidgets(),e=this.childWidgets,this.options.onlyVisible&&(e=e.filter(":visible")),e.length&&(t.each(["first","last"],function(t,s){var n=e[s]().data("ui-controlgroup-data");if(n&&i["_"+n.widgetName+"Options"]){var o=i["_"+n.widgetName+"Options"](1===e.length?"only":s);o.classes=i._resolveClassesValues(o.classes,n),n.element[n.widgetName](o)}else i._updateCornerClass(e[s](),s)}),this._callChildMethod("refresh"))}}),t.widget("ui.checkboxradio",[t.ui.formResetMixin,{version:"1.12.1",options:{disabled:null,label:null,icon:!0,classes:{"ui-checkboxradio-label":"ui-corner-all","ui-checkboxradio-icon":"ui-corner-all"}},_getCreateOptions:function(){var e,i,s=this,n=this._super()||{};return this._readType(),i=this.element.labels(),this.label=t(i[i.length-1]),this.label.length||t.error("No label found for checkboxradio widget"),this.originalLabel="",this.label.contents().not(this.element[0]).each(function(){s.originalLabel+=3===this.nodeType?t(this).text():this.outerHTML}),this.originalLabel&&(n.label=this.originalLabel),e=this.element[0].disabled,null!=e&&(n.disabled=e),n},_create:function(){var t=this.element[0].checked;this._bindFormResetHandler(),null==this.options.disabled&&(this.options.disabled=this.element[0].disabled),this._setOption("disabled",this.options.disabled),this._addClass("ui-checkboxradio","ui-helper-hidden-accessible"),this._addClass(this.label,"ui-checkboxradio-label","ui-button ui-widget"),"radio"===this.type&&this._addClass(this.label,"ui-checkboxradio-radio-label"),this.options.label&&this.options.label!==this.originalLabel?this._updateLabel():this.originalLabel&&(this.options.label=this.originalLabel),this._enhance(),t&&(this._addClass(this.label,"ui-checkboxradio-checked","ui-state-active"),this.icon&&this._addClass(this.icon,null,"ui-state-hover")),this._on({change:"_toggleClasses",focus:function(){this._addClass(this.label,null,"ui-state-focus ui-visual-focus")},blur:function(){this._removeClass(this.label,null,"ui-state-focus ui-visual-focus")}})},_readType:function(){var e=this.element[0].nodeName.toLowerCase();this.type=this.element[0].type,"input"===e&&/radio|checkbox/.test(this.type)||t.error("Can't create checkboxradio on element.nodeName="+e+" and element.type="+this.type)},_enhance:function(){this._updateIcon(this.element[0].checked)},widget:function(){return this.label},_getRadioGroup:function(){var e,i=this.element[0].name,s="input[name='"+t.ui.escapeSelector(i)+"']";return i?(e=this.form.length?t(this.form[0].elements).filter(s):t(s).filter(function(){return 0===t(this).form().length}),e.not(this.element)):t([])},_toggleClasses:function(){var e=this.element[0].checked;this._toggleClass(this.label,"ui-checkboxradio-checked","ui-state-active",e),this.options.icon&&"checkbox"===this.type&&this._toggleClass(this.icon,null,"ui-icon-check ui-state-checked",e)._toggleClass(this.icon,null,"ui-icon-blank",!e),"radio"===this.type&&this._getRadioGroup().each(function(){var e=t(this).checkboxradio("instance");e&&e._removeClass(e.label,"ui-checkboxradio-checked","ui-state-active")})},_destroy:function(){this._unbindFormResetHandler(),this.icon&&(this.icon.remove(),this.iconSpace.remove())},_setOption:function(t,e){return"label"!==t||e?(this._super(t,e),"disabled"===t?(this._toggleClass(this.label,null,"ui-state-disabled",e),this.element[0].disabled=e,void 0):(this.refresh(),void 0)):void 0},_updateIcon:function(e){var i="ui-icon ui-icon-background ";this.options.icon?(this.icon||(this.icon=t("<span>"),this.iconSpace=t("<span> </span>"),this._addClass(this.iconSpace,"ui-checkboxradio-icon-space")),"checkbox"===this.type?(i+=e?"ui-icon-check ui-state-checked":"ui-icon-blank",this._removeClass(this.icon,null,e?"ui-icon-blank":"ui-icon-check")):i+="ui-icon-blank",this._addClass(this.icon,"ui-checkboxradio-icon",i),e||this._removeClass(this.icon,null,"ui-icon-check ui-state-checked"),this.icon.prependTo(this.label).after(this.iconSpace)):void 0!==this.icon&&(this.icon.remove(),this.iconSpace.remove(),delete this.icon)},_updateLabel:function(){var t=this.label.contents().not(this.element[0]);this.icon&&(t=t.not(this.icon[0])),this.iconSpace&&(t=t.not(this.iconSpace[0])),t.remove(),this.label.append(this.options.label)},refresh:function(){var t=this.element[0].checked,e=this.element[0].disabled;this._updateIcon(t),this._toggleClass(this.label,"ui-checkboxradio-checked","ui-state-active",t),null!==this.options.label&&this._updateLabel(),e!==this.options.disabled&&this._setOptions({disabled:e})}}]),t.ui.checkboxradio,t.widget("ui.button",{version:"1.12.1",defaultElement:"<button>",options:{classes:{"ui-button":"ui-corner-all"},disabled:null,icon:null,iconPosition:"beginning",label:null,showLabel:!0},_getCreateOptions:function(){var t,e=this._super()||{};return this.isInput=this.element.is("input"),t=this.element[0].disabled,null!=t&&(e.disabled=t),this.originalLabel=this.isInput?this.element.val():this.element.html(),this.originalLabel&&(e.label=this.originalLabel),e},_create:function(){!this.option.showLabel&!this.options.icon&&(this.options.showLabel=!0),null==this.options.disabled&&(this.options.disabled=this.element[0].disabled||!1),this.hasTitle=!!this.element.attr("title"),this.options.label&&this.options.label!==this.originalLabel&&(this.isInput?this.element.val(this.options.label):this.element.html(this.options.label)),this._addClass("ui-button","ui-widget"),this._setOption("disabled",this.options.disabled),this._enhance(),this.element.is("a")&&this._on({keyup:function(e){e.keyCode===t.ui.keyCode.SPACE&&(e.preventDefault(),this.element[0].click?this.element[0].click():this.element.trigger("click"))}})},_enhance:function(){this.element.is("button")||this.element.attr("role","button"),this.options.icon&&(this._updateIcon("icon",this.options.icon),this._updateTooltip())},_updateTooltip:function(){this.title=this.element.attr("title"),this.options.showLabel||this.title||this.element.attr("title",this.options.label)},_updateIcon:function(e,i){var s="iconPosition"!==e,n=s?this.options.iconPosition:i,o="top"===n||"bottom"===n;this.icon?s&&this._removeClass(this.icon,null,this.options.icon):(this.icon=t("<span>"),this._addClass(this.icon,"ui-button-icon","ui-icon"),this.options.showLabel||this._addClass("ui-button-icon-only")),s&&this._addClass(this.icon,null,i),this._attachIcon(n),o?(this._addClass(this.icon,null,"ui-widget-icon-block"),this.iconSpace&&this.iconSpace.remove()):(this.iconSpace||(this.iconSpace=t("<span> </span>"),this._addClass(this.iconSpace,"ui-button-icon-space")),this._removeClass(this.icon,null,"ui-wiget-icon-block"),this._attachIconSpace(n))},_destroy:function(){this.element.removeAttr("role"),this.icon&&this.icon.remove(),this.iconSpace&&this.iconSpace.remove(),this.hasTitle||this.element.removeAttr("title")},_attachIconSpace:function(t){this.icon[/^(?:end|bottom)/.test(t)?"before":"after"](this.iconSpace)},_attachIcon:function(t){this.element[/^(?:end|bottom)/.test(t)?"append":"prepend"](this.icon)},_setOptions:function(t){var e=void 0===t.showLabel?this.options.showLabel:t.showLabel,i=void 0===t.icon?this.options.icon:t.icon;e||i||(t.showLabel=!0),this._super(t)},_setOption:function(t,e){"icon"===t&&(e?this._updateIcon(t,e):this.icon&&(this.icon.remove(),this.iconSpace&&this.iconSpace.remove())),"iconPosition"===t&&this._updateIcon(t,e),"showLabel"===t&&(this._toggleClass("ui-button-icon-only",null,!e),this._updateTooltip()),"label"===t&&(this.isInput?this.element.val(e):(this.element.html(e),this.icon&&(this._attachIcon(this.options.iconPosition),this._attachIconSpace(this.options.iconPosition)))),this._super(t,e),"disabled"===t&&(this._toggleClass(null,"ui-state-disabled",e),this.element[0].disabled=e,e&&this.element.blur())},refresh:function(){var t=this.element.is("input, button")?this.element[0].disabled:this.element.hasClass("ui-button-disabled");t!==this.options.disabled&&this._setOptions({disabled:t}),this._updateTooltip()}}),t.uiBackCompat!==!1&&(t.widget("ui.button",t.ui.button,{options:{text:!0,icons:{primary:null,secondary:null}},_create:function(){this.options.showLabel&&!this.options.text&&(this.options.showLabel=this.options.text),!this.options.showLabel&&this.options.text&&(this.options.text=this.options.showLabel),this.options.icon||!this.options.icons.primary&&!this.options.icons.secondary?this.options.icon&&(this.options.icons.primary=this.options.icon):this.options.icons.primary?this.options.icon=this.options.icons.primary:(this.options.icon=this.options.icons.secondary,this.options.iconPosition="end"),this._super()},_setOption:function(t,e){return"text"===t?(this._super("showLabel",e),void 0):("showLabel"===t&&(this.options.text=e),"icon"===t&&(this.options.icons.primary=e),"icons"===t&&(e.primary?(this._super("icon",e.primary),this._super("iconPosition","beginning")):e.secondary&&(this._super("icon",e.secondary),this._super("iconPosition","end"))),this._superApply(arguments),void 0)}}),t.fn.button=function(e){return function(){return!this.length||this.length&&"INPUT"!==this[0].tagName||this.length&&"INPUT"===this[0].tagName&&"checkbox"!==this.attr("type")&&"radio"!==this.attr("type")?e.apply(this,arguments):(t.ui.checkboxradio||t.error("Checkboxradio widget missing"),0===arguments.length?this.checkboxradio({icon:!1}):this.checkboxradio.apply(this,arguments))}}(t.fn.button),t.fn.buttonset=function(){return t.ui.controlgroup||t.error("Controlgroup widget missing"),"option"===arguments[0]&&"items"===arguments[1]&&arguments[2]?this.controlgroup.apply(this,[arguments[0],"items.button",arguments[2]]):"option"===arguments[0]&&"items"===arguments[1]?this.controlgroup.apply(this,[arguments[0],"items.button"]):("object"==typeof arguments[0]&&arguments[0].items&&(arguments[0].items={button:arguments[0].items}),this.controlgroup.apply(this,arguments))}),t.ui.button,t.extend(t.ui,{datepicker:{version:"1.12.1"}});var m;t.extend(s.prototype,{markerClassName:"hasDatepicker",maxRows:4,_widgetDatepicker:function(){return this.dpDiv},setDefaults:function(t){return a(this._defaults,t||{}),this},_attachDatepicker:function(e,i){var s,n,o;s=e.nodeName.toLowerCase(),n="div"===s||"span"===s,e.id||(this.uuid+=1,e.id="dp"+this.uuid),o=this._newInst(t(e),n),o.settings=t.extend({},i||{}),"input"===s?this._connectDatepicker(e,o):n&&this._inlineDatepicker(e,o)},_newInst:function(e,i){var s=e[0].id.replace(/([^A-Za-z0-9_\-])/g,"\\\\$1");return{id:s,input:e,selectedDay:0,selectedMonth:0,selectedYear:0,drawMonth:0,drawYear:0,inline:i,dpDiv:i?n(t("<div class='"+this._inlineClass+" ui-datepicker ui-widget ui-widget-content ui-helper-clearfix ui-corner-all'></div>")):this.dpDiv}},_connectDatepicker:function(e,i){var s=t(e);i.append=t([]),i.trigger=t([]),s.hasClass(this.markerClassName)||(this._attachments(s,i),s.addClass(this.markerClassName).on("keydown",this._doKeyDown).on("keypress",this._doKeyPress).on("keyup",this._doKeyUp),this._autoSize(i),t.data(e,"datepicker",i),i.settings.disabled&&this._disableDatepicker(e))},_attachments:function(e,i){var s,n,o,a=this._get(i,"appendText"),r=this._get(i,"isRTL");i.append&&i.append.remove(),a&&(i.append=t("<span class='"+this._appendClass+"'>"+a+"</span>"),e[r?"before":"after"](i.append)),e.off("focus",this._showDatepicker),i.trigger&&i.trigger.remove(),s=this._get(i,"showOn"),("focus"===s||"both"===s)&&e.on("focus",this._showDatepicker),("button"===s||"both"===s)&&(n=this._get(i,"buttonText"),o=this._get(i,"buttonImage"),i.trigger=t(this._get(i,"buttonImageOnly")?t("<img/>").addClass(this._triggerClass).attr({src:o,alt:n,title:n}):t("<button type='button'></button>").addClass(this._triggerClass).html(o?t("<img/>").attr({src:o,alt:n,title:n}):n)),e[r?"before":"after"](i.trigger),i.trigger.on("click",function(){return t.datepicker._datepickerShowing&&t.datepicker._lastInput===e[0]?t.datepicker._hideDatepicker():t.datepicker._datepickerShowing&&t.datepicker._lastInput!==e[0]?(t.datepicker._hideDatepicker(),t.datepicker._showDatepicker(e[0])):t.datepicker._showDatepicker(e[0]),!1}))},_autoSize:function(t){if(this._get(t,"autoSize")&&!t.inline){var e,i,s,n,o=new Date(2009,11,20),a=this._get(t,"dateFormat");a.match(/[DM]/)&&(e=function(t){for(i=0,s=0,n=0;t.length>n;n++)t[n].length>i&&(i=t[n].length,s=n);return s},o.setMonth(e(this._get(t,a.match(/MM/)?"monthNames":"monthNamesShort"))),o.setDate(e(this._get(t,a.match(/DD/)?"dayNames":"dayNamesShort"))+20-o.getDay())),t.input.attr("size",this._formatDate(t,o).length)}},_inlineDatepicker:function(e,i){var s=t(e);s.hasClass(this.markerClassName)||(s.addClass(this.markerClassName).append(i.dpDiv),t.data(e,"datepicker",i),this._setDate(i,this._getDefaultDate(i),!0),this._updateDatepicker(i),this._updateAlternate(i),i.settings.disabled&&this._disableDatepicker(e),i.dpDiv.css("display","block"))},_dialogDatepicker:function(e,i,s,n,o){var r,h,l,c,u,d=this._dialogInst;return d||(this.uuid+=1,r="dp"+this.uuid,this._dialogInput=t("<input type='text' id='"+r+"' style='position: absolute; top: -100px; width: 0px;'/>"),this._dialogInput.on("keydown",this._doKeyDown),t("body").append(this._dialogInput),d=this._dialogInst=this._newInst(this._dialogInput,!1),d.settings={},t.data(this._dialogInput[0],"datepicker",d)),a(d.settings,n||{}),i=i&&i.constructor===Date?this._formatDate(d,i):i,this._dialogInput.val(i),this._pos=o?o.length?o:[o.pageX,o.pageY]:null,this._pos||(h=document.documentElement.clientWidth,l=document.documentElement.clientHeight,c=document.documentElement.scrollLeft||document.body.scrollLeft,u=document.documentElement.scrollTop||document.body.scrollTop,this._pos=[h/2-100+c,l/2-150+u]),this._dialogInput.css("left",this._pos[0]+20+"px").css("top",this._pos[1]+"px"),d.settings.onSelect=s,this._inDialog=!0,this.dpDiv.addClass(this._dialogClass),this._showDatepicker(this._dialogInput[0]),t.blockUI&&t.blockUI(this.dpDiv),t.data(this._dialogInput[0],"datepicker",d),this},_destroyDatepicker:function(e){var i,s=t(e),n=t.data(e,"datepicker");s.hasClass(this.markerClassName)&&(i=e.nodeName.toLowerCase(),t.removeData(e,"datepicker"),"input"===i?(n.append.remove(),n.trigger.remove(),s.removeClass(this.markerClassName).off("focus",this._showDatepicker).off("keydown",this._doKeyDown).off("keypress",this._doKeyPress).off("keyup",this._doKeyUp)):("div"===i||"span"===i)&&s.removeClass(this.markerClassName).empty(),m===n&&(m=null))},_enableDatepicker:function(e){var i,s,n=t(e),o=t.data(e,"datepicker");n.hasClass(this.markerClassName)&&(i=e.nodeName.toLowerCase(),"input"===i?(e.disabled=!1,o.trigger.filter("button").each(function(){this.disabled=!1}).end().filter("img").css({opacity:"1.0",cursor:""})):("div"===i||"span"===i)&&(s=n.children("."+this._inlineClass),s.children().removeClass("ui-state-disabled"),s.find("select.ui-datepicker-month, select.ui-datepicker-year").prop("disabled",!1)),this._disabledInputs=t.map(this._disabledInputs,function(t){return t===e?null:t}))},_disableDatepicker:function(e){var i,s,n=t(e),o=t.data(e,"datepicker");n.hasClass(this.markerClassName)&&(i=e.nodeName.toLowerCase(),"input"===i?(e.disabled=!0,o.trigger.filter("button").each(function(){this.disabled=!0}).end().filter("img").css({opacity:"0.5",cursor:"default"})):("div"===i||"span"===i)&&(s=n.children("."+this._inlineClass),s.children().addClass("ui-state-disabled"),s.find("select.ui-datepicker-month, select.ui-datepicker-year").prop("disabled",!0)),this._disabledInputs=t.map(this._disabledInputs,function(t){return t===e?null:t}),this._disabledInputs[this._disabledInputs.length]=e)},_isDisabledDatepicker:function(t){if(!t)return!1;for(var e=0;this._disabledInputs.length>e;e++)if(this._disabledInputs[e]===t)return!0;return!1},_getInst:function(e){try{return t.data(e,"datepicker")}catch(i){throw"Missing instance data for this datepicker"}},_optionDatepicker:function(e,i,s){var n,o,r,h,l=this._getInst(e);return 2===arguments.length&&"string"==typeof i?"defaults"===i?t.extend({},t.datepicker._defaults):l?"all"===i?t.extend({},l.settings):this._get(l,i):null:(n=i||{},"string"==typeof i&&(n={},n[i]=s),l&&(this._curInst===l&&this._hideDatepicker(),o=this._getDateDatepicker(e,!0),r=this._getMinMaxDate(l,"min"),h=this._getMinMaxDate(l,"max"),a(l.settings,n),null!==r&&void 0!==n.dateFormat&&void 0===n.minDate&&(l.settings.minDate=this._formatDate(l,r)),null!==h&&void 0!==n.dateFormat&&void 0===n.maxDate&&(l.settings.maxDate=this._formatDate(l,h)),"disabled"in n&&(n.disabled?this._disableDatepicker(e):this._enableDatepicker(e)),this._attachments(t(e),l),this._autoSize(l),this._setDate(l,o),this._updateAlternate(l),this._updateDatepicker(l)),void 0)},_changeDatepicker:function(t,e,i){this._optionDatepicker(t,e,i)},_refreshDatepicker:function(t){var e=this._getInst(t);e&&this._updateDatepicker(e)},_setDateDatepicker:function(t,e){var i=this._getInst(t);i&&(this._setDate(i,e),this._updateDatepicker(i),this._updateAlternate(i))},_getDateDatepicker:function(t,e){var i=this._getInst(t);return i&&!i.inline&&this._setDateFromField(i,e),i?this._getDate(i):null},_doKeyDown:function(e){var i,s,n,o=t.datepicker._getInst(e.target),a=!0,r=o.dpDiv.is(".ui-datepicker-rtl");if(o._keyEvent=!0,t.datepicker._datepickerShowing)switch(e.keyCode){case 9:t.datepicker._hideDatepicker(),a=!1;break;case 13:return n=t("td."+t.datepicker._dayOverClass+":not(."+t.datepicker._currentClass+")",o.dpDiv),n[0]&&t.datepicker._selectDay(e.target,o.selectedMonth,o.selectedYear,n[0]),i=t.datepicker._get(o,"onSelect"),i?(s=t.datepicker._formatDate(o),i.apply(o.input?o.input[0]:null,[s,o])):t.datepicker._hideDatepicker(),!1;case 27:t.datepicker._hideDatepicker();break;case 33:t.datepicker._adjustDate(e.target,e.ctrlKey?-t.datepicker._get(o,"stepBigMonths"):-t.datepicker._get(o,"stepMonths"),"M");break;case 34:t.datepicker._adjustDate(e.target,e.ctrlKey?+t.datepicker._get(o,"stepBigMonths"):+t.datepicker._get(o,"stepMonths"),"M");break;case 35:(e.ctrlKey||e.metaKey)&&t.datepicker._clearDate(e.target),a=e.ctrlKey||e.metaKey;break;case 36:(e.ctrlKey||e.metaKey)&&t.datepicker._gotoToday(e.target),a=e.ctrlKey||e.metaKey;break;case 37:(e.ctrlKey||e.metaKey)&&t.datepicker._adjustDate(e.target,r?1:-1,"D"),a=e.ctrlKey||e.metaKey,e.originalEvent.altKey&&t.datepicker._adjustDate(e.target,e.ctrlKey?-t.datepicker._get(o,"stepBigMonths"):-t.datepicker._get(o,"stepMonths"),"M");break;case 38:(e.ctrlKey||e.metaKey)&&t.datepicker._adjustDate(e.target,-7,"D"),a=e.ctrlKey||e.metaKey;break;case 39:(e.ctrlKey||e.metaKey)&&t.datepicker._adjustDate(e.target,r?-1:1,"D"),a=e.ctrlKey||e.metaKey,e.originalEvent.altKey&&t.datepicker._adjustDate(e.target,e.ctrlKey?+t.datepicker._get(o,"stepBigMonths"):+t.datepicker._get(o,"stepMonths"),"M");break;case 40:(e.ctrlKey||e.metaKey)&&t.datepicker._adjustDate(e.target,7,"D"),a=e.ctrlKey||e.metaKey;break;default:a=!1}else 36===e.keyCode&&e.ctrlKey?t.datepicker._showDatepicker(this):a=!1;a&&(e.preventDefault(),e.stopPropagation())},_doKeyPress:function(e){var i,s,n=t.datepicker._getInst(e.target);return t.datepicker._get(n,"constrainInput")?(i=t.datepicker._possibleChars(t.datepicker._get(n,"dateFormat")),s=String.fromCharCode(null==e.charCode?e.keyCode:e.charCode),e.ctrlKey||e.metaKey||" ">s||!i||i.indexOf(s)>-1):void 0},_doKeyUp:function(e){var i,s=t.datepicker._getInst(e.target);if(s.input.val()!==s.lastVal)try{i=t.datepicker.parseDate(t.datepicker._get(s,"dateFormat"),s.input?s.input.val():null,t.datepicker._getFormatConfig(s)),i&&(t.datepicker._setDateFromField(s),t.datepicker._updateAlternate(s),t.datepicker._updateDatepicker(s))}catch(n){}return!0},_showDatepicker:function(e){if(e=e.target||e,"input"!==e.nodeName.toLowerCase()&&(e=t("input",e.parentNode)[0]),!t.datepicker._isDisabledDatepicker(e)&&t.datepicker._lastInput!==e){var s,n,o,r,h,l,c;s=t.datepicker._getInst(e),t.datepicker._curInst&&t.datepicker._curInst!==s&&(t.datepicker._curInst.dpDiv.stop(!0,!0),s&&t.datepicker._datepickerShowing&&t.datepicker._hideDatepicker(t.datepicker._curInst.input[0])),n=t.datepicker._get(s,"beforeShow"),o=n?n.apply(e,[e,s]):{},o!==!1&&(a(s.settings,o),s.lastVal=null,t.datepicker._lastInput=e,t.datepicker._setDateFromField(s),t.datepicker._inDialog&&(e.value=""),t.datepicker._pos||(t.datepicker._pos=t.datepicker._findPos(e),t.datepicker._pos[1]+=e.offsetHeight),r=!1,t(e).parents().each(function(){return r|="fixed"===t(this).css("position"),!r}),h={left:t.datepicker._pos[0],top:t.datepicker._pos[1]},t.datepicker._pos=null,s.dpDiv.empty(),s.dpDiv.css({position:"absolute",display:"block",top:"-1000px"}),t.datepicker._updateDatepicker(s),h=t.datepicker._checkOffset(s,h,r),s.dpDiv.css({position:t.datepicker._inDialog&&t.blockUI?"static":r?"fixed":"absolute",display:"none",left:h.left+"px",top:h.top+"px"}),s.inline||(l=t.datepicker._get(s,"showAnim"),c=t.datepicker._get(s,"duration"),s.dpDiv.css("z-index",i(t(e))+1),t.datepicker._datepickerShowing=!0,t.effects&&t.effects.effect[l]?s.dpDiv.show(l,t.datepicker._get(s,"showOptions"),c):s.dpDiv[l||"show"](l?c:null),t.datepicker._shouldFocusInput(s)&&s.input.trigger("focus"),t.datepicker._curInst=s))
+}},_updateDatepicker:function(e){this.maxRows=4,m=e,e.dpDiv.empty().append(this._generateHTML(e)),this._attachHandlers(e);var i,s=this._getNumberOfMonths(e),n=s[1],a=17,r=e.dpDiv.find("."+this._dayOverClass+" a");r.length>0&&o.apply(r.get(0)),e.dpDiv.removeClass("ui-datepicker-multi-2 ui-datepicker-multi-3 ui-datepicker-multi-4").width(""),n>1&&e.dpDiv.addClass("ui-datepicker-multi-"+n).css("width",a*n+"em"),e.dpDiv[(1!==s[0]||1!==s[1]?"add":"remove")+"Class"]("ui-datepicker-multi"),e.dpDiv[(this._get(e,"isRTL")?"add":"remove")+"Class"]("ui-datepicker-rtl"),e===t.datepicker._curInst&&t.datepicker._datepickerShowing&&t.datepicker._shouldFocusInput(e)&&e.input.trigger("focus"),e.yearshtml&&(i=e.yearshtml,setTimeout(function(){i===e.yearshtml&&e.yearshtml&&e.dpDiv.find("select.ui-datepicker-year:first").replaceWith(e.yearshtml),i=e.yearshtml=null},0))},_shouldFocusInput:function(t){return t.input&&t.input.is(":visible")&&!t.input.is(":disabled")&&!t.input.is(":focus")},_checkOffset:function(e,i,s){var n=e.dpDiv.outerWidth(),o=e.dpDiv.outerHeight(),a=e.input?e.input.outerWidth():0,r=e.input?e.input.outerHeight():0,h=document.documentElement.clientWidth+(s?0:t(document).scrollLeft()),l=document.documentElement.clientHeight+(s?0:t(document).scrollTop());return i.left-=this._get(e,"isRTL")?n-a:0,i.left-=s&&i.left===e.input.offset().left?t(document).scrollLeft():0,i.top-=s&&i.top===e.input.offset().top+r?t(document).scrollTop():0,i.left-=Math.min(i.left,i.left+n>h&&h>n?Math.abs(i.left+n-h):0),i.top-=Math.min(i.top,i.top+o>l&&l>o?Math.abs(o+r):0),i},_findPos:function(e){for(var i,s=this._getInst(e),n=this._get(s,"isRTL");e&&("hidden"===e.type||1!==e.nodeType||t.expr.filters.hidden(e));)e=e[n?"previousSibling":"nextSibling"];return i=t(e).offset(),[i.left,i.top]},_hideDatepicker:function(e){var i,s,n,o,a=this._curInst;!a||e&&a!==t.data(e,"datepicker")||this._datepickerShowing&&(i=this._get(a,"showAnim"),s=this._get(a,"duration"),n=function(){t.datepicker._tidyDialog(a)},t.effects&&(t.effects.effect[i]||t.effects[i])?a.dpDiv.hide(i,t.datepicker._get(a,"showOptions"),s,n):a.dpDiv["slideDown"===i?"slideUp":"fadeIn"===i?"fadeOut":"hide"](i?s:null,n),i||n(),this._datepickerShowing=!1,o=this._get(a,"onClose"),o&&o.apply(a.input?a.input[0]:null,[a.input?a.input.val():"",a]),this._lastInput=null,this._inDialog&&(this._dialogInput.css({position:"absolute",left:"0",top:"-100px"}),t.blockUI&&(t.unblockUI(),t("body").append(this.dpDiv))),this._inDialog=!1)},_tidyDialog:function(t){t.dpDiv.removeClass(this._dialogClass).off(".ui-datepicker-calendar")},_checkExternalClick:function(e){if(t.datepicker._curInst){var i=t(e.target),s=t.datepicker._getInst(i[0]);(i[0].id!==t.datepicker._mainDivId&&0===i.parents("#"+t.datepicker._mainDivId).length&&!i.hasClass(t.datepicker.markerClassName)&&!i.closest("."+t.datepicker._triggerClass).length&&t.datepicker._datepickerShowing&&(!t.datepicker._inDialog||!t.blockUI)||i.hasClass(t.datepicker.markerClassName)&&t.datepicker._curInst!==s)&&t.datepicker._hideDatepicker()}},_adjustDate:function(e,i,s){var n=t(e),o=this._getInst(n[0]);this._isDisabledDatepicker(n[0])||(this._adjustInstDate(o,i+("M"===s?this._get(o,"showCurrentAtPos"):0),s),this._updateDatepicker(o))},_gotoToday:function(e){var i,s=t(e),n=this._getInst(s[0]);this._get(n,"gotoCurrent")&&n.currentDay?(n.selectedDay=n.currentDay,n.drawMonth=n.selectedMonth=n.currentMonth,n.drawYear=n.selectedYear=n.currentYear):(i=new Date,n.selectedDay=i.getDate(),n.drawMonth=n.selectedMonth=i.getMonth(),n.drawYear=n.selectedYear=i.getFullYear()),this._notifyChange(n),this._adjustDate(s)},_selectMonthYear:function(e,i,s){var n=t(e),o=this._getInst(n[0]);o["selected"+("M"===s?"Month":"Year")]=o["draw"+("M"===s?"Month":"Year")]=parseInt(i.options[i.selectedIndex].value,10),this._notifyChange(o),this._adjustDate(n)},_selectDay:function(e,i,s,n){var o,a=t(e);t(n).hasClass(this._unselectableClass)||this._isDisabledDatepicker(a[0])||(o=this._getInst(a[0]),o.selectedDay=o.currentDay=t("a",n).html(),o.selectedMonth=o.currentMonth=i,o.selectedYear=o.currentYear=s,this._selectDate(e,this._formatDate(o,o.currentDay,o.currentMonth,o.currentYear)))},_clearDate:function(e){var i=t(e);this._selectDate(i,"")},_selectDate:function(e,i){var s,n=t(e),o=this._getInst(n[0]);i=null!=i?i:this._formatDate(o),o.input&&o.input.val(i),this._updateAlternate(o),s=this._get(o,"onSelect"),s?s.apply(o.input?o.input[0]:null,[i,o]):o.input&&o.input.trigger("change"),o.inline?this._updateDatepicker(o):(this._hideDatepicker(),this._lastInput=o.input[0],"object"!=typeof o.input[0]&&o.input.trigger("focus"),this._lastInput=null)},_updateAlternate:function(e){var i,s,n,o=this._get(e,"altField");o&&(i=this._get(e,"altFormat")||this._get(e,"dateFormat"),s=this._getDate(e),n=this.formatDate(i,s,this._getFormatConfig(e)),t(o).val(n))},noWeekends:function(t){var e=t.getDay();return[e>0&&6>e,""]},iso8601Week:function(t){var e,i=new Date(t.getTime());return i.setDate(i.getDate()+4-(i.getDay()||7)),e=i.getTime(),i.setMonth(0),i.setDate(1),Math.floor(Math.round((e-i)/864e5)/7)+1},parseDate:function(e,i,s){if(null==e||null==i)throw"Invalid arguments";if(i="object"==typeof i?""+i:i+"",""===i)return null;var n,o,a,r,h=0,l=(s?s.shortYearCutoff:null)||this._defaults.shortYearCutoff,c="string"!=typeof l?l:(new Date).getFullYear()%100+parseInt(l,10),u=(s?s.dayNamesShort:null)||this._defaults.dayNamesShort,d=(s?s.dayNames:null)||this._defaults.dayNames,p=(s?s.monthNamesShort:null)||this._defaults.monthNamesShort,f=(s?s.monthNames:null)||this._defaults.monthNames,g=-1,m=-1,_=-1,v=-1,b=!1,y=function(t){var i=e.length>n+1&&e.charAt(n+1)===t;return i&&n++,i},w=function(t){var e=y(t),s="@"===t?14:"!"===t?20:"y"===t&&e?4:"o"===t?3:2,n="y"===t?s:1,o=RegExp("^\\d{"+n+","+s+"}"),a=i.substring(h).match(o);if(!a)throw"Missing number at position "+h;return h+=a[0].length,parseInt(a[0],10)},k=function(e,s,n){var o=-1,a=t.map(y(e)?n:s,function(t,e){return[[e,t]]}).sort(function(t,e){return-(t[1].length-e[1].length)});if(t.each(a,function(t,e){var s=e[1];return i.substr(h,s.length).toLowerCase()===s.toLowerCase()?(o=e[0],h+=s.length,!1):void 0}),-1!==o)return o+1;throw"Unknown name at position "+h},x=function(){if(i.charAt(h)!==e.charAt(n))throw"Unexpected literal at position "+h;h++};for(n=0;e.length>n;n++)if(b)"'"!==e.charAt(n)||y("'")?x():b=!1;else switch(e.charAt(n)){case"d":_=w("d");break;case"D":k("D",u,d);break;case"o":v=w("o");break;case"m":m=w("m");break;case"M":m=k("M",p,f);break;case"y":g=w("y");break;case"@":r=new Date(w("@")),g=r.getFullYear(),m=r.getMonth()+1,_=r.getDate();break;case"!":r=new Date((w("!")-this._ticksTo1970)/1e4),g=r.getFullYear(),m=r.getMonth()+1,_=r.getDate();break;case"'":y("'")?x():b=!0;break;default:x()}if(i.length>h&&(a=i.substr(h),!/^\s+/.test(a)))throw"Extra/unparsed characters found in date: "+a;if(-1===g?g=(new Date).getFullYear():100>g&&(g+=(new Date).getFullYear()-(new Date).getFullYear()%100+(c>=g?0:-100)),v>-1)for(m=1,_=v;;){if(o=this._getDaysInMonth(g,m-1),o>=_)break;m++,_-=o}if(r=this._daylightSavingAdjust(new Date(g,m-1,_)),r.getFullYear()!==g||r.getMonth()+1!==m||r.getDate()!==_)throw"Invalid date";return r},ATOM:"yy-mm-dd",COOKIE:"D, dd M yy",ISO_8601:"yy-mm-dd",RFC_822:"D, d M y",RFC_850:"DD, dd-M-y",RFC_1036:"D, d M y",RFC_1123:"D, d M yy",RFC_2822:"D, d M yy",RSS:"D, d M y",TICKS:"!",TIMESTAMP:"@",W3C:"yy-mm-dd",_ticksTo1970:1e7*60*60*24*(718685+Math.floor(492.5)-Math.floor(19.7)+Math.floor(4.925)),formatDate:function(t,e,i){if(!e)return"";var s,n=(i?i.dayNamesShort:null)||this._defaults.dayNamesShort,o=(i?i.dayNames:null)||this._defaults.dayNames,a=(i?i.monthNamesShort:null)||this._defaults.monthNamesShort,r=(i?i.monthNames:null)||this._defaults.monthNames,h=function(e){var i=t.length>s+1&&t.charAt(s+1)===e;return i&&s++,i},l=function(t,e,i){var s=""+e;if(h(t))for(;i>s.length;)s="0"+s;return s},c=function(t,e,i,s){return h(t)?s[e]:i[e]},u="",d=!1;if(e)for(s=0;t.length>s;s++)if(d)"'"!==t.charAt(s)||h("'")?u+=t.charAt(s):d=!1;else switch(t.charAt(s)){case"d":u+=l("d",e.getDate(),2);break;case"D":u+=c("D",e.getDay(),n,o);break;case"o":u+=l("o",Math.round((new Date(e.getFullYear(),e.getMonth(),e.getDate()).getTime()-new Date(e.getFullYear(),0,0).getTime())/864e5),3);break;case"m":u+=l("m",e.getMonth()+1,2);break;case"M":u+=c("M",e.getMonth(),a,r);break;case"y":u+=h("y")?e.getFullYear():(10>e.getFullYear()%100?"0":"")+e.getFullYear()%100;break;case"@":u+=e.getTime();break;case"!":u+=1e4*e.getTime()+this._ticksTo1970;break;case"'":h("'")?u+="'":d=!0;break;default:u+=t.charAt(s)}return u},_possibleChars:function(t){var e,i="",s=!1,n=function(i){var s=t.length>e+1&&t.charAt(e+1)===i;return s&&e++,s};for(e=0;t.length>e;e++)if(s)"'"!==t.charAt(e)||n("'")?i+=t.charAt(e):s=!1;else switch(t.charAt(e)){case"d":case"m":case"y":case"@":i+="0123456789";break;case"D":case"M":return null;case"'":n("'")?i+="'":s=!0;break;default:i+=t.charAt(e)}return i},_get:function(t,e){return void 0!==t.settings[e]?t.settings[e]:this._defaults[e]},_setDateFromField:function(t,e){if(t.input.val()!==t.lastVal){var i=this._get(t,"dateFormat"),s=t.lastVal=t.input?t.input.val():null,n=this._getDefaultDate(t),o=n,a=this._getFormatConfig(t);try{o=this.parseDate(i,s,a)||n}catch(r){s=e?"":s}t.selectedDay=o.getDate(),t.drawMonth=t.selectedMonth=o.getMonth(),t.drawYear=t.selectedYear=o.getFullYear(),t.currentDay=s?o.getDate():0,t.currentMonth=s?o.getMonth():0,t.currentYear=s?o.getFullYear():0,this._adjustInstDate(t)}},_getDefaultDate:function(t){return this._restrictMinMax(t,this._determineDate(t,this._get(t,"defaultDate"),new Date))},_determineDate:function(e,i,s){var n=function(t){var e=new Date;return e.setDate(e.getDate()+t),e},o=function(i){try{return t.datepicker.parseDate(t.datepicker._get(e,"dateFormat"),i,t.datepicker._getFormatConfig(e))}catch(s){}for(var n=(i.toLowerCase().match(/^c/)?t.datepicker._getDate(e):null)||new Date,o=n.getFullYear(),a=n.getMonth(),r=n.getDate(),h=/([+\-]?[0-9]+)\s*(d|D|w|W|m|M|y|Y)?/g,l=h.exec(i);l;){switch(l[2]||"d"){case"d":case"D":r+=parseInt(l[1],10);break;case"w":case"W":r+=7*parseInt(l[1],10);break;case"m":case"M":a+=parseInt(l[1],10),r=Math.min(r,t.datepicker._getDaysInMonth(o,a));break;case"y":case"Y":o+=parseInt(l[1],10),r=Math.min(r,t.datepicker._getDaysInMonth(o,a))}l=h.exec(i)}return new Date(o,a,r)},a=null==i||""===i?s:"string"==typeof i?o(i):"number"==typeof i?isNaN(i)?s:n(i):new Date(i.getTime());return a=a&&"Invalid Date"==""+a?s:a,a&&(a.setHours(0),a.setMinutes(0),a.setSeconds(0),a.setMilliseconds(0)),this._daylightSavingAdjust(a)},_daylightSavingAdjust:function(t){return t?(t.setHours(t.getHours()>12?t.getHours()+2:0),t):null},_setDate:function(t,e,i){var s=!e,n=t.selectedMonth,o=t.selectedYear,a=this._restrictMinMax(t,this._determineDate(t,e,new Date));t.selectedDay=t.currentDay=a.getDate(),t.drawMonth=t.selectedMonth=t.currentMonth=a.getMonth(),t.drawYear=t.selectedYear=t.currentYear=a.getFullYear(),n===t.selectedMonth&&o===t.selectedYear||i||this._notifyChange(t),this._adjustInstDate(t),t.input&&t.input.val(s?"":this._formatDate(t))},_getDate:function(t){var e=!t.currentYear||t.input&&""===t.input.val()?null:this._daylightSavingAdjust(new Date(t.currentYear,t.currentMonth,t.currentDay));return e},_attachHandlers:function(e){var i=this._get(e,"stepMonths"),s="#"+e.id.replace(/\\\\/g,"\\");e.dpDiv.find("[data-handler]").map(function(){var e={prev:function(){t.datepicker._adjustDate(s,-i,"M")},next:function(){t.datepicker._adjustDate(s,+i,"M")},hide:function(){t.datepicker._hideDatepicker()},today:function(){t.datepicker._gotoToday(s)},selectDay:function(){return t.datepicker._selectDay(s,+this.getAttribute("data-month"),+this.getAttribute("data-year"),this),!1},selectMonth:function(){return t.datepicker._selectMonthYear(s,this,"M"),!1},selectYear:function(){return t.datepicker._selectMonthYear(s,this,"Y"),!1}};t(this).on(this.getAttribute("data-event"),e[this.getAttribute("data-handler")])})},_generateHTML:function(t){var e,i,s,n,o,a,r,h,l,c,u,d,p,f,g,m,_,v,b,y,w,k,x,C,D,I,T,P,M,S,H,z,O,A,N,W,E,F,L,R=new Date,B=this._daylightSavingAdjust(new Date(R.getFullYear(),R.getMonth(),R.getDate())),Y=this._get(t,"isRTL"),j=this._get(t,"showButtonPanel"),q=this._get(t,"hideIfNoPrevNext"),K=this._get(t,"navigationAsDateFormat"),U=this._getNumberOfMonths(t),V=this._get(t,"showCurrentAtPos"),$=this._get(t,"stepMonths"),X=1!==U[0]||1!==U[1],G=this._daylightSavingAdjust(t.currentDay?new Date(t.currentYear,t.currentMonth,t.currentDay):new Date(9999,9,9)),Q=this._getMinMaxDate(t,"min"),J=this._getMinMaxDate(t,"max"),Z=t.drawMonth-V,te=t.drawYear;if(0>Z&&(Z+=12,te--),J)for(e=this._daylightSavingAdjust(new Date(J.getFullYear(),J.getMonth()-U[0]*U[1]+1,J.getDate())),e=Q&&Q>e?Q:e;this._daylightSavingAdjust(new Date(te,Z,1))>e;)Z--,0>Z&&(Z=11,te--);for(t.drawMonth=Z,t.drawYear=te,i=this._get(t,"prevText"),i=K?this.formatDate(i,this._daylightSavingAdjust(new Date(te,Z-$,1)),this._getFormatConfig(t)):i,s=this._canAdjustMonth(t,-1,te,Z)?"<a class='ui-datepicker-prev ui-corner-all' data-handler='prev' data-event='click' title='"+i+"'><span class='ui-icon ui-icon-circle-triangle-"+(Y?"e":"w")+"'>"+i+"</span></a>":q?"":"<a class='ui-datepicker-prev ui-corner-all ui-state-disabled' title='"+i+"'><span class='ui-icon ui-icon-circle-triangle-"+(Y?"e":"w")+"'>"+i+"</span></a>",n=this._get(t,"nextText"),n=K?this.formatDate(n,this._daylightSavingAdjust(new Date(te,Z+$,1)),this._getFormatConfig(t)):n,o=this._canAdjustMonth(t,1,te,Z)?"<a class='ui-datepicker-next ui-corner-all' data-handler='next' data-event='click' title='"+n+"'><span class='ui-icon ui-icon-circle-triangle-"+(Y?"w":"e")+"'>"+n+"</span></a>":q?"":"<a class='ui-datepicker-next ui-corner-all ui-state-disabled' title='"+n+"'><span class='ui-icon ui-icon-circle-triangle-"+(Y?"w":"e")+"'>"+n+"</span></a>",a=this._get(t,"currentText"),r=this._get(t,"gotoCurrent")&&t.currentDay?G:B,a=K?this.formatDate(a,r,this._getFormatConfig(t)):a,h=t.inline?"":"<button type='button' class='ui-datepicker-close ui-state-default ui-priority-primary ui-corner-all' data-handler='hide' data-event='click'>"+this._get(t,"closeText")+"</button>",l=j?"<div class='ui-datepicker-buttonpane ui-widget-content'>"+(Y?h:"")+(this._isInRange(t,r)?"<button type='button' class='ui-datepicker-current ui-state-default ui-priority-secondary ui-corner-all' data-handler='today' 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ui-helper-clearfix"+I+"'>"+(/all|left/.test(I)&&0===k?Y?o:s:"")+(/all|right/.test(I)&&0===k?Y?s:o:"")+this._generateMonthYearHeader(t,Z,te,Q,J,k>0||C>0,f,g)+"</div><table class='ui-datepicker-calendar'><thead>"+"<tr>",P=u?"<th class='ui-datepicker-week-col'>"+this._get(t,"weekHeader")+"</th>":"",w=0;7>w;w++)M=(w+c)%7,P+="<th scope='col'"+((w+c+6)%7>=5?" class='ui-datepicker-week-end'":"")+">"+"<span title='"+d[M]+"'>"+p[M]+"</span></th>";for(T+=P+"</tr></thead><tbody>",S=this._getDaysInMonth(te,Z),te===t.selectedYear&&Z===t.selectedMonth&&(t.selectedDay=Math.min(t.selectedDay,S)),H=(this._getFirstDayOfMonth(te,Z)-c+7)%7,z=Math.ceil((H+S)/7),O=X?this.maxRows>z?this.maxRows:z:z,this.maxRows=O,A=this._daylightSavingAdjust(new Date(te,Z,1-H)),N=0;O>N;N++){for(T+="<tr>",W=u?"<td class='ui-datepicker-week-col'>"+this._get(t,"calculateWeek")(A)+"</td>":"",w=0;7>w;w++)E=m?m.apply(t.input?t.input[0]:null,[A]):[!0,""],F=A.getMonth()!==Z,L=F&&!v||!E[0]||Q&&Q>A||J&&A>J,W+="<td class='"+((w+c+6)%7>=5?" ui-datepicker-week-end":"")+(F?" ui-datepicker-other-month":"")+(A.getTime()===D.getTime()&&Z===t.selectedMonth&&t._keyEvent||b.getTime()===A.getTime()&&b.getTime()===D.getTime()?" "+this._dayOverClass:"")+(L?" "+this._unselectableClass+" ui-state-disabled":"")+(F&&!_?"":" "+E[1]+(A.getTime()===G.getTime()?" "+this._currentClass:"")+(A.getTime()===B.getTime()?" ui-datepicker-today":""))+"'"+(F&&!_||!E[2]?"":" title='"+E[2].replace(/'/g,"'")+"'")+(L?"":" data-handler='selectDay' data-event='click' data-month='"+A.getMonth()+"' data-year='"+A.getFullYear()+"'")+">"+(F&&!_?" ":L?"<span class='ui-state-default'>"+A.getDate()+"</span>":"<a class='ui-state-default"+(A.getTime()===B.getTime()?" ui-state-highlight":"")+(A.getTime()===G.getTime()?" ui-state-active":"")+(F?" ui-priority-secondary":"")+"' href='#'>"+A.getDate()+"</a>")+"</td>",A.setDate(A.getDate()+1),A=this._daylightSavingAdjust(A);T+=W+"</tr>"}Z++,Z>11&&(Z=0,te++),T+="</tbody></table>"+(X?"</div>"+(U[0]>0&&C===U[1]-1?"<div class='ui-datepicker-row-break'></div>":""):""),x+=T}y+=x}return y+=l,t._keyEvent=!1,y},_generateMonthYearHeader:function(t,e,i,s,n,o,a,r){var h,l,c,u,d,p,f,g,m=this._get(t,"changeMonth"),_=this._get(t,"changeYear"),v=this._get(t,"showMonthAfterYear"),b="<div class='ui-datepicker-title'>",y="";if(o||!m)y+="<span class='ui-datepicker-month'>"+a[e]+"</span>";else{for(h=s&&s.getFullYear()===i,l=n&&n.getFullYear()===i,y+="<select class='ui-datepicker-month' data-handler='selectMonth' data-event='change'>",c=0;12>c;c++)(!h||c>=s.getMonth())&&(!l||n.getMonth()>=c)&&(y+="<option value='"+c+"'"+(c===e?" selected='selected'":"")+">"+r[c]+"</option>");y+="</select>"}if(v||(b+=y+(!o&&m&&_?"":" ")),!t.yearshtml)if(t.yearshtml="",o||!_)b+="<span class='ui-datepicker-year'>"+i+"</span>";else{for(u=this._get(t,"yearRange").split(":"),d=(new Date).getFullYear(),p=function(t){var e=t.match(/c[+\-].*/)?i+parseInt(t.substring(1),10):t.match(/[+\-].*/)?d+parseInt(t,10):parseInt(t,10);return isNaN(e)?d:e},f=p(u[0]),g=Math.max(f,p(u[1]||"")),f=s?Math.max(f,s.getFullYear()):f,g=n?Math.min(g,n.getFullYear()):g,t.yearshtml+="<select class='ui-datepicker-year' data-handler='selectYear' data-event='change'>";g>=f;f++)t.yearshtml+="<option value='"+f+"'"+(f===i?" selected='selected'":"")+">"+f+"</option>";t.yearshtml+="</select>",b+=t.yearshtml,t.yearshtml=null}return b+=this._get(t,"yearSuffix"),v&&(b+=(!o&&m&&_?"":" ")+y),b+="</div>"},_adjustInstDate:function(t,e,i){var s=t.selectedYear+("Y"===i?e:0),n=t.selectedMonth+("M"===i?e:0),o=Math.min(t.selectedDay,this._getDaysInMonth(s,n))+("D"===i?e:0),a=this._restrictMinMax(t,this._daylightSavingAdjust(new Date(s,n,o)));t.selectedDay=a.getDate(),t.drawMonth=t.selectedMonth=a.getMonth(),t.drawYear=t.selectedYear=a.getFullYear(),("M"===i||"Y"===i)&&this._notifyChange(t)},_restrictMinMax:function(t,e){var i=this._getMinMaxDate(t,"min"),s=this._getMinMaxDate(t,"max"),n=i&&i>e?i:e;return s&&n>s?s:n},_notifyChange:function(t){var e=this._get(t,"onChangeMonthYear");e&&e.apply(t.input?t.input[0]:null,[t.selectedYear,t.selectedMonth+1,t])},_getNumberOfMonths:function(t){var e=this._get(t,"numberOfMonths");return null==e?[1,1]:"number"==typeof e?[1,e]:e},_getMinMaxDate:function(t,e){return this._determineDate(t,this._get(t,e+"Date"),null)},_getDaysInMonth:function(t,e){return 32-this._daylightSavingAdjust(new Date(t,e,32)).getDate()},_getFirstDayOfMonth:function(t,e){return new Date(t,e,1).getDay()},_canAdjustMonth:function(t,e,i,s){var n=this._getNumberOfMonths(t),o=this._daylightSavingAdjust(new Date(i,s+(0>e?e:n[0]*n[1]),1));return 0>e&&o.setDate(this._getDaysInMonth(o.getFullYear(),o.getMonth())),this._isInRange(t,o)},_isInRange:function(t,e){var i,s,n=this._getMinMaxDate(t,"min"),o=this._getMinMaxDate(t,"max"),a=null,r=null,h=this._get(t,"yearRange");return h&&(i=h.split(":"),s=(new Date).getFullYear(),a=parseInt(i[0],10),r=parseInt(i[1],10),i[0].match(/[+\-].*/)&&(a+=s),i[1].match(/[+\-].*/)&&(r+=s)),(!n||e.getTime()>=n.getTime())&&(!o||e.getTime()<=o.getTime())&&(!a||e.getFullYear()>=a)&&(!r||r>=e.getFullYear())},_getFormatConfig:function(t){var e=this._get(t,"shortYearCutoff");return e="string"!=typeof e?e:(new Date).getFullYear()%100+parseInt(e,10),{shortYearCutoff:e,dayNamesShort:this._get(t,"dayNamesShort"),dayNames:this._get(t,"dayNames"),monthNamesShort:this._get(t,"monthNamesShort"),monthNames:this._get(t,"monthNames")}},_formatDate:function(t,e,i,s){e||(t.currentDay=t.selectedDay,t.currentMonth=t.selectedMonth,t.currentYear=t.selectedYear);var n=e?"object"==typeof e?e:this._daylightSavingAdjust(new Date(s,i,e)):this._daylightSavingAdjust(new Date(t.currentYear,t.currentMonth,t.currentDay));return this.formatDate(this._get(t,"dateFormat"),n,this._getFormatConfig(t))}}),t.fn.datepicker=function(e){if(!this.length)return this;t.datepicker.initialized||(t(document).on("mousedown",t.datepicker._checkExternalClick),t.datepicker.initialized=!0),0===t("#"+t.datepicker._mainDivId).length&&t("body").append(t.datepicker.dpDiv);var i=Array.prototype.slice.call(arguments,1);return"string"!=typeof e||"isDisabled"!==e&&"getDate"!==e&&"widget"!==e?"option"===e&&2===arguments.length&&"string"==typeof arguments[1]?t.datepicker["_"+e+"Datepicker"].apply(t.datepicker,[this[0]].concat(i)):this.each(function(){"string"==typeof e?t.datepicker["_"+e+"Datepicker"].apply(t.datepicker,[this].concat(i)):t.datepicker._attachDatepicker(this,e)}):t.datepicker["_"+e+"Datepicker"].apply(t.datepicker,[this[0]].concat(i))},t.datepicker=new s,t.datepicker.initialized=!1,t.datepicker.uuid=(new Date).getTime(),t.datepicker.version="1.12.1",t.datepicker,t.ui.ie=!!/msie [\w.]+/.exec(navigator.userAgent.toLowerCase());var _=!1;t(document).on("mouseup",function(){_=!1}),t.widget("ui.mouse",{version:"1.12.1",options:{cancel:"input, textarea, button, select, option",distance:1,delay:0},_mouseInit:function(){var e=this;this.element.on("mousedown."+this.widgetName,function(t){return e._mouseDown(t)}).on("click."+this.widgetName,function(i){return!0===t.data(i.target,e.widgetName+".preventClickEvent")?(t.removeData(i.target,e.widgetName+".preventClickEvent"),i.stopImmediatePropagation(),!1):void 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i._mouseMove(t)},this._mouseUpDelegate=function(t){return i._mouseUp(t)},this.document.on("mousemove."+this.widgetName,this._mouseMoveDelegate).on("mouseup."+this.widgetName,this._mouseUpDelegate),e.preventDefault(),_=!0,!0)):!0}},_mouseMove:function(e){if(this._mouseMoved){if(t.ui.ie&&(!document.documentMode||9>document.documentMode)&&!e.button)return this._mouseUp(e);if(!e.which)if(e.originalEvent.altKey||e.originalEvent.ctrlKey||e.originalEvent.metaKey||e.originalEvent.shiftKey)this.ignoreMissingWhich=!0;else if(!this.ignoreMissingWhich)return this._mouseUp(e)}return(e.which||e.button)&&(this._mouseMoved=!0),this._mouseStarted?(this._mouseDrag(e),e.preventDefault()):(this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(this._mouseDownEvent,e)!==!1,this._mouseStarted?this._mouseDrag(e):this._mouseUp(e)),!this._mouseStarted)},_mouseUp:function(e){this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate),this._mouseStarted&&(this._mouseStarted=!1,e.target===this._mouseDownEvent.target&&t.data(e.target,this.widgetName+".preventClickEvent",!0),this._mouseStop(e)),this._mouseDelayTimer&&(clearTimeout(this._mouseDelayTimer),delete this._mouseDelayTimer),this.ignoreMissingWhich=!1,_=!1,e.preventDefault()},_mouseDistanceMet:function(t){return Math.max(Math.abs(this._mouseDownEvent.pageX-t.pageX),Math.abs(this._mouseDownEvent.pageY-t.pageY))>=this.options.distance},_mouseDelayMet:function(){return this.mouseDelayMet},_mouseStart:function(){},_mouseDrag:function(){},_mouseStop:function(){},_mouseCapture:function(){return!0}}),t.ui.plugin={add:function(e,i,s){var n,o=t.ui[e].prototype;for(n in s)o.plugins[n]=o.plugins[n]||[],o.plugins[n].push([i,s[n]])},call:function(t,e,i,s){var n,o=t.plugins[e];if(o&&(s||t.element[0].parentNode&&11!==t.element[0].parentNode.nodeType))for(n=0;o.length>n;n++)t.options[o[n][0]]&&o[n][1].apply(t.element,i)}},t.ui.safeBlur=function(e){e&&"body"!==e.nodeName.toLowerCase()&&t(e).trigger("blur")},t.widget("ui.draggable",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"drag",options:{addClasses:!0,appendTo:"parent",axis:!1,connectToSortable:!1,containment:!1,cursor:"auto",cursorAt:!1,grid:!1,handle:!1,helper:"original",iframeFix:!1,opacity:!1,refreshPositions:!1,revert:!1,revertDuration:500,scope:"default",scroll:!0,scrollSensitivity:20,scrollSpeed:20,snap:!1,snapMode:"both",snapTolerance:20,stack:!1,zIndex:!1,drag:null,start:null,stop:null},_create:function(){"original"===this.options.helper&&this._setPositionRelative(),this.options.addClasses&&this._addClass("ui-draggable"),this._setHandleClassName(),this._mouseInit()},_setOption:function(t,e){this._super(t,e),"handle"===t&&(this._removeHandleClassName(),this._setHandleClassName())},_destroy:function(){return(this.helper||this.element).is(".ui-draggable-dragging")?(this.destroyOnClear=!0,void 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this._unblockFrames(),t.ui.ddmanager&&t.ui.ddmanager.dragStop(this,e),this.handleElement.is(e.target)&&this.element.trigger("focus"),t.ui.mouse.prototype._mouseUp.call(this,e)},cancel:function(){return this.helper.is(".ui-draggable-dragging")?this._mouseUp(new t.Event("mouseup",{target:this.element[0]})):this._clear(),this},_getHandle:function(e){return this.options.handle?!!t(e.target).closest(this.element.find(this.options.handle)).length:!0},_setHandleClassName:function(){this.handleElement=this.options.handle?this.element.find(this.options.handle):this.element,this._addClass(this.handleElement,"ui-draggable-handle")},_removeHandleClassName:function(){this._removeClass(this.handleElement,"ui-draggable-handle")},_createHelper:function(e){var i=this.options,s=t.isFunction(i.helper),n=s?t(i.helper.apply(this.element[0],[e])):"clone"===i.helper?this.element.clone().removeAttr("id"):this.element;return n.parents("body").length||n.appendTo("parent"===i.appendTo?this.element[0].parentNode:i.appendTo),s&&n[0]===this.element[0]&&this._setPositionRelative(),n[0]===this.element[0]||/(fixed|absolute)/.test(n.css("position"))||n.css("position","absolute"),n},_setPositionRelative:function(){/^(?:r|a|f)/.test(this.element.css("position"))||(this.element[0].style.position="relative")},_adjustOffsetFromHelper:function(e){"string"==typeof e&&(e=e.split(" ")),t.isArray(e)&&(e={left:+e[0],top:+e[1]||0}),"left"in e&&(this.offset.click.left=e.left+this.margins.left),"right"in e&&(this.offset.click.left=this.helperProportions.width-e.right+this.margins.left),"top"in e&&(this.offset.click.top=e.top+this.margins.top),"bottom"in e&&(this.offset.click.top=this.helperProportions.height-e.bottom+this.margins.top)},_isRootNode:function(t){return/(html|body)/i.test(t.tagName)||t===this.document[0]},_getParentOffset:function(){var 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+},_cacheMargins:function(){this.margins={left:parseInt(this.element.css("marginLeft"),10)||0,top:parseInt(this.element.css("marginTop"),10)||0,right:parseInt(this.element.css("marginRight"),10)||0,bottom:parseInt(this.element.css("marginBottom"),10)||0}},_cacheHelperProportions:function(){this.helperProportions={width:this.helper.outerWidth(),height:this.helper.outerHeight()}},_setContainment:function(){var e,i,s,n=this.options,o=this.document[0];return this.relativeContainer=null,n.containment?"window"===n.containment?(this.containment=[t(window).scrollLeft()-this.offset.relative.left-this.offset.parent.left,t(window).scrollTop()-this.offset.relative.top-this.offset.parent.top,t(window).scrollLeft()+t(window).width()-this.helperProportions.width-this.margins.left,t(window).scrollTop()+(t(window).height()||o.body.parentNode.scrollHeight)-this.helperProportions.height-this.margins.top],void 0):"document"===n.containment?(this.containment=[0,0,t(o).width()-this.helperProportions.width-this.margins.left,(t(o).height()||o.body.parentNode.scrollHeight)-this.helperProportions.height-this.margins.top],void 0):n.containment.constructor===Array?(this.containment=n.containment,void 0):("parent"===n.containment&&(n.containment=this.helper[0].parentNode),i=t(n.containment),s=i[0],s&&(e=/(scroll|auto)/.test(i.css("overflow")),this.containment=[(parseInt(i.css("borderLeftWidth"),10)||0)+(parseInt(i.css("paddingLeft"),10)||0),(parseInt(i.css("borderTopWidth"),10)||0)+(parseInt(i.css("paddingTop"),10)||0),(e?Math.max(s.scrollWidth,s.offsetWidth):s.offsetWidth)-(parseInt(i.css("borderRightWidth"),10)||0)-(parseInt(i.css("paddingRight"),10)||0)-this.helperProportions.width-this.margins.left-this.margins.right,(e?Math.max(s.scrollHeight,s.offsetHeight):s.offsetHeight)-(parseInt(i.css("borderBottomWidth"),10)||0)-(parseInt(i.css("paddingBottom"),10)||0)-this.helperProportions.height-this.margins.top-this.margins.bottom],this.relativeContainer=i),void 0):(this.containment=null,void 0)},_convertPositionTo:function(t,e){e||(e=this.position);var i="absolute"===t?1:-1,s=this._isRootNode(this.scrollParent[0]);return{top:e.top+this.offset.relative.top*i+this.offset.parent.top*i-("fixed"===this.cssPosition?-this.offset.scroll.top:s?0:this.offset.scroll.top)*i,left:e.left+this.offset.relative.left*i+this.offset.parent.left*i-("fixed"===this.cssPosition?-this.offset.scroll.left:s?0:this.offset.scroll.left)*i}},_generatePosition:function(t,e){var i,s,n,o,a=this.options,r=this._isRootNode(this.scrollParent[0]),h=t.pageX,l=t.pageY;return r&&this.offset.scroll||(this.offset.scroll={top:this.scrollParent.scrollTop(),left:this.scrollParent.scrollLeft()}),e&&(this.containment&&(this.relativeContainer?(s=this.relativeContainer.offset(),i=[this.containment[0]+s.left,this.containment[1]+s.top,this.containment[2]+s.left,this.containment[3]+s.top]):i=this.containment,t.pageX-this.offset.click.left<i[0]&&(h=i[0]+this.offset.click.left),t.pageY-this.offset.click.top<i[1]&&(l=i[1]+this.offset.click.top),t.pageX-this.offset.click.left>i[2]&&(h=i[2]+this.offset.click.left),t.pageY-this.offset.click.top>i[3]&&(l=i[3]+this.offset.click.top)),a.grid&&(n=a.grid[1]?this.originalPageY+Math.round((l-this.originalPageY)/a.grid[1])*a.grid[1]:this.originalPageY,l=i?n-this.offset.click.top>=i[1]||n-this.offset.click.top>i[3]?n:n-this.offset.click.top>=i[1]?n-a.grid[1]:n+a.grid[1]:n,o=a.grid[0]?this.originalPageX+Math.round((h-this.originalPageX)/a.grid[0])*a.grid[0]:this.originalPageX,h=i?o-this.offset.click.left>=i[0]||o-this.offset.click.left>i[2]?o:o-this.offset.click.left>=i[0]?o-a.grid[0]:o+a.grid[0]:o),"y"===a.axis&&(h=this.originalPageX),"x"===a.axis&&(l=this.originalPageY)),{top:l-this.offset.click.top-this.offset.relative.top-this.offset.parent.top+("fixed"===this.cssPosition?-this.offset.scroll.top:r?0:this.offset.scroll.top),left:h-this.offset.click.left-this.offset.relative.left-this.offset.parent.left+("fixed"===this.cssPosition?-this.offset.scroll.left:r?0:this.offset.scroll.left)}},_clear:function(){this._removeClass(this.helper,"ui-draggable-dragging"),this.helper[0]===this.element[0]||this.cancelHelperRemoval||this.helper.remove(),this.helper=null,this.cancelHelperRemoval=!1,this.destroyOnClear&&this.destroy()},_trigger:function(e,i,s){return s=s||this._uiHash(),t.ui.plugin.call(this,e,[i,s,this],!0),/^(drag|start|stop)/.test(e)&&(this.positionAbs=this._convertPositionTo("absolute"),s.offset=this.positionAbs),t.Widget.prototype._trigger.call(this,e,i,s)},plugins:{},_uiHash:function(){return{helper:this.helper,position:this.position,originalPosition:this.originalPosition,offset:this.positionAbs}}}),t.ui.plugin.add("draggable","connectToSortable",{start:function(e,i,s){var n=t.extend({},i,{item:s.element});s.sortables=[],t(s.options.connectToSortable).each(function(){var i=t(this).sortable("instance");i&&!i.options.disabled&&(s.sortables.push(i),i.refreshPositions(),i._trigger("activate",e,n))})},stop:function(e,i,s){var n=t.extend({},i,{item:s.element});s.cancelHelperRemoval=!1,t.each(s.sortables,function(){var t=this;t.isOver?(t.isOver=0,s.cancelHelperRemoval=!0,t.cancelHelperRemoval=!1,t._storedCSS={position:t.placeholder.css("position"),top:t.placeholder.css("top"),left:t.placeholder.css("left")},t._mouseStop(e),t.options.helper=t.options._helper):(t.cancelHelperRemoval=!0,t._trigger("deactivate",e,n))})},drag:function(e,i,s){t.each(s.sortables,function(){var n=!1,o=this;o.positionAbs=s.positionAbs,o.helperProportions=s.helperProportions,o.offset.click=s.offset.click,o._intersectsWith(o.containerCache)&&(n=!0,t.each(s.sortables,function(){return this.positionAbs=s.positionAbs,this.helperProportions=s.helperProportions,this.offset.click=s.offset.click,this!==o&&this._intersectsWith(this.containerCache)&&t.contains(o.element[0],this.element[0])&&(n=!1),n})),n?(o.isOver||(o.isOver=1,s._parent=i.helper.parent(),o.currentItem=i.helper.appendTo(o.element).data("ui-sortable-item",!0),o.options._helper=o.options.helper,o.options.helper=function(){return i.helper[0]},e.target=o.currentItem[0],o._mouseCapture(e,!0),o._mouseStart(e,!0,!0),o.offset.click.top=s.offset.click.top,o.offset.click.left=s.offset.click.left,o.offset.parent.left-=s.offset.parent.left-o.offset.parent.left,o.offset.parent.top-=s.offset.parent.top-o.offset.parent.top,s._trigger("toSortable",e),s.dropped=o.element,t.each(s.sortables,function(){this.refreshPositions()}),s.currentItem=s.element,o.fromOutside=s),o.currentItem&&(o._mouseDrag(e),i.position=o.position)):o.isOver&&(o.isOver=0,o.cancelHelperRemoval=!0,o.options._revert=o.options.revert,o.options.revert=!1,o._trigger("out",e,o._uiHash(o)),o._mouseStop(e,!0),o.options.revert=o.options._revert,o.options.helper=o.options._helper,o.placeholder&&o.placeholder.remove(),i.helper.appendTo(s._parent),s._refreshOffsets(e),i.position=s._generatePosition(e,!0),s._trigger("fromSortable",e),s.dropped=!1,t.each(s.sortables,function(){this.refreshPositions()}))})}}),t.ui.plugin.add("draggable","cursor",{start:function(e,i,s){var n=t("body"),o=s.options;n.css("cursor")&&(o._cursor=n.css("cursor")),n.css("cursor",o.cursor)},stop:function(e,i,s){var n=s.options;n._cursor&&t("body").css("cursor",n._cursor)}}),t.ui.plugin.add("draggable","opacity",{start:function(e,i,s){var n=t(i.helper),o=s.options;n.css("opacity")&&(o._opacity=n.css("opacity")),n.css("opacity",o.opacity)},stop:function(e,i,s){var n=s.options;n._opacity&&t(i.helper).css("opacity",n._opacity)}}),t.ui.plugin.add("draggable","scroll",{start:function(t,e,i){i.scrollParentNotHidden||(i.scrollParentNotHidden=i.helper.scrollParent(!1)),i.scrollParentNotHidden[0]!==i.document[0]&&"HTML"!==i.scrollParentNotHidden[0].tagName&&(i.overflowOffset=i.scrollParentNotHidden.offset())},drag:function(e,i,s){var n=s.options,o=!1,a=s.scrollParentNotHidden[0],r=s.document[0];a!==r&&"HTML"!==a.tagName?(n.axis&&"x"===n.axis||(s.overflowOffset.top+a.offsetHeight-e.pageY<n.scrollSensitivity?a.scrollTop=o=a.scrollTop+n.scrollSpeed:e.pageY-s.overflowOffset.top<n.scrollSensitivity&&(a.scrollTop=o=a.scrollTop-n.scrollSpeed)),n.axis&&"y"===n.axis||(s.overflowOffset.left+a.offsetWidth-e.pageX<n.scrollSensitivity?a.scrollLeft=o=a.scrollLeft+n.scrollSpeed:e.pageX-s.overflowOffset.left<n.scrollSensitivity&&(a.scrollLeft=o=a.scrollLeft-n.scrollSpeed))):(n.axis&&"x"===n.axis||(e.pageY-t(r).scrollTop()<n.scrollSensitivity?o=t(r).scrollTop(t(r).scrollTop()-n.scrollSpeed):t(window).height()-(e.pageY-t(r).scrollTop())<n.scrollSensitivity&&(o=t(r).scrollTop(t(r).scrollTop()+n.scrollSpeed))),n.axis&&"y"===n.axis||(e.pageX-t(r).scrollLeft()<n.scrollSensitivity?o=t(r).scrollLeft(t(r).scrollLeft()-n.scrollSpeed):t(window).width()-(e.pageX-t(r).scrollLeft())<n.scrollSensitivity&&(o=t(r).scrollLeft(t(r).scrollLeft()+n.scrollSpeed)))),o!==!1&&t.ui.ddmanager&&!n.dropBehaviour&&t.ui.ddmanager.prepareOffsets(s,e)}}),t.ui.plugin.add("draggable","snap",{start:function(e,i,s){var n=s.options;s.snapElements=[],t(n.snap.constructor!==String?n.snap.items||":data(ui-draggable)":n.snap).each(function(){var e=t(this),i=e.offset();this!==s.element[0]&&s.snapElements.push({item:this,width:e.outerWidth(),height:e.outerHeight(),top:i.top,left:i.left})})},drag:function(e,i,s){var n,o,a,r,h,l,c,u,d,p,f=s.options,g=f.snapTolerance,m=i.offset.left,_=m+s.helperProportions.width,v=i.offset.top,b=v+s.helperProportions.height;for(d=s.snapElements.length-1;d>=0;d--)h=s.snapElements[d].left-s.margins.left,l=h+s.snapElements[d].width,c=s.snapElements[d].top-s.margins.top,u=c+s.snapElements[d].height,h-g>_||m>l+g||c-g>b||v>u+g||!t.contains(s.snapElements[d].item.ownerDocument,s.snapElements[d].item)?(s.snapElements[d].snapping&&s.options.snap.release&&s.options.snap.release.call(s.element,e,t.extend(s._uiHash(),{snapItem:s.snapElements[d].item})),s.snapElements[d].snapping=!1):("inner"!==f.snapMode&&(n=g>=Math.abs(c-b),o=g>=Math.abs(u-v),a=g>=Math.abs(h-_),r=g>=Math.abs(l-m),n&&(i.position.top=s._convertPositionTo("relative",{top:c-s.helperProportions.height,left:0}).top),o&&(i.position.top=s._convertPositionTo("relative",{top:u,left:0}).top),a&&(i.position.left=s._convertPositionTo("relative",{top:0,left:h-s.helperProportions.width}).left),r&&(i.position.left=s._convertPositionTo("relative",{top:0,left:l}).left)),p=n||o||a||r,"outer"!==f.snapMode&&(n=g>=Math.abs(c-v),o=g>=Math.abs(u-b),a=g>=Math.abs(h-m),r=g>=Math.abs(l-_),n&&(i.position.top=s._convertPositionTo("relative",{top:c,left:0}).top),o&&(i.position.top=s._convertPositionTo("relative",{top:u-s.helperProportions.height,left:0}).top),a&&(i.position.left=s._convertPositionTo("relative",{top:0,left:h}).left),r&&(i.position.left=s._convertPositionTo("relative",{top:0,left:l-s.helperProportions.width}).left)),!s.snapElements[d].snapping&&(n||o||a||r||p)&&s.options.snap.snap&&s.options.snap.snap.call(s.element,e,t.extend(s._uiHash(),{snapItem:s.snapElements[d].item})),s.snapElements[d].snapping=n||o||a||r||p)}}),t.ui.plugin.add("draggable","stack",{start:function(e,i,s){var n,o=s.options,a=t.makeArray(t(o.stack)).sort(function(e,i){return(parseInt(t(e).css("zIndex"),10)||0)-(parseInt(t(i).css("zIndex"),10)||0)});a.length&&(n=parseInt(t(a[0]).css("zIndex"),10)||0,t(a).each(function(e){t(this).css("zIndex",n+e)}),this.css("zIndex",n+a.length))}}),t.ui.plugin.add("draggable","zIndex",{start:function(e,i,s){var n=t(i.helper),o=s.options;n.css("zIndex")&&(o._zIndex=n.css("zIndex")),n.css("zIndex",o.zIndex)},stop:function(e,i,s){var n=s.options;n._zIndex&&t(i.helper).css("zIndex",n._zIndex)}}),t.ui.draggable,t.widget("ui.resizable",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"resize",options:{alsoResize:!1,animate:!1,animateDuration:"slow",animateEasing:"swing",aspectRatio:!1,autoHide:!1,classes:{"ui-resizable-se":"ui-icon ui-icon-gripsmall-diagonal-se"},containment:!1,ghost:!1,grid:!1,handles:"e,s,se",helper:!1,maxHeight:null,maxWidth:null,minHeight:10,minWidth:10,zIndex:90,resize:null,start:null,stop:null},_num:function(t){return parseFloat(t)||0},_isNumber:function(t){return!isNaN(parseFloat(t))},_hasScroll:function(e,i){if("hidden"===t(e).css("overflow"))return!1;var s=i&&"left"===i?"scrollLeft":"scrollTop",n=!1;return e[s]>0?!0:(e[s]=1,n=e[s]>0,e[s]=0,n)},_create:function(){var e,i=this.options,s=this;this._addClass("ui-resizable"),t.extend(this,{_aspectRatio:!!i.aspectRatio,aspectRatio:i.aspectRatio,originalElement:this.element,_proportionallyResizeElements:[],_helper:i.helper||i.ghost||i.animate?i.helper||"ui-resizable-helper":null}),this.element[0].nodeName.match(/^(canvas|textarea|input|select|button|img)$/i)&&(this.element.wrap(t("<div class='ui-wrapper' style='overflow: hidden;'></div>").css({position:this.element.css("position"),width:this.element.outerWidth(),height:this.element.outerHeight(),top:this.element.css("top"),left:this.element.css("left")})),this.element=this.element.parent().data("ui-resizable",this.element.resizable("instance")),this.elementIsWrapper=!0,e={marginTop:this.originalElement.css("marginTop"),marginRight:this.originalElement.css("marginRight"),marginBottom:this.originalElement.css("marginBottom"),marginLeft:this.originalElement.css("marginLeft")},this.element.css(e),this.originalElement.css("margin",0),this.originalResizeStyle=this.originalElement.css("resize"),this.originalElement.css("resize","none"),this._proportionallyResizeElements.push(this.originalElement.css({position:"static",zoom:1,display:"block"})),this.originalElement.css(e),this._proportionallyResize()),this._setupHandles(),i.autoHide&&t(this.element).on("mouseenter",function(){i.disabled||(s._removeClass("ui-resizable-autohide"),s._handles.show())}).on("mouseleave",function(){i.disabled||s.resizing||(s._addClass("ui-resizable-autohide"),s._handles.hide())}),this._mouseInit()},_destroy:function(){this._mouseDestroy();var e,i=function(e){t(e).removeData("resizable").removeData("ui-resizable").off(".resizable").find(".ui-resizable-handle").remove()};return this.elementIsWrapper&&(i(this.element),e=this.element,this.originalElement.css({position:e.css("position"),width:e.outerWidth(),height:e.outerHeight(),top:e.css("top"),left:e.css("left")}).insertAfter(e),e.remove()),this.originalElement.css("resize",this.originalResizeStyle),i(this.originalElement),this},_setOption:function(t,e){switch(this._super(t,e),t){case"handles":this._removeHandles(),this._setupHandles();break;default:}},_setupHandles:function(){var e,i,s,n,o,a=this.options,r=this;if(this.handles=a.handles||(t(".ui-resizable-handle",this.element).length?{n:".ui-resizable-n",e:".ui-resizable-e",s:".ui-resizable-s",w:".ui-resizable-w",se:".ui-resizable-se",sw:".ui-resizable-sw",ne:".ui-resizable-ne",nw:".ui-resizable-nw"}:"e,s,se"),this._handles=t(),this.handles.constructor===String)for("all"===this.handles&&(this.handles="n,e,s,w,se,sw,ne,nw"),s=this.handles.split(","),this.handles={},i=0;s.length>i;i++)e=t.trim(s[i]),n="ui-resizable-"+e,o=t("<div>"),this._addClass(o,"ui-resizable-handle "+n),o.css({zIndex:a.zIndex}),this.handles[e]=".ui-resizable-"+e,this.element.append(o);this._renderAxis=function(e){var i,s,n,o;e=e||this.element;for(i in this.handles)this.handles[i].constructor===String?this.handles[i]=this.element.children(this.handles[i]).first().show():(this.handles[i].jquery||this.handles[i].nodeType)&&(this.handles[i]=t(this.handles[i]),this._on(this.handles[i],{mousedown:r._mouseDown})),this.elementIsWrapper&&this.originalElement[0].nodeName.match(/^(textarea|input|select|button)$/i)&&(s=t(this.handles[i],this.element),o=/sw|ne|nw|se|n|s/.test(i)?s.outerHeight():s.outerWidth(),n=["padding",/ne|nw|n/.test(i)?"Top":/se|sw|s/.test(i)?"Bottom":/^e$/.test(i)?"Right":"Left"].join(""),e.css(n,o),this._proportionallyResize()),this._handles=this._handles.add(this.handles[i])},this._renderAxis(this.element),this._handles=this._handles.add(this.element.find(".ui-resizable-handle")),this._handles.disableSelection(),this._handles.on("mouseover",function(){r.resizing||(this.className&&(o=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)),r.axis=o&&o[1]?o[1]:"se")}),a.autoHide&&(this._handles.hide(),this._addClass("ui-resizable-autohide"))},_removeHandles:function(){this._handles.remove()},_mouseCapture:function(e){var i,s,n=!1;for(i in this.handles)s=t(this.handles[i])[0],(s===e.target||t.contains(s,e.target))&&(n=!0);return!this.options.disabled&&n},_mouseStart:function(e){var i,s,n,o=this.options,a=this.element;return this.resizing=!0,this._renderProxy(),i=this._num(this.helper.css("left")),s=this._num(this.helper.css("top")),o.containment&&(i+=t(o.containment).scrollLeft()||0,s+=t(o.containment).scrollTop()||0),this.offset=this.helper.offset(),this.position={left:i,top:s},this.size=this._helper?{width:this.helper.width(),height:this.helper.height()}:{width:a.width(),height:a.height()},this.originalSize=this._helper?{width:a.outerWidth(),height:a.outerHeight()}:{width:a.width(),height:a.height()},this.sizeDiff={width:a.outerWidth()-a.width(),height:a.outerHeight()-a.height()},this.originalPosition={left:i,top:s},this.originalMousePosition={left:e.pageX,top:e.pageY},this.aspectRatio="number"==typeof o.aspectRatio?o.aspectRatio:this.originalSize.width/this.originalSize.height||1,n=t(".ui-resizable-"+this.axis).css("cursor"),t("body").css("cursor","auto"===n?this.axis+"-resize":n),this._addClass("ui-resizable-resizing"),this._propagate("start",e),!0},_mouseDrag:function(e){var i,s,n=this.originalMousePosition,o=this.axis,a=e.pageX-n.left||0,r=e.pageY-n.top||0,h=this._change[o];return this._updatePrevProperties(),h?(i=h.apply(this,[e,a,r]),this._updateVirtualBoundaries(e.shiftKey),(this._aspectRatio||e.shiftKey)&&(i=this._updateRatio(i,e)),i=this._respectSize(i,e),this._updateCache(i),this._propagate("resize",e),s=this._applyChanges(),!this._helper&&this._proportionallyResizeElements.length&&this._proportionallyResize(),t.isEmptyObject(s)||(this._updatePrevProperties(),this._trigger("resize",e,this.ui()),this._applyChanges()),!1):!1},_mouseStop:function(e){this.resizing=!1;var i,s,n,o,a,r,h,l=this.options,c=this;return this._helper&&(i=this._proportionallyResizeElements,s=i.length&&/textarea/i.test(i[0].nodeName),n=s&&this._hasScroll(i[0],"left")?0:c.sizeDiff.height,o=s?0:c.sizeDiff.width,a={width:c.helper.width()-o,height:c.helper.height()-n},r=parseFloat(c.element.css("left"))+(c.position.left-c.originalPosition.left)||null,h=parseFloat(c.element.css("top"))+(c.position.top-c.originalPosition.top)||null,l.animate||this.element.css(t.extend(a,{top:h,left:r})),c.helper.height(c.size.height),c.helper.width(c.size.width),this._helper&&!l.animate&&this._proportionallyResize()),t("body").css("cursor","auto"),this._removeClass("ui-resizable-resizing"),this._propagate("stop",e),this._helper&&this.helper.remove(),!1},_updatePrevProperties:function(){this.prevPosition={top:this.position.top,left:this.position.left},this.prevSize={width:this.size.width,height:this.size.height}},_applyChanges:function(){var t={};return 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n?n:"n,e,s,w,se,sw,ne,nw";this.uiDialog.resizable({cancel:".ui-dialog-content",containment:"document",alsoResize:this.element,maxWidth:s.maxWidth,maxHeight:s.maxHeight,minWidth:s.minWidth,minHeight:this._minHeight(),handles:a,start:function(s,n){i._addClass(t(this),"ui-dialog-resizing"),i._blockFrames(),i._trigger("resizeStart",s,e(n))},resize:function(t,s){i._trigger("resize",t,e(s))},stop:function(n,o){var a=i.uiDialog.offset(),r=a.left-i.document.scrollLeft(),h=a.top-i.document.scrollTop();s.height=i.uiDialog.height(),s.width=i.uiDialog.width(),s.position={my:"left top",at:"left"+(r>=0?"+":"")+r+" "+"top"+(h>=0?"+":"")+h,of:i.window},i._removeClass(t(this),"ui-dialog-resizing"),i._unblockFrames(),i._trigger("resizeStop",n,e(o))}}).css("position",o)},_trackFocus:function(){this._on(this.widget(),{focusin:function(e){this._makeFocusTarget(),this._focusedElement=t(e.target)}})},_makeFocusTarget:function(){this._untrackInstance(),this._trackingInstances().unshift(this)},_untrackInstance:function(){var e=this._trackingInstances(),i=t.inArray(this,e);-1!==i&&e.splice(i,1)},_trackingInstances:function(){var t=this.document.data("ui-dialog-instances");return t||(t=[],this.document.data("ui-dialog-instances",t)),t},_minHeight:function(){var t=this.options;return"auto"===t.height?t.minHeight:Math.min(t.minHeight,t.height)},_position:function(){var t=this.uiDialog.is(":visible");t||this.uiDialog.show(),this.uiDialog.position(this.options.position),t||this.uiDialog.hide()},_setOptions:function(e){var i=this,s=!1,n={};t.each(e,function(t,e){i._setOption(t,e),t in i.sizeRelatedOptions&&(s=!0),t in i.resizableRelatedOptions&&(n[t]=e)}),s&&(this._size(),this._position()),this.uiDialog.is(":data(ui-resizable)")&&this.uiDialog.resizable("option",n)},_setOption:function(e,i){var s,n,o=this.uiDialog;"disabled"!==e&&(this._super(e,i),"appendTo"===e&&this.uiDialog.appendTo(this._appendTo()),"buttons"===e&&this._createButtons(),"closeText"===e&&this.uiDialogTitlebarClose.button({label:t("<a>").text(""+this.options.closeText).html()}),"draggable"===e&&(s=o.is(":data(ui-draggable)"),s&&!i&&o.draggable("destroy"),!s&&i&&this._makeDraggable()),"position"===e&&this._position(),"resizable"===e&&(n=o.is(":data(ui-resizable)"),n&&!i&&o.resizable("destroy"),n&&"string"==typeof i&&o.resizable("option","handles",i),n||i===!1||this._makeResizable()),"title"===e&&this._title(this.uiDialogTitlebar.find(".ui-dialog-title")))},_size:function(){var t,e,i,s=this.options;this.element.show().css({width:"auto",minHeight:0,maxHeight:"none",height:0}),s.minWidth>s.width&&(s.width=s.minWidth),t=this.uiDialog.css({height:"auto",width:s.width}).outerHeight(),e=Math.max(0,s.minHeight-t),i="number"==typeof s.maxHeight?Math.max(0,s.maxHeight-t):"none","auto"===s.height?this.element.css({minHeight:e,maxHeight:i,height:"auto"}):this.element.height(Math.max(0,s.height-t)),this.uiDialog.is(":data(ui-resizable)")&&this.uiDialog.resizable("option","minHeight",this._minHeight())},_blockFrames:function(){this.iframeBlocks=this.document.find("iframe").map(function(){var e=t(this);return t("<div>").css({position:"absolute",width:e.outerWidth(),height:e.outerHeight()}).appendTo(e.parent()).offset(e.offset())[0]})},_unblockFrames:function(){this.iframeBlocks&&(this.iframeBlocks.remove(),delete this.iframeBlocks)},_allowInteraction:function(e){return t(e.target).closest(".ui-dialog").length?!0:!!t(e.target).closest(".ui-datepicker").length},_createOverlay:function(){if(this.options.modal){var e=!0;this._delay(function(){e=!1}),this.document.data("ui-dialog-overlays")||this._on(this.document,{focusin:function(t){e||this._allowInteraction(t)||(t.preventDefault(),this._trackingInstances()[0]._focusTabbable())}}),this.overlay=t("<div>").appendTo(this._appendTo()),this._addClass(this.overlay,null,"ui-widget-overlay ui-front"),this._on(this.overlay,{mousedown:"_keepFocus"}),this.document.data("ui-dialog-overlays",(this.document.data("ui-dialog-overlays")||0)+1)}},_destroyOverlay:function(){if(this.options.modal&&this.overlay){var t=this.document.data("ui-dialog-overlays")-1;t?this.document.data("ui-dialog-overlays",t):(this._off(this.document,"focusin"),this.document.removeData("ui-dialog-overlays")),this.overlay.remove(),this.overlay=null}}}),t.uiBackCompat!==!1&&t.widget("ui.dialog",t.ui.dialog,{options:{dialogClass:""},_createWrapper:function(){this._super(),this.uiDialog.addClass(this.options.dialogClass)},_setOption:function(t,e){"dialogClass"===t&&this.uiDialog.removeClass(this.options.dialogClass).addClass(e),this._superApply(arguments)}}),t.ui.dialog,t.widget("ui.droppable",{version:"1.12.1",widgetEventPrefix:"drop",options:{accept:"*",addClasses:!0,greedy:!1,scope:"default",tolerance:"intersect",activate:null,deactivate:null,drop:null,out:null,over:null},_create:function(){var e,i=this.options,s=i.accept;this.isover=!1,this.isout=!0,this.accept=t.isFunction(s)?s:function(t){return t.is(s)},this.proportions=function(){return arguments.length?(e=arguments[0],void 0):e?e:e={width:this.element[0].offsetWidth,height:this.element[0].offsetHeight}},this._addToManager(i.scope),i.addClasses&&this._addClass("ui-droppable")},_addToManager:function(e){t.ui.ddmanager.droppables[e]=t.ui.ddmanager.droppables[e]||[],t.ui.ddmanager.droppables[e].push(this)},_splice:function(t){for(var e=0;t.length>e;e++)t[e]===this&&t.splice(e,1)},_destroy:function(){var e=t.ui.ddmanager.droppables[this.options.scope];this._splice(e)},_setOption:function(e,i){if("accept"===e)this.accept=t.isFunction(i)?i:function(t){return t.is(i)};else if("scope"===e){var s=t.ui.ddmanager.droppables[this.options.scope];this._splice(s),this._addToManager(i)}this._super(e,i)},_activate:function(e){var i=t.ui.ddmanager.current;this._addActiveClass(),i&&this._trigger("activate",e,this.ui(i))},_deactivate:function(e){var i=t.ui.ddmanager.current;this._removeActiveClass(),i&&this._trigger("deactivate",e,this.ui(i))},_over:function(e){var i=t.ui.ddmanager.current;i&&(i.currentItem||i.element)[0]!==this.element[0]&&this.accept.call(this.element[0],i.currentItem||i.element)&&(this._addHoverClass(),this._trigger("over",e,this.ui(i)))},_out:function(e){var i=t.ui.ddmanager.current;i&&(i.currentItem||i.element)[0]!==this.element[0]&&this.accept.call(this.element[0],i.currentItem||i.element)&&(this._removeHoverClass(),this._trigger("out",e,this.ui(i)))},_drop:function(e,i){var s=i||t.ui.ddmanager.current,n=!1;return s&&(s.currentItem||s.element)[0]!==this.element[0]?(this.element.find(":data(ui-droppable)").not(".ui-draggable-dragging").each(function(){var i=t(this).droppable("instance");return i.options.greedy&&!i.options.disabled&&i.options.scope===s.options.scope&&i.accept.call(i.element[0],s.currentItem||s.element)&&v(s,t.extend(i,{offset:i.element.offset()}),i.options.tolerance,e)?(n=!0,!1):void 0}),n?!1:this.accept.call(this.element[0],s.currentItem||s.element)?(this._removeActiveClass(),this._removeHoverClass(),this._trigger("drop",e,this.ui(s)),this.element):!1):!1},ui:function(t){return{draggable:t.currentItem||t.element,helper:t.helper,position:t.position,offset:t.positionAbs}},_addHoverClass:function(){this._addClass("ui-droppable-hover")},_removeHoverClass:function(){this._removeClass("ui-droppable-hover")},_addActiveClass:function(){this._addClass("ui-droppable-active")},_removeActiveClass:function(){this._removeClass("ui-droppable-active")}});var v=t.ui.intersect=function(){function t(t,e,i){return t>=e&&e+i>t}return function(e,i,s,n){if(!i.offset)return!1;var o=(e.positionAbs||e.position.absolute).left+e.margins.left,a=(e.positionAbs||e.position.absolute).top+e.margins.top,r=o+e.helperProportions.width,h=a+e.helperProportions.height,l=i.offset.left,c=i.offset.top,u=l+i.proportions().width,d=c+i.proportions().height;switch(s){case"fit":return o>=l&&u>=r&&a>=c&&d>=h;case"intersect":return o+e.helperProportions.width/2>l&&u>r-e.helperProportions.width/2&&a+e.helperProportions.height/2>c&&d>h-e.helperProportions.height/2;case"pointer":return t(n.pageY,c,i.proportions().height)&&t(n.pageX,l,i.proportions().width);case"touch":return(a>=c&&d>=a||h>=c&&d>=h||c>a&&h>d)&&(o>=l&&u>=o||r>=l&&u>=r||l>o&&r>u);default:return!1}}}();t.ui.ddmanager={current:null,droppables:{"default":[]},prepareOffsets:function(e,i){var s,n,o=t.ui.ddmanager.droppables[e.options.scope]||[],a=i?i.type:null,r=(e.currentItem||e.element).find(":data(ui-droppable)").addBack();t:for(s=0;o.length>s;s++)if(!(o[s].options.disabled||e&&!o[s].accept.call(o[s].element[0],e.currentItem||e.element))){for(n=0;r.length>n;n++)if(r[n]===o[s].element[0]){o[s].proportions().height=0;continue t}o[s].visible="none"!==o[s].element.css("display"),o[s].visible&&("mousedown"===a&&o[s]._activate.call(o[s],i),o[s].offset=o[s].element.offset(),o[s].proportions({width:o[s].element[0].offsetWidth,height:o[s].element[0].offsetHeight}))}},drop:function(e,i){var s=!1;return t.each((t.ui.ddmanager.droppables[e.options.scope]||[]).slice(),function(){this.options&&(!this.options.disabled&&this.visible&&v(e,this,this.options.tolerance,i)&&(s=this._drop.call(this,i)||s),!this.options.disabled&&this.visible&&this.accept.call(this.element[0],e.currentItem||e.element)&&(this.isout=!0,this.isover=!1,this._deactivate.call(this,i)))}),s},dragStart:function(e,i){e.element.parentsUntil("body").on("scroll.droppable",function(){e.options.refreshPositions||t.ui.ddmanager.prepareOffsets(e,i)})},drag:function(e,i){e.options.refreshPositions&&t.ui.ddmanager.prepareOffsets(e,i),t.each(t.ui.ddmanager.droppables[e.options.scope]||[],function(){if(!this.options.disabled&&!this.greedyChild&&this.visible){var s,n,o,a=v(e,this,this.options.tolerance,i),r=!a&&this.isover?"isout":a&&!this.isover?"isover":null;r&&(this.options.greedy&&(n=this.options.scope,o=this.element.parents(":data(ui-droppable)").filter(function(){return t(this).droppable("instance").options.scope===n}),o.length&&(s=t(o[0]).droppable("instance"),s.greedyChild="isover"===r)),s&&"isover"===r&&(s.isover=!1,s.isout=!0,s._out.call(s,i)),this[r]=!0,this["isout"===r?"isover":"isout"]=!1,this["isover"===r?"_over":"_out"].call(this,i),s&&"isout"===r&&(s.isout=!1,s.isover=!0,s._over.call(s,i)))}})},dragStop:function(e,i){e.element.parentsUntil("body").off("scroll.droppable"),e.options.refreshPositions||t.ui.ddmanager.prepareOffsets(e,i)}},t.uiBackCompat!==!1&&t.widget("ui.droppable",t.ui.droppable,{options:{hoverClass:!1,activeClass:!1},_addActiveClass:function(){this._super(),this.options.activeClass&&this.element.addClass(this.options.activeClass)},_removeActiveClass:function(){this._super(),this.options.activeClass&&this.element.removeClass(this.options.activeClass)},_addHoverClass:function(){this._super(),this.options.hoverClass&&this.element.addClass(this.options.hoverClass)},_removeHoverClass:function(){this._super(),this.options.hoverClass&&this.element.removeClass(this.options.hoverClass)}}),t.ui.droppable,t.widget("ui.progressbar",{version:"1.12.1",options:{classes:{"ui-progressbar":"ui-corner-all","ui-progressbar-value":"ui-corner-left","ui-progressbar-complete":"ui-corner-right"},max:100,value:0,change:null,complete:null},min:0,_create:function(){this.oldValue=this.options.value=this._constrainedValue(),this.element.attr({role:"progressbar","aria-valuemin":this.min}),this._addClass("ui-progressbar","ui-widget ui-widget-content"),this.valueDiv=t("<div>").appendTo(this.element),this._addClass(this.valueDiv,"ui-progressbar-value","ui-widget-header"),this._refreshValue()},_destroy:function(){this.element.removeAttr("role aria-valuemin aria-valuemax aria-valuenow"),this.valueDiv.remove()},value:function(t){return void 0===t?this.options.value:(this.options.value=this._constrainedValue(t),this._refreshValue(),void 0)},_constrainedValue:function(t){return void 0===t&&(t=this.options.value),this.indeterminate=t===!1,"number"!=typeof t&&(t=0),this.indeterminate?!1:Math.min(this.options.max,Math.max(this.min,t))},_setOptions:function(t){var e=t.value;delete t.value,this._super(t),this.options.value=this._constrainedValue(e),this._refreshValue()},_setOption:function(t,e){"max"===t&&(e=Math.max(this.min,e)),this._super(t,e)},_setOptionDisabled:function(t){this._super(t),this.element.attr("aria-disabled",t),this._toggleClass(null,"ui-state-disabled",!!t)},_percentage:function(){return this.indeterminate?100:100*(this.options.value-this.min)/(this.options.max-this.min)},_refreshValue:function(){var e=this.options.value,i=this._percentage();this.valueDiv.toggle(this.indeterminate||e>this.min).width(i.toFixed(0)+"%"),this._toggleClass(this.valueDiv,"ui-progressbar-complete",null,e===this.options.max)._toggleClass("ui-progressbar-indeterminate",null,this.indeterminate),this.indeterminate?(this.element.removeAttr("aria-valuenow"),this.overlayDiv||(this.overlayDiv=t("<div>").appendTo(this.valueDiv),this._addClass(this.overlayDiv,"ui-progressbar-overlay"))):(this.element.attr({"aria-valuemax":this.options.max,"aria-valuenow":e}),this.overlayDiv&&(this.overlayDiv.remove(),this.overlayDiv=null)),this.oldValue!==e&&(this.oldValue=e,this._trigger("change")),e===this.options.max&&this._trigger("complete")}}),t.widget("ui.selectable",t.ui.mouse,{version:"1.12.1",options:{appendTo:"body",autoRefresh:!0,distance:0,filter:"*",tolerance:"touch",selected:null,selecting:null,start:null,stop:null,unselected:null,unselecting:null},_create:function(){var e=this;this._addClass("ui-selectable"),this.dragged=!1,this.refresh=function(){e.elementPos=t(e.element[0]).offset(),e.selectees=t(e.options.filter,e.element[0]),e._addClass(e.selectees,"ui-selectee"),e.selectees.each(function(){var i=t(this),s=i.offset(),n={left:s.left-e.elementPos.left,top:s.top-e.elementPos.top};t.data(this,"selectable-item",{element:this,$element:i,left:n.left,top:n.top,right:n.left+i.outerWidth(),bottom:n.top+i.outerHeight(),startselected:!1,selected:i.hasClass("ui-selected"),selecting:i.hasClass("ui-selecting"),unselecting:i.hasClass("ui-unselecting")})})},this.refresh(),this._mouseInit(),this.helper=t("<div>"),this._addClass(this.helper,"ui-selectable-helper")},_destroy:function(){this.selectees.removeData("selectable-item"),this._mouseDestroy()},_mouseStart:function(e){var i=this,s=this.options;this.opos=[e.pageX,e.pageY],this.elementPos=t(this.element[0]).offset(),this.options.disabled||(this.selectees=t(s.filter,this.element[0]),this._trigger("start",e),t(s.appendTo).append(this.helper),this.helper.css({left:e.pageX,top:e.pageY,width:0,height:0}),s.autoRefresh&&this.refresh(),this.selectees.filter(".ui-selected").each(function(){var s=t.data(this,"selectable-item");s.startselected=!0,e.metaKey||e.ctrlKey||(i._removeClass(s.$element,"ui-selected"),s.selected=!1,i._addClass(s.$element,"ui-unselecting"),s.unselecting=!0,i._trigger("unselecting",e,{unselecting:s.element}))}),t(e.target).parents().addBack().each(function(){var s,n=t.data(this,"selectable-item");return n?(s=!e.metaKey&&!e.ctrlKey||!n.$element.hasClass("ui-selected"),i._removeClass(n.$element,s?"ui-unselecting":"ui-selected")._addClass(n.$element,s?"ui-selecting":"ui-unselecting"),n.unselecting=!s,n.selecting=s,n.selected=s,s?i._trigger("selecting",e,{selecting:n.element}):i._trigger("unselecting",e,{unselecting:n.element}),!1):void 0}))},_mouseDrag:function(e){if(this.dragged=!0,!this.options.disabled){var i,s=this,n=this.options,o=this.opos[0],a=this.opos[1],r=e.pageX,h=e.pageY;return o>r&&(i=r,r=o,o=i),a>h&&(i=h,h=a,a=i),this.helper.css({left:o,top:a,width:r-o,height:h-a}),this.selectees.each(function(){var i=t.data(this,"selectable-item"),l=!1,c={};i&&i.element!==s.element[0]&&(c.left=i.left+s.elementPos.left,c.right=i.right+s.elementPos.left,c.top=i.top+s.elementPos.top,c.bottom=i.bottom+s.elementPos.top,"touch"===n.tolerance?l=!(c.left>r||o>c.right||c.top>h||a>c.bottom):"fit"===n.tolerance&&(l=c.left>o&&r>c.right&&c.top>a&&h>c.bottom),l?(i.selected&&(s._removeClass(i.$element,"ui-selected"),i.selected=!1),i.unselecting&&(s._removeClass(i.$element,"ui-unselecting"),i.unselecting=!1),i.selecting||(s._addClass(i.$element,"ui-selecting"),i.selecting=!0,s._trigger("selecting",e,{selecting:i.element}))):(i.selecting&&((e.metaKey||e.ctrlKey)&&i.startselected?(s._removeClass(i.$element,"ui-selecting"),i.selecting=!1,s._addClass(i.$element,"ui-selected"),i.selected=!0):(s._removeClass(i.$element,"ui-selecting"),i.selecting=!1,i.startselected&&(s._addClass(i.$element,"ui-unselecting"),i.unselecting=!0),s._trigger("unselecting",e,{unselecting:i.element}))),i.selected&&(e.metaKey||e.ctrlKey||i.startselected||(s._removeClass(i.$element,"ui-selected"),i.selected=!1,s._addClass(i.$element,"ui-unselecting"),i.unselecting=!0,s._trigger("unselecting",e,{unselecting:i.element})))))}),!1}},_mouseStop:function(e){var i=this;return this.dragged=!1,t(".ui-unselecting",this.element[0]).each(function(){var s=t.data(this,"selectable-item");i._removeClass(s.$element,"ui-unselecting"),s.unselecting=!1,s.startselected=!1,i._trigger("unselected",e,{unselected:s.element})}),t(".ui-selecting",this.element[0]).each(function(){var s=t.data(this,"selectable-item");i._removeClass(s.$element,"ui-selecting")._addClass(s.$element,"ui-selected"),s.selecting=!1,s.selected=!0,s.startselected=!0,i._trigger("selected",e,{selected:s.element})}),this._trigger("stop",e),this.helper.remove(),!1}}),t.widget("ui.selectmenu",[t.ui.formResetMixin,{version:"1.12.1",defaultElement:"<select>",options:{appendTo:null,classes:{"ui-selectmenu-button-open":"ui-corner-top","ui-selectmenu-button-closed":"ui-corner-all"},disabled:null,icons:{button:"ui-icon-triangle-1-s"},position:{my:"left top",at:"left bottom",collision:"none"},width:!1,change:null,close:null,focus:null,open:null,select:null},_create:function(){var e=this.element.uniqueId().attr("id");this.ids={element:e,button:e+"-button",menu:e+"-menu"},this._drawButton(),this._drawMenu(),this._bindFormResetHandler(),this._rendered=!1,this.menuItems=t()},_drawButton:function(){var e,i=this,s=this._parseOption(this.element.find("option:selected"),this.element[0].selectedIndex);this.labels=this.element.labels().attr("for",this.ids.button),this._on(this.labels,{click:function(t){this.button.focus(),t.preventDefault()}}),this.element.hide(),this.button=t("<span>",{tabindex:this.options.disabled?-1:0,id:this.ids.button,role:"combobox","aria-expanded":"false","aria-autocomplete":"list","aria-owns":this.ids.menu,"aria-haspopup":"true",title:this.element.attr("title")}).insertAfter(this.element),this._addClass(this.button,"ui-selectmenu-button ui-selectmenu-button-closed","ui-button ui-widget"),e=t("<span>").appendTo(this.button),this._addClass(e,"ui-selectmenu-icon","ui-icon "+this.options.icons.button),this.buttonItem=this._renderButtonItem(s).appendTo(this.button),this.options.width!==!1&&this._resizeButton(),this._on(this.button,this._buttonEvents),this.button.one("focusin",function(){i._rendered||i._refreshMenu()})},_drawMenu:function(){var e=this;this.menu=t("<ul>",{"aria-hidden":"true","aria-labelledby":this.ids.button,id:this.ids.menu}),this.menuWrap=t("<div>").append(this.menu),this._addClass(this.menuWrap,"ui-selectmenu-menu","ui-front"),this.menuWrap.appendTo(this._appendTo()),this.menuInstance=this.menu.menu({classes:{"ui-menu":"ui-corner-bottom"},role:"listbox",select:function(t,i){t.preventDefault(),e._setSelection(),e._select(i.item.data("ui-selectmenu-item"),t)},focus:function(t,i){var s=i.item.data("ui-selectmenu-item");null!=e.focusIndex&&s.index!==e.focusIndex&&(e._trigger("focus",t,{item:s}),e.isOpen||e._select(s,t)),e.focusIndex=s.index,e.button.attr("aria-activedescendant",e.menuItems.eq(s.index).attr("id"))}}).menu("instance"),this.menuInstance._off(this.menu,"mouseleave"),this.menuInstance._closeOnDocumentClick=function(){return!1},this.menuInstance._isDivider=function(){return!1}},refresh:function(){this._refreshMenu(),this.buttonItem.replaceWith(this.buttonItem=this._renderButtonItem(this._getSelectedItem().data("ui-selectmenu-item")||{})),null===this.options.width&&this._resizeButton()},_refreshMenu:function(){var t,e=this.element.find("option");this.menu.empty(),this._parseOptions(e),this._renderMenu(this.menu,this.items),this.menuInstance.refresh(),this.menuItems=this.menu.find("li").not(".ui-selectmenu-optgroup").find(".ui-menu-item-wrapper"),this._rendered=!0,e.length&&(t=this._getSelectedItem(),this.menuInstance.focus(null,t),this._setAria(t.data("ui-selectmenu-item")),this._setOption("disabled",this.element.prop("disabled")))},open:function(t){this.options.disabled||(this._rendered?(this._removeClass(this.menu.find(".ui-state-active"),null,"ui-state-active"),this.menuInstance.focus(null,this._getSelectedItem())):this._refreshMenu(),this.menuItems.length&&(this.isOpen=!0,this._toggleAttr(),this._resizeMenu(),this._position(),this._on(this.document,this._documentClick),this._trigger("open",t)))},_position:function(){this.menuWrap.position(t.extend({of:this.button},this.options.position))},close:function(t){this.isOpen&&(this.isOpen=!1,this._toggleAttr(),this.range=null,this._off(this.document),this._trigger("close",t))},widget:function(){return this.button},menuWidget:function(){return this.menu},_renderButtonItem:function(e){var i=t("<span>");return this._setText(i,e.label),this._addClass(i,"ui-selectmenu-text"),i},_renderMenu:function(e,i){var s=this,n="";t.each(i,function(i,o){var a;o.optgroup!==n&&(a=t("<li>",{text:o.optgroup}),s._addClass(a,"ui-selectmenu-optgroup","ui-menu-divider"+(o.element.parent("optgroup").prop("disabled")?" ui-state-disabled":"")),a.appendTo(e),n=o.optgroup),s._renderItemData(e,o)})},_renderItemData:function(t,e){return this._renderItem(t,e).data("ui-selectmenu-item",e)},_renderItem:function(e,i){var s=t("<li>"),n=t("<div>",{title:i.element.attr("title")});return i.disabled&&this._addClass(s,null,"ui-state-disabled"),this._setText(n,i.label),s.append(n).appendTo(e)},_setText:function(t,e){e?t.text(e):t.html(" ")},_move:function(t,e){var i,s,n=".ui-menu-item";this.isOpen?i=this.menuItems.eq(this.focusIndex).parent("li"):(i=this.menuItems.eq(this.element[0].selectedIndex).parent("li"),n+=":not(.ui-state-disabled)"),s="first"===t||"last"===t?i["first"===t?"prevAll":"nextAll"](n).eq(-1):i[t+"All"](n).eq(0),s.length&&this.menuInstance.focus(e,s)},_getSelectedItem:function(){return this.menuItems.eq(this.element[0].selectedIndex).parent("li")},_toggle:function(t){this[this.isOpen?"close":"open"](t)},_setSelection:function(){var t;this.range&&(window.getSelection?(t=window.getSelection(),t.removeAllRanges(),t.addRange(this.range)):this.range.select(),this.button.focus())},_documentClick:{mousedown:function(e){this.isOpen&&(t(e.target).closest(".ui-selectmenu-menu, #"+t.ui.escapeSelector(this.ids.button)).length||this.close(e))}},_buttonEvents:{mousedown:function(){var t;window.getSelection?(t=window.getSelection(),t.rangeCount&&(this.range=t.getRangeAt(0))):this.range=document.selection.createRange()},click:function(t){this._setSelection(),this._toggle(t)},keydown:function(e){var i=!0;switch(e.keyCode){case t.ui.keyCode.TAB:case t.ui.keyCode.ESCAPE:this.close(e),i=!1;break;case t.ui.keyCode.ENTER:this.isOpen&&this._selectFocusedItem(e);break;case t.ui.keyCode.UP:e.altKey?this._toggle(e):this._move("prev",e);break;case t.ui.keyCode.DOWN:e.altKey?this._toggle(e):this._move("next",e);break;case t.ui.keyCode.SPACE:this.isOpen?this._selectFocusedItem(e):this._toggle(e);break;case t.ui.keyCode.LEFT:this._move("prev",e);break;case t.ui.keyCode.RIGHT:this._move("next",e);break;case t.ui.keyCode.HOME:case t.ui.keyCode.PAGE_UP:this._move("first",e);break;case t.ui.keyCode.END:case t.ui.keyCode.PAGE_DOWN:this._move("last",e);break;default:this.menu.trigger(e),i=!1}i&&e.preventDefault()}},_selectFocusedItem:function(t){var e=this.menuItems.eq(this.focusIndex).parent("li");e.hasClass("ui-state-disabled")||this._select(e.data("ui-selectmenu-item"),t)},_select:function(t,e){var i=this.element[0].selectedIndex;this.element[0].selectedIndex=t.index,this.buttonItem.replaceWith(this.buttonItem=this._renderButtonItem(t)),this._setAria(t),this._trigger("select",e,{item:t}),t.index!==i&&this._trigger("change",e,{item:t}),this.close(e)},_setAria:function(t){var e=this.menuItems.eq(t.index).attr("id");this.button.attr({"aria-labelledby":e,"aria-activedescendant":e}),this.menu.attr("aria-activedescendant",e)},_setOption:function(t,e){if("icons"===t){var i=this.button.find("span.ui-icon");this._removeClass(i,null,this.options.icons.button)._addClass(i,null,e.button)}this._super(t,e),"appendTo"===t&&this.menuWrap.appendTo(this._appendTo()),"width"===t&&this._resizeButton()},_setOptionDisabled:function(t){this._super(t),this.menuInstance.option("disabled",t),this.button.attr("aria-disabled",t),this._toggleClass(this.button,null,"ui-state-disabled",t),this.element.prop("disabled",t),t?(this.button.attr("tabindex",-1),this.close()):this.button.attr("tabindex",0)},_appendTo:function(){var e=this.options.appendTo;return e&&(e=e.jquery||e.nodeType?t(e):this.document.find(e).eq(0)),e&&e[0]||(e=this.element.closest(".ui-front, dialog")),e.length||(e=this.document[0].body),e},_toggleAttr:function(){this.button.attr("aria-expanded",this.isOpen),this._removeClass(this.button,"ui-selectmenu-button-"+(this.isOpen?"closed":"open"))._addClass(this.button,"ui-selectmenu-button-"+(this.isOpen?"open":"closed"))._toggleClass(this.menuWrap,"ui-selectmenu-open",null,this.isOpen),this.menu.attr("aria-hidden",!this.isOpen)},_resizeButton:function(){var t=this.options.width;return t===!1?(this.button.css("width",""),void 0):(null===t&&(t=this.element.show().outerWidth(),this.element.hide()),this.button.outerWidth(t),void 0)},_resizeMenu:function(){this.menu.outerWidth(Math.max(this.button.outerWidth(),this.menu.width("").outerWidth()+1))},_getCreateOptions:function(){var t=this._super();return t.disabled=this.element.prop("disabled"),t},_parseOptions:function(e){var i=this,s=[];e.each(function(e,n){s.push(i._parseOption(t(n),e))}),this.items=s},_parseOption:function(t,e){var i=t.parent("optgroup");return{element:t,index:e,value:t.val(),label:t.text(),optgroup:i.attr("label")||"",disabled:i.prop("disabled")||t.prop("disabled")}},_destroy:function(){this._unbindFormResetHandler(),this.menuWrap.remove(),this.button.remove(),this.element.show(),this.element.removeUniqueId(),this.labels.attr("for",this.ids.element)}}]),t.widget("ui.slider",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"slide",options:{animate:!1,classes:{"ui-slider":"ui-corner-all","ui-slider-handle":"ui-corner-all","ui-slider-range":"ui-corner-all ui-widget-header"},distance:0,max:100,min:0,orientation:"horizontal",range:!1,step:1,value:0,values:null,change:null,slide:null,start:null,stop:null},numPages:5,_create:function(){this._keySliding=!1,this._mouseSliding=!1,this._animateOff=!0,this._handleIndex=null,this._detectOrientation(),this._mouseInit(),this._calculateNewMax(),this._addClass("ui-slider ui-slider-"+this.orientation,"ui-widget ui-widget-content"),this._refresh(),this._animateOff=!1
+},_refresh:function(){this._createRange(),this._createHandles(),this._setupEvents(),this._refreshValue()},_createHandles:function(){var e,i,s=this.options,n=this.element.find(".ui-slider-handle"),o="<span tabindex='0'></span>",a=[];for(i=s.values&&s.values.length||1,n.length>i&&(n.slice(i).remove(),n=n.slice(0,i)),e=n.length;i>e;e++)a.push(o);this.handles=n.add(t(a.join("")).appendTo(this.element)),this._addClass(this.handles,"ui-slider-handle","ui-state-default"),this.handle=this.handles.eq(0),this.handles.each(function(e){t(this).data("ui-slider-handle-index",e).attr("tabIndex",0)})},_createRange:function(){var e=this.options;e.range?(e.range===!0&&(e.values?e.values.length&&2!==e.values.length?e.values=[e.values[0],e.values[0]]:t.isArray(e.values)&&(e.values=e.values.slice(0)):e.values=[this._valueMin(),this._valueMin()]),this.range&&this.range.length?(this._removeClass(this.range,"ui-slider-range-min ui-slider-range-max"),this.range.css({left:"",bottom:""})):(this.range=t("<div>").appendTo(this.element),this._addClass(this.range,"ui-slider-range")),("min"===e.range||"max"===e.range)&&this._addClass(this.range,"ui-slider-range-"+e.range)):(this.range&&this.range.remove(),this.range=null)},_setupEvents:function(){this._off(this.handles),this._on(this.handles,this._handleEvents),this._hoverable(this.handles),this._focusable(this.handles)},_destroy:function(){this.handles.remove(),this.range&&this.range.remove(),this._mouseDestroy()},_mouseCapture:function(e){var i,s,n,o,a,r,h,l,c=this,u=this.options;return u.disabled?!1:(this.elementSize={width:this.element.outerWidth(),height:this.element.outerHeight()},this.elementOffset=this.element.offset(),i={x:e.pageX,y:e.pageY},s=this._normValueFromMouse(i),n=this._valueMax()-this._valueMin()+1,this.handles.each(function(e){var i=Math.abs(s-c.values(e));(n>i||n===i&&(e===c._lastChangedValue||c.values(e)===u.min))&&(n=i,o=t(this),a=e)}),r=this._start(e,a),r===!1?!1:(this._mouseSliding=!0,this._handleIndex=a,this._addClass(o,null,"ui-state-active"),o.trigger("focus"),h=o.offset(),l=!t(e.target).parents().addBack().is(".ui-slider-handle"),this._clickOffset=l?{left:0,top:0}:{left:e.pageX-h.left-o.width()/2,top:e.pageY-h.top-o.height()/2-(parseInt(o.css("borderTopWidth"),10)||0)-(parseInt(o.css("borderBottomWidth"),10)||0)+(parseInt(o.css("marginTop"),10)||0)},this.handles.hasClass("ui-state-hover")||this._slide(e,a,s),this._animateOff=!0,!0))},_mouseStart:function(){return!0},_mouseDrag:function(t){var e={x:t.pageX,y:t.pageY},i=this._normValueFromMouse(e);return this._slide(t,this._handleIndex,i),!1},_mouseStop:function(t){return this._removeClass(this.handles,null,"ui-state-active"),this._mouseSliding=!1,this._stop(t,this._handleIndex),this._change(t,this._handleIndex),this._handleIndex=null,this._clickOffset=null,this._animateOff=!1,!1},_detectOrientation:function(){this.orientation="vertical"===this.options.orientation?"vertical":"horizontal"},_normValueFromMouse:function(t){var e,i,s,n,o;return"horizontal"===this.orientation?(e=this.elementSize.width,i=t.x-this.elementOffset.left-(this._clickOffset?this._clickOffset.left:0)):(e=this.elementSize.height,i=t.y-this.elementOffset.top-(this._clickOffset?this._clickOffset.top:0)),s=i/e,s>1&&(s=1),0>s&&(s=0),"vertical"===this.orientation&&(s=1-s),n=this._valueMax()-this._valueMin(),o=this._valueMin()+s*n,this._trimAlignValue(o)},_uiHash:function(t,e,i){var s={handle:this.handles[t],handleIndex:t,value:void 0!==e?e:this.value()};return this._hasMultipleValues()&&(s.value=void 0!==e?e:this.values(t),s.values=i||this.values()),s},_hasMultipleValues:function(){return this.options.values&&this.options.values.length},_start:function(t,e){return this._trigger("start",t,this._uiHash(e))},_slide:function(t,e,i){var s,n,o=this.value(),a=this.values();this._hasMultipleValues()&&(n=this.values(e?0:1),o=this.values(e),2===this.options.values.length&&this.options.range===!0&&(i=0===e?Math.min(n,i):Math.max(n,i)),a[e]=i),i!==o&&(s=this._trigger("slide",t,this._uiHash(e,i,a)),s!==!1&&(this._hasMultipleValues()?this.values(e,i):this.value(i)))},_stop:function(t,e){this._trigger("stop",t,this._uiHash(e))},_change:function(t,e){this._keySliding||this._mouseSliding||(this._lastChangedValue=e,this._trigger("change",t,this._uiHash(e)))},value:function(t){return arguments.length?(this.options.value=this._trimAlignValue(t),this._refreshValue(),this._change(null,0),void 0):this._value()},values:function(e,i){var s,n,o;if(arguments.length>1)return this.options.values[e]=this._trimAlignValue(i),this._refreshValue(),this._change(null,e),void 0;if(!arguments.length)return this._values();if(!t.isArray(arguments[0]))return this._hasMultipleValues()?this._values(e):this.value();for(s=this.options.values,n=arguments[0],o=0;s.length>o;o+=1)s[o]=this._trimAlignValue(n[o]),this._change(null,o);this._refreshValue()},_setOption:function(e,i){var s,n=0;switch("range"===e&&this.options.range===!0&&("min"===i?(this.options.value=this._values(0),this.options.values=null):"max"===i&&(this.options.value=this._values(this.options.values.length-1),this.options.values=null)),t.isArray(this.options.values)&&(n=this.options.values.length),this._super(e,i),e){case"orientation":this._detectOrientation(),this._removeClass("ui-slider-horizontal ui-slider-vertical")._addClass("ui-slider-"+this.orientation),this._refreshValue(),this.options.range&&this._refreshRange(i),this.handles.css("horizontal"===i?"bottom":"left","");break;case"value":this._animateOff=!0,this._refreshValue(),this._change(null,0),this._animateOff=!1;break;case"values":for(this._animateOff=!0,this._refreshValue(),s=n-1;s>=0;s--)this._change(null,s);this._animateOff=!1;break;case"step":case"min":case"max":this._animateOff=!0,this._calculateNewMax(),this._refreshValue(),this._animateOff=!1;break;case"range":this._animateOff=!0,this._refresh(),this._animateOff=!1}},_setOptionDisabled:function(t){this._super(t),this._toggleClass(null,"ui-state-disabled",!!t)},_value:function(){var t=this.options.value;return t=this._trimAlignValue(t)},_values:function(t){var e,i,s;if(arguments.length)return e=this.options.values[t],e=this._trimAlignValue(e);if(this._hasMultipleValues()){for(i=this.options.values.slice(),s=0;i.length>s;s+=1)i[s]=this._trimAlignValue(i[s]);return i}return[]},_trimAlignValue:function(t){if(this._valueMin()>=t)return this._valueMin();if(t>=this._valueMax())return this._valueMax();var e=this.options.step>0?this.options.step:1,i=(t-this._valueMin())%e,s=t-i;return 2*Math.abs(i)>=e&&(s+=i>0?e:-e),parseFloat(s.toFixed(5))},_calculateNewMax:function(){var t=this.options.max,e=this._valueMin(),i=this.options.step,s=Math.round((t-e)/i)*i;t=s+e,t>this.options.max&&(t-=i),this.max=parseFloat(t.toFixed(this._precision()))},_precision:function(){var t=this._precisionOf(this.options.step);return null!==this.options.min&&(t=Math.max(t,this._precisionOf(this.options.min))),t},_precisionOf:function(t){var e=""+t,i=e.indexOf(".");return-1===i?0:e.length-i-1},_valueMin:function(){return this.options.min},_valueMax:function(){return this.max},_refreshRange:function(t){"vertical"===t&&this.range.css({width:"",left:""}),"horizontal"===t&&this.range.css({height:"",bottom:""})},_refreshValue:function(){var e,i,s,n,o,a=this.options.range,r=this.options,h=this,l=this._animateOff?!1:r.animate,c={};this._hasMultipleValues()?this.handles.each(function(s){i=100*((h.values(s)-h._valueMin())/(h._valueMax()-h._valueMin())),c["horizontal"===h.orientation?"left":"bottom"]=i+"%",t(this).stop(1,1)[l?"animate":"css"](c,r.animate),h.options.range===!0&&("horizontal"===h.orientation?(0===s&&h.range.stop(1,1)[l?"animate":"css"]({left:i+"%"},r.animate),1===s&&h.range[l?"animate":"css"]({width:i-e+"%"},{queue:!1,duration:r.animate})):(0===s&&h.range.stop(1,1)[l?"animate":"css"]({bottom:i+"%"},r.animate),1===s&&h.range[l?"animate":"css"]({height:i-e+"%"},{queue:!1,duration:r.animate}))),e=i}):(s=this.value(),n=this._valueMin(),o=this._valueMax(),i=o!==n?100*((s-n)/(o-n)):0,c["horizontal"===this.orientation?"left":"bottom"]=i+"%",this.handle.stop(1,1)[l?"animate":"css"](c,r.animate),"min"===a&&"horizontal"===this.orientation&&this.range.stop(1,1)[l?"animate":"css"]({width:i+"%"},r.animate),"max"===a&&"horizontal"===this.orientation&&this.range.stop(1,1)[l?"animate":"css"]({width:100-i+"%"},r.animate),"min"===a&&"vertical"===this.orientation&&this.range.stop(1,1)[l?"animate":"css"]({height:i+"%"},r.animate),"max"===a&&"vertical"===this.orientation&&this.range.stop(1,1)[l?"animate":"css"]({height:100-i+"%"},r.animate))},_handleEvents:{keydown:function(e){var i,s,n,o,a=t(e.target).data("ui-slider-handle-index");switch(e.keyCode){case t.ui.keyCode.HOME:case t.ui.keyCode.END:case t.ui.keyCode.PAGE_UP:case t.ui.keyCode.PAGE_DOWN:case t.ui.keyCode.UP:case t.ui.keyCode.RIGHT:case t.ui.keyCode.DOWN:case t.ui.keyCode.LEFT:if(e.preventDefault(),!this._keySliding&&(this._keySliding=!0,this._addClass(t(e.target),null,"ui-state-active"),i=this._start(e,a),i===!1))return}switch(o=this.options.step,s=n=this._hasMultipleValues()?this.values(a):this.value(),e.keyCode){case t.ui.keyCode.HOME:n=this._valueMin();break;case t.ui.keyCode.END:n=this._valueMax();break;case t.ui.keyCode.PAGE_UP:n=this._trimAlignValue(s+(this._valueMax()-this._valueMin())/this.numPages);break;case t.ui.keyCode.PAGE_DOWN:n=this._trimAlignValue(s-(this._valueMax()-this._valueMin())/this.numPages);break;case t.ui.keyCode.UP:case t.ui.keyCode.RIGHT:if(s===this._valueMax())return;n=this._trimAlignValue(s+o);break;case t.ui.keyCode.DOWN:case t.ui.keyCode.LEFT:if(s===this._valueMin())return;n=this._trimAlignValue(s-o)}this._slide(e,a,n)},keyup:function(e){var i=t(e.target).data("ui-slider-handle-index");this._keySliding&&(this._keySliding=!1,this._stop(e,i),this._change(e,i),this._removeClass(t(e.target),null,"ui-state-active"))}}}),t.widget("ui.sortable",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"sort",ready:!1,options:{appendTo:"parent",axis:!1,connectWith:!1,containment:!1,cursor:"auto",cursorAt:!1,dropOnEmpty:!0,forcePlaceholderSize:!1,forceHelperSize:!1,grid:!1,handle:!1,helper:"original",items:"> *",opacity:!1,placeholder:!1,revert:!1,scroll:!0,scrollSensitivity:20,scrollSpeed:20,scope:"default",tolerance:"intersect",zIndex:1e3,activate:null,beforeStop:null,change:null,deactivate:null,out:null,over:null,receive:null,remove:null,sort:null,start:null,stop:null,update:null},_isOverAxis:function(t,e,i){return t>=e&&e+i>t},_isFloating:function(t){return/left|right/.test(t.css("float"))||/inline|table-cell/.test(t.css("display"))},_create:function(){this.containerCache={},this._addClass("ui-sortable"),this.refresh(),this.offset=this.element.offset(),this._mouseInit(),this._setHandleClassName(),this.ready=!0},_setOption:function(t,e){this._super(t,e),"handle"===t&&this._setHandleClassName()},_setHandleClassName:function(){var e=this;this._removeClass(this.element.find(".ui-sortable-handle"),"ui-sortable-handle"),t.each(this.items,function(){e._addClass(this.instance.options.handle?this.item.find(this.instance.options.handle):this.item,"ui-sortable-handle")})},_destroy:function(){this._mouseDestroy();for(var t=this.items.length-1;t>=0;t--)this.items[t].item.removeData(this.widgetName+"-item");return this},_mouseCapture:function(e,i){var s=null,n=!1,o=this;return this.reverting?!1:this.options.disabled||"static"===this.options.type?!1:(this._refreshItems(e),t(e.target).parents().each(function(){return t.data(this,o.widgetName+"-item")===o?(s=t(this),!1):void 0}),t.data(e.target,o.widgetName+"-item")===o&&(s=t(e.target)),s?!this.options.handle||i||(t(this.options.handle,s).find("*").addBack().each(function(){this===e.target&&(n=!0)}),n)?(this.currentItem=s,this._removeCurrentsFromItems(),!0):!1:!1)},_mouseStart:function(e,i,s){var n,o,a=this.options;if(this.currentContainer=this,this.refreshPositions(),this.helper=this._createHelper(e),this._cacheHelperProportions(),this._cacheMargins(),this.scrollParent=this.helper.scrollParent(),this.offset=this.currentItem.offset(),this.offset={top:this.offset.top-this.margins.top,left:this.offset.left-this.margins.left},t.extend(this.offset,{click:{left:e.pageX-this.offset.left,top:e.pageY-this.offset.top},parent:this._getParentOffset(),relative:this._getRelativeOffset()}),this.helper.css("position","absolute"),this.cssPosition=this.helper.css("position"),this.originalPosition=this._generatePosition(e),this.originalPageX=e.pageX,this.originalPageY=e.pageY,a.cursorAt&&this._adjustOffsetFromHelper(a.cursorAt),this.domPosition={prev:this.currentItem.prev()[0],parent:this.currentItem.parent()[0]},this.helper[0]!==this.currentItem[0]&&this.currentItem.hide(),this._createPlaceholder(),a.containment&&this._setContainment(),a.cursor&&"auto"!==a.cursor&&(o=this.document.find("body"),this.storedCursor=o.css("cursor"),o.css("cursor",a.cursor),this.storedStylesheet=t("<style>*{ cursor: "+a.cursor+" !important; }</style>").appendTo(o)),a.opacity&&(this.helper.css("opacity")&&(this._storedOpacity=this.helper.css("opacity")),this.helper.css("opacity",a.opacity)),a.zIndex&&(this.helper.css("zIndex")&&(this._storedZIndex=this.helper.css("zIndex")),this.helper.css("zIndex",a.zIndex)),this.scrollParent[0]!==this.document[0]&&"HTML"!==this.scrollParent[0].tagName&&(this.overflowOffset=this.scrollParent.offset()),this._trigger("start",e,this._uiHash()),this._preserveHelperProportions||this._cacheHelperProportions(),!s)for(n=this.containers.length-1;n>=0;n--)this.containers[n]._trigger("activate",e,this._uiHash(this));return t.ui.ddmanager&&(t.ui.ddmanager.current=this),t.ui.ddmanager&&!a.dropBehaviour&&t.ui.ddmanager.prepareOffsets(this,e),this.dragging=!0,this._addClass(this.helper,"ui-sortable-helper"),this._mouseDrag(e),!0},_mouseDrag:function(e){var i,s,n,o,a=this.options,r=!1;for(this.position=this._generatePosition(e),this.positionAbs=this._convertPositionTo("absolute"),this.lastPositionAbs||(this.lastPositionAbs=this.positionAbs),this.options.scroll&&(this.scrollParent[0]!==this.document[0]&&"HTML"!==this.scrollParent[0].tagName?(this.overflowOffset.top+this.scrollParent[0].offsetHeight-e.pageY<a.scrollSensitivity?this.scrollParent[0].scrollTop=r=this.scrollParent[0].scrollTop+a.scrollSpeed:e.pageY-this.overflowOffset.top<a.scrollSensitivity&&(this.scrollParent[0].scrollTop=r=this.scrollParent[0].scrollTop-a.scrollSpeed),this.overflowOffset.left+this.scrollParent[0].offsetWidth-e.pageX<a.scrollSensitivity?this.scrollParent[0].scrollLeft=r=this.scrollParent[0].scrollLeft+a.scrollSpeed:e.pageX-this.overflowOffset.left<a.scrollSensitivity&&(this.scrollParent[0].scrollLeft=r=this.scrollParent[0].scrollLeft-a.scrollSpeed)):(e.pageY-this.document.scrollTop()<a.scrollSensitivity?r=this.document.scrollTop(this.document.scrollTop()-a.scrollSpeed):this.window.height()-(e.pageY-this.document.scrollTop())<a.scrollSensitivity&&(r=this.document.scrollTop(this.document.scrollTop()+a.scrollSpeed)),e.pageX-this.document.scrollLeft()<a.scrollSensitivity?r=this.document.scrollLeft(this.document.scrollLeft()-a.scrollSpeed):this.window.width()-(e.pageX-this.document.scrollLeft())<a.scrollSensitivity&&(r=this.document.scrollLeft(this.document.scrollLeft()+a.scrollSpeed))),r!==!1&&t.ui.ddmanager&&!a.dropBehaviour&&t.ui.ddmanager.prepareOffsets(this,e)),this.positionAbs=this._convertPositionTo("absolute"),this.options.axis&&"y"===this.options.axis||(this.helper[0].style.left=this.position.left+"px"),this.options.axis&&"x"===this.options.axis||(this.helper[0].style.top=this.position.top+"px"),i=this.items.length-1;i>=0;i--)if(s=this.items[i],n=s.item[0],o=this._intersectsWithPointer(s),o&&s.instance===this.currentContainer&&n!==this.currentItem[0]&&this.placeholder[1===o?"next":"prev"]()[0]!==n&&!t.contains(this.placeholder[0],n)&&("semi-dynamic"===this.options.type?!t.contains(this.element[0],n):!0)){if(this.direction=1===o?"down":"up","pointer"!==this.options.tolerance&&!this._intersectsWithSides(s))break;this._rearrange(e,s),this._trigger("change",e,this._uiHash());break}return this._contactContainers(e),t.ui.ddmanager&&t.ui.ddmanager.drag(this,e),this._trigger("sort",e,this._uiHash()),this.lastPositionAbs=this.positionAbs,!1},_mouseStop:function(e,i){if(e){if(t.ui.ddmanager&&!this.options.dropBehaviour&&t.ui.ddmanager.drop(this,e),this.options.revert){var s=this,n=this.placeholder.offset(),o=this.options.axis,a={};o&&"x"!==o||(a.left=n.left-this.offset.parent.left-this.margins.left+(this.offsetParent[0]===this.document[0].body?0:this.offsetParent[0].scrollLeft)),o&&"y"!==o||(a.top=n.top-this.offset.parent.top-this.margins.top+(this.offsetParent[0]===this.document[0].body?0:this.offsetParent[0].scrollTop)),this.reverting=!0,t(this.helper).animate(a,parseInt(this.options.revert,10)||500,function(){s._clear(e)})}else this._clear(e,i);return!1}},cancel:function(){if(this.dragging){this._mouseUp(new t.Event("mouseup",{target:null})),"original"===this.options.helper?(this.currentItem.css(this._storedCSS),this._removeClass(this.currentItem,"ui-sortable-helper")):this.currentItem.show();for(var e=this.containers.length-1;e>=0;e--)this.containers[e]._trigger("deactivate",null,this._uiHash(this)),this.containers[e].containerCache.over&&(this.containers[e]._trigger("out",null,this._uiHash(this)),this.containers[e].containerCache.over=0)}return this.placeholder&&(this.placeholder[0].parentNode&&this.placeholder[0].parentNode.removeChild(this.placeholder[0]),"original"!==this.options.helper&&this.helper&&this.helper[0].parentNode&&this.helper.remove(),t.extend(this,{helper:null,dragging:!1,reverting:!1,_noFinalSort:null}),this.domPosition.prev?t(this.domPosition.prev).after(this.currentItem):t(this.domPosition.parent).prepend(this.currentItem)),this},serialize:function(e){var i=this._getItemsAsjQuery(e&&e.connected),s=[];return e=e||{},t(i).each(function(){var i=(t(e.item||this).attr(e.attribute||"id")||"").match(e.expression||/(.+)[\-=_](.+)/);i&&s.push((e.key||i[1]+"[]")+"="+(e.key&&e.expression?i[1]:i[2]))}),!s.length&&e.key&&s.push(e.key+"="),s.join("&")},toArray:function(e){var i=this._getItemsAsjQuery(e&&e.connected),s=[];return e=e||{},i.each(function(){s.push(t(e.item||this).attr(e.attribute||"id")||"")}),s},_intersectsWith:function(t){var e=this.positionAbs.left,i=e+this.helperProportions.width,s=this.positionAbs.top,n=s+this.helperProportions.height,o=t.left,a=o+t.width,r=t.top,h=r+t.height,l=this.offset.click.top,c=this.offset.click.left,u="x"===this.options.axis||s+l>r&&h>s+l,d="y"===this.options.axis||e+c>o&&a>e+c,p=u&&d;return"pointer"===this.options.tolerance||this.options.forcePointerForContainers||"pointer"!==this.options.tolerance&&this.helperProportions[this.floating?"width":"height"]>t[this.floating?"width":"height"]?p:e+this.helperProportions.width/2>o&&a>i-this.helperProportions.width/2&&s+this.helperProportions.height/2>r&&h>n-this.helperProportions.height/2},_intersectsWithPointer:function(t){var e,i,s="x"===this.options.axis||this._isOverAxis(this.positionAbs.top+this.offset.click.top,t.top,t.height),n="y"===this.options.axis||this._isOverAxis(this.positionAbs.left+this.offset.click.left,t.left,t.width),o=s&&n;return o?(e=this._getDragVerticalDirection(),i=this._getDragHorizontalDirection(),this.floating?"right"===i||"down"===e?2:1:e&&("down"===e?2:1)):!1},_intersectsWithSides:function(t){var e=this._isOverAxis(this.positionAbs.top+this.offset.click.top,t.top+t.height/2,t.height),i=this._isOverAxis(this.positionAbs.left+this.offset.click.left,t.left+t.width/2,t.width),s=this._getDragVerticalDirection(),n=this._getDragHorizontalDirection();return this.floating&&n?"right"===n&&i||"left"===n&&!i:s&&("down"===s&&e||"up"===s&&!e)},_getDragVerticalDirection:function(){var t=this.positionAbs.top-this.lastPositionAbs.top;return 0!==t&&(t>0?"down":"up")},_getDragHorizontalDirection:function(){var t=this.positionAbs.left-this.lastPositionAbs.left;return 0!==t&&(t>0?"right":"left")},refresh:function(t){return this._refreshItems(t),this._setHandleClassName(),this.refreshPositions(),this},_connectWith:function(){var t=this.options;return t.connectWith.constructor===String?[t.connectWith]:t.connectWith},_getItemsAsjQuery:function(e){function i(){r.push(this)}var s,n,o,a,r=[],h=[],l=this._connectWith();if(l&&e)for(s=l.length-1;s>=0;s--)for(o=t(l[s],this.document[0]),n=o.length-1;n>=0;n--)a=t.data(o[n],this.widgetFullName),a&&a!==this&&!a.options.disabled&&h.push([t.isFunction(a.options.items)?a.options.items.call(a.element):t(a.options.items,a.element).not(".ui-sortable-helper").not(".ui-sortable-placeholder"),a]);for(h.push([t.isFunction(this.options.items)?this.options.items.call(this.element,null,{options:this.options,item:this.currentItem}):t(this.options.items,this.element).not(".ui-sortable-helper").not(".ui-sortable-placeholder"),this]),s=h.length-1;s>=0;s--)h[s][0].each(i);return t(r)},_removeCurrentsFromItems:function(){var e=this.currentItem.find(":data("+this.widgetName+"-item)");this.items=t.grep(this.items,function(t){for(var i=0;e.length>i;i++)if(e[i]===t.item[0])return!1;return!0})},_refreshItems:function(e){this.items=[],this.containers=[this];var i,s,n,o,a,r,h,l,c=this.items,u=[[t.isFunction(this.options.items)?this.options.items.call(this.element[0],e,{item:this.currentItem}):t(this.options.items,this.element),this]],d=this._connectWith();if(d&&this.ready)for(i=d.length-1;i>=0;i--)for(n=t(d[i],this.document[0]),s=n.length-1;s>=0;s--)o=t.data(n[s],this.widgetFullName),o&&o!==this&&!o.options.disabled&&(u.push([t.isFunction(o.options.items)?o.options.items.call(o.element[0],e,{item:this.currentItem}):t(o.options.items,o.element),o]),this.containers.push(o));for(i=u.length-1;i>=0;i--)for(a=u[i][1],r=u[i][0],s=0,l=r.length;l>s;s++)h=t(r[s]),h.data(this.widgetName+"-item",a),c.push({item:h,instance:a,width:0,height:0,left:0,top:0})},refreshPositions:function(e){this.floating=this.items.length?"x"===this.options.axis||this._isFloating(this.items[0].item):!1,this.offsetParent&&this.helper&&(this.offset.parent=this._getParentOffset());var i,s,n,o;for(i=this.items.length-1;i>=0;i--)s=this.items[i],s.instance!==this.currentContainer&&this.currentContainer&&s.item[0]!==this.currentItem[0]||(n=this.options.toleranceElement?t(this.options.toleranceElement,s.item):s.item,e||(s.width=n.outerWidth(),s.height=n.outerHeight()),o=n.offset(),s.left=o.left,s.top=o.top);if(this.options.custom&&this.options.custom.refreshContainers)this.options.custom.refreshContainers.call(this);else for(i=this.containers.length-1;i>=0;i--)o=this.containers[i].element.offset(),this.containers[i].containerCache.left=o.left,this.containers[i].containerCache.top=o.top,this.containers[i].containerCache.width=this.containers[i].element.outerWidth(),this.containers[i].containerCache.height=this.containers[i].element.outerHeight();return this},_createPlaceholder:function(e){e=e||this;var i,s=e.options;s.placeholder&&s.placeholder.constructor!==String||(i=s.placeholder,s.placeholder={element:function(){var s=e.currentItem[0].nodeName.toLowerCase(),n=t("<"+s+">",e.document[0]);return e._addClass(n,"ui-sortable-placeholder",i||e.currentItem[0].className)._removeClass(n,"ui-sortable-helper"),"tbody"===s?e._createTrPlaceholder(e.currentItem.find("tr").eq(0),t("<tr>",e.document[0]).appendTo(n)):"tr"===s?e._createTrPlaceholder(e.currentItem,n):"img"===s&&n.attr("src",e.currentItem.attr("src")),i||n.css("visibility","hidden"),n},update:function(t,n){(!i||s.forcePlaceholderSize)&&(n.height()||n.height(e.currentItem.innerHeight()-parseInt(e.currentItem.css("paddingTop")||0,10)-parseInt(e.currentItem.css("paddingBottom")||0,10)),n.width()||n.width(e.currentItem.innerWidth()-parseInt(e.currentItem.css("paddingLeft")||0,10)-parseInt(e.currentItem.css("paddingRight")||0,10)))}}),e.placeholder=t(s.placeholder.element.call(e.element,e.currentItem)),e.currentItem.after(e.placeholder),s.placeholder.update(e,e.placeholder)},_createTrPlaceholder:function(e,i){var s=this;e.children().each(function(){t("<td> </td>",s.document[0]).attr("colspan",t(this).attr("colspan")||1).appendTo(i)})},_contactContainers:function(e){var i,s,n,o,a,r,h,l,c,u,d=null,p=null;for(i=this.containers.length-1;i>=0;i--)if(!t.contains(this.currentItem[0],this.containers[i].element[0]))if(this._intersectsWith(this.containers[i].containerCache)){if(d&&t.contains(this.containers[i].element[0],d.element[0]))continue;d=this.containers[i],p=i}else this.containers[i].containerCache.over&&(this.containers[i]._trigger("out",e,this._uiHash(this)),this.containers[i].containerCache.over=0);if(d)if(1===this.containers.length)this.containers[p].containerCache.over||(this.containers[p]._trigger("over",e,this._uiHash(this)),this.containers[p].containerCache.over=1);else{for(n=1e4,o=null,c=d.floating||this._isFloating(this.currentItem),a=c?"left":"top",r=c?"width":"height",u=c?"pageX":"pageY",s=this.items.length-1;s>=0;s--)t.contains(this.containers[p].element[0],this.items[s].item[0])&&this.items[s].item[0]!==this.currentItem[0]&&(h=this.items[s].item.offset()[a],l=!1,e[u]-h>this.items[s][r]/2&&(l=!0),n>Math.abs(e[u]-h)&&(n=Math.abs(e[u]-h),o=this.items[s],this.direction=l?"up":"down"));if(!o&&!this.options.dropOnEmpty)return;if(this.currentContainer===this.containers[p])return this.currentContainer.containerCache.over||(this.containers[p]._trigger("over",e,this._uiHash()),this.currentContainer.containerCache.over=1),void 0;o?this._rearrange(e,o,null,!0):this._rearrange(e,null,this.containers[p].element,!0),this._trigger("change",e,this._uiHash()),this.containers[p]._trigger("change",e,this._uiHash(this)),this.currentContainer=this.containers[p],this.options.placeholder.update(this.currentContainer,this.placeholder),this.containers[p]._trigger("over",e,this._uiHash(this)),this.containers[p].containerCache.over=1}},_createHelper:function(e){var i=this.options,s=t.isFunction(i.helper)?t(i.helper.apply(this.element[0],[e,this.currentItem])):"clone"===i.helper?this.currentItem.clone():this.currentItem;return s.parents("body").length||t("parent"!==i.appendTo?i.appendTo:this.currentItem[0].parentNode)[0].appendChild(s[0]),s[0]===this.currentItem[0]&&(this._storedCSS={width:this.currentItem[0].style.width,height:this.currentItem[0].style.height,position:this.currentItem.css("position"),top:this.currentItem.css("top"),left:this.currentItem.css("left")}),(!s[0].style.width||i.forceHelperSize)&&s.width(this.currentItem.width()),(!s[0].style.height||i.forceHelperSize)&&s.height(this.currentItem.height()),s},_adjustOffsetFromHelper:function(e){"string"==typeof e&&(e=e.split(" ")),t.isArray(e)&&(e={left:+e[0],top:+e[1]||0}),"left"in e&&(this.offset.click.left=e.left+this.margins.left),"right"in e&&(this.offset.click.left=this.helperProportions.width-e.right+this.margins.left),"top"in e&&(this.offset.click.top=e.top+this.margins.top),"bottom"in e&&(this.offset.click.top=this.helperProportions.height-e.bottom+this.margins.top)},_getParentOffset:function(){this.offsetParent=this.helper.offsetParent();var e=this.offsetParent.offset();return"absolute"===this.cssPosition&&this.scrollParent[0]!==this.document[0]&&t.contains(this.scrollParent[0],this.offsetParent[0])&&(e.left+=this.scrollParent.scrollLeft(),e.top+=this.scrollParent.scrollTop()),(this.offsetParent[0]===this.document[0].body||this.offsetParent[0].tagName&&"html"===this.offsetParent[0].tagName.toLowerCase()&&t.ui.ie)&&(e={top:0,left:0}),{top:e.top+(parseInt(this.offsetParent.css("borderTopWidth"),10)||0),left:e.left+(parseInt(this.offsetParent.css("borderLeftWidth"),10)||0)}},_getRelativeOffset:function(){if("relative"===this.cssPosition){var t=this.currentItem.position();return{top:t.top-(parseInt(this.helper.css("top"),10)||0)+this.scrollParent.scrollTop(),left:t.left-(parseInt(this.helper.css("left"),10)||0)+this.scrollParent.scrollLeft()}}return{top:0,left:0}},_cacheMargins:function(){this.margins={left:parseInt(this.currentItem.css("marginLeft"),10)||0,top:parseInt(this.currentItem.css("marginTop"),10)||0}},_cacheHelperProportions:function(){this.helperProportions={width:this.helper.outerWidth(),height:this.helper.outerHeight()}},_setContainment:function(){var e,i,s,n=this.options;"parent"===n.containment&&(n.containment=this.helper[0].parentNode),("document"===n.containment||"window"===n.containment)&&(this.containment=[0-this.offset.relative.left-this.offset.parent.left,0-this.offset.relative.top-this.offset.parent.top,"document"===n.containment?this.document.width():this.window.width()-this.helperProportions.width-this.margins.left,("document"===n.containment?this.document.height()||document.body.parentNode.scrollHeight:this.window.height()||this.document[0].body.parentNode.scrollHeight)-this.helperProportions.height-this.margins.top]),/^(document|window|parent)$/.test(n.containment)||(e=t(n.containment)[0],i=t(n.containment).offset(),s="hidden"!==t(e).css("overflow"),this.containment=[i.left+(parseInt(t(e).css("borderLeftWidth"),10)||0)+(parseInt(t(e).css("paddingLeft"),10)||0)-this.margins.left,i.top+(parseInt(t(e).css("borderTopWidth"),10)||0)+(parseInt(t(e).css("paddingTop"),10)||0)-this.margins.top,i.left+(s?Math.max(e.scrollWidth,e.offsetWidth):e.offsetWidth)-(parseInt(t(e).css("borderLeftWidth"),10)||0)-(parseInt(t(e).css("paddingRight"),10)||0)-this.helperProportions.width-this.margins.left,i.top+(s?Math.max(e.scrollHeight,e.offsetHeight):e.offsetHeight)-(parseInt(t(e).css("borderTopWidth"),10)||0)-(parseInt(t(e).css("paddingBottom"),10)||0)-this.helperProportions.height-this.margins.top])},_convertPositionTo:function(e,i){i||(i=this.position);var s="absolute"===e?1:-1,n="absolute"!==this.cssPosition||this.scrollParent[0]!==this.document[0]&&t.contains(this.scrollParent[0],this.offsetParent[0])?this.scrollParent:this.offsetParent,o=/(html|body)/i.test(n[0].tagName);return{top:i.top+this.offset.relative.top*s+this.offset.parent.top*s-("fixed"===this.cssPosition?-this.scrollParent.scrollTop():o?0:n.scrollTop())*s,left:i.left+this.offset.relative.left*s+this.offset.parent.left*s-("fixed"===this.cssPosition?-this.scrollParent.scrollLeft():o?0:n.scrollLeft())*s}},_generatePosition:function(e){var i,s,n=this.options,o=e.pageX,a=e.pageY,r="absolute"!==this.cssPosition||this.scrollParent[0]!==this.document[0]&&t.contains(this.scrollParent[0],this.offsetParent[0])?this.scrollParent:this.offsetParent,h=/(html|body)/i.test(r[0].tagName);return"relative"!==this.cssPosition||this.scrollParent[0]!==this.document[0]&&this.scrollParent[0]!==this.offsetParent[0]||(this.offset.relative=this._getRelativeOffset()),this.originalPosition&&(this.containment&&(e.pageX-this.offset.click.left<this.containment[0]&&(o=this.containment[0]+this.offset.click.left),e.pageY-this.offset.click.top<this.containment[1]&&(a=this.containment[1]+this.offset.click.top),e.pageX-this.offset.click.left>this.containment[2]&&(o=this.containment[2]+this.offset.click.left),e.pageY-this.offset.click.top>this.containment[3]&&(a=this.containment[3]+this.offset.click.top)),n.grid&&(i=this.originalPageY+Math.round((a-this.originalPageY)/n.grid[1])*n.grid[1],a=this.containment?i-this.offset.click.top>=this.containment[1]&&i-this.offset.click.top<=this.containment[3]?i:i-this.offset.click.top>=this.containment[1]?i-n.grid[1]:i+n.grid[1]:i,s=this.originalPageX+Math.round((o-this.originalPageX)/n.grid[0])*n.grid[0],o=this.containment?s-this.offset.click.left>=this.containment[0]&&s-this.offset.click.left<=this.containment[2]?s:s-this.offset.click.left>=this.containment[0]?s-n.grid[0]:s+n.grid[0]:s)),{top:a-this.offset.click.top-this.offset.relative.top-this.offset.parent.top+("fixed"===this.cssPosition?-this.scrollParent.scrollTop():h?0:r.scrollTop()),left:o-this.offset.click.left-this.offset.relative.left-this.offset.parent.left+("fixed"===this.cssPosition?-this.scrollParent.scrollLeft():h?0:r.scrollLeft())}},_rearrange:function(t,e,i,s){i?i[0].appendChild(this.placeholder[0]):e.item[0].parentNode.insertBefore(this.placeholder[0],"down"===this.direction?e.item[0]:e.item[0].nextSibling),this.counter=this.counter?++this.counter:1;var n=this.counter;
+this._delay(function(){n===this.counter&&this.refreshPositions(!s)})},_clear:function(t,e){function i(t,e,i){return function(s){i._trigger(t,s,e._uiHash(e))}}this.reverting=!1;var s,n=[];if(!this._noFinalSort&&this.currentItem.parent().length&&this.placeholder.before(this.currentItem),this._noFinalSort=null,this.helper[0]===this.currentItem[0]){for(s in this._storedCSS)("auto"===this._storedCSS[s]||"static"===this._storedCSS[s])&&(this._storedCSS[s]="");this.currentItem.css(this._storedCSS),this._removeClass(this.currentItem,"ui-sortable-helper")}else this.currentItem.show();for(this.fromOutside&&!e&&n.push(function(t){this._trigger("receive",t,this._uiHash(this.fromOutside))}),!this.fromOutside&&this.domPosition.prev===this.currentItem.prev().not(".ui-sortable-helper")[0]&&this.domPosition.parent===this.currentItem.parent()[0]||e||n.push(function(t){this._trigger("update",t,this._uiHash())}),this!==this.currentContainer&&(e||(n.push(function(t){this._trigger("remove",t,this._uiHash())}),n.push(function(t){return function(e){t._trigger("receive",e,this._uiHash(this))}}.call(this,this.currentContainer)),n.push(function(t){return function(e){t._trigger("update",e,this._uiHash(this))}}.call(this,this.currentContainer)))),s=this.containers.length-1;s>=0;s--)e||n.push(i("deactivate",this,this.containers[s])),this.containers[s].containerCache.over&&(n.push(i("out",this,this.containers[s])),this.containers[s].containerCache.over=0);if(this.storedCursor&&(this.document.find("body").css("cursor",this.storedCursor),this.storedStylesheet.remove()),this._storedOpacity&&this.helper.css("opacity",this._storedOpacity),this._storedZIndex&&this.helper.css("zIndex","auto"===this._storedZIndex?"":this._storedZIndex),this.dragging=!1,e||this._trigger("beforeStop",t,this._uiHash()),this.placeholder[0].parentNode.removeChild(this.placeholder[0]),this.cancelHelperRemoval||(this.helper[0]!==this.currentItem[0]&&this.helper.remove(),this.helper=null),!e){for(s=0;n.length>s;s++)n[s].call(this,t);this._trigger("stop",t,this._uiHash())}return this.fromOutside=!1,!this.cancelHelperRemoval},_trigger:function(){t.Widget.prototype._trigger.apply(this,arguments)===!1&&this.cancel()},_uiHash:function(e){var i=e||this;return{helper:i.helper,placeholder:i.placeholder||t([]),position:i.position,originalPosition:i.originalPosition,offset:i.positionAbs,item:i.currentItem,sender:e?e.element:null}}}),t.widget("ui.spinner",{version:"1.12.1",defaultElement:"<input>",widgetEventPrefix:"spin",options:{classes:{"ui-spinner":"ui-corner-all","ui-spinner-down":"ui-corner-br","ui-spinner-up":"ui-corner-tr"},culture:null,icons:{down:"ui-icon-triangle-1-s",up:"ui-icon-triangle-1-n"},incremental:!0,max:null,min:null,numberFormat:null,page:10,step:1,change:null,spin:null,start:null,stop:null},_create:function(){this._setOption("max",this.options.max),this._setOption("min",this.options.min),this._setOption("step",this.options.step),""!==this.value()&&this._value(this.element.val(),!0),this._draw(),this._on(this._events),this._refresh(),this._on(this.window,{beforeunload:function(){this.element.removeAttr("autocomplete")}})},_getCreateOptions:function(){var e=this._super(),i=this.element;return t.each(["min","max","step"],function(t,s){var n=i.attr(s);null!=n&&n.length&&(e[s]=n)}),e},_events:{keydown:function(t){this._start(t)&&this._keydown(t)&&t.preventDefault()},keyup:"_stop",focus:function(){this.previous=this.element.val()},blur:function(t){return this.cancelBlur?(delete this.cancelBlur,void 0):(this._stop(),this._refresh(),this.previous!==this.element.val()&&this._trigger("change",t),void 0)},mousewheel:function(t,e){if(e){if(!this.spinning&&!this._start(t))return!1;this._spin((e>0?1:-1)*this.options.step,t),clearTimeout(this.mousewheelTimer),this.mousewheelTimer=this._delay(function(){this.spinning&&this._stop(t)},100),t.preventDefault()}},"mousedown .ui-spinner-button":function(e){function i(){var e=this.element[0]===t.ui.safeActiveElement(this.document[0]);e||(this.element.trigger("focus"),this.previous=s,this._delay(function(){this.previous=s}))}var s;s=this.element[0]===t.ui.safeActiveElement(this.document[0])?this.previous:this.element.val(),e.preventDefault(),i.call(this),this.cancelBlur=!0,this._delay(function(){delete this.cancelBlur,i.call(this)}),this._start(e)!==!1&&this._repeat(null,t(e.currentTarget).hasClass("ui-spinner-up")?1:-1,e)},"mouseup .ui-spinner-button":"_stop","mouseenter .ui-spinner-button":function(e){return t(e.currentTarget).hasClass("ui-state-active")?this._start(e)===!1?!1:(this._repeat(null,t(e.currentTarget).hasClass("ui-spinner-up")?1:-1,e),void 0):void 0},"mouseleave .ui-spinner-button":"_stop"},_enhance:function(){this.uiSpinner=this.element.attr("autocomplete","off").wrap("<span>").parent().append("<a></a><a></a>")},_draw:function(){this._enhance(),this._addClass(this.uiSpinner,"ui-spinner","ui-widget ui-widget-content"),this._addClass("ui-spinner-input"),this.element.attr("role","spinbutton"),this.buttons=this.uiSpinner.children("a").attr("tabIndex",-1).attr("aria-hidden",!0).button({classes:{"ui-button":""}}),this._removeClass(this.buttons,"ui-corner-all"),this._addClass(this.buttons.first(),"ui-spinner-button ui-spinner-up"),this._addClass(this.buttons.last(),"ui-spinner-button ui-spinner-down"),this.buttons.first().button({icon:this.options.icons.up,showLabel:!1}),this.buttons.last().button({icon:this.options.icons.down,showLabel:!1}),this.buttons.height()>Math.ceil(.5*this.uiSpinner.height())&&this.uiSpinner.height()>0&&this.uiSpinner.height(this.uiSpinner.height())},_keydown:function(e){var i=this.options,s=t.ui.keyCode;switch(e.keyCode){case s.UP:return this._repeat(null,1,e),!0;case s.DOWN:return this._repeat(null,-1,e),!0;case s.PAGE_UP:return this._repeat(null,i.page,e),!0;case s.PAGE_DOWN:return this._repeat(null,-i.page,e),!0}return!1},_start:function(t){return this.spinning||this._trigger("start",t)!==!1?(this.counter||(this.counter=1),this.spinning=!0,!0):!1},_repeat:function(t,e,i){t=t||500,clearTimeout(this.timer),this.timer=this._delay(function(){this._repeat(40,e,i)},t),this._spin(e*this.options.step,i)},_spin:function(t,e){var i=this.value()||0;this.counter||(this.counter=1),i=this._adjustValue(i+t*this._increment(this.counter)),this.spinning&&this._trigger("spin",e,{value:i})===!1||(this._value(i),this.counter++)},_increment:function(e){var i=this.options.incremental;return i?t.isFunction(i)?i(e):Math.floor(e*e*e/5e4-e*e/500+17*e/200+1):1},_precision:function(){var t=this._precisionOf(this.options.step);return null!==this.options.min&&(t=Math.max(t,this._precisionOf(this.options.min))),t},_precisionOf:function(t){var e=""+t,i=e.indexOf(".");return-1===i?0:e.length-i-1},_adjustValue:function(t){var e,i,s=this.options;return e=null!==s.min?s.min:0,i=t-e,i=Math.round(i/s.step)*s.step,t=e+i,t=parseFloat(t.toFixed(this._precision())),null!==s.max&&t>s.max?s.max:null!==s.min&&s.min>t?s.min:t},_stop:function(t){this.spinning&&(clearTimeout(this.timer),clearTimeout(this.mousewheelTimer),this.counter=0,this.spinning=!1,this._trigger("stop",t))},_setOption:function(t,e){var i,s,n;return"culture"===t||"numberFormat"===t?(i=this._parse(this.element.val()),this.options[t]=e,this.element.val(this._format(i)),void 0):(("max"===t||"min"===t||"step"===t)&&"string"==typeof e&&(e=this._parse(e)),"icons"===t&&(s=this.buttons.first().find(".ui-icon"),this._removeClass(s,null,this.options.icons.up),this._addClass(s,null,e.up),n=this.buttons.last().find(".ui-icon"),this._removeClass(n,null,this.options.icons.down),this._addClass(n,null,e.down)),this._super(t,e),void 0)},_setOptionDisabled:function(t){this._super(t),this._toggleClass(this.uiSpinner,null,"ui-state-disabled",!!t),this.element.prop("disabled",!!t),this.buttons.button(t?"disable":"enable")},_setOptions:r(function(t){this._super(t)}),_parse:function(t){return"string"==typeof t&&""!==t&&(t=window.Globalize&&this.options.numberFormat?Globalize.parseFloat(t,10,this.options.culture):+t),""===t||isNaN(t)?null:t},_format:function(t){return""===t?"":window.Globalize&&this.options.numberFormat?Globalize.format(t,this.options.numberFormat,this.options.culture):t},_refresh:function(){this.element.attr({"aria-valuemin":this.options.min,"aria-valuemax":this.options.max,"aria-valuenow":this._parse(this.element.val())})},isValid:function(){var t=this.value();return null===t?!1:t===this._adjustValue(t)},_value:function(t,e){var i;""!==t&&(i=this._parse(t),null!==i&&(e||(i=this._adjustValue(i)),t=this._format(i))),this.element.val(t),this._refresh()},_destroy:function(){this.element.prop("disabled",!1).removeAttr("autocomplete role aria-valuemin aria-valuemax aria-valuenow"),this.uiSpinner.replaceWith(this.element)},stepUp:r(function(t){this._stepUp(t)}),_stepUp:function(t){this._start()&&(this._spin((t||1)*this.options.step),this._stop())},stepDown:r(function(t){this._stepDown(t)}),_stepDown:function(t){this._start()&&(this._spin((t||1)*-this.options.step),this._stop())},pageUp:r(function(t){this._stepUp((t||1)*this.options.page)}),pageDown:r(function(t){this._stepDown((t||1)*this.options.page)}),value:function(t){return arguments.length?(r(this._value).call(this,t),void 0):this._parse(this.element.val())},widget:function(){return this.uiSpinner}}),t.uiBackCompat!==!1&&t.widget("ui.spinner",t.ui.spinner,{_enhance:function(){this.uiSpinner=this.element.attr("autocomplete","off").wrap(this._uiSpinnerHtml()).parent().append(this._buttonHtml())},_uiSpinnerHtml:function(){return"<span>"},_buttonHtml:function(){return"<a></a><a></a>"}}),t.ui.spinner,t.widget("ui.tabs",{version:"1.12.1",delay:300,options:{active:null,classes:{"ui-tabs":"ui-corner-all","ui-tabs-nav":"ui-corner-all","ui-tabs-panel":"ui-corner-bottom","ui-tabs-tab":"ui-corner-top"},collapsible:!1,event:"click",heightStyle:"content",hide:null,show:null,activate:null,beforeActivate:null,beforeLoad:null,load:null},_isLocal:function(){var t=/#.*$/;return function(e){var i,s;i=e.href.replace(t,""),s=location.href.replace(t,"");try{i=decodeURIComponent(i)}catch(n){}try{s=decodeURIComponent(s)}catch(n){}return e.hash.length>1&&i===s}}(),_create:function(){var e=this,i=this.options;this.running=!1,this._addClass("ui-tabs","ui-widget ui-widget-content"),this._toggleClass("ui-tabs-collapsible",null,i.collapsible),this._processTabs(),i.active=this._initialActive(),t.isArray(i.disabled)&&(i.disabled=t.unique(i.disabled.concat(t.map(this.tabs.filter(".ui-state-disabled"),function(t){return e.tabs.index(t)}))).sort()),this.active=this.options.active!==!1&&this.anchors.length?this._findActive(i.active):t(),this._refresh(),this.active.length&&this.load(i.active)},_initialActive:function(){var e=this.options.active,i=this.options.collapsible,s=location.hash.substring(1);return null===e&&(s&&this.tabs.each(function(i,n){return t(n).attr("aria-controls")===s?(e=i,!1):void 0}),null===e&&(e=this.tabs.index(this.tabs.filter(".ui-tabs-active"))),(null===e||-1===e)&&(e=this.tabs.length?0:!1)),e!==!1&&(e=this.tabs.index(this.tabs.eq(e)),-1===e&&(e=i?!1:0)),!i&&e===!1&&this.anchors.length&&(e=0),e},_getCreateEventData:function(){return{tab:this.active,panel:this.active.length?this._getPanelForTab(this.active):t()}},_tabKeydown:function(e){var i=t(t.ui.safeActiveElement(this.document[0])).closest("li"),s=this.tabs.index(i),n=!0;if(!this._handlePageNav(e)){switch(e.keyCode){case t.ui.keyCode.RIGHT:case t.ui.keyCode.DOWN:s++;break;case t.ui.keyCode.UP:case t.ui.keyCode.LEFT:n=!1,s--;break;case t.ui.keyCode.END:s=this.anchors.length-1;break;case t.ui.keyCode.HOME:s=0;break;case t.ui.keyCode.SPACE:return e.preventDefault(),clearTimeout(this.activating),this._activate(s),void 0;case t.ui.keyCode.ENTER:return e.preventDefault(),clearTimeout(this.activating),this._activate(s===this.options.active?!1:s),void 0;default:return}e.preventDefault(),clearTimeout(this.activating),s=this._focusNextTab(s,n),e.ctrlKey||e.metaKey||(i.attr("aria-selected","false"),this.tabs.eq(s).attr("aria-selected","true"),this.activating=this._delay(function(){this.option("active",s)},this.delay))}},_panelKeydown:function(e){this._handlePageNav(e)||e.ctrlKey&&e.keyCode===t.ui.keyCode.UP&&(e.preventDefault(),this.active.trigger("focus"))},_handlePageNav:function(e){return e.altKey&&e.keyCode===t.ui.keyCode.PAGE_UP?(this._activate(this._focusNextTab(this.options.active-1,!1)),!0):e.altKey&&e.keyCode===t.ui.keyCode.PAGE_DOWN?(this._activate(this._focusNextTab(this.options.active+1,!0)),!0):void 0},_findNextTab:function(e,i){function s(){return e>n&&(e=0),0>e&&(e=n),e}for(var n=this.tabs.length-1;-1!==t.inArray(s(),this.options.disabled);)e=i?e+1:e-1;return e},_focusNextTab:function(t,e){return t=this._findNextTab(t,e),this.tabs.eq(t).trigger("focus"),t},_setOption:function(t,e){return"active"===t?(this._activate(e),void 0):(this._super(t,e),"collapsible"===t&&(this._toggleClass("ui-tabs-collapsible",null,e),e||this.options.active!==!1||this._activate(0)),"event"===t&&this._setupEvents(e),"heightStyle"===t&&this._setupHeightStyle(e),void 0)},_sanitizeSelector:function(t){return t?t.replace(/[!"$%&'()*+,.\/:;<=>?@\[\]\^`{|}~]/g,"\\$&"):""},refresh:function(){var e=this.options,i=this.tablist.children(":has(a[href])");e.disabled=t.map(i.filter(".ui-state-disabled"),function(t){return i.index(t)}),this._processTabs(),e.active!==!1&&this.anchors.length?this.active.length&&!t.contains(this.tablist[0],this.active[0])?this.tabs.length===e.disabled.length?(e.active=!1,this.active=t()):this._activate(this._findNextTab(Math.max(0,e.active-1),!1)):e.active=this.tabs.index(this.active):(e.active=!1,this.active=t()),this._refresh()},_refresh:function(){this._setOptionDisabled(this.options.disabled),this._setupEvents(this.options.event),this._setupHeightStyle(this.options.heightStyle),this.tabs.not(this.active).attr({"aria-selected":"false","aria-expanded":"false",tabIndex:-1}),this.panels.not(this._getPanelForTab(this.active)).hide().attr({"aria-hidden":"true"}),this.active.length?(this.active.attr({"aria-selected":"true","aria-expanded":"true",tabIndex:0}),this._addClass(this.active,"ui-tabs-active","ui-state-active"),this._getPanelForTab(this.active).show().attr({"aria-hidden":"false"})):this.tabs.eq(0).attr("tabIndex",0)},_processTabs:function(){var e=this,i=this.tabs,s=this.anchors,n=this.panels;this.tablist=this._getList().attr("role","tablist"),this._addClass(this.tablist,"ui-tabs-nav","ui-helper-reset ui-helper-clearfix ui-widget-header"),this.tablist.on("mousedown"+this.eventNamespace,"> li",function(e){t(this).is(".ui-state-disabled")&&e.preventDefault()}).on("focus"+this.eventNamespace,".ui-tabs-anchor",function(){t(this).closest("li").is(".ui-state-disabled")&&this.blur()}),this.tabs=this.tablist.find("> li:has(a[href])").attr({role:"tab",tabIndex:-1}),this._addClass(this.tabs,"ui-tabs-tab","ui-state-default"),this.anchors=this.tabs.map(function(){return t("a",this)[0]}).attr({role:"presentation",tabIndex:-1}),this._addClass(this.anchors,"ui-tabs-anchor"),this.panels=t(),this.anchors.each(function(i,s){var n,o,a,r=t(s).uniqueId().attr("id"),h=t(s).closest("li"),l=h.attr("aria-controls");e._isLocal(s)?(n=s.hash,a=n.substring(1),o=e.element.find(e._sanitizeSelector(n))):(a=h.attr("aria-controls")||t({}).uniqueId()[0].id,n="#"+a,o=e.element.find(n),o.length||(o=e._createPanel(a),o.insertAfter(e.panels[i-1]||e.tablist)),o.attr("aria-live","polite")),o.length&&(e.panels=e.panels.add(o)),l&&h.data("ui-tabs-aria-controls",l),h.attr({"aria-controls":a,"aria-labelledby":r}),o.attr("aria-labelledby",r)}),this.panels.attr("role","tabpanel"),this._addClass(this.panels,"ui-tabs-panel","ui-widget-content"),i&&(this._off(i.not(this.tabs)),this._off(s.not(this.anchors)),this._off(n.not(this.panels)))},_getList:function(){return this.tablist||this.element.find("ol, ul").eq(0)},_createPanel:function(e){return t("<div>").attr("id",e).data("ui-tabs-destroy",!0)},_setOptionDisabled:function(e){var i,s,n;for(t.isArray(e)&&(e.length?e.length===this.anchors.length&&(e=!0):e=!1),n=0;s=this.tabs[n];n++)i=t(s),e===!0||-1!==t.inArray(n,e)?(i.attr("aria-disabled","true"),this._addClass(i,null,"ui-state-disabled")):(i.removeAttr("aria-disabled"),this._removeClass(i,null,"ui-state-disabled"));this.options.disabled=e,this._toggleClass(this.widget(),this.widgetFullName+"-disabled",null,e===!0)},_setupEvents:function(e){var i={};e&&t.each(e.split(" "),function(t,e){i[e]="_eventHandler"}),this._off(this.anchors.add(this.tabs).add(this.panels)),this._on(!0,this.anchors,{click:function(t){t.preventDefault()}}),this._on(this.anchors,i),this._on(this.tabs,{keydown:"_tabKeydown"}),this._on(this.panels,{keydown:"_panelKeydown"}),this._focusable(this.tabs),this._hoverable(this.tabs)},_setupHeightStyle:function(e){var i,s=this.element.parent();"fill"===e?(i=s.height(),i-=this.element.outerHeight()-this.element.height(),this.element.siblings(":visible").each(function(){var e=t(this),s=e.css("position");"absolute"!==s&&"fixed"!==s&&(i-=e.outerHeight(!0))}),this.element.children().not(this.panels).each(function(){i-=t(this).outerHeight(!0)}),this.panels.each(function(){t(this).height(Math.max(0,i-t(this).innerHeight()+t(this).height()))}).css("overflow","auto")):"auto"===e&&(i=0,this.panels.each(function(){i=Math.max(i,t(this).height("").height())}).height(i))},_eventHandler:function(e){var i=this.options,s=this.active,n=t(e.currentTarget),o=n.closest("li"),a=o[0]===s[0],r=a&&i.collapsible,h=r?t():this._getPanelForTab(o),l=s.length?this._getPanelForTab(s):t(),c={oldTab:s,oldPanel:l,newTab:r?t():o,newPanel:h};e.preventDefault(),o.hasClass("ui-state-disabled")||o.hasClass("ui-tabs-loading")||this.running||a&&!i.collapsible||this._trigger("beforeActivate",e,c)===!1||(i.active=r?!1:this.tabs.index(o),this.active=a?t():o,this.xhr&&this.xhr.abort(),l.length||h.length||t.error("jQuery UI Tabs: Mismatching fragment 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i,s=this._findActive(e);s[0]!==this.active[0]&&(s.length||(s=this.active),i=s.find(".ui-tabs-anchor")[0],this._eventHandler({target:i,currentTarget:i,preventDefault:t.noop}))},_findActive:function(e){return e===!1?t():this.tabs.eq(e)},_getIndex:function(e){return"string"==typeof e&&(e=this.anchors.index(this.anchors.filter("[href$='"+t.ui.escapeSelector(e)+"']"))),e},_destroy:function(){this.xhr&&this.xhr.abort(),this.tablist.removeAttr("role").off(this.eventNamespace),this.anchors.removeAttr("role tabIndex").removeUniqueId(),this.tabs.add(this.panels).each(function(){t.data(this,"ui-tabs-destroy")?t(this).remove():t(this).removeAttr("role tabIndex aria-live aria-busy aria-selected aria-labelledby aria-hidden aria-expanded")}),this.tabs.each(function(){var e=t(this),i=e.data("ui-tabs-aria-controls");i?e.attr("aria-controls",i).removeData("ui-tabs-aria-controls"):e.removeAttr("aria-controls")}),this.panels.show(),"content"!==this.options.heightStyle&&this.panels.css("height","")},enable:function(e){var i=this.options.disabled;i!==!1&&(void 0===e?i=!1:(e=this._getIndex(e),i=t.isArray(i)?t.map(i,function(t){return t!==e?t:null}):t.map(this.tabs,function(t,i){return i!==e?i:null})),this._setOptionDisabled(i))},disable:function(e){var i=this.options.disabled;if(i!==!0){if(void 0===e)i=!0;else{if(e=this._getIndex(e),-1!==t.inArray(e,i))return;i=t.isArray(i)?t.merge([e],i).sort():[e]}this._setOptionDisabled(i)}},load:function(e,i){e=this._getIndex(e);var s=this,n=this.tabs.eq(e),o=n.find(".ui-tabs-anchor"),a=this._getPanelForTab(n),r={tab:n,panel:a},h=function(t,e){"abort"===e&&s.panels.stop(!1,!0),s._removeClass(n,"ui-tabs-loading"),a.removeAttr("aria-busy"),t===s.xhr&&delete s.xhr};this._isLocal(o[0])||(this.xhr=t.ajax(this._ajaxSettings(o,i,r)),this.xhr&&"canceled"!==this.xhr.statusText&&(this._addClass(n,"ui-tabs-loading"),a.attr("aria-busy","true"),this.xhr.done(function(t,e,n){setTimeout(function(){a.html(t),s._trigger("load",i,r),h(n,e)},1)}).fail(function(t,e){setTimeout(function(){h(t,e)},1)})))},_ajaxSettings:function(e,i,s){var n=this;return{url:e.attr("href").replace(/#.*$/,""),beforeSend:function(e,o){return n._trigger("beforeLoad",i,t.extend({jqXHR:e,ajaxSettings:o},s))}}},_getPanelForTab:function(e){var i=t(e).attr("aria-controls");return this.element.find(this._sanitizeSelector("#"+i))}}),t.uiBackCompat!==!1&&t.widget("ui.tabs",t.ui.tabs,{_processTabs:function(){this._superApply(arguments),this._addClass(this.tabs,"ui-tab")}}),t.ui.tabs,t.widget("ui.tooltip",{version:"1.12.1",options:{classes:{"ui-tooltip":"ui-corner-all ui-widget-shadow"},content:function(){var e=t(this).attr("title")||"";return t("<a>").text(e).html()},hide:!0,items:"[title]:not([disabled])",position:{my:"left top+15",at:"left bottom",collision:"flipfit flip"},show:!0,track:!1,close:null,open:null},_addDescribedBy:function(e,i){var s=(e.attr("aria-describedby")||"").split(/\s+/);s.push(i),e.data("ui-tooltip-id",i).attr("aria-describedby",t.trim(s.join(" ")))},_removeDescribedBy:function(e){var i=e.data("ui-tooltip-id"),s=(e.attr("aria-describedby")||"").split(/\s+/),n=t.inArray(i,s);-1!==n&&s.splice(n,1),e.removeData("ui-tooltip-id"),s=t.trim(s.join(" ")),s?e.attr("aria-describedby",s):e.removeAttr("aria-describedby")},_create:function(){this._on({mouseover:"open",focusin:"open"}),this.tooltips={},this.parents={},this.liveRegion=t("<div>").attr({role:"log","aria-live":"assertive","aria-relevant":"additions"}).appendTo(this.document[0].body),this._addClass(this.liveRegion,null,"ui-helper-hidden-accessible"),this.disabledTitles=t([])},_setOption:function(e,i){var s=this;this._super(e,i),"content"===e&&t.each(this.tooltips,function(t,e){s._updateContent(e.element)})},_setOptionDisabled:function(t){this[t?"_disable":"_enable"]()},_disable:function(){var e=this;t.each(this.tooltips,function(i,s){var n=t.Event("blur");n.target=n.currentTarget=s.element[0],e.close(n,!0)}),this.disabledTitles=this.disabledTitles.add(this.element.find(this.options.items).addBack().filter(function(){var e=t(this);return e.is("[title]")?e.data("ui-tooltip-title",e.attr("title")).removeAttr("title"):void 0}))},_enable:function(){this.disabledTitles.each(function(){var e=t(this);e.data("ui-tooltip-title")&&e.attr("title",e.data("ui-tooltip-title"))}),this.disabledTitles=t([])},open:function(e){var i=this,s=t(e?e.target:this.element).closest(this.options.items);s.length&&!s.data("ui-tooltip-id")&&(s.attr("title")&&s.data("ui-tooltip-title",s.attr("title")),s.data("ui-tooltip-open",!0),e&&"mouseover"===e.type&&s.parents().each(function(){var e,s=t(this);s.data("ui-tooltip-open")&&(e=t.Event("blur"),e.target=e.currentTarget=this,i.close(e,!0)),s.attr("title")&&(s.uniqueId(),i.parents[this.id]={element:this,title:s.attr("title")},s.attr("title",""))}),this._registerCloseHandlers(e,s),this._updateContent(s,e))},_updateContent:function(t,e){var i,s=this.options.content,n=this,o=e?e.type:null;return"string"==typeof s||s.nodeType||s.jquery?this._open(e,t,s):(i=s.call(t[0],function(i){n._delay(function(){t.data("ui-tooltip-open")&&(e&&(e.type=o),this._open(e,t,i))})}),i&&this._open(e,t,i),void 0)},_open:function(e,i,s){function n(t){l.of=t,a.is(":hidden")||a.position(l)}var o,a,r,h,l=t.extend({},this.options.position);if(s){if(o=this._find(i))return o.tooltip.find(".ui-tooltip-content").html(s),void 0;i.is("[title]")&&(e&&"mouseover"===e.type?i.attr("title",""):i.removeAttr("title")),o=this._tooltip(i),a=o.tooltip,this._addDescribedBy(i,a.attr("id")),a.find(".ui-tooltip-content").html(s),this.liveRegion.children().hide(),h=t("<div>").html(a.find(".ui-tooltip-content").html()),h.removeAttr("name").find("[name]").removeAttr("name"),h.removeAttr("id").find("[id]").removeAttr("id"),h.appendTo(this.liveRegion),this.options.track&&e&&/^mouse/.test(e.type)?(this._on(this.document,{mousemove:n}),n(e)):a.position(t.extend({of:i},this.options.position)),a.hide(),this._show(a,this.options.show),this.options.track&&this.options.show&&this.options.show.delay&&(r=this.delayedShow=setInterval(function(){a.is(":visible")&&(n(l.of),clearInterval(r))},t.fx.interval)),this._trigger("open",e,{tooltip:a})}},_registerCloseHandlers:function(e,i){var s={keyup:function(e){if(e.keyCode===t.ui.keyCode.ESCAPE){var s=t.Event(e);s.currentTarget=i[0],this.close(s,!0)}}};i[0]!==this.element[0]&&(s.remove=function(){this._removeTooltip(this._find(i).tooltip)}),e&&"mouseover"!==e.type||(s.mouseleave="close"),e&&"focusin"!==e.type||(s.focusout="close"),this._on(!0,i,s)},close:function(e){var i,s=this,n=t(e?e.currentTarget:this.element),o=this._find(n);return o?(i=o.tooltip,o.closing||(clearInterval(this.delayedShow),n.data("ui-tooltip-title")&&!n.attr("title")&&n.attr("title",n.data("ui-tooltip-title")),this._removeDescribedBy(n),o.hiding=!0,i.stop(!0),this._hide(i,this.options.hide,function(){s._removeTooltip(t(this))}),n.removeData("ui-tooltip-open"),this._off(n,"mouseleave focusout keyup"),n[0]!==this.element[0]&&this._off(n,"remove"),this._off(this.document,"mousemove"),e&&"mouseleave"===e.type&&t.each(this.parents,function(e,i){t(i.element).attr("title",i.title),delete s.parents[e]}),o.closing=!0,this._trigger("close",e,{tooltip:i}),o.hiding||(o.closing=!1)),void 0):(n.removeData("ui-tooltip-open"),void 0)},_tooltip:function(e){var i=t("<div>").attr("role","tooltip"),s=t("<div>").appendTo(i),n=i.uniqueId().attr("id");return this._addClass(s,"ui-tooltip-content"),this._addClass(i,"ui-tooltip","ui-widget ui-widget-content"),i.appendTo(this._appendTo(e)),this.tooltips[n]={element:e,tooltip:i}},_find:function(t){var e=t.data("ui-tooltip-id");return e?this.tooltips[e]:null},_removeTooltip:function(t){t.remove(),delete this.tooltips[t.attr("id")]},_appendTo:function(t){var e=t.closest(".ui-front, dialog");return e.length||(e=this.document[0].body),e},_destroy:function(){var e=this;t.each(this.tooltips,function(i,s){var n=t.Event("blur"),o=s.element;n.target=n.currentTarget=o[0],e.close(n,!0),t("#"+i).remove(),o.data("ui-tooltip-title")&&(o.attr("title")||o.attr("title",o.data("ui-tooltip-title")),o.removeData("ui-tooltip-title"))}),this.liveRegion.remove()}}),t.uiBackCompat!==!1&&t.widget("ui.tooltip",t.ui.tooltip,{options:{tooltipClass:null},_tooltip:function(){var t=this._superApply(arguments);return this.options.tooltipClass&&t.tooltip.addClass(this.options.tooltipClass),t}}),t.ui.tooltip});
\ No newline at end of file
--- /dev/null
+//
+// jQuery MiniColors: A tiny color picker built on jQuery
+//
+// Developed by Cory LaViska for A Beautiful Site, LLC
+//
+// Licensed under the MIT license: http://opensource.org/licenses/MIT
+//
+(function (factory) {
+ if(typeof define === 'function' && define.amd) {
+ // AMD. Register as an anonymous module.
+ define(['jquery'], factory);
+ } else if(typeof exports === 'object') {
+ // Node/CommonJS
+ module.exports = factory(require('jquery'));
+ } else {
+ // Browser globals
+ factory(jQuery);
+ }
+}(function ($) {
+ 'use strict';
+
+ // Defaults
+ $.minicolors = {
+ defaults: {
+ animationSpeed: 50,
+ animationEasing: 'swing',
+ change: null,
+ changeDelay: 0,
+ control: 'hue',
+ defaultValue: '',
+ format: 'hex',
+ hide: null,
+ hideSpeed: 100,
+ inline: false,
+ keywords: '',
+ letterCase: 'lowercase',
+ opacity: false,
+ position: 'bottom left',
+ show: null,
+ showSpeed: 100,
+ theme: 'default',
+ swatches: []
+ }
+ };
+
+ // Public methods
+ $.extend($.fn, {
+ minicolors: function(method, data) {
+
+ switch(method) {
+ // Destroy the control
+ case 'destroy':
+ $(this).each(function() {
+ destroy($(this));
+ });
+ return $(this);
+
+ // Hide the color picker
+ case 'hide':
+ hide();
+ return $(this);
+
+ // Get/set opacity
+ case 'opacity':
+ // Getter
+ if(data === undefined) {
+ // Getter
+ return $(this).attr('data-opacity');
+ } else {
+ // Setter
+ $(this).each(function() {
+ updateFromInput($(this).attr('data-opacity', data));
+ });
+ }
+ return $(this);
+
+ // Get an RGB(A) object based on the current color/opacity
+ case 'rgbObject':
+ return rgbObject($(this), method === 'rgbaObject');
+
+ // Get an RGB(A) string based on the current color/opacity
+ case 'rgbString':
+ case 'rgbaString':
+ return rgbString($(this), method === 'rgbaString');
+
+ // Get/set settings on the fly
+ case 'settings':
+ if(data === undefined) {
+ return $(this).data('minicolors-settings');
+ } else {
+ // Setter
+ $(this).each(function() {
+ var settings = $(this).data('minicolors-settings') || {};
+ destroy($(this));
+ $(this).minicolors($.extend(true, settings, data));
+ });
+ }
+ return $(this);
+
+ // Show the color picker
+ case 'show':
+ show($(this).eq(0));
+ return $(this);
+
+ // Get/set the hex color value
+ case 'value':
+ if(data === undefined) {
+ // Getter
+ return $(this).val();
+ } else {
+ // Setter
+ $(this).each(function() {
+ if(typeof(data) === 'object' && data !== null) {
+ if(data.opacity) {
+ $(this).attr('data-opacity', keepWithin(data.opacity, 0, 1));
+ }
+ if(data.color) {
+ $(this).val(data.color);
+ }
+ } else {
+ $(this).val(data);
+ }
+ updateFromInput($(this));
+ });
+ }
+ return $(this);
+
+ // Initializes the control
+ default:
+ if(method !== 'create') data = method;
+ $(this).each(function() {
+ init($(this), data);
+ });
+ return $(this);
+
+ }
+
+ }
+ });
+
+ // Initialize input elements
+ function init(input, settings) {
+ var minicolors = $('<div class="minicolors" />');
+ var defaults = $.minicolors.defaults;
+ var size;
+ var swatches;
+ var swatch;
+ var panel;
+ var i;
+
+ // Do nothing if already initialized
+ if(input.data('minicolors-initialized')) return;
+
+ // Handle settings
+ settings = $.extend(true, {}, defaults, settings);
+
+ // The wrapper
+ minicolors
+ .addClass('minicolors-theme-' + settings.theme)
+ .toggleClass('minicolors-with-opacity', settings.opacity);
+
+ // Custom positioning
+ if(settings.position !== undefined) {
+ $.each(settings.position.split(' '), function() {
+ minicolors.addClass('minicolors-position-' + this);
+ });
+ }
+
+ // Input size
+ if(settings.format === 'rgb') {
+ size = settings.opacity ? '25' : '20';
+ } else {
+ size = settings.keywords ? '11' : '7';
+ }
+
+ // The input
+ input
+ .addClass('minicolors-input')
+ .data('minicolors-initialized', false)
+ .data('minicolors-settings', settings)
+ .prop('size', size)
+ .wrap(minicolors)
+ .after(
+ '<div class="minicolors-panel minicolors-slider-' + settings.control + '">' +
+ '<div class="minicolors-slider minicolors-sprite">' +
+ '<div class="minicolors-picker"></div>' +
+ '</div>' +
+ '<div class="minicolors-opacity-slider minicolors-sprite">' +
+ '<div class="minicolors-picker"></div>' +
+ '</div>' +
+ '<div class="minicolors-grid minicolors-sprite">' +
+ '<div class="minicolors-grid-inner"></div>' +
+ '<div class="minicolors-picker"><div></div></div>' +
+ '</div>' +
+ '</div>'
+ );
+
+ // The swatch
+ if(!settings.inline) {
+ input.after('<span class="minicolors-swatch minicolors-sprite minicolors-input-swatch"><span class="minicolors-swatch-color"></span></span>');
+ input.next('.minicolors-input-swatch').on('click', function(event) {
+ event.preventDefault();
+ input.focus();
+ });
+ }
+
+ // Prevent text selection in IE
+ panel = input.parent().find('.minicolors-panel');
+ panel.on('selectstart', function() { return false; }).end();
+
+ // Swatches
+ if(settings.swatches && settings.swatches.length !== 0) {
+ panel.addClass('minicolors-with-swatches');
+ swatches = $('<ul class="minicolors-swatches"></ul>')
+ .appendTo(panel);
+ for(i = 0; i < settings.swatches.length; ++i) {
+ swatch = settings.swatches[i];
+ swatch = isRgb(swatch) ? parseRgb(swatch, true) : hex2rgb(parseHex(swatch, true));
+ $('<li class="minicolors-swatch minicolors-sprite"><span class="minicolors-swatch-color"></span></li>')
+ .appendTo(swatches)
+ .data('swatch-color', settings.swatches[i])
+ .find('.minicolors-swatch-color')
+ .css({
+ backgroundColor: rgb2hex(swatch),
+ opacity: swatch.a
+ });
+ settings.swatches[i] = swatch;
+ }
+ }
+
+ // Inline controls
+ if(settings.inline) input.parent().addClass('minicolors-inline');
+
+ updateFromInput(input, false);
+
+ input.data('minicolors-initialized', true);
+ }
+
+ // Returns the input back to its original state
+ function destroy(input) {
+ var minicolors = input.parent();
+
+ // Revert the input element
+ input
+ .removeData('minicolors-initialized')
+ .removeData('minicolors-settings')
+ .removeProp('size')
+ .removeClass('minicolors-input');
+
+ // Remove the wrap and destroy whatever remains
+ minicolors.before(input).remove();
+ }
+
+ // Shows the specified dropdown panel
+ function show(input) {
+ var minicolors = input.parent();
+ var panel = minicolors.find('.minicolors-panel');
+ var settings = input.data('minicolors-settings');
+
+ // Do nothing if uninitialized, disabled, inline, or already open
+ if(
+ !input.data('minicolors-initialized') ||
+ input.prop('disabled') ||
+ minicolors.hasClass('minicolors-inline') ||
+ minicolors.hasClass('minicolors-focus')
+ ) return;
+
+ hide();
+
+ minicolors.addClass('minicolors-focus');
+ panel
+ .stop(true, true)
+ .fadeIn(settings.showSpeed, function() {
+ if(settings.show) settings.show.call(input.get(0));
+ });
+ }
+
+ // Hides all dropdown panels
+ function hide() {
+ $('.minicolors-focus').each(function() {
+ var minicolors = $(this);
+ var input = minicolors.find('.minicolors-input');
+ var panel = minicolors.find('.minicolors-panel');
+ var settings = input.data('minicolors-settings');
+
+ panel.fadeOut(settings.hideSpeed, function() {
+ if(settings.hide) settings.hide.call(input.get(0));
+ minicolors.removeClass('minicolors-focus');
+ });
+
+ });
+ }
+
+ // Moves the selected picker
+ function move(target, event, animate) {
+ var input = target.parents('.minicolors').find('.minicolors-input');
+ var settings = input.data('minicolors-settings');
+ var picker = target.find('[class$=-picker]');
+ var offsetX = target.offset().left;
+ var offsetY = target.offset().top;
+ var x = Math.round(event.pageX - offsetX);
+ var y = Math.round(event.pageY - offsetY);
+ var duration = animate ? settings.animationSpeed : 0;
+ var wx, wy, r, phi;
+
+ // Touch support
+ if(event.originalEvent.changedTouches) {
+ x = event.originalEvent.changedTouches[0].pageX - offsetX;
+ y = event.originalEvent.changedTouches[0].pageY - offsetY;
+ }
+
+ // Constrain picker to its container
+ if(x < 0) x = 0;
+ if(y < 0) y = 0;
+ if(x > target.width()) x = target.width();
+ if(y > target.height()) y = target.height();
+
+ // Constrain color wheel values to the wheel
+ if(target.parent().is('.minicolors-slider-wheel') && picker.parent().is('.minicolors-grid')) {
+ wx = 75 - x;
+ wy = 75 - y;
+ r = Math.sqrt(wx * wx + wy * wy);
+ phi = Math.atan2(wy, wx);
+ if(phi < 0) phi += Math.PI * 2;
+ if(r > 75) {
+ r = 75;
+ x = 75 - (75 * Math.cos(phi));
+ y = 75 - (75 * Math.sin(phi));
+ }
+ x = Math.round(x);
+ y = Math.round(y);
+ }
+
+ // Move the picker
+ if(target.is('.minicolors-grid')) {
+ picker
+ .stop(true)
+ .animate({
+ top: y + 'px',
+ left: x + 'px'
+ }, duration, settings.animationEasing, function() {
+ updateFromControl(input, target);
+ });
+ } else {
+ picker
+ .stop(true)
+ .animate({
+ top: y + 'px'
+ }, duration, settings.animationEasing, function() {
+ updateFromControl(input, target);
+ });
+ }
+ }
+
+ // Sets the input based on the color picker values
+ function updateFromControl(input, target) {
+
+ function getCoords(picker, container) {
+ var left, top;
+ if(!picker.length || !container) return null;
+ left = picker.offset().left;
+ top = picker.offset().top;
+
+ return {
+ x: left - container.offset().left + (picker.outerWidth() / 2),
+ y: top - container.offset().top + (picker.outerHeight() / 2)
+ };
+ }
+
+ var hue, saturation, brightness, x, y, r, phi;
+ var hex = input.val();
+ var opacity = input.attr('data-opacity');
+
+ // Helpful references
+ var minicolors = input.parent();
+ var settings = input.data('minicolors-settings');
+ var swatch = minicolors.find('.minicolors-input-swatch');
+
+ // Panel objects
+ var grid = minicolors.find('.minicolors-grid');
+ var slider = minicolors.find('.minicolors-slider');
+ var opacitySlider = minicolors.find('.minicolors-opacity-slider');
+
+ // Picker objects
+ var gridPicker = grid.find('[class$=-picker]');
+ var sliderPicker = slider.find('[class$=-picker]');
+ var opacityPicker = opacitySlider.find('[class$=-picker]');
+
+ // Picker positions
+ var gridPos = getCoords(gridPicker, grid);
+ var sliderPos = getCoords(sliderPicker, slider);
+ var opacityPos = getCoords(opacityPicker, opacitySlider);
+
+ // Handle colors
+ if(target.is('.minicolors-grid, .minicolors-slider, .minicolors-opacity-slider')) {
+
+ // Determine HSB values
+ switch(settings.control) {
+ case 'wheel':
+ // Calculate hue, saturation, and brightness
+ x = (grid.width() / 2) - gridPos.x;
+ y = (grid.height() / 2) - gridPos.y;
+ r = Math.sqrt(x * x + y * y);
+ phi = Math.atan2(y, x);
+ if(phi < 0) phi += Math.PI * 2;
+ if(r > 75) {
+ r = 75;
+ gridPos.x = 69 - (75 * Math.cos(phi));
+ gridPos.y = 69 - (75 * Math.sin(phi));
+ }
+ saturation = keepWithin(r / 0.75, 0, 100);
+ hue = keepWithin(phi * 180 / Math.PI, 0, 360);
+ brightness = keepWithin(100 - Math.floor(sliderPos.y * (100 / slider.height())), 0, 100);
+ hex = hsb2hex({
+ h: hue,
+ s: saturation,
+ b: brightness
+ });
+
+ // Update UI
+ slider.css('backgroundColor', hsb2hex({ h: hue, s: saturation, b: 100 }));
+ break;
+
+ case 'saturation':
+ // Calculate hue, saturation, and brightness
+ hue = keepWithin(parseInt(gridPos.x * (360 / grid.width()), 10), 0, 360);
+ saturation = keepWithin(100 - Math.floor(sliderPos.y * (100 / slider.height())), 0, 100);
+ brightness = keepWithin(100 - Math.floor(gridPos.y * (100 / grid.height())), 0, 100);
+ hex = hsb2hex({
+ h: hue,
+ s: saturation,
+ b: brightness
+ });
+
+ // Update UI
+ slider.css('backgroundColor', hsb2hex({ h: hue, s: 100, b: brightness }));
+ minicolors.find('.minicolors-grid-inner').css('opacity', saturation / 100);
+ break;
+
+ case 'brightness':
+ // Calculate hue, saturation, and brightness
+ hue = keepWithin(parseInt(gridPos.x * (360 / grid.width()), 10), 0, 360);
+ saturation = keepWithin(100 - Math.floor(gridPos.y * (100 / grid.height())), 0, 100);
+ brightness = keepWithin(100 - Math.floor(sliderPos.y * (100 / slider.height())), 0, 100);
+ hex = hsb2hex({
+ h: hue,
+ s: saturation,
+ b: brightness
+ });
+
+ // Update UI
+ slider.css('backgroundColor', hsb2hex({ h: hue, s: saturation, b: 100 }));
+ minicolors.find('.minicolors-grid-inner').css('opacity', 1 - (brightness / 100));
+ break;
+
+ default:
+ // Calculate hue, saturation, and brightness
+ hue = keepWithin(360 - parseInt(sliderPos.y * (360 / slider.height()), 10), 0, 360);
+ saturation = keepWithin(Math.floor(gridPos.x * (100 / grid.width())), 0, 100);
+ brightness = keepWithin(100 - Math.floor(gridPos.y * (100 / grid.height())), 0, 100);
+ hex = hsb2hex({
+ h: hue,
+ s: saturation,
+ b: brightness
+ });
+
+ // Update UI
+ grid.css('backgroundColor', hsb2hex({ h: hue, s: 100, b: 100 }));
+ break;
+ }
+
+ // Handle opacity
+ if(settings.opacity) {
+ opacity = parseFloat(1 - (opacityPos.y / opacitySlider.height())).toFixed(2);
+ } else {
+ opacity = 1;
+ }
+
+ updateInput(input, hex, opacity);
+ }
+ else {
+ // Set swatch color
+ swatch.find('span').css({
+ backgroundColor: hex,
+ opacity: opacity
+ });
+
+ // Handle change event
+ doChange(input, hex, opacity);
+ }
+ }
+
+ // Sets the value of the input and does the appropriate conversions
+ // to respect settings, also updates the swatch
+ function updateInput(input, value, opacity) {
+ var rgb;
+
+ // Helpful references
+ var minicolors = input.parent();
+ var settings = input.data('minicolors-settings');
+ var swatch = minicolors.find('.minicolors-input-swatch');
+
+ if(settings.opacity) input.attr('data-opacity', opacity);
+
+ // Set color string
+ if(settings.format === 'rgb') {
+ // Returns RGB(A) string
+
+ // Checks for input format and does the conversion
+ if(isRgb(value)) {
+ rgb = parseRgb(value, true);
+ }
+ else {
+ rgb = hex2rgb(parseHex(value, true));
+ }
+
+ opacity = input.attr('data-opacity') === '' ? 1 : keepWithin(parseFloat(input.attr('data-opacity')).toFixed(2), 0, 1);
+ if(isNaN(opacity) || !settings.opacity) opacity = 1;
+
+ if(input.minicolors('rgbObject').a <= 1 && rgb && settings.opacity) {
+ // Set RGBA string if alpha
+ value = 'rgba(' + rgb.r + ', ' + rgb.g + ', ' + rgb.b + ', ' + parseFloat(opacity) + ')';
+ } else {
+ // Set RGB string (alpha = 1)
+ value = 'rgb(' + rgb.r + ', ' + rgb.g + ', ' + rgb.b + ')';
+ }
+ } else {
+ // Returns hex color
+
+ // Checks for input format and does the conversion
+ if(isRgb(value)) {
+ value = rgbString2hex(value);
+ }
+
+ value = convertCase(value, settings.letterCase);
+ }
+
+ // Update value from picker
+ input.val(value);
+
+ // Set swatch color
+ swatch.find('span').css({
+ backgroundColor: value,
+ opacity: opacity
+ });
+
+ // Handle change event
+ doChange(input, value, opacity);
+ }
+
+ // Sets the color picker values from the input
+ function updateFromInput(input, preserveInputValue) {
+ var hex, hsb, opacity, keywords, alpha, value, x, y, r, phi;
+
+ // Helpful references
+ var minicolors = input.parent();
+ var settings = input.data('minicolors-settings');
+ var swatch = minicolors.find('.minicolors-input-swatch');
+
+ // Panel objects
+ var grid = minicolors.find('.minicolors-grid');
+ var slider = minicolors.find('.minicolors-slider');
+ var opacitySlider = minicolors.find('.minicolors-opacity-slider');
+
+ // Picker objects
+ var gridPicker = grid.find('[class$=-picker]');
+ var sliderPicker = slider.find('[class$=-picker]');
+ var opacityPicker = opacitySlider.find('[class$=-picker]');
+
+ // Determine hex/HSB values
+ if(isRgb(input.val())) {
+ // If input value is a rgb(a) string, convert it to hex color and update opacity
+ hex = rgbString2hex(input.val());
+ alpha = keepWithin(parseFloat(getAlpha(input.val())).toFixed(2), 0, 1);
+ if(alpha) {
+ input.attr('data-opacity', alpha);
+ }
+ } else {
+ hex = convertCase(parseHex(input.val(), true), settings.letterCase);
+ }
+
+ if(!hex){
+ hex = convertCase(parseInput(settings.defaultValue, true), settings.letterCase);
+ }
+ hsb = hex2hsb(hex);
+
+ // Get array of lowercase keywords
+ keywords = !settings.keywords ? [] : $.map(settings.keywords.split(','), function(a) {
+ return $.trim(a.toLowerCase());
+ });
+
+ // Set color string
+ if(input.val() !== '' && $.inArray(input.val().toLowerCase(), keywords) > -1) {
+ value = convertCase(input.val());
+ } else {
+ value = isRgb(input.val()) ? parseRgb(input.val()) : hex;
+ }
+
+ // Update input value
+ if(!preserveInputValue) input.val(value);
+
+ // Determine opacity value
+ if(settings.opacity) {
+ // Get from data-opacity attribute and keep within 0-1 range
+ opacity = input.attr('data-opacity') === '' ? 1 : keepWithin(parseFloat(input.attr('data-opacity')).toFixed(2), 0, 1);
+ if(isNaN(opacity)) opacity = 1;
+ input.attr('data-opacity', opacity);
+ swatch.find('span').css('opacity', opacity);
+
+ // Set opacity picker position
+ y = keepWithin(opacitySlider.height() - (opacitySlider.height() * opacity), 0, opacitySlider.height());
+ opacityPicker.css('top', y + 'px');
+ }
+
+ // Set opacity to zero if input value is transparent
+ if(input.val().toLowerCase() === 'transparent') {
+ swatch.find('span').css('opacity', 0);
+ }
+
+ // Update swatch
+ swatch.find('span').css('backgroundColor', hex);
+
+ // Determine picker locations
+ switch(settings.control) {
+ case 'wheel':
+ // Set grid position
+ r = keepWithin(Math.ceil(hsb.s * 0.75), 0, grid.height() / 2);
+ phi = hsb.h * Math.PI / 180;
+ x = keepWithin(75 - Math.cos(phi) * r, 0, grid.width());
+ y = keepWithin(75 - Math.sin(phi) * r, 0, grid.height());
+ gridPicker.css({
+ top: y + 'px',
+ left: x + 'px'
+ });
+
+ // Set slider position
+ y = 150 - (hsb.b / (100 / grid.height()));
+ if(hex === '') y = 0;
+ sliderPicker.css('top', y + 'px');
+
+ // Update panel color
+ slider.css('backgroundColor', hsb2hex({ h: hsb.h, s: hsb.s, b: 100 }));
+ break;
+
+ case 'saturation':
+ // Set grid position
+ x = keepWithin((5 * hsb.h) / 12, 0, 150);
+ y = keepWithin(grid.height() - Math.ceil(hsb.b / (100 / grid.height())), 0, grid.height());
+ gridPicker.css({
+ top: y + 'px',
+ left: x + 'px'
+ });
+
+ // Set slider position
+ y = keepWithin(slider.height() - (hsb.s * (slider.height() / 100)), 0, slider.height());
+ sliderPicker.css('top', y + 'px');
+
+ // Update UI
+ slider.css('backgroundColor', hsb2hex({ h: hsb.h, s: 100, b: hsb.b }));
+ minicolors.find('.minicolors-grid-inner').css('opacity', hsb.s / 100);
+ break;
+
+ case 'brightness':
+ // Set grid position
+ x = keepWithin((5 * hsb.h) / 12, 0, 150);
+ y = keepWithin(grid.height() - Math.ceil(hsb.s / (100 / grid.height())), 0, grid.height());
+ gridPicker.css({
+ top: y + 'px',
+ left: x + 'px'
+ });
+
+ // Set slider position
+ y = keepWithin(slider.height() - (hsb.b * (slider.height() / 100)), 0, slider.height());
+ sliderPicker.css('top', y + 'px');
+
+ // Update UI
+ slider.css('backgroundColor', hsb2hex({ h: hsb.h, s: hsb.s, b: 100 }));
+ minicolors.find('.minicolors-grid-inner').css('opacity', 1 - (hsb.b / 100));
+ break;
+
+ default:
+ // Set grid position
+ x = keepWithin(Math.ceil(hsb.s / (100 / grid.width())), 0, grid.width());
+ y = keepWithin(grid.height() - Math.ceil(hsb.b / (100 / grid.height())), 0, grid.height());
+ gridPicker.css({
+ top: y + 'px',
+ left: x + 'px'
+ });
+
+ // Set slider position
+ y = keepWithin(slider.height() - (hsb.h / (360 / slider.height())), 0, slider.height());
+ sliderPicker.css('top', y + 'px');
+
+ // Update panel color
+ grid.css('backgroundColor', hsb2hex({ h: hsb.h, s: 100, b: 100 }));
+ break;
+ }
+
+ // Fire change event, but only if minicolors is fully initialized
+ if(input.data('minicolors-initialized')) {
+ doChange(input, value, opacity);
+ }
+ }
+
+ // Runs the change and changeDelay callbacks
+ function doChange(input, value, opacity) {
+ var settings = input.data('minicolors-settings');
+ var lastChange = input.data('minicolors-lastChange');
+ var obj, sel, i;
+
+ // Only run if it actually changed
+ if(!lastChange || lastChange.value !== value || lastChange.opacity !== opacity) {
+
+ // Remember last-changed value
+ input.data('minicolors-lastChange', {
+ value: value,
+ opacity: opacity
+ });
+
+ // Check and select applicable swatch
+ if(settings.swatches && settings.swatches.length !== 0) {
+ if(!isRgb(value)) {
+ obj = hex2rgb(value);
+ }
+ else {
+ obj = parseRgb(value, true);
+ }
+ sel = -1;
+ for(i = 0; i < settings.swatches.length; ++i) {
+ if(obj.r === settings.swatches[i].r && obj.g === settings.swatches[i].g && obj.b === settings.swatches[i].b && obj.a === settings.swatches[i].a) {
+ sel = i;
+ break;
+ }
+ }
+
+ input.parent().find('.minicolors-swatches .minicolors-swatch').removeClass('selected');
+ if(sel !== -1) {
+ input.parent().find('.minicolors-swatches .minicolors-swatch').eq(i).addClass('selected');
+ }
+ }
+
+ // Fire change event
+ if(settings.change) {
+ if(settings.changeDelay) {
+ // Call after a delay
+ clearTimeout(input.data('minicolors-changeTimeout'));
+ input.data('minicolors-changeTimeout', setTimeout(function() {
+ settings.change.call(input.get(0), value, opacity);
+ }, settings.changeDelay));
+ } else {
+ // Call immediately
+ settings.change.call(input.get(0), value, opacity);
+ }
+ }
+ input.trigger('change').trigger('input');
+ }
+ }
+
+ // Generates an RGB(A) object based on the input's value
+ function rgbObject(input) {
+ var rgb,
+ opacity = $(input).attr('data-opacity');
+ if( isRgb($(input).val()) ) {
+ rgb = parseRgb($(input).val(), true);
+ } else {
+ var hex = parseHex($(input).val(), true);
+ rgb = hex2rgb(hex);
+ }
+ if( !rgb ) return null;
+ if( opacity !== undefined ) $.extend(rgb, { a: parseFloat(opacity) });
+ return rgb;
+ }
+
+ // Generates an RGB(A) string based on the input's value
+ function rgbString(input, alpha) {
+ var rgb,
+ opacity = $(input).attr('data-opacity');
+ if( isRgb($(input).val()) ) {
+ rgb = parseRgb($(input).val(), true);
+ } else {
+ var hex = parseHex($(input).val(), true);
+ rgb = hex2rgb(hex);
+ }
+ if( !rgb ) return null;
+ if( opacity === undefined ) opacity = 1;
+ if( alpha ) {
+ return 'rgba(' + rgb.r + ', ' + rgb.g + ', ' + rgb.b + ', ' + parseFloat(opacity) + ')';
+ } else {
+ return 'rgb(' + rgb.r + ', ' + rgb.g + ', ' + rgb.b + ')';
+ }
+ }
+
+ // Converts to the letter case specified in settings
+ function convertCase(string, letterCase) {
+ return letterCase === 'uppercase' ? string.toUpperCase() : string.toLowerCase();
+ }
+
+ // Parses a string and returns a valid hex string when possible
+ function parseHex(string, expand) {
+ string = string.replace(/^#/g, '');
+ if(!string.match(/^[A-F0-9]{3,6}/ig)) return '';
+ if(string.length !== 3 && string.length !== 6) return '';
+ if(string.length === 3 && expand) {
+ string = string[0] + string[0] + string[1] + string[1] + string[2] + string[2];
+ }
+ return '#' + string;
+ }
+
+ // Parses a string and returns a valid RGB(A) string when possible
+ function parseRgb(string, obj) {
+ var values = string.replace(/[^\d,.]/g, '');
+ var rgba = values.split(',');
+
+ rgba[0] = keepWithin(parseInt(rgba[0], 10), 0, 255);
+ rgba[1] = keepWithin(parseInt(rgba[1], 10), 0, 255);
+ rgba[2] = keepWithin(parseInt(rgba[2], 10), 0, 255);
+ if(rgba[3]) {
+ rgba[3] = keepWithin(parseFloat(rgba[3], 10), 0, 1);
+ }
+
+ // Return RGBA object
+ if( obj ) {
+ if (rgba[3]) {
+ return {
+ r: rgba[0],
+ g: rgba[1],
+ b: rgba[2],
+ a: rgba[3]
+ };
+ } else {
+ return {
+ r: rgba[0],
+ g: rgba[1],
+ b: rgba[2]
+ };
+ }
+ }
+
+ // Return RGBA string
+ if(typeof(rgba[3]) !== 'undefined' && rgba[3] <= 1) {
+ return 'rgba(' + rgba[0] + ', ' + rgba[1] + ', ' + rgba[2] + ', ' + rgba[3] + ')';
+ } else {
+ return 'rgb(' + rgba[0] + ', ' + rgba[1] + ', ' + rgba[2] + ')';
+ }
+
+ }
+
+ // Parses a string and returns a valid color string when possible
+ function parseInput(string, expand) {
+ if(isRgb(string)) {
+ // Returns a valid rgb(a) string
+ return parseRgb(string);
+ } else {
+ return parseHex(string, expand);
+ }
+ }
+
+ // Keeps value within min and max
+ function keepWithin(value, min, max) {
+ if(value < min) value = min;
+ if(value > max) value = max;
+ return value;
+ }
+
+ // Checks if a string is a valid RGB(A) string
+ function isRgb(string) {
+ var rgb = string.match(/^rgba?[\s+]?\([\s+]?(\d+)[\s+]?,[\s+]?(\d+)[\s+]?,[\s+]?(\d+)[\s+]?/i);
+ return (rgb && rgb.length === 4) ? true : false;
+ }
+
+ // Function to get alpha from a RGB(A) string
+ function getAlpha(rgba) {
+ rgba = rgba.match(/^rgba?[\s+]?\([\s+]?(\d+)[\s+]?,[\s+]?(\d+)[\s+]?,[\s+]?(\d+)[\s+]?,[\s+]?(\d+(\.\d{1,2})?|\.\d{1,2})[\s+]?/i);
+ return (rgba && rgba.length === 6) ? rgba[4] : '1';
+ }
+
+ // Converts an HSB object to an RGB object
+ function hsb2rgb(hsb) {
+ var rgb = {};
+ var h = Math.round(hsb.h);
+ var s = Math.round(hsb.s * 255 / 100);
+ var v = Math.round(hsb.b * 255 / 100);
+ if(s === 0) {
+ rgb.r = rgb.g = rgb.b = v;
+ } else {
+ var t1 = v;
+ var t2 = (255 - s) * v / 255;
+ var t3 = (t1 - t2) * (h % 60) / 60;
+ if(h === 360) h = 0;
+ if(h < 60) { rgb.r = t1; rgb.b = t2; rgb.g = t2 + t3; }
+ else if(h < 120) {rgb.g = t1; rgb.b = t2; rgb.r = t1 - t3; }
+ else if(h < 180) {rgb.g = t1; rgb.r = t2; rgb.b = t2 + t3; }
+ else if(h < 240) {rgb.b = t1; rgb.r = t2; rgb.g = t1 - t3; }
+ else if(h < 300) {rgb.b = t1; rgb.g = t2; rgb.r = t2 + t3; }
+ else if(h < 360) {rgb.r = t1; rgb.g = t2; rgb.b = t1 - t3; }
+ else { rgb.r = 0; rgb.g = 0; rgb.b = 0; }
+ }
+ return {
+ r: Math.round(rgb.r),
+ g: Math.round(rgb.g),
+ b: Math.round(rgb.b)
+ };
+ }
+
+ // Converts an RGB string to a hex string
+ function rgbString2hex(rgb){
+ rgb = rgb.match(/^rgba?[\s+]?\([\s+]?(\d+)[\s+]?,[\s+]?(\d+)[\s+]?,[\s+]?(\d+)[\s+]?/i);
+ return (rgb && rgb.length === 4) ? '#' +
+ ('0' + parseInt(rgb[1],10).toString(16)).slice(-2) +
+ ('0' + parseInt(rgb[2],10).toString(16)).slice(-2) +
+ ('0' + parseInt(rgb[3],10).toString(16)).slice(-2) : '';
+ }
+
+ // Converts an RGB object to a hex string
+ function rgb2hex(rgb) {
+ var hex = [
+ rgb.r.toString(16),
+ rgb.g.toString(16),
+ rgb.b.toString(16)
+ ];
+ $.each(hex, function(nr, val) {
+ if(val.length === 1) hex[nr] = '0' + val;
+ });
+ return '#' + hex.join('');
+ }
+
+ // Converts an HSB object to a hex string
+ function hsb2hex(hsb) {
+ return rgb2hex(hsb2rgb(hsb));
+ }
+
+ // Converts a hex string to an HSB object
+ function hex2hsb(hex) {
+ var hsb = rgb2hsb(hex2rgb(hex));
+ if(hsb.s === 0) hsb.h = 360;
+ return hsb;
+ }
+
+ // Converts an RGB object to an HSB object
+ function rgb2hsb(rgb) {
+ var hsb = { h: 0, s: 0, b: 0 };
+ var min = Math.min(rgb.r, rgb.g, rgb.b);
+ var max = Math.max(rgb.r, rgb.g, rgb.b);
+ var delta = max - min;
+ hsb.b = max;
+ hsb.s = max !== 0 ? 255 * delta / max : 0;
+ if(hsb.s !== 0) {
+ if(rgb.r === max) {
+ hsb.h = (rgb.g - rgb.b) / delta;
+ } else if(rgb.g === max) {
+ hsb.h = 2 + (rgb.b - rgb.r) / delta;
+ } else {
+ hsb.h = 4 + (rgb.r - rgb.g) / delta;
+ }
+ } else {
+ hsb.h = -1;
+ }
+ hsb.h *= 60;
+ if(hsb.h < 0) {
+ hsb.h += 360;
+ }
+ hsb.s *= 100/255;
+ hsb.b *= 100/255;
+ return hsb;
+ }
+
+ // Converts a hex string to an RGB object
+ function hex2rgb(hex) {
+ hex = parseInt(((hex.indexOf('#') > -1) ? hex.substring(1) : hex), 16);
+ return {
+ r: hex >> 16,
+ g: (hex & 0x00FF00) >> 8,
+ b: (hex & 0x0000FF)
+ };
+ }
+
+ // Handle events
+ $([document])
+ // Hide on clicks outside of the control
+ .on('mousedown.minicolors touchstart.minicolors', function(event) {
+ if(!$(event.target).parents().add(event.target).hasClass('minicolors')) {
+ hide();
+ }
+ })
+ // Start moving
+ .on('mousedown.minicolors touchstart.minicolors', '.minicolors-grid, .minicolors-slider, .minicolors-opacity-slider', function(event) {
+ var target = $(this);
+ event.preventDefault();
+ $(event.delegateTarget).data('minicolors-target', target);
+ move(target, event, true);
+ })
+ // Move pickers
+ .on('mousemove.minicolors touchmove.minicolors', function(event) {
+ var target = $(event.delegateTarget).data('minicolors-target');
+ if(target) move(target, event);
+ })
+ // Stop moving
+ .on('mouseup.minicolors touchend.minicolors', function() {
+ $(this).removeData('minicolors-target');
+ })
+ // Selected a swatch
+ .on('click.minicolors', '.minicolors-swatches li', function(event) {
+ event.preventDefault();
+ var target = $(this), input = target.parents('.minicolors').find('.minicolors-input'), color = target.data('swatch-color');
+ updateInput(input, color, getAlpha(color));
+ updateFromInput(input);
+ })
+ // Show panel when swatch is clicked
+ .on('mousedown.minicolors touchstart.minicolors', '.minicolors-input-swatch', function(event) {
+ var input = $(this).parent().find('.minicolors-input');
+ event.preventDefault();
+ show(input);
+ })
+ // Show on focus
+ .on('focus.minicolors', '.minicolors-input', function() {
+ var input = $(this);
+ if(!input.data('minicolors-initialized')) return;
+ show(input);
+ })
+ // Update value on blur
+ .on('blur.minicolors', '.minicolors-input', function() {
+ var input = $(this);
+ var settings = input.data('minicolors-settings');
+ var keywords;
+ var hex;
+ var rgba;
+ var swatchOpacity;
+ var value;
+
+ if(!input.data('minicolors-initialized')) return;
+
+ // Get array of lowercase keywords
+ keywords = !settings.keywords ? [] : $.map(settings.keywords.split(','), function(a) {
+ return $.trim(a.toLowerCase());
+ });
+
+ // Set color string
+ if(input.val() !== '' && $.inArray(input.val().toLowerCase(), keywords) > -1) {
+ value = input.val();
+ } else {
+ // Get RGBA values for easy conversion
+ if(isRgb(input.val())) {
+ rgba = parseRgb(input.val(), true);
+ } else {
+ hex = parseHex(input.val(), true);
+ rgba = hex ? hex2rgb(hex) : null;
+ }
+
+ // Convert to format
+ if(rgba === null) {
+ value = settings.defaultValue;
+ } else if(settings.format === 'rgb') {
+ value = settings.opacity ?
+ parseRgb('rgba(' + rgba.r + ',' + rgba.g + ',' + rgba.b + ',' + input.attr('data-opacity') + ')') :
+ parseRgb('rgb(' + rgba.r + ',' + rgba.g + ',' + rgba.b + ')');
+ } else {
+ value = rgb2hex(rgba);
+ }
+ }
+
+ // Update swatch opacity
+ swatchOpacity = settings.opacity ? input.attr('data-opacity') : 1;
+ if(value.toLowerCase() === 'transparent') swatchOpacity = 0;
+ input
+ .closest('.minicolors')
+ .find('.minicolors-input-swatch > span')
+ .css('opacity', swatchOpacity);
+
+ // Set input value
+ input.val(value);
+
+ // Is it blank?
+ if(input.val() === '') input.val(parseInput(settings.defaultValue, true));
+
+ // Adjust case
+ input.val(convertCase(input.val(), settings.letterCase));
+
+ })
+ // Handle keypresses
+ .on('keydown.minicolors', '.minicolors-input', function(event) {
+ var input = $(this);
+ if(!input.data('minicolors-initialized')) return;
+ switch(event.keyCode) {
+ case 9: // tab
+ hide();
+ break;
+ case 13: // enter
+ case 27: // esc
+ hide();
+ input.blur();
+ break;
+ }
+ })
+ // Update on keyup
+ .on('keyup.minicolors', '.minicolors-input', function() {
+ var input = $(this);
+ if(!input.data('minicolors-initialized')) return;
+ updateFromInput(input, true);
+ })
+ // Update on paste
+ .on('paste.minicolors', '.minicolors-input', function() {
+ var input = $(this);
+ if(!input.data('minicolors-initialized')) return;
+ setTimeout(function() {
+ updateFromInput(input, true);
+ }, 1);
+ });
+}));
--- /dev/null
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var KEYBOARDTELEOP = KEYBOARDTELEOP || {
+ REVISION : '0.3.0'
+};
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * Manages connection to the server and all interactions with ROS.
+ *
+ * Emits the following events:
+ * * 'change' - emitted with a change in speed occurs
+ *
+ * @constructor
+ * @param options - possible keys include:
+ * * ros - the ROSLIB.Ros connection handle
+ * * topic (optional) - the Twist topic to publish to, like '/cmd_vel'
+ * * throttle (optional) - a constant throttle for the speed
+ */
+KEYBOARDTELEOP.Teleop = function(options) {
+ var that = this;
+ options = options || {};
+ var ros = options.ros;
+ var topic = options.topic || '/cmd_vel';
+ // permanent throttle
+ var throttle = options.throttle || 1.0;
+
+ // used to externally throttle the speed (e.g., from a slider)
+ this.scale = 1.0;
+
+ // linear x and y movement and angular z movement
+ var x = 0;
+ var y = 0;
+ var z = 0;
+
+ var cmdVel = new ROSLIB.Topic({
+ ros : ros,
+ name : topic,
+ messageType : 'geometry_msgs/Twist'
+ });
+
+ // sets up a key listener on the page used for keyboard teleoperation
+ var handleKey = function(keyCode, keyDown) {
+ // used to check for changes in speed
+ var oldX = x;
+ var oldY = y;
+ var oldZ = z;
+
+ var pub = true;
+
+ var speed = 0;
+ // throttle the speed by the slider and throttle constant
+ if (keyDown === true) {
+ speed = throttle * that.scale;
+ }
+ // check which key was pressed
+ switch (keyCode) {
+ case 65:
+ // turn left
+ z = 1 * speed;
+ break;
+ case 87:
+ // up
+ x = 0.5 * speed;
+ break;
+ case 68:
+ // turn right
+ z = -1 * speed;
+ break;
+ case 83:
+ // down
+ x = -0.5 * speed;
+ break;
+ case 69:
+ // strafe right
+ y = -0.5 * speed;
+ break;
+ case 81:
+ // strafe left
+ y = 0.5 * speed;
+ break;
+ default:
+ pub = false;
+ }
+
+ // publish the command
+ if (pub === true) {
+ var twist = new ROSLIB.Message({
+ angular : {
+ x : 0,
+ y : 0,
+ z : z
+ },
+ linear : {
+ x : x,
+ y : y,
+ z : z
+ }
+ });
+ cmdVel.publish(twist);
+
+ // check for changes
+ if (oldX !== x || oldY !== y || oldZ !== z) {
+ that.emit('change', twist);
+ }
+ }
+ };
+
+ // handle the key
+ var body = document.getElementsByTagName('body')[0];
+ body.addEventListener('keydown', function(e) {
+ handleKey(e.keyCode, true);
+ }, false);
+ body.addEventListener('keyup', function(e) {
+ handleKey(e.keyCode, false);
+ }, false);
+};
+KEYBOARDTELEOP.Teleop.prototype.__proto__ = EventEmitter2.prototype;
--- /dev/null
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ * @author Lars Kunze - l.kunze@cs.bham.ac.uk
+ */
+
+var NAV2D = NAV2D || {
+ REVISION : '0.3.0'
+};
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A OccupancyGridClientNav uses an OccupancyGridClient to create a map for use with a Navigator.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * topic (optional) - the map meta data topic to listen to
+ * * image - the URL of the image to render
+ * * serverName (optional) - the action server name to use for navigation, like '/move_base'
+ * * actionName (optional) - the navigation action name, like 'move_base_msgs/MoveBaseAction'
+ * * rootObject (optional) - the root object to add the click listeners to and render robot markers to
+ * * withOrientation (optional) - if the Navigator should consider the robot orientation (default: false)
+ * * viewer - the main viewer to render to
+ */
+NAV2D.ImageMapClientNav = function(options) {
+ var that = this;
+ options = options || {};
+ this.ros = options.ros;
+ var topic = options.topic || '/map_metadata';
+ var image = options.image;
+ this.serverName = options.serverName || '/move_base';
+ this.actionName = options.actionName || 'move_base_msgs/MoveBaseAction';
+ this.rootObject = options.rootObject || new createjs.Container();
+ this.viewer = options.viewer;
+ this.withOrientation = options.withOrientation || false;
+
+ this.navigator = null;
+
+ // setup a client to get the map
+ var client = new ROS2D.ImageMapClient({
+ ros : this.ros,
+ rootObject : this.rootObject,
+ topic : topic,
+ image : image
+ });
+ client.on('change', function() {
+ that.navigator = new NAV2D.Navigator({
+ ros : that.ros,
+ serverName : that.serverName,
+ actionName : that.actionName,
+ rootObject : that.rootObject,
+ withOrientation : that.withOrientation
+ });
+
+ // scale the viewer to fit the map
+ that.viewer.scaleToDimensions(client.currentImage.width, client.currentImage.height);
+ that.viewer.shift(client.currentImage.pose.position.x, client.currentImage.pose.position.y);
+ });
+};
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ * @author Lars Kunze - l.kunze@cs.bham.ac.uk
+ */
+
+/**
+ * A navigator can be used to add click-to-navigate options to an object. If
+ * withOrientation is set to true, the user can also specify the orientation of
+ * the robot by clicking at the goal position and pointing into the desired
+ * direction (while holding the button pressed).
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * serverName (optional) - the action server name to use for navigation, like '/move_base'
+ * * actionName (optional) - the navigation action name, like 'move_base_msgs/MoveBaseAction'
+ * * rootObject (optional) - the root object to add the click listeners to and render robot markers to
+ * * withOrientation (optional) - if the Navigator should consider the robot orientation (default: false)
+ */
+NAV2D.Navigator = function(options) {
+ var that = this;
+ options = options || {};
+ var ros = options.ros;
+ var serverName = options.serverName || '/move_base';
+ var actionName = options.actionName || 'move_base_msgs/MoveBaseAction';
+ var withOrientation = options.withOrientation || false;
+ this.rootObject = options.rootObject || new createjs.Container();
+
+ // setup the actionlib client
+ var actionClient = new ROSLIB.ActionClient({
+ ros : ros,
+ actionName : actionName,
+ serverName : serverName
+ });
+
+ /**
+ * Send a goal to the navigation stack with the given pose.
+ *
+ * @param pose - the goal pose
+ */
+ function sendGoal(pose) {
+ // create a goal
+ var goal = new ROSLIB.Goal({
+ actionClient : actionClient,
+ goalMessage : {
+ target_pose : {
+ header : {
+ frame_id : '/map'
+ },
+ pose : pose
+ }
+ }
+ });
+ goal.send();
+
+ // create a marker for the goal
+ var goalMarker = new ROS2D.NavigationArrow({
+ size : 15,
+ strokeSize : 1,
+ fillColor : createjs.Graphics.getRGB(255, 64, 128, 0.66),
+ pulse : true
+ });
+ goalMarker.x = pose.position.x;
+ goalMarker.y = -pose.position.y;
+ goalMarker.rotation = stage.rosQuaternionToGlobalTheta(pose.orientation);
+ goalMarker.scaleX = 1.0 / stage.scaleX;
+ goalMarker.scaleY = 1.0 / stage.scaleY;
+ that.rootObject.addChild(goalMarker);
+
+ goal.on('result', function() {
+ that.rootObject.removeChild(goalMarker);
+ });
+ }
+
+ // get a handle to the stage
+ var stage;
+ if (that.rootObject instanceof createjs.Stage) {
+ stage = that.rootObject;
+ } else {
+ stage = that.rootObject.getStage();
+ }
+
+ // marker for the robot
+ var robotMarker = new ROS2D.NavigationArrow({
+ size : 25,
+ strokeSize : 1,
+ fillColor : createjs.Graphics.getRGB(255, 128, 0, 0.66),
+ pulse : true
+ });
+ // wait for a pose to come in first
+ robotMarker.visible = false;
+ this.rootObject.addChild(robotMarker);
+ var initScaleSet = false;
+
+ // setup a listener for the robot pose
+ var poseListener = new ROSLIB.Topic({
+ ros : ros,
+ name : '/robot_pose',
+ messageType : 'geometry_msgs/Pose',
+ throttle_rate : 100
+ });
+ poseListener.subscribe(function(pose) {
+ // update the robots position on the map
+ robotMarker.x = pose.position.x;
+ robotMarker.y = -pose.position.y;
+ if (!initScaleSet) {
+ robotMarker.scaleX = 1.0 / stage.scaleX;
+ robotMarker.scaleY = 1.0 / stage.scaleY;
+ initScaleSet = true;
+ }
+
+ // change the angle
+ robotMarker.rotation = stage.rosQuaternionToGlobalTheta(pose.orientation);
+
+ robotMarker.visible = true;
+ });
+
+ if (withOrientation === false){
+ // setup a double click listener (no orientation)
+ this.rootObject.addEventListener('dblclick', function(event) {
+ // convert to ROS coordinates
+ var coords = stage.globalToRos(event.stageX, event.stageY);
+ var pose = new ROSLIB.Pose({
+ position : new ROSLIB.Vector3(coords)
+ });
+ // send the goal
+ sendGoal(pose);
+ });
+ } else { // withOrientation === true
+ // setup a click-and-point listener (with orientation)
+ var position = null;
+ var positionVec3 = null;
+ var thetaRadians = 0;
+ var thetaDegrees = 0;
+ var orientationMarker = null;
+ var mouseDown = false;
+ var xDelta = 0;
+ var yDelta = 0;
+
+ var mouseEventHandler = function(event, mouseState) {
+
+ if (mouseState === 'down'){
+ // get position when mouse button is pressed down
+ position = stage.globalToRos(event.stageX, event.stageY);
+ positionVec3 = new ROSLIB.Vector3(position);
+ mouseDown = true;
+ }
+ else if (mouseState === 'move'){
+ // remove obsolete orientation marker
+ that.rootObject.removeChild(orientationMarker);
+
+ if ( mouseDown === true) {
+ // if mouse button is held down:
+ // - get current mouse position
+ // - calulate direction between stored <position> and current position
+ // - place orientation marker
+ var currentPos = stage.globalToRos(event.stageX, event.stageY);
+ var currentPosVec3 = new ROSLIB.Vector3(currentPos);
+
+ orientationMarker = new ROS2D.NavigationArrow({
+ size : 25,
+ strokeSize : 1,
+ fillColor : createjs.Graphics.getRGB(0, 255, 0, 0.66),
+ pulse : false
+ });
+
+ xDelta = currentPosVec3.x - positionVec3.x;
+ yDelta = currentPosVec3.y - positionVec3.y;
+
+ thetaRadians = Math.atan2(xDelta,yDelta);
+
+ thetaDegrees = thetaRadians * (180.0 / Math.PI);
+
+ if (thetaDegrees >= 0 && thetaDegrees <= 180) {
+ thetaDegrees += 270;
+ } else {
+ thetaDegrees -= 90;
+ }
+
+ orientationMarker.x = positionVec3.x;
+ orientationMarker.y = -positionVec3.y;
+ orientationMarker.rotation = thetaDegrees;
+ orientationMarker.scaleX = 1.0 / stage.scaleX;
+ orientationMarker.scaleY = 1.0 / stage.scaleY;
+
+ that.rootObject.addChild(orientationMarker);
+ }
+ } else if (mouseDown) { // mouseState === 'up'
+ // if mouse button is released
+ // - get current mouse position (goalPos)
+ // - calulate direction between stored <position> and goal position
+ // - set pose with orientation
+ // - send goal
+ mouseDown = false;
+
+ var goalPos = stage.globalToRos(event.stageX, event.stageY);
+
+ var goalPosVec3 = new ROSLIB.Vector3(goalPos);
+
+ xDelta = goalPosVec3.x - positionVec3.x;
+ yDelta = goalPosVec3.y - positionVec3.y;
+
+ thetaRadians = Math.atan2(xDelta,yDelta);
+
+ if (thetaRadians >= 0 && thetaRadians <= Math.PI) {
+ thetaRadians += (3 * Math.PI / 2);
+ } else {
+ thetaRadians -= (Math.PI/2);
+ }
+
+ var qz = Math.sin(-thetaRadians/2.0);
+ var qw = Math.cos(-thetaRadians/2.0);
+
+ var orientation = new ROSLIB.Quaternion({x:0, y:0, z:qz, w:qw});
+
+ var pose = new ROSLIB.Pose({
+ position : positionVec3,
+ orientation : orientation
+ });
+ // send the goal
+ sendGoal(pose);
+ }
+ };
+
+ this.rootObject.addEventListener('stagemousedown', function(event) {
+ mouseEventHandler(event,'down');
+ });
+
+ this.rootObject.addEventListener('stagemousemove', function(event) {
+ mouseEventHandler(event,'move');
+ });
+
+ this.rootObject.addEventListener('stagemouseup', function(event) {
+ mouseEventHandler(event,'up');
+ });
+ }
+};
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A OccupancyGridClientNav uses an OccupancyGridClient to create a map for use with a Navigator.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * topic (optional) - the map topic to listen to
+ * * rootObject (optional) - the root object to add this marker to
+ * * continuous (optional) - if the map should be continuously loaded (e.g., for SLAM)
+ * * serverName (optional) - the action server name to use for navigation, like '/move_base'
+ * * actionName (optional) - the navigation action name, like 'move_base_msgs/MoveBaseAction'
+ * * rootObject (optional) - the root object to add the click listeners to and render robot markers to
+ * * withOrientation (optional) - if the Navigator should consider the robot orientation (default: false)
+ * * viewer - the main viewer to render to
+ */
+NAV2D.OccupancyGridClientNav = function(options) {
+ var that = this;
+ options = options || {};
+ this.ros = options.ros;
+ var topic = options.topic || '/map';
+ var continuous = options.continuous;
+ this.serverName = options.serverName || '/move_base';
+ this.actionName = options.actionName || 'move_base_msgs/MoveBaseAction';
+ this.rootObject = options.rootObject || new createjs.Container();
+ this.viewer = options.viewer;
+ this.withOrientation = options.withOrientation || false;
+
+ this.navigator = null;
+
+ // setup a client to get the map
+ var client = new ROS2D.OccupancyGridClient({
+ ros : this.ros,
+ rootObject : this.rootObject,
+ continuous : continuous,
+ topic : topic
+ });
+ client.on('change', function() {
+ that.navigator = new NAV2D.Navigator({
+ ros : that.ros,
+ serverName : that.serverName,
+ actionName : that.actionName,
+ rootObject : that.rootObject,
+ withOrientation : that.withOrientation
+ });
+
+ // scale the viewer to fit the map
+ that.viewer.scaleToDimensions(client.currentGrid.width, client.currentGrid.height);
+ that.viewer.shift(client.currentGrid.pose.position.x, client.currentGrid.pose.position.y);
+ });
+};
--- /dev/null
+/*
+ Copyright (C) Federico Zivolo 2017
+ Distributed under the MIT License (license terms are at http://opensource.org/licenses/MIT).
+ */(function(e,t){'object'==typeof exports&&'undefined'!=typeof module?module.exports=t():'function'==typeof define&&define.amd?define(t):e.Popper=t()})(this,function(){'use strict';function e(e){return e&&'[object Function]'==={}.toString.call(e)}function t(e,t){if(1!==e.nodeType)return[];var o=getComputedStyle(e,null);return t?o[t]:o}function o(e){return'HTML'===e.nodeName?e:e.parentNode||e.host}function n(e){if(!e)return document.body;switch(e.nodeName){case'HTML':case'BODY':return e.ownerDocument.body;case'#document':return e.body;}var i=t(e),r=i.overflow,p=i.overflowX,s=i.overflowY;return /(auto|scroll)/.test(r+s+p)?e:n(o(e))}function r(e){var o=e&&e.offsetParent,i=o&&o.nodeName;return i&&'BODY'!==i&&'HTML'!==i?-1!==['TD','TABLE'].indexOf(o.nodeName)&&'static'===t(o,'position')?r(o):o:e?e.ownerDocument.documentElement:document.documentElement}function p(e){var t=e.nodeName;return'BODY'!==t&&('HTML'===t||r(e.firstElementChild)===e)}function s(e){return 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document,Z=['Edge','Trident','Firefox'],$=0,ee=0;ee<Z.length;ee+=1)if(Q&&0<=navigator.userAgent.indexOf(Z[ee])){$=1;break}var i,te=Q&&window.Promise,oe=te?function(e){var t=!1;return function(){t||(t=!0,window.Promise.resolve().then(function(){t=!1,e()}))}}:function(e){var t=!1;return function(){t||(t=!0,setTimeout(function(){t=!1,e()},$))}},ie=function(){return void 0==i&&(i=-1!==navigator.appVersion.indexOf('MSIE 10')),i},ne=function(e,t){if(!(e instanceof t))throw new TypeError('Cannot call a class as a function')},re=function(){function e(e,t){for(var o,n=0;n<t.length;n++)o=t[n],o.enumerable=o.enumerable||!1,o.configurable=!0,'value'in o&&(o.writable=!0),Object.defineProperty(e,o.key,o)}return function(t,o,i){return o&&e(t.prototype,o),i&&e(t,i),t}}(),pe=function(e,t,o){return t in e?Object.defineProperty(e,t,{value:o,enumerable:!0,configurable:!0,writable:!0}):e[t]=o,e},se=Object.assign||function(e){for(var t,o=1;o<arguments.length;o++)for(var i in 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t=-1===['left','top'].indexOf(e)?'secondary':'primary';p=se({},p,s[t](e))}),e.offsets.popper=p,e},priority:['left','right','top','bottom'],padding:5,boundariesElement:'scrollParent'},keepTogether:{order:400,enabled:!0,fn:function(e){var t=e.offsets,o=t.popper,i=t.reference,n=e.placement.split('-')[0],r=X,p=-1!==['top','bottom'].indexOf(n),s=p?'right':'bottom',d=p?'left':'top',a=p?'width':'height';return o[s]<r(i[d])&&(e.offsets.popper[d]=r(i[d])-o[a]),o[d]>r(i[s])&&(e.offsets.popper[d]=r(i[s])),e}},arrow:{order:500,enabled:!0,fn:function(e,o){var i;if(!F(e.instance.modifiers,'arrow','keepTogether'))return e;var n=o.element;if('string'==typeof n){if(n=e.instance.popper.querySelector(n),!n)return e;}else if(!e.instance.popper.contains(n))return console.warn('WARNING: `arrow.element` must be child of its popper element!'),e;var 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le.COUNTERCLOCKWISE:p=q(i,!0);break;default:p=t.behavior;}return p.forEach(function(s,d){if(i!==s||p.length===d+1)return e;i=e.placement.split('-')[0],n=x(i);var a=e.offsets.popper,l=e.offsets.reference,f=X,m='left'===i&&f(a.right)>f(l.left)||'right'===i&&f(a.left)<f(l.right)||'top'===i&&f(a.bottom)>f(l.top)||'bottom'===i&&f(a.top)<f(l.bottom),h=f(a.left)<f(o.left),c=f(a.right)>f(o.right),g=f(a.top)<f(o.top),u=f(a.bottom)>f(o.bottom),b='left'===i&&h||'right'===i&&c||'top'===i&&g||'bottom'===i&&u,w=-1!==['top','bottom'].indexOf(i),y=!!t.flipVariations&&(w&&'start'===r&&h||w&&'end'===r&&c||!w&&'start'===r&&g||!w&&'end'===r&&u);(m||b||y)&&(e.flipped=!0,(m||b)&&(i=p[d+1]),y&&(r=K(r)),e.placement=i+(r?'-'+r:''),e.offsets.popper=se({},e.offsets.popper,S(e.instance.popper,e.offsets.reference,e.placement)),e=C(e.instance.modifiers,e,'flip'))}),e},behavior:'flip',padding:5,boundariesElement:'viewport'},inner:{order:700,enabled:!1,fn:function(e){var 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+//# sourceMappingURL=popper.min.js.map
--- /dev/null
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var ROS2D = ROS2D || {
+ REVISION : '0.9.0'
+};
+
+// convert the given global Stage coordinates to ROS coordinates
+createjs.Stage.prototype.globalToRos = function(x, y) {
+ var rosX = (x - this.x) / this.scaleX;
+ var rosY = (this.y - y) / this.scaleY;
+ return new ROSLIB.Vector3({
+ x : rosX,
+ y : rosY
+ });
+};
+
+// convert the given ROS coordinates to global Stage coordinates
+createjs.Stage.prototype.rosToGlobal = function(pos) {
+ var x = pos.x * this.scaleX + this.x;
+ var y = pos.y * this.scaleY + this.y;
+ return {
+ x : x,
+ y : y
+ };
+};
+
+// convert a ROS quaternion to theta in degrees
+createjs.Stage.prototype.rosQuaternionToGlobalTheta = function(orientation) {
+ // See https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Rotation_matrices
+ // here we use [x y z] = R * [1 0 0]
+ var q0 = orientation.w;
+ var q1 = orientation.x;
+ var q2 = orientation.y;
+ var q3 = orientation.z;
+ // Canvas rotation is clock wise and in degrees
+ return -Math.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3)) * 180.0 / Math.PI;
+};
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * An image map is a PNG image scaled to fit to the dimensions of a OccupancyGrid.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * message - the occupancy grid map meta data message
+ * * image - the image URL to load
+ */
+ROS2D.ImageMap = function(options) {
+ options = options || {};
+ var message = options.message;
+ var image = options.image;
+
+ // save the metadata we need
+ this.pose = new ROSLIB.Pose({
+ position : message.origin.position,
+ orientation : message.origin.orientation
+ });
+
+ // set the size
+ this.width = message.width;
+ this.height = message.height;
+
+ // create the bitmap
+ createjs.Bitmap.call(this, image);
+ // change Y direction
+ this.y = -this.height * message.resolution;
+
+ // scale the image
+ this.scaleX = message.resolution;
+ this.scaleY = message.resolution;
+ this.width *= this.scaleX;
+ this.height *= this.scaleY;
+
+ // set the pose
+ this.x += this.pose.position.x;
+ this.y -= this.pose.position.y;
+};
+ROS2D.ImageMap.prototype.__proto__ = createjs.Bitmap.prototype;
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A image map is a PNG image scaled to fit to the dimensions of a OccupancyGrid.
+ *
+ * Emits the following events:
+ * * 'change' - there was an update or change in the map
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * topic (optional) - the map meta data topic to listen to
+ * * image - the image URL to load
+ * * rootObject (optional) - the root object to add this marker to
+ */
+ROS2D.ImageMapClient = function(options) {
+ var that = this;
+ options = options || {};
+ var ros = options.ros;
+ var topic = options.topic || '/map_metadata';
+ this.image = options.image;
+ this.rootObject = options.rootObject || new createjs.Container();
+
+ // create an empty shape to start with
+ this.currentImage = new createjs.Shape();
+
+ // subscribe to the topic
+ var rosTopic = new ROSLIB.Topic({
+ ros : ros,
+ name : topic,
+ messageType : 'nav_msgs/MapMetaData'
+ });
+
+ rosTopic.subscribe(function(message) {
+ // we only need this once
+ rosTopic.unsubscribe();
+
+ // create the image
+ that.currentImage = new ROS2D.ImageMap({
+ message : message,
+ image : that.image
+ });
+ that.rootObject.addChild(that.currentImage);
+ // work-around for a bug in easeljs -- needs a second object to render correctly
+ that.rootObject.addChild(new ROS2D.Grid({size:1}));
+
+ that.emit('change');
+ });
+};
+ROS2D.ImageMapClient.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * An OccupancyGrid can convert a ROS occupancy grid message into a createjs Bitmap object.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * message - the occupancy grid message
+ */
+ROS2D.OccupancyGrid = function(options) {
+ options = options || {};
+ var message = options.message;
+
+ // internal drawing canvas
+ var canvas = document.createElement('canvas');
+ var context = canvas.getContext('2d');
+
+ // save the metadata we need
+ this.pose = new ROSLIB.Pose({
+ position : message.info.origin.position,
+ orientation : message.info.origin.orientation
+ });
+
+ // set the size
+ this.width = message.info.width;
+ this.height = message.info.height;
+ canvas.width = this.width;
+ canvas.height = this.height;
+
+ var imageData = context.createImageData(this.width, this.height);
+ for ( var row = 0; row < this.height; row++) {
+ for ( var col = 0; col < this.width; col++) {
+ // determine the index into the map data
+ var mapI = col + ((this.height - row - 1) * this.width);
+ // determine the value
+ var data = message.data[mapI];
+ var val;
+ if (data === 100) {
+ val = 0;
+ } else if (data === 0) {
+ val = 255;
+ } else {
+ val = 127;
+ }
+
+ // determine the index into the image data array
+ var i = (col + (row * this.width)) * 4;
+ // r
+ imageData.data[i] = val;
+ // g
+ imageData.data[++i] = val;
+ // b
+ imageData.data[++i] = val;
+ // a
+ imageData.data[++i] = 255;
+ }
+ }
+ context.putImageData(imageData, 0, 0);
+
+ // create the bitmap
+ createjs.Bitmap.call(this, canvas);
+ // change Y direction
+ this.y = -this.height * message.info.resolution;
+
+ // scale the image
+ this.scaleX = message.info.resolution;
+ this.scaleY = message.info.resolution;
+ this.width *= this.scaleX;
+ this.height *= this.scaleY;
+
+ // set the pose
+ this.x += this.pose.position.x;
+ this.y -= this.pose.position.y;
+};
+ROS2D.OccupancyGrid.prototype.__proto__ = createjs.Bitmap.prototype;
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A map that listens to a given occupancy grid topic.
+ *
+ * Emits the following events:
+ * * 'change' - there was an update or change in the map
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * topic (optional) - the map topic to listen to
+ * * rootObject (optional) - the root object to add this marker to
+ * * continuous (optional) - if the map should be continuously loaded (e.g., for SLAM)
+ */
+ROS2D.OccupancyGridClient = function(options) {
+ var that = this;
+ options = options || {};
+ var ros = options.ros;
+ var topic = options.topic || '/map';
+ this.continuous = options.continuous;
+ this.rootObject = options.rootObject || new createjs.Container();
+
+ // current grid that is displayed
+ // create an empty shape to start with, so that the order remains correct.
+ this.currentGrid = new createjs.Shape();
+ this.rootObject.addChild(this.currentGrid);
+ // work-around for a bug in easeljs -- needs a second object to render correctly
+ this.rootObject.addChild(new ROS2D.Grid({size:1}));
+
+ // subscribe to the topic
+ var rosTopic = new ROSLIB.Topic({
+ ros : ros,
+ name : topic,
+ messageType : 'nav_msgs/OccupancyGrid',
+ compression : 'png'
+ });
+
+ rosTopic.subscribe(function(message) {
+ // check for an old map
+ var index = null;
+ if (that.currentGrid) {
+ index = that.rootObject.getChildIndex(that.currentGrid);
+ that.rootObject.removeChild(that.currentGrid);
+ }
+
+ that.currentGrid = new ROS2D.OccupancyGrid({
+ message : message
+ });
+ if (index !== null) {
+ that.rootObject.addChildAt(that.currentGrid, index);
+ }
+ else {
+ that.rootObject.addChild(that.currentGrid);
+ }
+
+ that.emit('change');
+
+ // check if we should unsubscribe
+ if (!that.continuous) {
+ rosTopic.unsubscribe();
+ }
+ });
+};
+ROS2D.OccupancyGridClient.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * @author Jihoon Lee- jihoonlee.in@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A static map that receives from map_server.
+ *
+ * Emits the following events:
+ * * 'change' - there was an update or change in the map
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * service (optional) - the map topic to listen to, like '/static_map'
+ * * rootObject (optional) - the root object to add this marker to
+ */
+ROS2D.OccupancyGridSrvClient = function(options) {
+ var that = this;
+ options = options || {};
+ var ros = options.ros;
+ var service = options.service || '/static_map';
+ this.rootObject = options.rootObject || new createjs.Container();
+
+ // current grid that is displayed
+ this.currentGrid = null;
+
+ // Setting up to the service
+ var rosService = new ROSLIB.Service({
+ ros : ros,
+ name : service,
+ serviceType : 'nav_msgs/GetMap',
+ compression : 'png'
+ });
+
+ rosService.callService(new ROSLIB.ServiceRequest(),function(response) {
+ // check for an old map
+ if (that.currentGrid) {
+ that.rootObject.removeChild(that.currentGrid);
+ }
+
+ that.currentGrid = new ROS2D.OccupancyGrid({
+ message : response.map
+ });
+ that.rootObject.addChild(that.currentGrid);
+
+ that.emit('change', that.currentGrid);
+ });
+};
+ROS2D.OccupancyGridSrvClient.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * @author Bart van Vliet - bart@dobots.nl
+ */
+
+/**
+ * An arrow with line and triangular head, based on the navigation arrow.
+ * Aims to the left at 0 rotation, as would be expected.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * size (optional) - the size of the marker
+ * * strokeSize (optional) - the size of the outline
+ * * strokeColor (optional) - the createjs color for the stroke
+ * * fillColor (optional) - the createjs color for the fill
+ * * pulse (optional) - if the marker should "pulse" over time
+ */
+ROS2D.ArrowShape = function(options) {
+ var that = this;
+ options = options || {};
+ var size = options.size || 10;
+ var strokeSize = options.strokeSize || 3;
+ var strokeColor = options.strokeColor || createjs.Graphics.getRGB(0, 0, 0);
+ var fillColor = options.fillColor || createjs.Graphics.getRGB(255, 0, 0);
+ var pulse = options.pulse;
+
+ // draw the arrow
+ var graphics = new createjs.Graphics();
+
+ var headLen = size / 3.0;
+ var headWidth = headLen * 2.0 / 3.0;
+
+ graphics.setStrokeStyle(strokeSize);
+ graphics.beginStroke(strokeColor);
+ graphics.moveTo(0, 0);
+ graphics.lineTo(size-headLen, 0);
+
+ graphics.beginFill(fillColor);
+ graphics.moveTo(size, 0);
+ graphics.lineTo(size-headLen, headWidth / 2.0);
+ graphics.lineTo(size-headLen, -headWidth / 2.0);
+ graphics.closePath();
+ graphics.endFill();
+ graphics.endStroke();
+
+ // create the shape
+ createjs.Shape.call(this, graphics);
+
+ // check if we are pulsing
+ if (pulse) {
+ // have the model "pulse"
+ var growCount = 0;
+ var growing = true;
+ createjs.Ticker.addEventListener('tick', function() {
+ if (growing) {
+ that.scaleX *= 1.035;
+ that.scaleY *= 1.035;
+ growing = (++growCount < 10);
+ } else {
+ that.scaleX /= 1.035;
+ that.scaleY /= 1.035;
+ growing = (--growCount < 0);
+ }
+ });
+ }
+};
+ROS2D.ArrowShape.prototype.__proto__ = createjs.Shape.prototype;
+
+/**
+ * @author Raffaello Bonghi - raffaello.bonghi@officinerobotiche.it
+ */
+
+/**
+ * A Grid object draw in map.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * size (optional) - the size of the grid
+ * * cellSize (optional) - the cell size of map
+ * * lineWidth (optional) - the width of the lines in the grid
+ */
+ ROS2D.Grid = function(options) {
+ var that = this;
+ options = options || {};
+ var size = options.size || 10;
+ var cellSize = options.cellSize || 0.1;
+ var lineWidth = options.lineWidth || 0.001;
+ // draw the arrow
+ var graphics = new createjs.Graphics();
+ // line width
+ graphics.setStrokeStyle(lineWidth*5);
+ graphics.beginStroke(createjs.Graphics.getRGB(0, 0, 0));
+ graphics.beginFill(createjs.Graphics.getRGB(255, 0, 0));
+ graphics.moveTo(-size*cellSize, 0);
+ graphics.lineTo(size*cellSize, 0);
+ graphics.moveTo(0, -size*cellSize);
+ graphics.lineTo(0, size*cellSize);
+ graphics.endFill();
+ graphics.endStroke();
+
+ graphics.setStrokeStyle(lineWidth);
+ graphics.beginStroke(createjs.Graphics.getRGB(0, 0, 0));
+ graphics.beginFill(createjs.Graphics.getRGB(255, 0, 0));
+ for (var i = -size; i <= size; i++) {
+ graphics.moveTo(-size*cellSize, i * cellSize);
+ graphics.lineTo(size*cellSize, i * cellSize);
+ graphics.moveTo(i * cellSize, -size*cellSize);
+ graphics.lineTo(i * cellSize, size*cellSize);
+ }
+ graphics.endFill();
+ graphics.endStroke();
+ // create the shape
+ createjs.Shape.call(this, graphics);
+
+};
+ROS2D.Grid.prototype.__proto__ = createjs.Shape.prototype;
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A navigation arrow is a directed triangle that can be used to display orientation.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * size (optional) - the size of the marker
+ * * strokeSize (optional) - the size of the outline
+ * * strokeColor (optional) - the createjs color for the stroke
+ * * fillColor (optional) - the createjs color for the fill
+ * * pulse (optional) - if the marker should "pulse" over time
+ */
+ROS2D.NavigationArrow = function(options) {
+ var that = this;
+ options = options || {};
+ var size = options.size || 10;
+ var strokeSize = options.strokeSize || 3;
+ var strokeColor = options.strokeColor || createjs.Graphics.getRGB(0, 0, 0);
+ var fillColor = options.fillColor || createjs.Graphics.getRGB(255, 0, 0);
+ var pulse = options.pulse;
+
+ // draw the arrow
+ var graphics = new createjs.Graphics();
+ // line width
+ graphics.setStrokeStyle(strokeSize);
+ graphics.moveTo(-size / 2.0, -size / 2.0);
+ graphics.beginStroke(strokeColor);
+ graphics.beginFill(fillColor);
+ graphics.lineTo(size, 0);
+ graphics.lineTo(-size / 2.0, size / 2.0);
+ graphics.closePath();
+ graphics.endFill();
+ graphics.endStroke();
+
+ // create the shape
+ createjs.Shape.call(this, graphics);
+
+ // check if we are pulsing
+ if (pulse) {
+ // have the model "pulse"
+ var growCount = 0;
+ var growing = true;
+ createjs.Ticker.addEventListener('tick', function() {
+ if (growing) {
+ that.scaleX *= 1.035;
+ that.scaleY *= 1.035;
+ growing = (++growCount < 10);
+ } else {
+ that.scaleX /= 1.035;
+ that.scaleY /= 1.035;
+ growing = (--growCount < 0);
+ }
+ });
+ }
+};
+ROS2D.NavigationArrow.prototype.__proto__ = createjs.Shape.prototype;
+
+/**
+ * @author Inigo Gonzalez - ingonza85@gmail.com
+ */
+
+/**
+ * A navigation image that can be used to display orientation.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * size (optional) - the size of the marker
+ * * image - the image to use as a marker
+ * * pulse (optional) - if the marker should "pulse" over time
+ */
+ROS2D.NavigationImage = function(options) {
+ var that = this;
+ options = options || {};
+ var size = options.size || 10;
+ var image_url = options.image;
+ var pulse = options.pulse;
+ var alpha = options.alpha || 1;
+
+ var originals = {};
+
+ var paintImage = function(){
+ createjs.Bitmap.call(that, image);
+ var scale = calculateScale(size);
+ that.alpha = alpha;
+ that.scaleX = scale;
+ that.scaleY = scale;
+ that.regY = that.image.height/2;
+ that.regX = that.image.width/2;
+ originals['rotation'] = that.rotation;
+ Object.defineProperty( that, 'rotation', {
+ get: function(){ return originals['rotation'] + 90; },
+ set: function(value){ originals['rotation'] = value; }
+ });
+ if (pulse) {
+ // have the model "pulse"
+ var growCount = 0;
+ var growing = true;
+ var SCALE_SIZE = 1.020;
+ createjs.Ticker.addEventListener('tick', function() {
+ if (growing) {
+ that.scaleX *= SCALE_SIZE;
+ that.scaleY *= SCALE_SIZE;
+ growing = (++growCount < 10);
+ } else {
+ that.scaleX /= SCALE_SIZE;
+ that.scaleY /= SCALE_SIZE;
+ growing = (--growCount < 0);
+ }
+ });
+ }
+ };
+
+ var calculateScale = function(_size){
+ return _size / image.width;
+ };
+
+ var image = new Image();
+ image.onload = paintImage;
+ image.src = image_url;
+
+};
+
+ROS2D.NavigationImage.prototype.__proto__ = createjs.Bitmap.prototype;
+
+/**
+ * @author Bart van Vliet - bart@dobots.nl
+ */
+
+/**
+ * A shape to draw a nav_msgs/Path msg
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * path (optional) - the initial path to draw
+ * * strokeSize (optional) - the size of the outline
+ * * strokeColor (optional) - the createjs color for the stroke
+ */
+ROS2D.PathShape = function(options) {
+ options = options || {};
+ var path = options.path;
+ this.strokeSize = options.strokeSize || 3;
+ this.strokeColor = options.strokeColor || createjs.Graphics.getRGB(0, 0, 0);
+
+ // draw the line
+ this.graphics = new createjs.Graphics();
+
+ if (path !== null && typeof path !== 'undefined') {
+ this.graphics.setStrokeStyle(this.strokeSize);
+ this.graphics.beginStroke(this.strokeColor);
+ this.graphics.moveTo(path.poses[0].pose.position.x / this.scaleX, path.poses[0].pose.position.y / -this.scaleY);
+ for (var i=1; i<path.poses.length; ++i) {
+ this.graphics.lineTo(path.poses[i].pose.position.x / this.scaleX, path.poses[i].pose.position.y / -this.scaleY);
+ }
+ this.graphics.endStroke();
+ }
+
+ // create the shape
+ createjs.Shape.call(this, this.graphics);
+};
+
+/**
+ * Set the path to draw
+ *
+ * @param path of type nav_msgs/Path
+ */
+ROS2D.PathShape.prototype.setPath = function(path) {
+ this.graphics.clear();
+ if (path !== null && typeof path !== 'undefined') {
+ this.graphics.setStrokeStyle(this.strokeSize);
+ this.graphics.beginStroke(this.strokeColor);
+ this.graphics.moveTo(path.poses[0].pose.position.x / this.scaleX, path.poses[0].pose.position.y / -this.scaleY);
+ for (var i=1; i<path.poses.length; ++i) {
+ this.graphics.lineTo(path.poses[i].pose.position.x / this.scaleX, path.poses[i].pose.position.y / -this.scaleY);
+ }
+ this.graphics.endStroke();
+ }
+};
+
+ROS2D.PathShape.prototype.__proto__ = createjs.Shape.prototype;
+
+/**
+ * @author Bart van Vliet - bart@dobots.nl
+ */
+
+/**
+ * A polygon that can be edited by an end user
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * pose (optional) - the first pose of the trace
+ * * lineSize (optional) - the width of the lines
+ * * lineColor (optional) - the createjs color of the lines
+ * * pointSize (optional) - the size of the points
+ * * pointColor (optional) - the createjs color of the points
+ * * fillColor (optional) - the createjs color to fill the polygon
+ * * lineCallBack (optional) - callback function for mouse interaction with a line
+ * * pointCallBack (optional) - callback function for mouse interaction with a point
+ */
+ROS2D.PolygonMarker = function(options) {
+// var that = this;
+ options = options || {};
+ this.lineSize = options.lineSize || 3;
+ this.lineColor = options.lineColor || createjs.Graphics.getRGB(0, 0, 255, 0.66);
+ this.pointSize = options.pointSize || 10;
+ this.pointColor = options.pointColor || createjs.Graphics.getRGB(255, 0, 0, 0.66);
+ this.fillColor = options.pointColor || createjs.Graphics.getRGB(0, 255, 0, 0.33);
+ this.lineCallBack = options.lineCallBack;
+ this.pointCallBack = options.pointCallBack;
+
+ // Array of point shapes
+// this.points = [];
+ this.pointContainer = new createjs.Container();
+
+ // Array of line shapes
+// this.lines = [];
+ this.lineContainer = new createjs.Container();
+
+ this.fillShape = new createjs.Shape();
+
+ // Container with all the lines and points
+ createjs.Container.call(this);
+
+ this.addChild(this.fillShape);
+ this.addChild(this.lineContainer);
+ this.addChild(this.pointContainer);
+};
+
+/**
+ * Internal use only
+ */
+ROS2D.PolygonMarker.prototype.createLineShape = function(startPoint, endPoint) {
+ var line = new createjs.Shape();
+// line.graphics.setStrokeStyle(this.strokeSize);
+// line.graphics.beginStroke(this.strokeColor);
+// line.graphics.moveTo(startPoint.x, startPoint.y);
+// line.graphics.lineTo(endPoint.x, endPoint.y);
+ this.editLineShape(line, startPoint, endPoint);
+
+ var that = this;
+ line.addEventListener('mousedown', function(event) {
+ if (that.lineCallBack !== null && typeof that.lineCallBack !== 'undefined') {
+ that.lineCallBack('mousedown', event, that.lineContainer.getChildIndex(event.target));
+ }
+ });
+
+ return line;
+};
+
+/**
+ * Internal use only
+ */
+ROS2D.PolygonMarker.prototype.editLineShape = function(line, startPoint, endPoint) {
+ line.graphics.clear();
+ line.graphics.setStrokeStyle(this.lineSize);
+ line.graphics.beginStroke(this.lineColor);
+ line.graphics.moveTo(startPoint.x, startPoint.y);
+ line.graphics.lineTo(endPoint.x, endPoint.y);
+};
+
+/**
+ * Internal use only
+ */
+ROS2D.PolygonMarker.prototype.createPointShape = function(pos) {
+ var point = new createjs.Shape();
+ point.graphics.beginFill(this.pointColor);
+ point.graphics.drawCircle(0, 0, this.pointSize);
+ point.x = pos.x;
+ point.y = -pos.y;
+
+ var that = this;
+ point.addEventListener('mousedown', function(event) {
+ if (that.pointCallBack !== null && typeof that.pointCallBack !== 'undefined') {
+ that.pointCallBack('mousedown', event, that.pointContainer.getChildIndex(event.target));
+ }
+ });
+
+ return point;
+};
+
+/**
+ * Adds a point to the polygon
+ *
+ * @param position of type ROSLIB.Vector3
+ */
+ROS2D.PolygonMarker.prototype.addPoint = function(pos) {
+ var point = this.createPointShape(pos);
+ this.pointContainer.addChild(point);
+ var numPoints = this.pointContainer.getNumChildren();
+
+ // 0 points -> 1 point, 0 lines
+ // 1 point -> 2 points, lines: add line between previous and new point, add line between new point and first point
+ // 2 points -> 3 points, 3 lines: change last line, add line between new point and first point
+ // 3 points -> 4 points, 4 lines: change last line, add line between new point and first point
+ // etc
+
+ if (numPoints < 2) {
+ // Now 1 point
+ }
+ else if (numPoints < 3) {
+ // Now 2 points: add line between previous and new point
+ var line = this.createLineShape(this.pointContainer.getChildAt(numPoints-2), point);
+ this.lineContainer.addChild(line);
+ }
+ if (numPoints > 2) {
+ // Now 3 or more points: change last line
+ this.editLineShape(this.lineContainer.getChildAt(numPoints-2), this.pointContainer.getChildAt(numPoints-2), point);
+ }
+ if (numPoints > 1) {
+ // Now 2 or more points: add line between new point and first point
+ var lineEnd = this.createLineShape(point, this.pointContainer.getChildAt(0));
+ this.lineContainer.addChild(lineEnd);
+ }
+
+ this.drawFill();
+};
+
+/**
+ * Removes a point from the polygon
+ *
+ * @param obj either an index (integer) or a point shape of the polygon
+ */
+ROS2D.PolygonMarker.prototype.remPoint = function(obj) {
+ var index;
+// var point;
+ if (obj instanceof createjs.Shape) {
+ index = this.pointContainer.getChildIndex(obj);
+// point = obj;
+ }
+ else {
+ index = obj;
+// point = this.pointContainer.getChildAt(index);
+ }
+
+ // 0 points -> 0 points, 0 lines
+ // 1 point -> 0 points, 0 lines
+ // 2 points -> 1 point, 0 lines: remove all lines
+ // 3 points -> 2 points, 2 lines: change line before point to remove, remove line after point to remove
+ // 4 points -> 3 points, 3 lines: change line before point to remove, remove line after point to remove
+ // etc
+
+ var numPoints = this.pointContainer.getNumChildren();
+
+ if (numPoints < 2) {
+
+ }
+ else if (numPoints < 3) {
+ // 2 points: remove all lines
+ this.lineContainer.removeAllChildren();
+ }
+ else {
+ // 3 or more points: change line before point to remove, remove line after point to remove
+ this.editLineShape(
+ this.lineContainer.getChildAt((index-1+numPoints)%numPoints),
+ this.pointContainer.getChildAt((index-1+numPoints)%numPoints),
+ this.pointContainer.getChildAt((index+1)%numPoints)
+ );
+ this.lineContainer.removeChildAt(index);
+ }
+ this.pointContainer.removeChildAt(index);
+// this.points.splice(index, 1);
+
+ this.drawFill();
+};
+
+/**
+ * Moves a point of the polygon
+ *
+ * @param obj either an index (integer) or a point shape of the polygon
+ * @param position of type ROSLIB.Vector3
+ */
+ROS2D.PolygonMarker.prototype.movePoint = function(obj, newPos) {
+ var index;
+ var point;
+ if (obj instanceof createjs.Shape) {
+ index = this.pointContainer.getChildIndex(obj);
+ point = obj;
+ }
+ else {
+ index = obj;
+ point = this.pointContainer.getChildAt(index);
+ }
+ point.x = newPos.x;
+ point.y = -newPos.y;
+
+ var numPoints = this.pointContainer.getNumChildren();
+ if (numPoints > 1) {
+ // line before moved point
+ var line1 = this.lineContainer.getChildAt((index-1+numPoints)%numPoints);
+ this.editLineShape(line1, this.pointContainer.getChildAt((index-1+numPoints)%numPoints), point);
+
+ // line after moved point
+ var line2 = this.lineContainer.getChildAt(index);
+ this.editLineShape(line2, point, this.pointContainer.getChildAt((index+1)%numPoints));
+ }
+
+ this.drawFill();
+};
+
+/**
+ * Splits a line of the polygon: inserts a point at the center of the line
+ *
+ * @param obj either an index (integer) or a line shape of the polygon
+ */
+ROS2D.PolygonMarker.prototype.splitLine = function(obj) {
+ var index;
+ var line;
+ if (obj instanceof createjs.Shape) {
+ index = this.lineContainer.getChildIndex(obj);
+ line = obj;
+ }
+ else {
+ index = obj;
+ line = this.lineContainer.getChildAt(index);
+ }
+ var numPoints = this.pointContainer.getNumChildren();
+ var xs = this.pointContainer.getChildAt(index).x;
+ var ys = this.pointContainer.getChildAt(index).y;
+ var xe = this.pointContainer.getChildAt((index+1)%numPoints).x;
+ var ye = this.pointContainer.getChildAt((index+1)%numPoints).y;
+ var xh = (xs+xe)/2.0;
+ var yh = (ys+ye)/2.0;
+ var pos = new ROSLIB.Vector3({ x:xh, y:-yh });
+
+ // Add a point in the center of the line to split
+ var point = this.createPointShape(pos);
+ this.pointContainer.addChildAt(point, index+1);
+ ++numPoints;
+
+ // Add a line between the new point and the end of the line to split
+ var lineNew = this.createLineShape(point, this.pointContainer.getChildAt((index+2)%numPoints));
+ this.lineContainer.addChildAt(lineNew, index+1);
+
+ // Set the endpoint of the line to split to the new point
+ this.editLineShape(line, this.pointContainer.getChildAt(index), point);
+
+ this.drawFill();
+};
+
+/**
+ * Internal use only
+ */
+ROS2D.PolygonMarker.prototype.drawFill = function() {
+ var numPoints = this.pointContainer.getNumChildren();
+ if (numPoints > 2) {
+ var g = this.fillShape.graphics;
+ g.clear();
+ g.setStrokeStyle(0);
+ g.moveTo(this.pointContainer.getChildAt(0).x, this.pointContainer.getChildAt(0).y);
+ g.beginStroke();
+ g.beginFill(this.fillColor);
+ for (var i=1; i<numPoints; ++i) {
+ g.lineTo(this.pointContainer.getChildAt(i).x, this.pointContainer.getChildAt(i).y);
+ }
+ g.closePath();
+ g.endFill();
+ g.endStroke();
+ }
+ else {
+ this.fillShape.graphics.clear();
+ }
+};
+
+
+ROS2D.PolygonMarker.prototype.__proto__ = createjs.Container.prototype;
+
+/**
+ * @author Bart van Vliet - bart@dobots.nl
+ */
+
+/**
+ * A trace of poses, handy to see where a robot has been
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * pose (optional) - the first pose of the trace
+ * * strokeSize (optional) - the size of the outline
+ * * strokeColor (optional) - the createjs color for the stroke
+ * * maxPoses (optional) - the maximum number of poses to keep, 0 for infinite
+ * * minDist (optional) - the minimal distance between poses to use the pose for drawing (default 0.05)
+ */
+ROS2D.TraceShape = function(options) {
+// var that = this;
+ options = options || {};
+ var pose = options.pose;
+ this.strokeSize = options.strokeSize || 3;
+ this.strokeColor = options.strokeColor || createjs.Graphics.getRGB(0, 0, 0);
+ this.maxPoses = options.maxPoses || 100;
+ this.minDist = options.minDist || 0.05;
+
+ // Store minDist as the square of it
+ this.minDist = this.minDist*this.minDist;
+
+ // Array of the poses
+ // TODO: do we need this?
+ this.poses = [];
+
+ // Create the graphics
+ this.graphics = new createjs.Graphics();
+ this.graphics.setStrokeStyle(this.strokeSize);
+ this.graphics.beginStroke(this.strokeColor);
+
+ // Add first pose if given
+ if (pose !== null && typeof pose !== 'undefined') {
+ this.poses.push(pose);
+ }
+
+ // Create the shape
+ createjs.Shape.call(this, this.graphics);
+};
+
+/**
+ * Adds a pose to the trace and updates the graphics
+ *
+ * @param pose of type ROSLIB.Pose
+ */
+ROS2D.TraceShape.prototype.addPose = function(pose) {
+ var last = this.poses.length-1;
+ if (last < 0) {
+ this.poses.push(pose);
+ this.graphics.moveTo(pose.position.x / this.scaleX, pose.position.y / -this.scaleY);
+ }
+ else {
+ var prevX = this.poses[last].position.x;
+ var prevY = this.poses[last].position.y;
+ var dx = (pose.position.x - prevX);
+ var dy = (pose.position.y - prevY);
+ if (dx*dx + dy*dy > this.minDist) {
+ this.graphics.lineTo(pose.position.x / this.scaleX, pose.position.y / -this.scaleY);
+ this.poses.push(pose);
+ }
+ }
+ if (this.maxPoses > 0 && this.maxPoses < this.poses.length) {
+ this.popFront();
+ }
+};
+
+/**
+ * Removes front pose and updates the graphics
+ */
+ROS2D.TraceShape.prototype.popFront = function() {
+ if (this.poses.length > 0) {
+ this.poses.shift();
+ // TODO: shift drawing instructions rather than doing it all over
+ this.graphics.clear();
+ this.graphics.setStrokeStyle(this.strokeSize);
+ this.graphics.beginStroke(this.strokeColor);
+ this.graphics.lineTo(this.poses[0].position.x / this.scaleX, this.poses[0].position.y / -this.scaleY);
+ for (var i=1; i<this.poses.length; ++i) {
+ this.graphics.lineTo(this.poses[i].position.x / this.scaleX, this.poses[i].position.y / -this.scaleY);
+ }
+ }
+};
+
+ROS2D.TraceShape.prototype.__proto__ = createjs.Shape.prototype;
+
+/**
+ * @author Bart van Vliet - bart@dobots.nl
+ */
+
+/**
+ * Adds panning to a view
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * rootObject (optional) - the root object to apply panning to
+ */
+ROS2D.PanView = function(options) {
+ options = options || {};
+ this.rootObject = options.rootObject;
+
+ // get a handle to the stage
+ if (this.rootObject instanceof createjs.Stage) {
+ this.stage = this.rootObject;
+ }
+ else {
+ this.stage = this.rootObject.getStage();
+ }
+
+ this.startPos = new ROSLIB.Vector3();
+};
+
+
+ROS2D.PanView.prototype.startPan = function(startX, startY) {
+ this.startPos.x = startX;
+ this.startPos.y = startY;
+};
+
+ROS2D.PanView.prototype.pan = function(curX, curY) {
+ this.stage.x += curX - this.startPos.x;
+ this.startPos.x = curX;
+ this.stage.y += curY - this.startPos.y;
+ this.startPos.y = curY;
+};
+
+/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A Viewer can be used to render an interactive 2D scene to a HTML5 canvas.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * divID - the ID of the div to place the viewer in
+ * * width - the initial width, in pixels, of the canvas
+ * * height - the initial height, in pixels, of the canvas
+ * * background (optional) - the color to render the background, like '#efefef'
+ */
+ROS2D.Viewer = function(options) {
+ var that = this;
+ options = options || {};
+ var divID = options.divID;
+ this.width = options.width;
+ this.height = options.height;
+ var background = options.background || '#111111';
+
+ // create the canvas to render to
+ var canvas = document.createElement('canvas');
+ canvas.width = this.width;
+ canvas.height = this.height;
+ canvas.style.background = background;
+ document.getElementById(divID).appendChild(canvas);
+ // create the easel to use
+ this.scene = new createjs.Stage(canvas);
+
+ // change Y axis center
+ this.scene.y = this.height;
+
+ // add the renderer to the page
+ document.getElementById(divID).appendChild(canvas);
+
+ // update at 30fps
+ createjs.Ticker.setFPS(30);
+ createjs.Ticker.addEventListener('tick', this.scene);
+};
+
+/**
+ * Add the given createjs object to the global scene in the viewer.
+ *
+ * @param object - the object to add
+ */
+ROS2D.Viewer.prototype.addObject = function(object) {
+ this.scene.addChild(object);
+};
+
+/**
+ * Scale the scene to fit the given width and height into the current canvas.
+ *
+ * @param width - the width to scale to in meters
+ * @param height - the height to scale to in meters
+ */
+ROS2D.Viewer.prototype.scaleToDimensions = function(width, height) {
+ // restore to values before shifting, if ocurred
+ this.scene.x = typeof this.scene.x_prev_shift !== 'undefined' ? this.scene.x_prev_shift : this.scene.x;
+ this.scene.y = typeof this.scene.y_prev_shift !== 'undefined' ? this.scene.y_prev_shift : this.scene.y;
+
+ // save scene scaling
+ this.scene.scaleX = this.width / width;
+ this.scene.scaleY = this.height / height;
+};
+
+/**
+ * Shift the main view of the canvas by the given amount. This is based on the
+ * ROS coordinate system. That is, Y is opposite that of a traditional canvas.
+ *
+ * @param x - the amount to shift by in the x direction in meters
+ * @param y - the amount to shift by in the y direction in meters
+ */
+ROS2D.Viewer.prototype.shift = function(x, y) {
+ // save current offset
+ this.scene.x_prev_shift = this.scene.x;
+ this.scene.y_prev_shift = this.scene.y;
+
+ // shift scene by scaling the desired offset
+ this.scene.x -= (x * this.scene.scaleX);
+ this.scene.y += (y * this.scene.scaleY);
+};
+
+/**
+ * @author Bart van Vliet - bart@dobots.nl
+ */
+
+/**
+ * Adds zooming to a view
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * rootObject (optional) - the root object to apply zoom to
+ * * minScale (optional) - minimum scale to set to preserve precision
+ */
+ROS2D.ZoomView = function(options) {
+ options = options || {};
+ this.rootObject = options.rootObject;
+ this.minScale = options.minScale || 0.001;
+
+ // get a handle to the stage
+ if (this.rootObject instanceof createjs.Stage) {
+ this.stage = this.rootObject;
+ }
+ else {
+ this.stage = this.rootObject.getStage();
+ }
+
+ this.center = new ROSLIB.Vector3();
+ this.startShift = new ROSLIB.Vector3();
+ this.startScale = new ROSLIB.Vector3();
+};
+
+
+ROS2D.ZoomView.prototype.startZoom = function(centerX, centerY) {
+ this.center.x = centerX;
+ this.center.y = centerY;
+ this.startShift.x = this.stage.x;
+ this.startShift.y = this.stage.y;
+ this.startScale.x = this.stage.scaleX;
+ this.startScale.y = this.stage.scaleY;
+};
+
+ROS2D.ZoomView.prototype.zoom = function(zoom) {
+ // Make sure scale doesn't become too small
+ if (this.startScale.x*zoom < this.minScale) {
+ zoom = this.minScale/this.startScale.x;
+ }
+ if (this.startScale.y*zoom < this.minScale) {
+ zoom = this.minScale/this.startScale.y;
+ }
+
+ this.stage.scaleX = this.startScale.x*zoom;
+ this.stage.scaleY = this.startScale.y*zoom;
+
+ this.stage.x = this.startShift.x - (this.center.x-this.startShift.x) * (this.stage.scaleX/this.startScale.x - 1);
+ this.stage.y = this.startShift.y - (this.center.y-this.startShift.y) * (this.stage.scaleY/this.startScale.y - 1);
+};
--- /dev/null
+(function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
+/*!\r
+ * EventEmitter2\r
+ * https://github.com/hij1nx/EventEmitter2\r
+ *\r
+ * Copyright (c) 2013 hij1nx\r
+ * Licensed under the MIT license.\r
+ */\r
+;!function(undefined) {\r
+\r
+ var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {\r
+ return Object.prototype.toString.call(obj) === "[object Array]";\r
+ };\r
+ var defaultMaxListeners = 10;\r
+\r
+ function init() {\r
+ this._events = {};\r
+ if (this._conf) {\r
+ configure.call(this, this._conf);\r
+ }\r
+ }\r
+\r
+ function configure(conf) {\r
+ if (conf) {\r
+ this._conf = conf;\r
+\r
+ conf.delimiter && (this.delimiter = conf.delimiter);\r
+ this._events.maxListeners = conf.maxListeners !== undefined ? conf.maxListeners : defaultMaxListeners;\r
+ conf.wildcard && (this.wildcard = conf.wildcard);\r
+ conf.newListener && (this.newListener = conf.newListener);\r
+ conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);\r
+\r
+ if (this.wildcard) {\r
+ this.listenerTree = {};\r
+ }\r
+ } else {\r
+ this._events.maxListeners = defaultMaxListeners;\r
+ }\r
+ }\r
+\r
+ function logPossibleMemoryLeak(count, eventName) {\r
+ var errorMsg = '(node) warning: possible EventEmitter memory ' +\r
+ 'leak detected. %d listeners added. ' +\r
+ 'Use emitter.setMaxListeners() to increase limit.';\r
+\r
+ if(this.verboseMemoryLeak){\r
+ errorMsg += ' Event name: %s.';\r
+ console.error(errorMsg, count, eventName);\r
+ } else {\r
+ console.error(errorMsg, count);\r
+ }\r
+\r
+ if (console.trace){\r
+ console.trace();\r
+ }\r
+ }\r
+\r
+ function EventEmitter(conf) {\r
+ this._events = {};\r
+ this.newListener = false;\r
+ this.verboseMemoryLeak = false;\r
+ configure.call(this, conf);\r
+ }\r
+ EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property\r
+\r
+ //\r
+ // Attention, function return type now is array, always !\r
+ // It has zero elements if no any matches found and one or more\r
+ // elements (leafs) if there are matches\r
+ //\r
+ function searchListenerTree(handlers, type, tree, i) {\r
+ if (!tree) {\r
+ return [];\r
+ }\r
+ var listeners=[], leaf, len, branch, xTree, xxTree, isolatedBranch, endReached,\r
+ typeLength = type.length, currentType = type[i], nextType = type[i+1];\r
+ if (i === typeLength && tree._listeners) {\r
+ //\r
+ // If at the end of the event(s) list and the tree has listeners\r
+ // invoke those listeners.\r
+ //\r
+ if (typeof tree._listeners === 'function') {\r
+ handlers && handlers.push(tree._listeners);\r
+ return [tree];\r
+ } else {\r
+ for (leaf = 0, len = tree._listeners.length; leaf < len; leaf++) {\r
+ handlers && handlers.push(tree._listeners[leaf]);\r
+ }\r
+ return [tree];\r
+ }\r
+ }\r
+\r
+ if ((currentType === '*' || currentType === '**') || tree[currentType]) {\r
+ //\r
+ // If the event emitted is '*' at this part\r
+ // or there is a concrete match at this patch\r
+ //\r
+ if (currentType === '*') {\r
+ for (branch in tree) {\r
+ if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {\r
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+1));\r
+ }\r
+ }\r
+ return listeners;\r
+ } else if(currentType === '**') {\r
+ endReached = (i+1 === typeLength || (i+2 === typeLength && nextType === '*'));\r
+ if(endReached && tree._listeners) {\r
+ // The next element has a _listeners, add it to the handlers.\r
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree, typeLength));\r
+ }\r
+\r
+ for (branch in tree) {\r
+ if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {\r
+ if(branch === '*' || branch === '**') {\r
+ if(tree[branch]._listeners && !endReached) {\r
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], typeLength));\r
+ }\r
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));\r
+ } else if(branch === nextType) {\r
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+2));\r
+ } else {\r
+ // No match on this one, shift into the tree but not in the type array.\r
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));\r
+ }\r
+ }\r
+ }\r
+ return listeners;\r
+ }\r
+\r
+ listeners = listeners.concat(searchListenerTree(handlers, type, tree[currentType], i+1));\r
+ }\r
+\r
+ xTree = tree['*'];\r
+ if (xTree) {\r
+ //\r
+ // If the listener tree will allow any match for this part,\r
+ // then recursively explore all branches of the tree\r
+ //\r
+ searchListenerTree(handlers, type, xTree, i+1);\r
+ }\r
+\r
+ xxTree = tree['**'];\r
+ if(xxTree) {\r
+ if(i < typeLength) {\r
+ if(xxTree._listeners) {\r
+ // If we have a listener on a '**', it will catch all, so add its handler.\r
+ searchListenerTree(handlers, type, xxTree, typeLength);\r
+ }\r
+\r
+ // Build arrays of matching next branches and others.\r
+ for(branch in xxTree) {\r
+ if(branch !== '_listeners' && xxTree.hasOwnProperty(branch)) {\r
+ if(branch === nextType) {\r
+ // We know the next element will match, so jump twice.\r
+ searchListenerTree(handlers, type, xxTree[branch], i+2);\r
+ } else if(branch === currentType) {\r
+ // Current node matches, move into the tree.\r
+ searchListenerTree(handlers, type, xxTree[branch], i+1);\r
+ } else {\r
+ isolatedBranch = {};\r
+ isolatedBranch[branch] = xxTree[branch];\r
+ searchListenerTree(handlers, type, { '**': isolatedBranch }, i+1);\r
+ }\r
+ }\r
+ }\r
+ } else if(xxTree._listeners) {\r
+ // We have reached the end and still on a '**'\r
+ searchListenerTree(handlers, type, xxTree, typeLength);\r
+ } else if(xxTree['*'] && xxTree['*']._listeners) {\r
+ searchListenerTree(handlers, type, xxTree['*'], typeLength);\r
+ }\r
+ }\r
+\r
+ return listeners;\r
+ }\r
+\r
+ function growListenerTree(type, listener) {\r
+\r
+ type = typeof type === 'string' ? type.split(this.delimiter) : type.slice();\r
+\r
+ //\r
+ // Looks for two consecutive '**', if so, don't add the event at all.\r
+ //\r
+ for(var i = 0, len = type.length; i+1 < len; i++) {\r
+ if(type[i] === '**' && type[i+1] === '**') {\r
+ return;\r
+ }\r
+ }\r
+\r
+ var tree = this.listenerTree;\r
+ var name = type.shift();\r
+\r
+ while (name !== undefined) {\r
+\r
+ if (!tree[name]) {\r
+ tree[name] = {};\r
+ }\r
+\r
+ tree = tree[name];\r
+\r
+ if (type.length === 0) {\r
+\r
+ if (!tree._listeners) {\r
+ tree._listeners = listener;\r
+ }\r
+ else {\r
+ if (typeof tree._listeners === 'function') {\r
+ tree._listeners = [tree._listeners];\r
+ }\r
+\r
+ tree._listeners.push(listener);\r
+\r
+ if (\r
+ !tree._listeners.warned &&\r
+ this._events.maxListeners > 0 &&\r
+ tree._listeners.length > this._events.maxListeners\r
+ ) {\r
+ tree._listeners.warned = true;\r
+ logPossibleMemoryLeak.call(this, tree._listeners.length, name);\r
+ }\r
+ }\r
+ return true;\r
+ }\r
+ name = type.shift();\r
+ }\r
+ return true;\r
+ }\r
+\r
+ // By default EventEmitters will print a warning if more than\r
+ // 10 listeners are added to it. This is a useful default which\r
+ // helps finding memory leaks.\r
+ //\r
+ // Obviously not all Emitters should be limited to 10. This function allows\r
+ // that to be increased. Set to zero for unlimited.\r
+\r
+ EventEmitter.prototype.delimiter = '.';\r
+\r
+ EventEmitter.prototype.setMaxListeners = function(n) {\r
+ if (n !== undefined) {\r
+ this._events || init.call(this);\r
+ this._events.maxListeners = n;\r
+ if (!this._conf) this._conf = {};\r
+ this._conf.maxListeners = n;\r
+ }\r
+ };\r
+\r
+ EventEmitter.prototype.event = '';\r
+\r
+ EventEmitter.prototype.once = function(event, fn) {\r
+ this.many(event, 1, fn);\r
+ return this;\r
+ };\r
+\r
+ EventEmitter.prototype.many = function(event, ttl, fn) {\r
+ var self = this;\r
+\r
+ if (typeof fn !== 'function') {\r
+ throw new Error('many only accepts instances of Function');\r
+ }\r
+\r
+ function listener() {\r
+ if (--ttl === 0) {\r
+ self.off(event, listener);\r
+ }\r
+ fn.apply(this, arguments);\r
+ }\r
+\r
+ listener._origin = fn;\r
+\r
+ this.on(event, listener);\r
+\r
+ return self;\r
+ };\r
+\r
+ EventEmitter.prototype.emit = function() {\r
+\r
+ this._events || init.call(this);\r
+\r
+ var type = arguments[0];\r
+\r
+ if (type === 'newListener' && !this.newListener) {\r
+ if (!this._events.newListener) {\r
+ return false;\r
+ }\r
+ }\r
+\r
+ var al = arguments.length;\r
+ var args,l,i,j;\r
+ var handler;\r
+\r
+ if (this._all && this._all.length) {\r
+ handler = this._all.slice();\r
+ if (al > 3) {\r
+ args = new Array(al);\r
+ for (j = 0; j < al; j++) args[j] = arguments[j];\r
+ }\r
+\r
+ for (i = 0, l = handler.length; i < l; i++) {\r
+ this.event = type;\r
+ switch (al) {\r
+ case 1:\r
+ handler[i].call(this, type);\r
+ break;\r
+ case 2:\r
+ handler[i].call(this, type, arguments[1]);\r
+ break;\r
+ case 3:\r
+ handler[i].call(this, type, arguments[1], arguments[2]);\r
+ break;\r
+ default:\r
+ handler[i].apply(this, args);\r
+ }\r
+ }\r
+ }\r
+\r
+ if (this.wildcard) {\r
+ handler = [];\r
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();\r
+ searchListenerTree.call(this, handler, ns, this.listenerTree, 0);\r
+ } else {\r
+ handler = this._events[type];\r
+ if (typeof handler === 'function') {\r
+ this.event = type;\r
+ switch (al) {\r
+ case 1:\r
+ handler.call(this);\r
+ break;\r
+ case 2:\r
+ handler.call(this, arguments[1]);\r
+ break;\r
+ case 3:\r
+ handler.call(this, arguments[1], arguments[2]);\r
+ break;\r
+ default:\r
+ args = new Array(al - 1);\r
+ for (j = 1; j < al; j++) args[j - 1] = arguments[j];\r
+ handler.apply(this, args);\r
+ }\r
+ return true;\r
+ } else if (handler) {\r
+ // need to make copy of handlers because list can change in the middle\r
+ // of emit call\r
+ handler = handler.slice();\r
+ }\r
+ }\r
+\r
+ if (handler && handler.length) {\r
+ if (al > 3) {\r
+ args = new Array(al - 1);\r
+ for (j = 1; j < al; j++) args[j - 1] = arguments[j];\r
+ }\r
+ for (i = 0, l = handler.length; i < l; i++) {\r
+ this.event = type;\r
+ switch (al) {\r
+ case 1:\r
+ handler[i].call(this);\r
+ break;\r
+ case 2:\r
+ handler[i].call(this, arguments[1]);\r
+ break;\r
+ case 3:\r
+ handler[i].call(this, arguments[1], arguments[2]);\r
+ break;\r
+ default:\r
+ handler[i].apply(this, args);\r
+ }\r
+ }\r
+ return true;\r
+ } else if (!this._all && type === 'error') {\r
+ if (arguments[1] instanceof Error) {\r
+ throw arguments[1]; // Unhandled 'error' event\r
+ } else {\r
+ throw new Error("Uncaught, unspecified 'error' event.");\r
+ }\r
+ return false;\r
+ }\r
+\r
+ return !!this._all;\r
+ };\r
+\r
+ EventEmitter.prototype.emitAsync = function() {\r
+\r
+ this._events || init.call(this);\r
+\r
+ var type = arguments[0];\r
+\r
+ if (type === 'newListener' && !this.newListener) {\r
+ if (!this._events.newListener) { return Promise.resolve([false]); }\r
+ }\r
+\r
+ var promises= [];\r
+\r
+ var al = arguments.length;\r
+ var args,l,i,j;\r
+ var handler;\r
+\r
+ if (this._all) {\r
+ if (al > 3) {\r
+ args = new Array(al);\r
+ for (j = 1; j < al; j++) args[j] = arguments[j];\r
+ }\r
+ for (i = 0, l = this._all.length; i < l; i++) {\r
+ this.event = type;\r
+ switch (al) {\r
+ case 1:\r
+ promises.push(this._all[i].call(this, type));\r
+ break;\r
+ case 2:\r
+ promises.push(this._all[i].call(this, type, arguments[1]));\r
+ break;\r
+ case 3:\r
+ promises.push(this._all[i].call(this, type, arguments[1], arguments[2]));\r
+ break;\r
+ default:\r
+ promises.push(this._all[i].apply(this, args));\r
+ }\r
+ }\r
+ }\r
+\r
+ if (this.wildcard) {\r
+ handler = [];\r
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();\r
+ searchListenerTree.call(this, handler, ns, this.listenerTree, 0);\r
+ } else {\r
+ handler = this._events[type];\r
+ }\r
+\r
+ if (typeof handler === 'function') {\r
+ this.event = type;\r
+ switch (al) {\r
+ case 1:\r
+ promises.push(handler.call(this));\r
+ break;\r
+ case 2:\r
+ promises.push(handler.call(this, arguments[1]));\r
+ break;\r
+ case 3:\r
+ promises.push(handler.call(this, arguments[1], arguments[2]));\r
+ break;\r
+ default:\r
+ args = new Array(al - 1);\r
+ for (j = 1; j < al; j++) args[j - 1] = arguments[j];\r
+ promises.push(handler.apply(this, args));\r
+ }\r
+ } else if (handler && handler.length) {\r
+ if (al > 3) {\r
+ args = new Array(al - 1);\r
+ for (j = 1; j < al; j++) args[j - 1] = arguments[j];\r
+ }\r
+ for (i = 0, l = handler.length; i < l; i++) {\r
+ this.event = type;\r
+ switch (al) {\r
+ case 1:\r
+ promises.push(handler[i].call(this));\r
+ break;\r
+ case 2:\r
+ promises.push(handler[i].call(this, arguments[1]));\r
+ break;\r
+ case 3:\r
+ promises.push(handler[i].call(this, arguments[1], arguments[2]));\r
+ break;\r
+ default:\r
+ promises.push(handler[i].apply(this, args));\r
+ }\r
+ }\r
+ } else if (!this._all && type === 'error') {\r
+ if (arguments[1] instanceof Error) {\r
+ return Promise.reject(arguments[1]); // Unhandled 'error' event\r
+ } else {\r
+ return Promise.reject("Uncaught, unspecified 'error' event.");\r
+ }\r
+ }\r
+\r
+ return Promise.all(promises);\r
+ };\r
+\r
+ EventEmitter.prototype.on = function(type, listener) {\r
+ if (typeof type === 'function') {\r
+ this.onAny(type);\r
+ return this;\r
+ }\r
+\r
+ if (typeof listener !== 'function') {\r
+ throw new Error('on only accepts instances of Function');\r
+ }\r
+ this._events || init.call(this);\r
+\r
+ // To avoid recursion in the case that type == "newListeners"! Before\r
+ // adding it to the listeners, first emit "newListeners".\r
+ this.emit('newListener', type, listener);\r
+\r
+ if (this.wildcard) {\r
+ growListenerTree.call(this, type, listener);\r
+ return this;\r
+ }\r
+\r
+ if (!this._events[type]) {\r
+ // Optimize the case of one listener. Don't need the extra array object.\r
+ this._events[type] = listener;\r
+ }\r
+ else {\r
+ if (typeof this._events[type] === 'function') {\r
+ // Change to array.\r
+ this._events[type] = [this._events[type]];\r
+ }\r
+\r
+ // If we've already got an array, just append.\r
+ this._events[type].push(listener);\r
+\r
+ // Check for listener leak\r
+ if (\r
+ !this._events[type].warned &&\r
+ this._events.maxListeners > 0 &&\r
+ this._events[type].length > this._events.maxListeners\r
+ ) {\r
+ this._events[type].warned = true;\r
+ logPossibleMemoryLeak.call(this, this._events[type].length, type);\r
+ }\r
+ }\r
+\r
+ return this;\r
+ };\r
+\r
+ EventEmitter.prototype.onAny = function(fn) {\r
+ if (typeof fn !== 'function') {\r
+ throw new Error('onAny only accepts instances of Function');\r
+ }\r
+\r
+ if (!this._all) {\r
+ this._all = [];\r
+ }\r
+\r
+ // Add the function to the event listener collection.\r
+ this._all.push(fn);\r
+ return this;\r
+ };\r
+\r
+ EventEmitter.prototype.addListener = EventEmitter.prototype.on;\r
+\r
+ EventEmitter.prototype.off = function(type, listener) {\r
+ if (typeof listener !== 'function') {\r
+ throw new Error('removeListener only takes instances of Function');\r
+ }\r
+\r
+ var handlers,leafs=[];\r
+\r
+ if(this.wildcard) {\r
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();\r
+ leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);\r
+ }\r
+ else {\r
+ // does not use listeners(), so no side effect of creating _events[type]\r
+ if (!this._events[type]) return this;\r
+ handlers = this._events[type];\r
+ leafs.push({_listeners:handlers});\r
+ }\r
+\r
+ for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {\r
+ var leaf = leafs[iLeaf];\r
+ handlers = leaf._listeners;\r
+ if (isArray(handlers)) {\r
+\r
+ var position = -1;\r
+\r
+ for (var i = 0, length = handlers.length; i < length; i++) {\r
+ if (handlers[i] === listener ||\r
+ (handlers[i].listener && handlers[i].listener === listener) ||\r
+ (handlers[i]._origin && handlers[i]._origin === listener)) {\r
+ position = i;\r
+ break;\r
+ }\r
+ }\r
+\r
+ if (position < 0) {\r
+ continue;\r
+ }\r
+\r
+ if(this.wildcard) {\r
+ leaf._listeners.splice(position, 1);\r
+ }\r
+ else {\r
+ this._events[type].splice(position, 1);\r
+ }\r
+\r
+ if (handlers.length === 0) {\r
+ if(this.wildcard) {\r
+ delete leaf._listeners;\r
+ }\r
+ else {\r
+ delete this._events[type];\r
+ }\r
+ }\r
+\r
+ this.emit("removeListener", type, listener);\r
+\r
+ return this;\r
+ }\r
+ else if (handlers === listener ||\r
+ (handlers.listener && handlers.listener === listener) ||\r
+ (handlers._origin && handlers._origin === listener)) {\r
+ if(this.wildcard) {\r
+ delete leaf._listeners;\r
+ }\r
+ else {\r
+ delete this._events[type];\r
+ }\r
+\r
+ this.emit("removeListener", type, listener);\r
+ }\r
+ }\r
+\r
+ function recursivelyGarbageCollect(root) {\r
+ if (root === undefined) {\r
+ return;\r
+ }\r
+ var keys = Object.keys(root);\r
+ for (var i in keys) {\r
+ var key = keys[i];\r
+ var obj = root[key];\r
+ if ((obj instanceof Function) || (typeof obj !== "object") || (obj === null))\r
+ continue;\r
+ if (Object.keys(obj).length > 0) {\r
+ recursivelyGarbageCollect(root[key]);\r
+ }\r
+ if (Object.keys(obj).length === 0) {\r
+ delete root[key];\r
+ }\r
+ }\r
+ }\r
+ recursivelyGarbageCollect(this.listenerTree);\r
+\r
+ return this;\r
+ };\r
+\r
+ EventEmitter.prototype.offAny = function(fn) {\r
+ var i = 0, l = 0, fns;\r
+ if (fn && this._all && this._all.length > 0) {\r
+ fns = this._all;\r
+ for(i = 0, l = fns.length; i < l; i++) {\r
+ if(fn === fns[i]) {\r
+ fns.splice(i, 1);\r
+ this.emit("removeListenerAny", fn);\r
+ return this;\r
+ }\r
+ }\r
+ } else {\r
+ fns = this._all;\r
+ for(i = 0, l = fns.length; i < l; i++)\r
+ this.emit("removeListenerAny", fns[i]);\r
+ this._all = [];\r
+ }\r
+ return this;\r
+ };\r
+\r
+ EventEmitter.prototype.removeListener = EventEmitter.prototype.off;\r
+\r
+ EventEmitter.prototype.removeAllListeners = function(type) {\r
+ if (arguments.length === 0) {\r
+ !this._events || init.call(this);\r
+ return this;\r
+ }\r
+\r
+ if (this.wildcard) {\r
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();\r
+ var leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);\r
+\r
+ for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {\r
+ var leaf = leafs[iLeaf];\r
+ leaf._listeners = null;\r
+ }\r
+ }\r
+ else if (this._events) {\r
+ this._events[type] = null;\r
+ }\r
+ return this;\r
+ };\r
+\r
+ EventEmitter.prototype.listeners = function(type) {\r
+ if (this.wildcard) {\r
+ var handlers = [];\r
+ var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();\r
+ searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);\r
+ return handlers;\r
+ }\r
+\r
+ this._events || init.call(this);\r
+\r
+ if (!this._events[type]) this._events[type] = [];\r
+ if (!isArray(this._events[type])) {\r
+ this._events[type] = [this._events[type]];\r
+ }\r
+ return this._events[type];\r
+ };\r
+\r
+ EventEmitter.prototype.listenerCount = function(type) {\r
+ return this.listeners(type).length;\r
+ };\r
+\r
+ EventEmitter.prototype.listenersAny = function() {\r
+\r
+ if(this._all) {\r
+ return this._all;\r
+ }\r
+ else {\r
+ return [];\r
+ }\r
+\r
+ };\r
+\r
+ if (typeof define === 'function' && define.amd) {\r
+ // AMD. Register as an anonymous module.\r
+ define(function() {\r
+ return EventEmitter;\r
+ });\r
+ } else if (typeof exports === 'object') {\r
+ // CommonJS\r
+ module.exports = EventEmitter;\r
+ }\r
+ else {\r
+ // Browser global.\r
+ window.EventEmitter2 = EventEmitter;\r
+ }\r
+}();\r
+
+},{}],2:[function(require,module,exports){
+/*
+object-assign
+(c) Sindre Sorhus
+@license MIT
+*/
+
+'use strict';
+/* eslint-disable no-unused-vars */
+var getOwnPropertySymbols = Object.getOwnPropertySymbols;
+var hasOwnProperty = Object.prototype.hasOwnProperty;
+var propIsEnumerable = Object.prototype.propertyIsEnumerable;
+
+function toObject(val) {
+ if (val === null || val === undefined) {
+ throw new TypeError('Object.assign cannot be called with null or undefined');
+ }
+
+ return Object(val);
+}
+
+function shouldUseNative() {
+ try {
+ if (!Object.assign) {
+ return false;
+ }
+
+ // Detect buggy property enumeration order in older V8 versions.
+
+ // https://bugs.chromium.org/p/v8/issues/detail?id=4118
+ var test1 = new String('abc'); // eslint-disable-line no-new-wrappers
+ test1[5] = 'de';
+ if (Object.getOwnPropertyNames(test1)[0] === '5') {
+ return false;
+ }
+
+ // https://bugs.chromium.org/p/v8/issues/detail?id=3056
+ var test2 = {};
+ for (var i = 0; i < 10; i++) {
+ test2['_' + String.fromCharCode(i)] = i;
+ }
+ var order2 = Object.getOwnPropertyNames(test2).map(function (n) {
+ return test2[n];
+ });
+ if (order2.join('') !== '0123456789') {
+ return false;
+ }
+
+ // https://bugs.chromium.org/p/v8/issues/detail?id=3056
+ var test3 = {};
+ 'abcdefghijklmnopqrst'.split('').forEach(function (letter) {
+ test3[letter] = letter;
+ });
+ if (Object.keys(Object.assign({}, test3)).join('') !==
+ 'abcdefghijklmnopqrst') {
+ return false;
+ }
+
+ return true;
+ } catch (err) {
+ // We don't expect any of the above to throw, but better to be safe.
+ return false;
+ }
+}
+
+module.exports = shouldUseNative() ? Object.assign : function (target, source) {
+ var from;
+ var to = toObject(target);
+ var symbols;
+
+ for (var s = 1; s < arguments.length; s++) {
+ from = Object(arguments[s]);
+
+ for (var key in from) {
+ if (hasOwnProperty.call(from, key)) {
+ to[key] = from[key];
+ }
+ }
+
+ if (getOwnPropertySymbols) {
+ symbols = getOwnPropertySymbols(from);
+ for (var i = 0; i < symbols.length; i++) {
+ if (propIsEnumerable.call(from, symbols[i])) {
+ to[symbols[i]] = from[symbols[i]];
+ }
+ }
+ }
+ }
+
+ return to;
+};
+
+},{}],3:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB.
+ *
+ * If you use nodejs, this is the variable you get when you require('roslib')
+ */
+var ROSLIB = this.ROSLIB || {
+ REVISION : '0.20.0'
+};
+
+var assign = require('object-assign');
+
+// Add core components
+assign(ROSLIB, require('./core'));
+
+assign(ROSLIB, require('./actionlib'));
+
+assign(ROSLIB, require('./math'));
+
+assign(ROSLIB, require('./tf'));
+
+assign(ROSLIB, require('./urdf'));
+
+module.exports = ROSLIB;
+
+},{"./actionlib":9,"./core":18,"./math":23,"./tf":26,"./urdf":38,"object-assign":2}],4:[function(require,module,exports){
+(function (global){
+global.ROSLIB = require('./RosLib');
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{"./RosLib":3}],5:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * An actionlib action client.
+ *
+ * Emits the following events:
+ * * 'timeout' - if a timeout occurred while sending a goal
+ * * 'status' - the status messages received from the action server
+ * * 'feedback' - the feedback messages received from the action server
+ * * 'result' - the result returned from the action server
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * serverName - the action server name, like /fibonacci
+ * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
+ * * timeout - the timeout length when connecting to the action server
+ */
+function ActionClient(options) {
+ var that = this;
+ options = options || {};
+ this.ros = options.ros;
+ this.serverName = options.serverName;
+ this.actionName = options.actionName;
+ this.timeout = options.timeout;
+ this.omitFeedback = options.omitFeedback;
+ this.omitStatus = options.omitStatus;
+ this.omitResult = options.omitResult;
+ this.goals = {};
+
+ // flag to check if a status has been received
+ var receivedStatus = false;
+
+ // create the topics associated with actionlib
+ this.feedbackListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/feedback',
+ messageType : this.actionName + 'Feedback'
+ });
+
+ this.statusListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/status',
+ messageType : 'actionlib_msgs/GoalStatusArray'
+ });
+
+ this.resultListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/result',
+ messageType : this.actionName + 'Result'
+ });
+
+ this.goalTopic = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/goal',
+ messageType : this.actionName + 'Goal'
+ });
+
+ this.cancelTopic = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/cancel',
+ messageType : 'actionlib_msgs/GoalID'
+ });
+
+ // advertise the goal and cancel topics
+ this.goalTopic.advertise();
+ this.cancelTopic.advertise();
+
+ // subscribe to the status topic
+ if (!this.omitStatus) {
+ this.statusListener.subscribe(function(statusMessage) {
+ receivedStatus = true;
+ statusMessage.status_list.forEach(function(status) {
+ var goal = that.goals[status.goal_id.id];
+ if (goal) {
+ goal.emit('status', status);
+ }
+ });
+ });
+ }
+
+ // subscribe the the feedback topic
+ if (!this.omitFeedback) {
+ this.feedbackListener.subscribe(function(feedbackMessage) {
+ var goal = that.goals[feedbackMessage.status.goal_id.id];
+ if (goal) {
+ goal.emit('status', feedbackMessage.status);
+ goal.emit('feedback', feedbackMessage.feedback);
+ }
+ });
+ }
+
+ // subscribe to the result topic
+ if (!this.omitResult) {
+ this.resultListener.subscribe(function(resultMessage) {
+ var goal = that.goals[resultMessage.status.goal_id.id];
+
+ if (goal) {
+ goal.emit('status', resultMessage.status);
+ goal.emit('result', resultMessage.result);
+ }
+ });
+ }
+
+ // If timeout specified, emit a 'timeout' event if the action server does not respond
+ if (this.timeout) {
+ setTimeout(function() {
+ if (!receivedStatus) {
+ that.emit('timeout');
+ }
+ }, this.timeout);
+ }
+}
+
+ActionClient.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Cancel all goals associated with this ActionClient.
+ */
+ActionClient.prototype.cancel = function() {
+ var cancelMessage = new Message();
+ this.cancelTopic.publish(cancelMessage);
+};
+
+/**
+ * Unsubscribe and unadvertise all topics associated with this ActionClient.
+ */
+ActionClient.prototype.dispose = function() {
+ this.goalTopic.unadvertise();
+ this.cancelTopic.unadvertise();
+ if (!this.omitStatus) {this.statusListener.unsubscribe();}
+ if (!this.omitFeedback) {this.feedbackListener.unsubscribe();}
+ if (!this.omitResult) {this.resultListener.unsubscribe();}
+};
+
+module.exports = ActionClient;
+
+},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],6:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Justin Young - justin@oodar.com.au
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * An actionlib action listener
+ *
+ * Emits the following events:
+ * * 'status' - the status messages received from the action server
+ * * 'feedback' - the feedback messages received from the action server
+ * * 'result' - the result returned from the action server
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * serverName - the action server name, like /fibonacci
+ * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
+ */
+function ActionListener(options) {
+ var that = this;
+ options = options || {};
+ this.ros = options.ros;
+ this.serverName = options.serverName;
+ this.actionName = options.actionName;
+ this.timeout = options.timeout;
+ this.omitFeedback = options.omitFeedback;
+ this.omitStatus = options.omitStatus;
+ this.omitResult = options.omitResult;
+
+
+ // create the topics associated with actionlib
+ var goalListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/goal',
+ messageType : this.actionName + 'Goal'
+ });
+
+ var feedbackListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/feedback',
+ messageType : this.actionName + 'Feedback'
+ });
+
+ var statusListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/status',
+ messageType : 'actionlib_msgs/GoalStatusArray'
+ });
+
+ var resultListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/result',
+ messageType : this.actionName + 'Result'
+ });
+
+ goalListener.subscribe(function(goalMessage) {
+ that.emit('goal', goalMessage);
+ });
+
+ statusListener.subscribe(function(statusMessage) {
+ statusMessage.status_list.forEach(function(status) {
+ that.emit('status', status);
+ });
+ });
+
+ feedbackListener.subscribe(function(feedbackMessage) {
+ that.emit('status', feedbackMessage.status);
+ that.emit('feedback', feedbackMessage.feedback);
+ });
+
+ // subscribe to the result topic
+ resultListener.subscribe(function(resultMessage) {
+ that.emit('status', resultMessage.status);
+ that.emit('result', resultMessage.result);
+ });
+
+}
+
+ActionListener.prototype.__proto__ = EventEmitter2.prototype;
+
+module.exports = ActionListener;
+
+},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],7:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * An actionlib goal goal is associated with an action server.
+ *
+ * Emits the following events:
+ * * 'timeout' - if a timeout occurred while sending a goal
+ *
+ * @constructor
+ * @param object with following keys:
+ * * actionClient - the ROSLIB.ActionClient to use with this goal
+ * * goalMessage - The JSON object containing the goal for the action server
+ */
+function Goal(options) {
+ var that = this;
+ this.actionClient = options.actionClient;
+ this.goalMessage = options.goalMessage;
+ this.isFinished = false;
+
+ // Used to create random IDs
+ var date = new Date();
+
+ // Create a random ID
+ this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
+ // Fill in the goal message
+ this.goalMessage = new Message({
+ goal_id : {
+ stamp : {
+ secs : 0,
+ nsecs : 0
+ },
+ id : this.goalID
+ },
+ goal : this.goalMessage
+ });
+
+ this.on('status', function(status) {
+ that.status = status;
+ });
+
+ this.on('result', function(result) {
+ that.isFinished = true;
+ that.result = result;
+ });
+
+ this.on('feedback', function(feedback) {
+ that.feedback = feedback;
+ });
+
+ // Add the goal
+ this.actionClient.goals[this.goalID] = this;
+}
+
+Goal.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Send the goal to the action server.
+ *
+ * @param timeout (optional) - a timeout length for the goal's result
+ */
+Goal.prototype.send = function(timeout) {
+ var that = this;
+ that.actionClient.goalTopic.publish(that.goalMessage);
+ if (timeout) {
+ setTimeout(function() {
+ if (!that.isFinished) {
+ that.emit('timeout');
+ }
+ }, timeout);
+ }
+};
+
+/**
+ * Cancel the current goal.
+ */
+Goal.prototype.cancel = function() {
+ var cancelMessage = new Message({
+ id : this.goalID
+ });
+ this.actionClient.cancelTopic.publish(cancelMessage);
+};
+
+module.exports = Goal;
+},{"../core/Message":10,"eventemitter2":1}],8:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Laura Lindzey - lindzey@gmail.com
+ */
+
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * An actionlib action server client.
+ *
+ * Emits the following events:
+ * * 'goal' - goal sent by action client
+ * * 'cancel' - action client has canceled the request
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * serverName - the action server name, like /fibonacci
+ * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
+ */
+
+function SimpleActionServer(options) {
+ var that = this;
+ options = options || {};
+ this.ros = options.ros;
+ this.serverName = options.serverName;
+ this.actionName = options.actionName;
+
+ // create and advertise publishers
+ this.feedbackPublisher = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/feedback',
+ messageType : this.actionName + 'Feedback'
+ });
+ this.feedbackPublisher.advertise();
+
+ var statusPublisher = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/status',
+ messageType : 'actionlib_msgs/GoalStatusArray'
+ });
+ statusPublisher.advertise();
+
+ this.resultPublisher = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/result',
+ messageType : this.actionName + 'Result'
+ });
+ this.resultPublisher.advertise();
+
+ // create and subscribe to listeners
+ var goalListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/goal',
+ messageType : this.actionName + 'Goal'
+ });
+
+ var cancelListener = new Topic({
+ ros : this.ros,
+ name : this.serverName + '/cancel',
+ messageType : 'actionlib_msgs/GoalID'
+ });
+
+ // Track the goals and their status in order to publish status...
+ this.statusMessage = new Message({
+ header : {
+ stamp : {secs : 0, nsecs : 100},
+ frame_id : ''
+ },
+ status_list : []
+ });
+
+ // needed for handling preemption prompted by a new goal being received
+ this.currentGoal = null; // currently tracked goal
+ this.nextGoal = null; // the one that'll be preempting
+
+ goalListener.subscribe(function(goalMessage) {
+
+ if(that.currentGoal) {
+ that.nextGoal = goalMessage;
+ // needs to happen AFTER rest is set up
+ that.emit('cancel');
+ } else {
+ that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}];
+ that.currentGoal = goalMessage;
+ that.emit('goal', goalMessage.goal);
+ }
+ });
+
+ // helper function for determing ordering of timestamps
+ // returns t1 < t2
+ var isEarlier = function(t1, t2) {
+ if(t1.secs > t2.secs) {
+ return false;
+ } else if(t1.secs < t2.secs) {
+ return true;
+ } else if(t1.nsecs < t2.nsecs) {
+ return true;
+ } else {
+ return false;
+ }
+ };
+
+ // TODO: this may be more complicated than necessary, since I'm
+ // not sure if the callbacks can ever wind up with a scenario
+ // where we've been preempted by a next goal, it hasn't finished
+ // processing, and then we get a cancel message
+ cancelListener.subscribe(function(cancelMessage) {
+
+ // cancel ALL goals if both empty
+ if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') {
+ that.nextGoal = null;
+ if(that.currentGoal) {
+ that.emit('cancel');
+ }
+ } else { // treat id and stamp independently
+ if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) {
+ that.emit('cancel');
+ } else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) {
+ that.nextGoal = null;
+ }
+
+ if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp,
+ cancelMessage.stamp)) {
+ that.nextGoal = null;
+ }
+ if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,
+ cancelMessage.stamp)) {
+
+ that.emit('cancel');
+ }
+ }
+ });
+
+ // publish status at pseudo-fixed rate; required for clients to know they've connected
+ var statusInterval = setInterval( function() {
+ var currentTime = new Date();
+ var secs = Math.floor(currentTime.getTime()/1000);
+ var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));
+ that.statusMessage.header.stamp.secs = secs;
+ that.statusMessage.header.stamp.nsecs = nsecs;
+ statusPublisher.publish(that.statusMessage);
+ }, 500); // publish every 500ms
+
+}
+
+SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+* Set action state to succeeded and return to client
+*/
+
+SimpleActionServer.prototype.setSucceeded = function(result2) {
+
+
+ var resultMessage = new Message({
+ status : {goal_id : this.currentGoal.goal_id, status : 3},
+ result : result2
+ });
+ this.resultPublisher.publish(resultMessage);
+
+ this.statusMessage.status_list = [];
+ if(this.nextGoal) {
+ this.currentGoal = this.nextGoal;
+ this.nextGoal = null;
+ this.emit('goal', this.currentGoal.goal);
+ } else {
+ this.currentGoal = null;
+ }
+};
+
+/**
+* Function to send feedback
+*/
+
+SimpleActionServer.prototype.sendFeedback = function(feedback2) {
+
+ var feedbackMessage = new Message({
+ status : {goal_id : this.currentGoal.goal_id, status : 1},
+ feedback : feedback2
+ });
+ this.feedbackPublisher.publish(feedbackMessage);
+};
+
+/**
+* Handle case where client requests preemption
+*/
+
+SimpleActionServer.prototype.setPreempted = function() {
+
+ this.statusMessage.status_list = [];
+ var resultMessage = new Message({
+ status : {goal_id : this.currentGoal.goal_id, status : 2},
+ });
+ this.resultPublisher.publish(resultMessage);
+
+ if(this.nextGoal) {
+ this.currentGoal = this.nextGoal;
+ this.nextGoal = null;
+ this.emit('goal', this.currentGoal.goal);
+ } else {
+ this.currentGoal = null;
+ }
+};
+
+module.exports = SimpleActionServer;
+},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],9:[function(require,module,exports){
+var Ros = require('../core/Ros');
+var mixin = require('../mixin');
+
+var action = module.exports = {
+ ActionClient: require('./ActionClient'),
+ ActionListener: require('./ActionListener'),
+ Goal: require('./Goal'),
+ SimpleActionServer: require('./SimpleActionServer')
+};
+
+mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
+
+},{"../core/Ros":12,"../mixin":24,"./ActionClient":5,"./ActionListener":6,"./Goal":7,"./SimpleActionServer":8}],10:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Brandon Alexander - baalexander@gmail.com
+ */
+
+var assign = require('object-assign');
+
+/**
+ * Message objects are used for publishing and subscribing to and from topics.
+ *
+ * @constructor
+ * @param values - object matching the fields defined in the .msg definition file
+ */
+function Message(values) {
+ assign(this, values);
+}
+
+module.exports = Message;
+},{"object-assign":2}],11:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Brandon Alexander - baalexander@gmail.com
+ */
+
+var Service = require('./Service');
+var ServiceRequest = require('./ServiceRequest');
+
+/**
+ * A ROS parameter.
+ *
+ * @constructor
+ * @param options - possible keys include:
+ * * ros - the ROSLIB.Ros connection handle
+ * * name - the param name, like max_vel_x
+ */
+function Param(options) {
+ options = options || {};
+ this.ros = options.ros;
+ this.name = options.name;
+}
+
+/**
+ * Fetches the value of the param.
+ *
+ * @param callback - function with the following params:
+ * * value - the value of the param from ROS.
+ */
+Param.prototype.get = function(callback) {
+ var paramClient = new Service({
+ ros : this.ros,
+ name : '/rosapi/get_param',
+ serviceType : 'rosapi/GetParam'
+ });
+
+ var request = new ServiceRequest({
+ name : this.name
+ });
+
+ paramClient.callService(request, function(result) {
+ var value = JSON.parse(result.value);
+ callback(value);
+ });
+};
+
+/**
+ * Sets the value of the param in ROS.
+ *
+ * @param value - value to set param to.
+ */
+Param.prototype.set = function(value, callback) {
+ var paramClient = new Service({
+ ros : this.ros,
+ name : '/rosapi/set_param',
+ serviceType : 'rosapi/SetParam'
+ });
+
+ var request = new ServiceRequest({
+ name : this.name,
+ value : JSON.stringify(value)
+ });
+
+ paramClient.callService(request, callback);
+};
+
+/**
+ * Delete this parameter on the ROS server.
+ */
+Param.prototype.delete = function(callback) {
+ var paramClient = new Service({
+ ros : this.ros,
+ name : '/rosapi/delete_param',
+ serviceType : 'rosapi/DeleteParam'
+ });
+
+ var request = new ServiceRequest({
+ name : this.name
+ });
+
+ paramClient.callService(request, callback);
+};
+
+module.exports = Param;
+},{"./Service":13,"./ServiceRequest":14}],12:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Brandon Alexander - baalexander@gmail.com
+ */
+
+var WebSocket = require('ws');
+var socketAdapter = require('./SocketAdapter.js');
+
+var Service = require('./Service');
+var ServiceRequest = require('./ServiceRequest');
+
+var assign = require('object-assign');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * Manages connection to the server and all interactions with ROS.
+ *
+ * Emits the following events:
+ * * 'error' - there was an error with ROS
+ * * 'connection' - connected to the WebSocket server
+ * * 'close' - disconnected to the WebSocket server
+ * * <topicName> - a message came from rosbridge with the given topic name
+ * * <serviceID> - a service response came from rosbridge with the given ID
+ *
+ * @constructor
+ * @param options - possible keys include: <br>
+ * * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) <br>
+ * * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)
+ * * transportLibrary (optional) - one of 'websocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
+ * * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
+ */
+function Ros(options) {
+ options = options || {};
+ this.socket = null;
+ this.idCounter = 0;
+ this.isConnected = false;
+ this.transportLibrary = options.transportLibrary || 'websocket';
+ this.transportOptions = options.transportOptions || {};
+
+ if (typeof options.groovyCompatibility === 'undefined') {
+ this.groovyCompatibility = true;
+ }
+ else {
+ this.groovyCompatibility = options.groovyCompatibility;
+ }
+
+ // Sets unlimited event listeners.
+ this.setMaxListeners(0);
+
+ // begin by checking if a URL was given
+ if (options.url) {
+ this.connect(options.url);
+ }
+}
+
+Ros.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Connect to the specified WebSocket.
+ *
+ * @param url - WebSocket URL or RTCDataChannel label for Rosbridge
+ */
+Ros.prototype.connect = function(url) {
+ if (this.transportLibrary === 'socket.io') {
+ this.socket = assign(io(url, {'force new connection': true}), socketAdapter(this));
+ this.socket.on('connect', this.socket.onopen);
+ this.socket.on('data', this.socket.onmessage);
+ this.socket.on('close', this.socket.onclose);
+ this.socket.on('error', this.socket.onerror);
+ } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') {
+ this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this));
+ }else {
+ this.socket = assign(new WebSocket(url), socketAdapter(this));
+ }
+
+};
+
+/**
+ * Disconnect from the WebSocket server.
+ */
+Ros.prototype.close = function() {
+ if (this.socket) {
+ this.socket.close();
+ }
+};
+
+/**
+ * Sends an authorization request to the server.
+ *
+ * @param mac - MAC (hash) string given by the trusted source.
+ * @param client - IP of the client.
+ * @param dest - IP of the destination.
+ * @param rand - Random string given by the trusted source.
+ * @param t - Time of the authorization request.
+ * @param level - User level as a string given by the client.
+ * @param end - End time of the client's session.
+ */
+Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
+ // create the request
+ var auth = {
+ op : 'auth',
+ mac : mac,
+ client : client,
+ dest : dest,
+ rand : rand,
+ t : t,
+ level : level,
+ end : end
+ };
+ // send the request
+ this.callOnConnection(auth);
+};
+
+/**
+ * Sends the message over the WebSocket, but queues the message up if not yet
+ * connected.
+ */
+Ros.prototype.callOnConnection = function(message) {
+ var that = this;
+ var messageJson = JSON.stringify(message);
+ var emitter = null;
+ if (this.transportLibrary === 'socket.io') {
+ emitter = function(msg){that.socket.emit('operation', msg);};
+ } else {
+ emitter = function(msg){that.socket.send(msg);};
+ }
+
+ if (!this.isConnected) {
+ that.once('connection', function() {
+ emitter(messageJson);
+ });
+ } else {
+ emitter(messageJson);
+ }
+};
+
+/**
+ * Sends a set_level request to the server
+ *
+ * @param level - Status level (none, error, warning, info)
+ * @param id - Optional: Operation ID to change status level on
+ */
+Ros.prototype.setStatusLevel = function(level, id){
+ var levelMsg = {
+ op: 'set_level',
+ level: level,
+ id: id
+ };
+
+ this.callOnConnection(levelMsg);
+};
+
+/**
+ * Retrieves Action Servers in ROS as an array of string
+ *
+ * * actionservers - Array of action server names
+ */
+Ros.prototype.getActionServers = function(callback, failedCallback) {
+ var getActionServers = new Service({
+ ros : this,
+ name : '/rosapi/action_servers',
+ serviceType : 'rosapi/GetActionServers'
+ });
+
+ var request = new ServiceRequest({});
+ if (typeof failedCallback === 'function'){
+ getActionServers.callService(request,
+ function(result) {
+ callback(result.action_servers);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ getActionServers.callService(request, function(result) {
+ callback(result.action_servers);
+ });
+ }
+};
+
+/**
+ * Retrieves list of topics in ROS as an array.
+ *
+ * @param callback function with params:
+ * * topics - Array of topic names
+ */
+Ros.prototype.getTopics = function(callback, failedCallback) {
+ var topicsClient = new Service({
+ ros : this,
+ name : '/rosapi/topics',
+ serviceType : 'rosapi/Topics'
+ });
+
+ var request = new ServiceRequest();
+ if (typeof failedCallback === 'function'){
+ topicsClient.callService(request,
+ function(result) {
+ callback(result);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ topicsClient.callService(request, function(result) {
+ callback(result);
+ });
+ }
+};
+
+/**
+ * Retrieves Topics in ROS as an array as specific type
+ *
+ * @param topicType topic type to find:
+ * @param callback function with params:
+ * * topics - Array of topic names
+ */
+Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
+ var topicsForTypeClient = new Service({
+ ros : this,
+ name : '/rosapi/topics_for_type',
+ serviceType : 'rosapi/TopicsForType'
+ });
+
+ var request = new ServiceRequest({
+ type: topicType
+ });
+ if (typeof failedCallback === 'function'){
+ topicsForTypeClient.callService(request,
+ function(result) {
+ callback(result.topics);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ topicsForTypeClient.callService(request, function(result) {
+ callback(result.topics);
+ });
+ }
+};
+
+/**
+ * Retrieves list of active service names in ROS.
+ *
+ * @param callback - function with the following params:
+ * * services - array of service names
+ */
+Ros.prototype.getServices = function(callback, failedCallback) {
+ var servicesClient = new Service({
+ ros : this,
+ name : '/rosapi/services',
+ serviceType : 'rosapi/Services'
+ });
+
+ var request = new ServiceRequest();
+ if (typeof failedCallback === 'function'){
+ servicesClient.callService(request,
+ function(result) {
+ callback(result.services);
+ },
+ function(message) {
+ failedCallback(message);
+ }
+ );
+ }else{
+ servicesClient.callService(request, function(result) {
+ callback(result.services);
+ });
+ }
+};
+
+/**
+ * Retrieves list of services in ROS as an array as specific type
+ *
+ * @param serviceType service type to find:
+ * @param callback function with params:
+ * * topics - Array of service names
+ */
+Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {
+ var servicesForTypeClient = new Service({
+ ros : this,
+ name : '/rosapi/services_for_type',
+ serviceType : 'rosapi/ServicesForType'
+ });
+
+ var request = new ServiceRequest({
+ type: serviceType
+ });
+ if (typeof failedCallback === 'function'){
+ servicesForTypeClient.callService(request,
+ function(result) {
+ callback(result.services);
+ },
+ function(message) {
+ failedCallback(message);
+ }
+ );
+ }else{
+ servicesForTypeClient.callService(request, function(result) {
+ callback(result.services);
+ });
+ }
+};
+
+/**
+ * Retrieves a detail of ROS service request.
+ *
+ * @param service name of service:
+ * @param callback - function with params:
+ * * type - String of the service type
+ */
+Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) {
+ var serviceTypeClient = new Service({
+ ros : this,
+ name : '/rosapi/service_request_details',
+ serviceType : 'rosapi/ServiceRequestDetails'
+ });
+ var request = new ServiceRequest({
+ type: type
+ });
+
+ if (typeof failedCallback === 'function'){
+ serviceTypeClient.callService(request,
+ function(result) {
+ callback(result);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ serviceTypeClient.callService(request, function(result) {
+ callback(result);
+ });
+ }
+};
+
+/**
+ * Retrieves a detail of ROS service request.
+ *
+ * @param service name of service:
+ * @param callback - function with params:
+ * * type - String of the service type
+ */
+Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) {
+ var serviceTypeClient = new Service({
+ ros : this,
+ name : '/rosapi/service_response_details',
+ serviceType : 'rosapi/ServiceResponseDetails'
+ });
+ var request = new ServiceRequest({
+ type: type
+ });
+
+ if (typeof failedCallback === 'function'){
+ serviceTypeClient.callService(request,
+ function(result) {
+ callback(result);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ serviceTypeClient.callService(request, function(result) {
+ callback(result);
+ });
+ }
+};
+
+/**
+ * Retrieves list of active node names in ROS.
+ *
+ * @param callback - function with the following params:
+ * * nodes - array of node names
+ */
+Ros.prototype.getNodes = function(callback, failedCallback) {
+ var nodesClient = new Service({
+ ros : this,
+ name : '/rosapi/nodes',
+ serviceType : 'rosapi/Nodes'
+ });
+
+ var request = new ServiceRequest();
+ if (typeof failedCallback === 'function'){
+ nodesClient.callService(request,
+ function(result) {
+ callback(result.nodes);
+ },
+ function(message) {
+ failedCallback(message);
+ }
+ );
+ }else{
+ nodesClient.callService(request, function(result) {
+ callback(result.nodes);
+ });
+ }
+};
+
+/**
+ * Retrieves list subscribed topics, publishing topics and services of a specific node
+ *
+ * @param node name of the node:
+ * @param callback - function with params:
+ * * publications - array of published topic names
+ * * subscriptions - array of subscribed topic names
+ * * services - array of service names hosted
+ */
+Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
+ var nodesClient = new Service({
+ ros : this,
+ name : '/rosapi/node_details',
+ serviceType : 'rosapi/NodeDetails'
+ });
+
+ var request = new ServiceRequest({
+ node: node
+ });
+ if (typeof failedCallback === 'function'){
+ nodesClient.callService(request,
+ function(result) {
+ callback(result.subscribing, result.publishing, result.services);
+ },
+ function(message) {
+ failedCallback(message);
+ }
+ );
+ } else {
+ nodesClient.callService(request, function(result) {
+ callback(result);
+ });
+ }
+};
+
+/**
+ * Retrieves list of param names from the ROS Parameter Server.
+ *
+ * @param callback function with params:
+ * * params - array of param names.
+ */
+Ros.prototype.getParams = function(callback, failedCallback) {
+ var paramsClient = new Service({
+ ros : this,
+ name : '/rosapi/get_param_names',
+ serviceType : 'rosapi/GetParamNames'
+ });
+ var request = new ServiceRequest();
+ if (typeof failedCallback === 'function'){
+ paramsClient.callService(request,
+ function(result) {
+ callback(result.names);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ paramsClient.callService(request, function(result) {
+ callback(result.names);
+ });
+ }
+};
+
+/**
+ * Retrieves a type of ROS topic.
+ *
+ * @param topic name of the topic:
+ * @param callback - function with params:
+ * * type - String of the topic type
+ */
+Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
+ var topicTypeClient = new Service({
+ ros : this,
+ name : '/rosapi/topic_type',
+ serviceType : 'rosapi/TopicType'
+ });
+ var request = new ServiceRequest({
+ topic: topic
+ });
+
+ if (typeof failedCallback === 'function'){
+ topicTypeClient.callService(request,
+ function(result) {
+ callback(result.type);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ topicTypeClient.callService(request, function(result) {
+ callback(result.type);
+ });
+ }
+};
+
+/**
+ * Retrieves a type of ROS service.
+ *
+ * @param service name of service:
+ * @param callback - function with params:
+ * * type - String of the service type
+ */
+Ros.prototype.getServiceType = function(service, callback, failedCallback) {
+ var serviceTypeClient = new Service({
+ ros : this,
+ name : '/rosapi/service_type',
+ serviceType : 'rosapi/ServiceType'
+ });
+ var request = new ServiceRequest({
+ service: service
+ });
+
+ if (typeof failedCallback === 'function'){
+ serviceTypeClient.callService(request,
+ function(result) {
+ callback(result.type);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ serviceTypeClient.callService(request, function(result) {
+ callback(result.type);
+ });
+ }
+};
+
+/**
+ * Retrieves a detail of ROS message.
+ *
+ * @param callback - function with params:
+ * * details - Array of the message detail
+ * @param message - String of a topic type
+ */
+Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
+ var messageDetailClient = new Service({
+ ros : this,
+ name : '/rosapi/message_details',
+ serviceType : 'rosapi/MessageDetails'
+ });
+ var request = new ServiceRequest({
+ type: message
+ });
+
+ if (typeof failedCallback === 'function'){
+ messageDetailClient.callService(request,
+ function(result) {
+ callback(result.typedefs);
+ },
+ function(message){
+ failedCallback(message);
+ }
+ );
+ }else{
+ messageDetailClient.callService(request, function(result) {
+ callback(result.typedefs);
+ });
+ }
+};
+
+/**
+ * Decode a typedefs into a dictionary like `rosmsg show foo/bar`
+ *
+ * @param defs - array of type_def dictionary
+ */
+Ros.prototype.decodeTypeDefs = function(defs) {
+ var that = this;
+
+ // calls itself recursively to resolve type definition using hints.
+ var decodeTypeDefsRec = function(theType, hints) {
+ var typeDefDict = {};
+ for (var i = 0; i < theType.fieldnames.length; i++) {
+ var arrayLen = theType.fieldarraylen[i];
+ var fieldName = theType.fieldnames[i];
+ var fieldType = theType.fieldtypes[i];
+ if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not
+ if (arrayLen === -1) {
+ typeDefDict[fieldName] = fieldType;
+ }
+ else {
+ typeDefDict[fieldName] = [fieldType];
+ }
+ }
+ else {
+ // lookup the name
+ var sub = false;
+ for (var j = 0; j < hints.length; j++) {
+ if (hints[j].type.toString() === fieldType.toString()) {
+ sub = hints[j];
+ break;
+ }
+ }
+ if (sub) {
+ var subResult = decodeTypeDefsRec(sub, hints);
+ if (arrayLen === -1) {
+ }
+ else {
+ typeDefDict[fieldName] = [subResult];
+ }
+ }
+ else {
+ that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs');
+ }
+ }
+ }
+ return typeDefDict;
+ };
+
+ return decodeTypeDefsRec(defs[0], defs);
+};
+
+
+module.exports = Ros;
+
+},{"./Service":13,"./ServiceRequest":14,"./SocketAdapter.js":16,"eventemitter2":1,"object-assign":2,"ws":39}],13:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Brandon Alexander - baalexander@gmail.com
+ */
+
+var ServiceResponse = require('./ServiceResponse');
+var ServiceRequest = require('./ServiceRequest');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * A ROS service client.
+ *
+ * @constructor
+ * @params options - possible keys include:
+ * * ros - the ROSLIB.Ros connection handle
+ * * name - the service name, like /add_two_ints
+ * * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
+ */
+function Service(options) {
+ options = options || {};
+ this.ros = options.ros;
+ this.name = options.name;
+ this.serviceType = options.serviceType;
+ this.isAdvertised = false;
+
+ this._serviceCallback = null;
+}
+Service.prototype.__proto__ = EventEmitter2.prototype;
+/**
+ * Calls the service. Returns the service response in the callback.
+ *
+ * @param request - the ROSLIB.ServiceRequest to send
+ * @param callback - function with params:
+ * * response - the response from the service request
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ * * error - the error message reported by ROS
+ */
+Service.prototype.callService = function(request, callback, failedCallback) {
+ if (this.isAdvertised) {
+ return;
+ }
+
+ var serviceCallId = 'call_service:' + this.name + ':' + (++this.ros.idCounter);
+
+ if (callback || failedCallback) {
+ this.ros.once(serviceCallId, function(message) {
+ if (message.result !== undefined && message.result === false) {
+ if (typeof failedCallback === 'function') {
+ failedCallback(message.values);
+ }
+ } else if (typeof callback === 'function') {
+ callback(new ServiceResponse(message.values));
+ }
+ });
+ }
+
+ var call = {
+ op : 'call_service',
+ id : serviceCallId,
+ service : this.name,
+ args : request
+ };
+ this.ros.callOnConnection(call);
+};
+
+/**
+ * Every time a message is published for the given topic, the callback
+ * will be called with the message object.
+ *
+ * @param callback - function with the following params:
+ * * message - the published message
+ */
+Service.prototype.advertise = function(callback) {
+ if (this.isAdvertised || typeof callback !== 'function') {
+ return;
+ }
+
+ this._serviceCallback = callback;
+ this.ros.on(this.name, this._serviceResponse.bind(this));
+ this.ros.callOnConnection({
+ op: 'advertise_service',
+ type: this.serviceType,
+ service: this.name
+ });
+ this.isAdvertised = true;
+};
+
+Service.prototype.unadvertise = function() {
+ if (!this.isAdvertised) {
+ return;
+ }
+ this.ros.callOnConnection({
+ op: 'unadvertise_service',
+ service: this.name
+ });
+ this.isAdvertised = false;
+};
+
+Service.prototype._serviceResponse = function(rosbridgeRequest) {
+ var response = {};
+ var success = this._serviceCallback(rosbridgeRequest.args, response);
+
+ var call = {
+ op: 'service_response',
+ service: this.name,
+ values: new ServiceResponse(response),
+ result: success
+ };
+
+ if (rosbridgeRequest.id) {
+ call.id = rosbridgeRequest.id;
+ }
+
+ this.ros.callOnConnection(call);
+};
+
+module.exports = Service;
+},{"./ServiceRequest":14,"./ServiceResponse":15,"eventemitter2":1}],14:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Brandon Alexander - balexander@willowgarage.com
+ */
+
+var assign = require('object-assign');
+
+/**
+ * A ServiceRequest is passed into the service call.
+ *
+ * @constructor
+ * @param values - object matching the fields defined in the .srv definition file
+ */
+function ServiceRequest(values) {
+ assign(this, values);
+}
+
+module.exports = ServiceRequest;
+},{"object-assign":2}],15:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Brandon Alexander - balexander@willowgarage.com
+ */
+
+var assign = require('object-assign');
+
+/**
+ * A ServiceResponse is returned from the service call.
+ *
+ * @constructor
+ * @param values - object matching the fields defined in the .srv definition file
+ */
+function ServiceResponse(values) {
+ assign(this, values);
+}
+
+module.exports = ServiceResponse;
+},{"object-assign":2}],16:[function(require,module,exports){
+/**
+ * Socket event handling utilities for handling events on either
+ * WebSocket and TCP sockets
+ *
+ * Note to anyone reviewing this code: these functions are called
+ * in the context of their parent object, unless bound
+ * @fileOverview
+ */
+'use strict';
+
+var decompressPng = require('../util/decompressPng');
+var WebSocket = require('ws');
+var BSON = null;
+if(typeof bson !== 'undefined'){
+ BSON = bson().BSON;
+}
+
+/**
+ * Events listeners for a WebSocket or TCP socket to a JavaScript
+ * ROS Client. Sets up Messages for a given topic to trigger an
+ * event on the ROS client.
+ *
+ * @namespace SocketAdapter
+ * @private
+ */
+function SocketAdapter(client) {
+ function handleMessage(message) {
+ if (message.op === 'publish') {
+ client.emit(message.topic, message.msg);
+ } else if (message.op === 'service_response') {
+ client.emit(message.id, message);
+ } else if (message.op === 'call_service') {
+ client.emit(message.service, message);
+ } else if(message.op === 'status'){
+ if(message.id){
+ client.emit('status:'+message.id, message);
+ } else {
+ client.emit('status', message);
+ }
+ }
+ }
+
+ function handlePng(message, callback) {
+ if (message.op === 'png') {
+ decompressPng(message.data, callback);
+ } else {
+ callback(message);
+ }
+ }
+
+ function decodeBSON(data, callback) {
+ if (!BSON) {
+ throw 'Cannot process BSON encoded message without BSON header.';
+ }
+ var reader = new FileReader();
+ reader.onload = function() {
+ var uint8Array = new Uint8Array(this.result);
+ var msg = BSON.deserialize(uint8Array);
+ callback(msg);
+ };
+ reader.readAsArrayBuffer(data);
+ }
+
+ return {
+ /**
+ * Emits a 'connection' event on WebSocket connection.
+ *
+ * @param event - the argument to emit with the event.
+ * @memberof SocketAdapter
+ */
+ onopen: function onOpen(event) {
+ client.isConnected = true;
+ client.emit('connection', event);
+ },
+
+ /**
+ * Emits a 'close' event on WebSocket disconnection.
+ *
+ * @param event - the argument to emit with the event.
+ * @memberof SocketAdapter
+ */
+ onclose: function onClose(event) {
+ client.isConnected = false;
+ client.emit('close', event);
+ },
+
+ /**
+ * Emits an 'error' event whenever there was an error.
+ *
+ * @param event - the argument to emit with the event.
+ * @memberof SocketAdapter
+ */
+ onerror: function onError(event) {
+ client.emit('error', event);
+ },
+
+ /**
+ * Parses message responses from rosbridge and sends to the appropriate
+ * topic, service, or param.
+ *
+ * @param message - the raw JSON message from rosbridge.
+ * @memberof SocketAdapter
+ */
+ onmessage: function onMessage(data) {
+ if (typeof Blob !== 'undefined' && data.data instanceof Blob) {
+ decodeBSON(data.data, function (message) {
+ handlePng(message, handleMessage);
+ });
+ } else {
+ var message = JSON.parse(typeof data === 'string' ? data : data.data);
+ handlePng(message, handleMessage);
+ }
+ }
+ };
+}
+
+module.exports = SocketAdapter;
+
+},{"../util/decompressPng":41,"ws":39}],17:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Brandon Alexander - baalexander@gmail.com
+ */
+
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+var Message = require('./Message');
+
+/**
+ * Publish and/or subscribe to a topic in ROS.
+ *
+ * Emits the following events:
+ * * 'warning' - if there are any warning during the Topic creation
+ * * 'message' - the message data from rosbridge
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * name - the topic name, like /cmd_vel
+ * * messageType - the message type, like 'std_msgs/String'
+ * * compression - the type of compression to use, like 'png'
+ * * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
+ * * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
+ * * latch - latch the topic when publishing
+ * * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
+ * * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).
+ */
+function Topic(options) {
+ options = options || {};
+ this.ros = options.ros;
+ this.name = options.name;
+ this.messageType = options.messageType;
+ this.isAdvertised = false;
+ this.compression = options.compression || 'none';
+ this.throttle_rate = options.throttle_rate || 0;
+ this.latch = options.latch || false;
+ this.queue_size = options.queue_size || 100;
+ this.queue_length = options.queue_length || 0;
+ this.reconnect_on_close = options.reconnect_on_close || true;
+
+ // Check for valid compression types
+ if (this.compression && this.compression !== 'png' &&
+ this.compression !== 'none') {
+ this.emit('warning', this.compression +
+ ' compression is not supported. No compression will be used.');
+ }
+
+ // Check if throttle rate is negative
+ if (this.throttle_rate < 0) {
+ this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0');
+ this.throttle_rate = 0;
+ }
+
+ var that = this;
+ if (this.reconnect_on_close) {
+ this.callForSubscribeAndAdvertise = function(message) {
+ that.ros.callOnConnection(message);
+
+ that.waitForReconnect = false;
+ that.reconnectFunc = function() {
+ if(!that.waitForReconnect) {
+ that.waitForReconnect = true;
+ that.ros.callOnConnection(message);
+ that.ros.once('connection', function() {
+ that.waitForReconnect = false;
+ });
+ }
+ };
+ that.ros.on('close', that.reconnectFunc);
+ };
+ }
+ else {
+ this.callForSubscribeAndAdvertise = this.ros.callOnConnection;
+ }
+
+ this._messageCallback = function(data) {
+ that.emit('message', new Message(data));
+ };
+}
+Topic.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Every time a message is published for the given topic, the callback
+ * will be called with the message object.
+ *
+ * @param callback - function with the following params:
+ * * message - the published message
+ */
+Topic.prototype.subscribe = function(callback) {
+ if (typeof callback === 'function') {
+ this.on('message', callback);
+ }
+
+ if (this.subscribeId) { return; }
+ this.ros.on(this.name, this._messageCallback);
+ this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
+
+ this.callForSubscribeAndAdvertise({
+ op: 'subscribe',
+ id: this.subscribeId,
+ type: this.messageType,
+ topic: this.name,
+ compression: this.compression,
+ throttle_rate: this.throttle_rate,
+ queue_length: this.queue_length
+ });
+};
+
+/**
+ * Unregisters as a subscriber for the topic. Unsubscribing stop remove
+ * all subscribe callbacks. To remove a call back, you must explicitly
+ * pass the callback function in.
+ *
+ * @param callback - the optional callback to unregister, if
+ * * provided and other listeners are registered the topic won't
+ * * unsubscribe, just stop emitting to the passed listener
+ */
+Topic.prototype.unsubscribe = function(callback) {
+ if (callback) {
+ this.off('message', callback);
+ // If there is any other callbacks still subscribed don't unsubscribe
+ if (this.listeners('message').length) { return; }
+ }
+ if (!this.subscribeId) { return; }
+ // Note: Don't call this.removeAllListeners, allow client to handle that themselves
+ this.ros.off(this.name, this._messageCallback);
+ if(this.reconnect_on_close) {
+ this.ros.off('close', this.reconnectFunc);
+ }
+ this.emit('unsubscribe');
+ this.ros.callOnConnection({
+ op: 'unsubscribe',
+ id: this.subscribeId,
+ topic: this.name
+ });
+ this.subscribeId = null;
+};
+
+
+/**
+ * Registers as a publisher for the topic.
+ */
+Topic.prototype.advertise = function() {
+ if (this.isAdvertised) {
+ return;
+ }
+ this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);
+ this.callForSubscribeAndAdvertise({
+ op: 'advertise',
+ id: this.advertiseId,
+ type: this.messageType,
+ topic: this.name,
+ latch: this.latch,
+ queue_size: this.queue_size
+ });
+ this.isAdvertised = true;
+
+ if(!this.reconnect_on_close) {
+ var that = this;
+ this.ros.on('close', function() {
+ that.isAdvertised = false;
+ });
+ }
+};
+
+/**
+ * Unregisters as a publisher for the topic.
+ */
+Topic.prototype.unadvertise = function() {
+ if (!this.isAdvertised) {
+ return;
+ }
+ if(this.reconnect_on_close) {
+ this.ros.off('close', this.reconnectFunc);
+ }
+ this.emit('unadvertise');
+ this.ros.callOnConnection({
+ op: 'unadvertise',
+ id: this.advertiseId,
+ topic: this.name
+ });
+ this.isAdvertised = false;
+};
+
+/**
+ * Publish the message.
+ *
+ * @param message - A ROSLIB.Message object.
+ */
+Topic.prototype.publish = function(message) {
+ if (!this.isAdvertised) {
+ this.advertise();
+ }
+
+ this.ros.idCounter++;
+ var call = {
+ op: 'publish',
+ id: 'publish:' + this.name + ':' + this.ros.idCounter,
+ topic: this.name,
+ msg: message,
+ latch: this.latch
+ };
+ this.ros.callOnConnection(call);
+};
+
+module.exports = Topic;
+
+},{"./Message":10,"eventemitter2":1}],18:[function(require,module,exports){
+var mixin = require('../mixin');
+
+var core = module.exports = {
+ Ros: require('./Ros'),
+ Topic: require('./Topic'),
+ Message: require('./Message'),
+ Param: require('./Param'),
+ Service: require('./Service'),
+ ServiceRequest: require('./ServiceRequest'),
+ ServiceResponse: require('./ServiceResponse')
+};
+
+mixin(core.Ros, ['Param', 'Service', 'Topic'], core);
+
+},{"../mixin":24,"./Message":10,"./Param":11,"./Ros":12,"./Service":13,"./ServiceRequest":14,"./ServiceResponse":15,"./Topic":17}],19:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author David Gossow - dgossow@willowgarage.com
+ */
+
+var Vector3 = require('./Vector3');
+var Quaternion = require('./Quaternion');
+
+/**
+ * A Pose in 3D space. Values are copied into this object.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * position - the Vector3 describing the position
+ * * orientation - the ROSLIB.Quaternion describing the orientation
+ */
+function Pose(options) {
+ options = options || {};
+ // copy the values into this object if they exist
+ this.position = new Vector3(options.position);
+ this.orientation = new Quaternion(options.orientation);
+}
+
+/**
+ * Apply a transform against this pose.
+ *
+ * @param tf the transform
+ */
+Pose.prototype.applyTransform = function(tf) {
+ this.position.multiplyQuaternion(tf.rotation);
+ this.position.add(tf.translation);
+ var tmp = tf.rotation.clone();
+ tmp.multiply(this.orientation);
+ this.orientation = tmp;
+};
+
+/**
+ * Clone a copy of this pose.
+ *
+ * @returns the cloned pose
+ */
+Pose.prototype.clone = function() {
+ return new Pose(this);
+};
+
+module.exports = Pose;
+},{"./Quaternion":20,"./Vector3":22}],20:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author David Gossow - dgossow@willowgarage.com
+ */
+
+/**
+ * A Quaternion.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * x - the x value
+ * * y - the y value
+ * * z - the z value
+ * * w - the w value
+ */
+function Quaternion(options) {
+ options = options || {};
+ this.x = options.x || 0;
+ this.y = options.y || 0;
+ this.z = options.z || 0;
+ this.w = (typeof options.w === 'number') ? options.w : 1;
+}
+
+/**
+ * Perform a conjugation on this quaternion.
+ */
+Quaternion.prototype.conjugate = function() {
+ this.x *= -1;
+ this.y *= -1;
+ this.z *= -1;
+};
+
+/**
+ * Return the norm of this quaternion.
+ */
+Quaternion.prototype.norm = function() {
+ return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
+};
+
+/**
+ * Perform a normalization on this quaternion.
+ */
+Quaternion.prototype.normalize = function() {
+ var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
+ if (l === 0) {
+ this.x = 0;
+ this.y = 0;
+ this.z = 0;
+ this.w = 1;
+ } else {
+ l = 1 / l;
+ this.x = this.x * l;
+ this.y = this.y * l;
+ this.z = this.z * l;
+ this.w = this.w * l;
+ }
+};
+
+/**
+ * Convert this quaternion into its inverse.
+ */
+Quaternion.prototype.invert = function() {
+ this.conjugate();
+ this.normalize();
+};
+
+/**
+ * Set the values of this quaternion to the product of itself and the given quaternion.
+ *
+ * @param q the quaternion to multiply with
+ */
+Quaternion.prototype.multiply = function(q) {
+ var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
+ var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
+ var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
+ var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;
+ this.x = newX;
+ this.y = newY;
+ this.z = newZ;
+ this.w = newW;
+};
+
+/**
+ * Clone a copy of this quaternion.
+ *
+ * @returns the cloned quaternion
+ */
+Quaternion.prototype.clone = function() {
+ return new Quaternion(this);
+};
+
+module.exports = Quaternion;
+
+},{}],21:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author David Gossow - dgossow@willowgarage.com
+ */
+
+var Vector3 = require('./Vector3');
+var Quaternion = require('./Quaternion');
+
+/**
+ * A Transform in 3-space. Values are copied into this object.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * translation - the Vector3 describing the translation
+ * * rotation - the ROSLIB.Quaternion describing the rotation
+ */
+function Transform(options) {
+ options = options || {};
+ // Copy the values into this object if they exist
+ this.translation = new Vector3(options.translation);
+ this.rotation = new Quaternion(options.rotation);
+}
+
+/**
+ * Clone a copy of this transform.
+ *
+ * @returns the cloned transform
+ */
+Transform.prototype.clone = function() {
+ return new Transform(this);
+};
+
+module.exports = Transform;
+},{"./Quaternion":20,"./Vector3":22}],22:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author David Gossow - dgossow@willowgarage.com
+ */
+
+/**
+ * A 3D vector.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * x - the x value
+ * * y - the y value
+ * * z - the z value
+ */
+function Vector3(options) {
+ options = options || {};
+ this.x = options.x || 0;
+ this.y = options.y || 0;
+ this.z = options.z || 0;
+}
+
+/**
+ * Set the values of this vector to the sum of itself and the given vector.
+ *
+ * @param v the vector to add with
+ */
+Vector3.prototype.add = function(v) {
+ this.x += v.x;
+ this.y += v.y;
+ this.z += v.z;
+};
+
+/**
+ * Set the values of this vector to the difference of itself and the given vector.
+ *
+ * @param v the vector to subtract with
+ */
+Vector3.prototype.subtract = function(v) {
+ this.x -= v.x;
+ this.y -= v.y;
+ this.z -= v.z;
+};
+
+/**
+ * Multiply the given Quaternion with this vector.
+ *
+ * @param q - the quaternion to multiply with
+ */
+Vector3.prototype.multiplyQuaternion = function(q) {
+ var ix = q.w * this.x + q.y * this.z - q.z * this.y;
+ var iy = q.w * this.y + q.z * this.x - q.x * this.z;
+ var iz = q.w * this.z + q.x * this.y - q.y * this.x;
+ var iw = -q.x * this.x - q.y * this.y - q.z * this.z;
+ this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y;
+ this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z;
+ this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x;
+};
+
+/**
+ * Clone a copy of this vector.
+ *
+ * @returns the cloned vector
+ */
+Vector3.prototype.clone = function() {
+ return new Vector3(this);
+};
+
+module.exports = Vector3;
+},{}],23:[function(require,module,exports){
+module.exports = {
+ Pose: require('./Pose'),
+ Quaternion: require('./Quaternion'),
+ Transform: require('./Transform'),
+ Vector3: require('./Vector3')
+};
+
+},{"./Pose":19,"./Quaternion":20,"./Transform":21,"./Vector3":22}],24:[function(require,module,exports){
+/**
+ * Mixin a feature to the core/Ros prototype.
+ * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
+ * will add a topic bound to any Ros instances so a user
+ * can call `var topic = ros.Topic({name: '/foo'});`
+ *
+ * @author Graeme Yeates - github.com/megawac
+ */
+module.exports = function(Ros, classes, features) {
+ classes.forEach(function(className) {
+ var Class = features[className];
+ Ros.prototype[className] = function(options) {
+ options.ros = this;
+ return new Class(options);
+ };
+ });
+};
+
+},{}],25:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author David Gossow - dgossow@willowgarage.com
+ */
+
+var ActionClient = require('../actionlib/ActionClient');
+var Goal = require('../actionlib/Goal');
+
+var Service = require('../core/Service.js');
+var ServiceRequest = require('../core/ServiceRequest.js');
+
+var Transform = require('../math/Transform');
+
+/**
+ * A TF Client that listens to TFs from tf2_web_republisher.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * ros - the ROSLIB.Ros connection handle
+ * * fixedFrame - the fixed frame, like /base_link
+ * * angularThres - the angular threshold for the TF republisher
+ * * transThres - the translation threshold for the TF republisher
+ * * rate - the rate for the TF republisher
+ * * updateDelay - the time (in ms) to wait after a new subscription
+ * to update the TF republisher's list of TFs
+ * * topicTimeout - the timeout parameter for the TF republisher
+ * * serverName (optional) - the name of the tf2_web_republisher server
+ * * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only)
+ * default: '/republish_tfs'
+ */
+function TFClient(options) {
+ options = options || {};
+ this.ros = options.ros;
+ this.fixedFrame = options.fixedFrame || '/base_link';
+ this.angularThres = options.angularThres || 2.0;
+ this.transThres = options.transThres || 0.01;
+ this.rate = options.rate || 10.0;
+ this.updateDelay = options.updateDelay || 50;
+ var seconds = options.topicTimeout || 2.0;
+ var secs = Math.floor(seconds);
+ var nsecs = Math.floor((seconds - secs) * 1000000000);
+ this.topicTimeout = {
+ secs: secs,
+ nsecs: nsecs
+ };
+ this.serverName = options.serverName || '/tf2_web_republisher';
+ this.repubServiceName = options.repubServiceName || '/republish_tfs';
+
+ this.currentGoal = false;
+ this.currentTopic = false;
+ this.frameInfos = {};
+ this.republisherUpdateRequested = false;
+
+ // Create an Action client
+ this.actionClient = this.ros.ActionClient({
+ serverName : this.serverName,
+ actionName : 'tf2_web_republisher/TFSubscriptionAction',
+ omitStatus : true,
+ omitResult : true
+ });
+
+ // Create a Service client
+ this.serviceClient = this.ros.Service({
+ name: this.repubServiceName,
+ serviceType: 'tf2_web_republisher/RepublishTFs'
+ });
+}
+
+/**
+ * Process the incoming TF message and send them out using the callback
+ * functions.
+ *
+ * @param tf - the TF message from the server
+ */
+TFClient.prototype.processTFArray = function(tf) {
+ var that = this;
+ tf.transforms.forEach(function(transform) {
+ var frameID = transform.child_frame_id;
+ if (frameID[0] === '/')
+ {
+ frameID = frameID.substring(1);
+ }
+ var info = this.frameInfos[frameID];
+ if (info) {
+ info.transform = new Transform({
+ translation : transform.transform.translation,
+ rotation : transform.transform.rotation
+ });
+ info.cbs.forEach(function(cb) {
+ cb(info.transform);
+ });
+ }
+ }, this);
+};
+
+/**
+ * Create and send a new goal (or service request) to the tf2_web_republisher
+ * based on the current list of TFs.
+ */
+TFClient.prototype.updateGoal = function() {
+ var goalMessage = {
+ source_frames : Object.keys(this.frameInfos),
+ target_frame : this.fixedFrame,
+ angular_thres : this.angularThres,
+ trans_thres : this.transThres,
+ rate : this.rate
+ };
+
+ // if we're running in groovy compatibility mode (the default)
+ // then use the action interface to tf2_web_republisher
+ if(this.ros.groovyCompatibility) {
+ if (this.currentGoal) {
+ this.currentGoal.cancel();
+ }
+ this.currentGoal = new Goal({
+ actionClient : this.actionClient,
+ goalMessage : goalMessage
+ });
+
+ this.currentGoal.on('feedback', this.processTFArray.bind(this));
+ this.currentGoal.send();
+ }
+ else {
+ // otherwise, use the service interface
+ // The service interface has the same parameters as the action,
+ // plus the timeout
+ goalMessage.timeout = this.topicTimeout;
+ var request = new ServiceRequest(goalMessage);
+
+ this.serviceClient.callService(request, this.processResponse.bind(this));
+ }
+
+ this.republisherUpdateRequested = false;
+};
+
+/**
+ * Process the service response and subscribe to the tf republisher
+ * topic
+ *
+ * @param response the service response containing the topic name
+ */
+TFClient.prototype.processResponse = function(response) {
+ // if we subscribed to a topic before, unsubscribe so
+ // the republisher stops publishing it
+ if (this.currentTopic) {
+ this.currentTopic.unsubscribe();
+ }
+
+ this.currentTopic = this.ros.Topic({
+ name: response.topic_name,
+ messageType: 'tf2_web_republisher/TFArray'
+ });
+ this.currentTopic.subscribe(this.processTFArray.bind(this));
+};
+
+/**
+ * Subscribe to the given TF frame.
+ *
+ * @param frameID - the TF frame to subscribe to
+ * @param callback - function with params:
+ * * transform - the transform data
+ */
+TFClient.prototype.subscribe = function(frameID, callback) {
+ // remove leading slash, if it's there
+ if (frameID[0] === '/')
+ {
+ frameID = frameID.substring(1);
+ }
+ // if there is no callback registered for the given frame, create emtpy callback list
+ if (!this.frameInfos[frameID]) {
+ this.frameInfos[frameID] = {
+ cbs: []
+ };
+ if (!this.republisherUpdateRequested) {
+ setTimeout(this.updateGoal.bind(this), this.updateDelay);
+ this.republisherUpdateRequested = true;
+ }
+ }
+ // if we already have a transform, call back immediately
+ else if (this.frameInfos[frameID].transform) {
+ callback(this.frameInfos[frameID].transform);
+ }
+ this.frameInfos[frameID].cbs.push(callback);
+};
+
+/**
+ * Unsubscribe from the given TF frame.
+ *
+ * @param frameID - the TF frame to unsubscribe from
+ * @param callback - the callback function to remove
+ */
+TFClient.prototype.unsubscribe = function(frameID, callback) {
+ // remove leading slash, if it's there
+ if (frameID[0] === '/')
+ {
+ frameID = frameID.substring(1);
+ }
+ var info = this.frameInfos[frameID];
+ for (var cbs = info && info.cbs || [], idx = cbs.length; idx--;) {
+ if (cbs[idx] === callback) {
+ cbs.splice(idx, 1);
+ }
+ }
+ if (!callback || cbs.length === 0) {
+ delete this.frameInfos[frameID];
+ }
+};
+
+/**
+ * Unsubscribe and unadvertise all topics associated with this TFClient.
+ */
+TFClient.prototype.dispose = function() {
+ this.actionClient.dispose();
+ if (this.currentTopic) {
+ this.currentTopic.unsubscribe();
+ }
+};
+
+module.exports = TFClient;
+
+},{"../actionlib/ActionClient":5,"../actionlib/Goal":7,"../core/Service.js":13,"../core/ServiceRequest.js":14,"../math/Transform":21}],26:[function(require,module,exports){
+var Ros = require('../core/Ros');
+var mixin = require('../mixin');
+
+var tf = module.exports = {
+ TFClient: require('./TFClient')
+};
+
+mixin(Ros, ['TFClient'], tf);
+},{"../core/Ros":12,"../mixin":24,"./TFClient":25}],27:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Vector3 = require('../math/Vector3');
+var UrdfTypes = require('./UrdfTypes');
+
+/**
+ * A Box element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfBox(options) {
+ this.dimension = null;
+ this.type = UrdfTypes.URDF_BOX;
+
+ // Parse the xml string
+ var xyz = options.xml.getAttribute('size').split(' ');
+ this.dimension = new Vector3({
+ x : parseFloat(xyz[0]),
+ y : parseFloat(xyz[1]),
+ z : parseFloat(xyz[2])
+ });
+}
+
+module.exports = UrdfBox;
+},{"../math/Vector3":22,"./UrdfTypes":36}],28:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A Color element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfColor(options) {
+ // Parse the xml string
+ var rgba = options.xml.getAttribute('rgba').split(' ');
+ this.r = parseFloat(rgba[0]);
+ this.g = parseFloat(rgba[1]);
+ this.b = parseFloat(rgba[2]);
+ this.a = parseFloat(rgba[3]);
+}
+
+module.exports = UrdfColor;
+},{}],29:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var UrdfTypes = require('./UrdfTypes');
+
+/**
+ * A Cylinder element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfCylinder(options) {
+ this.type = UrdfTypes.URDF_CYLINDER;
+ this.length = parseFloat(options.xml.getAttribute('length'));
+ this.radius = parseFloat(options.xml.getAttribute('radius'));
+}
+
+module.exports = UrdfCylinder;
+},{"./UrdfTypes":36}],30:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author David V. Lu!! davidvlu@gmail.com
+ */
+
+/**
+ * A Joint element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfJoint(options) {
+ this.name = options.xml.getAttribute('name');
+ this.type = options.xml.getAttribute('type');
+
+ var parents = options.xml.getElementsByTagName('parent');
+ if(parents.length > 0) {
+ this.parent = parents[0].getAttribute('link');
+ }
+
+ var children = options.xml.getElementsByTagName('child');
+ if(children.length > 0) {
+ this.child = children[0].getAttribute('link');
+ }
+
+ var limits = options.xml.getElementsByTagName('limit');
+ if (limits.length > 0) {
+ this.minval = parseFloat( limits[0].getAttribute('lower') );
+ this.maxval = parseFloat( limits[0].getAttribute('upper') );
+ }
+}
+
+module.exports = UrdfJoint;
+
+},{}],31:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var UrdfVisual = require('./UrdfVisual');
+
+/**
+ * A Link element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfLink(options) {
+ this.name = options.xml.getAttribute('name');
+ this.visuals = [];
+ var visuals = options.xml.getElementsByTagName('visual');
+
+ for( var i=0; i<visuals.length; i++ ) {
+ this.visuals.push( new UrdfVisual({
+ xml : visuals[i]
+ }) );
+ }
+}
+
+module.exports = UrdfLink;
+},{"./UrdfVisual":37}],32:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var UrdfColor = require('./UrdfColor');
+
+/**
+ * A Material element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfMaterial(options) {
+ this.textureFilename = null;
+ this.color = null;
+
+ this.name = options.xml.getAttribute('name');
+
+ // Texture
+ var textures = options.xml.getElementsByTagName('texture');
+ if (textures.length > 0) {
+ this.textureFilename = textures[0].getAttribute('filename');
+ }
+
+ // Color
+ var colors = options.xml.getElementsByTagName('color');
+ if (colors.length > 0) {
+ // Parse the RBGA string
+ this.color = new UrdfColor({
+ xml : colors[0]
+ });
+ }
+}
+
+UrdfMaterial.prototype.isLink = function() {
+ return this.color === null && this.textureFilename === null;
+};
+
+var assign = require('object-assign');
+
+UrdfMaterial.prototype.assign = function(obj) {
+ return assign(this, obj);
+};
+
+module.exports = UrdfMaterial;
+
+},{"./UrdfColor":28,"object-assign":2}],33:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Vector3 = require('../math/Vector3');
+var UrdfTypes = require('./UrdfTypes');
+
+/**
+ * A Mesh element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfMesh(options) {
+ this.scale = null;
+
+ this.type = UrdfTypes.URDF_MESH;
+ this.filename = options.xml.getAttribute('filename');
+
+ // Check for a scale
+ var scale = options.xml.getAttribute('scale');
+ if (scale) {
+ // Get the XYZ
+ var xyz = scale.split(' ');
+ this.scale = new Vector3({
+ x : parseFloat(xyz[0]),
+ y : parseFloat(xyz[1]),
+ z : parseFloat(xyz[2])
+ });
+ }
+}
+
+module.exports = UrdfMesh;
+},{"../math/Vector3":22,"./UrdfTypes":36}],34:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var UrdfMaterial = require('./UrdfMaterial');
+var UrdfLink = require('./UrdfLink');
+var UrdfJoint = require('./UrdfJoint');
+var DOMParser = require('xmldom').DOMParser;
+
+// See https://developer.mozilla.org/docs/XPathResult#Constants
+var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
+
+/**
+ * A URDF Model can be used to parse a given URDF into the appropriate elements.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ * * string - the XML element to parse as a string
+ */
+function UrdfModel(options) {
+ options = options || {};
+ var xmlDoc = options.xml;
+ var string = options.string;
+ this.materials = {};
+ this.links = {};
+ this.joints = {};
+
+ // Check if we are using a string or an XML element
+ if (string) {
+ // Parse the string
+ var parser = new DOMParser();
+ xmlDoc = parser.parseFromString(string, 'text/xml');
+ }
+
+ // Initialize the model with the given XML node.
+ // Get the robot tag
+ var robotXml = xmlDoc.documentElement;
+
+ // Get the robot name
+ this.name = robotXml.getAttribute('name');
+
+ // Parse all the visual elements we need
+ for (var nodes = robotXml.childNodes, i = 0; i < nodes.length; i++) {
+ var node = nodes[i];
+ if (node.tagName === 'material') {
+ var material = new UrdfMaterial({
+ xml : node
+ });
+ // Make sure this is unique
+ if (this.materials[material.name] !== void 0) {
+ if( this.materials[material.name].isLink() ) {
+ this.materials[material.name].assign( material );
+ } else {
+ console.warn('Material ' + material.name + 'is not unique.');
+ }
+ } else {
+ this.materials[material.name] = material;
+ }
+ } else if (node.tagName === 'link') {
+ var link = new UrdfLink({
+ xml : node
+ });
+ // Make sure this is unique
+ if (this.links[link.name] !== void 0) {
+ console.warn('Link ' + link.name + ' is not unique.');
+ } else {
+ // Check for a material
+ for( var j=0; j<link.visuals.length; j++ )
+ {
+ var mat = link.visuals[j].material;
+ if ( mat !== null ) {
+ if (this.materials[mat.name] !== void 0) {
+ link.visuals[j].material = this.materials[mat.name];
+ } else {
+ this.materials[mat.name] = mat;
+ }
+ }
+ }
+
+ // Add the link
+ this.links[link.name] = link;
+ }
+ } else if (node.tagName === 'joint') {
+ var joint = new UrdfJoint({
+ xml : node
+ });
+ this.joints[joint.name] = joint;
+ }
+ }
+}
+
+module.exports = UrdfModel;
+
+},{"./UrdfJoint":30,"./UrdfLink":31,"./UrdfMaterial":32,"xmldom":42}],35:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var UrdfTypes = require('./UrdfTypes');
+
+/**
+ * A Sphere element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfSphere(options) {
+ this.type = UrdfTypes.URDF_SPHERE;
+ this.radius = parseFloat(options.xml.getAttribute('radius'));
+}
+
+module.exports = UrdfSphere;
+},{"./UrdfTypes":36}],36:[function(require,module,exports){
+module.exports = {
+ URDF_SPHERE : 0,
+ URDF_BOX : 1,
+ URDF_CYLINDER : 2,
+ URDF_MESH : 3
+};
+
+},{}],37:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Pose = require('../math/Pose');
+var Vector3 = require('../math/Vector3');
+var Quaternion = require('../math/Quaternion');
+
+var UrdfCylinder = require('./UrdfCylinder');
+var UrdfBox = require('./UrdfBox');
+var UrdfMaterial = require('./UrdfMaterial');
+var UrdfMesh = require('./UrdfMesh');
+var UrdfSphere = require('./UrdfSphere');
+
+/**
+ * A Visual element in a URDF.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ * * xml - the XML element to parse
+ */
+function UrdfVisual(options) {
+ var xml = options.xml;
+ this.origin = null;
+ this.geometry = null;
+ this.material = null;
+
+ // Origin
+ var origins = xml.getElementsByTagName('origin');
+ if (origins.length === 0) {
+ // use the identity as the default
+ this.origin = new Pose();
+ } else {
+ // Check the XYZ
+ var xyz = origins[0].getAttribute('xyz');
+ var position = new Vector3();
+ if (xyz) {
+ xyz = xyz.split(' ');
+ position = new Vector3({
+ x : parseFloat(xyz[0]),
+ y : parseFloat(xyz[1]),
+ z : parseFloat(xyz[2])
+ });
+ }
+
+ // Check the RPY
+ var rpy = origins[0].getAttribute('rpy');
+ var orientation = new Quaternion();
+ if (rpy) {
+ rpy = rpy.split(' ');
+ // Convert from RPY
+ var roll = parseFloat(rpy[0]);
+ var pitch = parseFloat(rpy[1]);
+ var yaw = parseFloat(rpy[2]);
+ var phi = roll / 2.0;
+ var the = pitch / 2.0;
+ var psi = yaw / 2.0;
+ var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the)
+ * Math.sin(psi);
+ var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the)
+ * Math.sin(psi);
+ var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the)
+ * Math.cos(psi);
+ var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
+ * Math.sin(psi);
+
+ orientation = new Quaternion({
+ x : x,
+ y : y,
+ z : z,
+ w : w
+ });
+ orientation.normalize();
+ }
+ this.origin = new Pose({
+ position : position,
+ orientation : orientation
+ });
+ }
+
+ // Geometry
+ var geoms = xml.getElementsByTagName('geometry');
+ if (geoms.length > 0) {
+ var geom = geoms[0];
+ var shape = null;
+ // Check for the shape
+ for (var i = 0; i < geom.childNodes.length; i++) {
+ var node = geom.childNodes[i];
+ if (node.nodeType === 1) {
+ shape = node;
+ break;
+ }
+ }
+ // Check the type
+ var type = shape.nodeName;
+ if (type === 'sphere') {
+ this.geometry = new UrdfSphere({
+ xml : shape
+ });
+ } else if (type === 'box') {
+ this.geometry = new UrdfBox({
+ xml : shape
+ });
+ } else if (type === 'cylinder') {
+ this.geometry = new UrdfCylinder({
+ xml : shape
+ });
+ } else if (type === 'mesh') {
+ this.geometry = new UrdfMesh({
+ xml : shape
+ });
+ } else {
+ console.warn('Unknown geometry type ' + type);
+ }
+ }
+
+ // Material
+ var materials = xml.getElementsByTagName('material');
+ if (materials.length > 0) {
+ this.material = new UrdfMaterial({
+ xml : materials[0]
+ });
+ }
+}
+
+module.exports = UrdfVisual;
+},{"../math/Pose":19,"../math/Quaternion":20,"../math/Vector3":22,"./UrdfBox":27,"./UrdfCylinder":29,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfSphere":35}],38:[function(require,module,exports){
+module.exports = require('object-assign')({
+ UrdfBox: require('./UrdfBox'),
+ UrdfColor: require('./UrdfColor'),
+ UrdfCylinder: require('./UrdfCylinder'),
+ UrdfLink: require('./UrdfLink'),
+ UrdfMaterial: require('./UrdfMaterial'),
+ UrdfMesh: require('./UrdfMesh'),
+ UrdfModel: require('./UrdfModel'),
+ UrdfSphere: require('./UrdfSphere'),
+ UrdfVisual: require('./UrdfVisual')
+}, require('./UrdfTypes'));
+
+},{"./UrdfBox":27,"./UrdfColor":28,"./UrdfCylinder":29,"./UrdfLink":31,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfModel":34,"./UrdfSphere":35,"./UrdfTypes":36,"./UrdfVisual":37,"object-assign":2}],39:[function(require,module,exports){
+(function (global){
+module.exports = global.WebSocket;
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{}],40:[function(require,module,exports){
+/* global document */
+module.exports = function Canvas() {
+ return document.createElement('canvas');
+};
+},{}],41:[function(require,module,exports){
+(function (global){
+/**
+ * @fileOverview
+ * @author Graeme Yeates - github.com/megawac
+ */
+
+'use strict';
+
+var Canvas = require('canvas');
+var Image = Canvas.Image || global.Image;
+
+/**
+ * If a message was compressed as a PNG image (a compression hack since
+ * gzipping over WebSockets * is not supported yet), this function places the
+ * "image" in a canvas element then decodes the * "image" as a Base64 string.
+ *
+ * @private
+ * @param data - object containing the PNG data.
+ * @param callback - function with params:
+ * * data - the uncompressed data
+ */
+function decompressPng(data, callback) {
+ // Uncompresses the data before sending it through (use image/canvas to do so).
+ var image = new Image();
+ // When the image loads, extracts the raw data (JSON message).
+ image.onload = function() {
+ // Creates a local canvas to draw on.
+ var canvas = new Canvas();
+ var context = canvas.getContext('2d');
+
+ // Sets width and height.
+ canvas.width = image.width;
+ canvas.height = image.height;
+
+ // Prevents anti-aliasing and loosing data
+ context.imageSmoothingEnabled = false;
+ context.webkitImageSmoothingEnabled = false;
+ context.mozImageSmoothingEnabled = false;
+
+ // Puts the data into the image.
+ context.drawImage(image, 0, 0);
+ // Grabs the raw, uncompressed data.
+ var imageData = context.getImageData(0, 0, image.width, image.height).data;
+
+ // Constructs the JSON.
+ var jsonData = '';
+ for (var i = 0; i < imageData.length; i += 4) {
+ // RGB
+ jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);
+ }
+ callback(JSON.parse(jsonData));
+ };
+ // Sends the image data to load.
+ image.src = 'data:image/png;base64,' + data;
+}
+
+module.exports = decompressPng;
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{"canvas":40}],42:[function(require,module,exports){
+(function (global){
+exports.DOMImplementation = global.DOMImplementation;
+exports.XMLSerializer = global.XMLSerializer;
+exports.DOMParser = global.DOMParser;
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{}]},{},[4]);
--- /dev/null
+/*!
+ * Bootstrap v4.0.0 (https://getbootstrap.com)
+ * Copyright 2011-2018 The Bootstrap Authors
+ * Copyright 2011-2018 Twitter, Inc.
+ * Licensed under MIT (https://github.com/twbs/bootstrap/blob/master/LICENSE)
+ */:root{--blue:#007bff;--indigo:#6610f2;--purple:#6f42c1;--pink:#e83e8c;--red:#dc3545;--orange:#fd7e14;--yellow:#ffc107;--green:#28a745;--teal:#20c997;--cyan:#17a2b8;--white:#fff;--gray:#6c757d;--gray-dark:#343a40;--primary:#007bff;--secondary:#6c757d;--success:#28a745;--info:#17a2b8;--warning:#ffc107;--danger:#dc3545;--light:#f8f9fa;--dark:#343a40;--breakpoint-xs:0;--breakpoint-sm:576px;--breakpoint-md:768px;--breakpoint-lg:992px;--breakpoint-xl:1200px;--font-family-sans-serif:-apple-system,BlinkMacSystemFont,"Segoe UI",Roboto,"Helvetica Neue",Arial,sans-serif,"Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol";--font-family-monospace:SFMono-Regular,Menlo,Monaco,Consolas,"Liberation Mono","Courier 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+/*! jQuery UI - v1.12.1 - 2016-09-14
+* http://jqueryui.com
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+* Copyright jQuery Foundation and other contributors; Licensed MIT */
+
+/* Layout helpers
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+ padding: 3px 1em 3px .4em;
+}
+.ui-menu .ui-menu-divider {
+ margin: 5px 0;
+ height: 0;
+ font-size: 0;
+ line-height: 0;
+ border-width: 1px 0 0 0;
+}
+.ui-menu .ui-state-focus,
+.ui-menu .ui-state-active {
+ margin: -1px;
+}
+
+/* icon support */
+.ui-menu-icons {
+ position: relative;
+}
+.ui-menu-icons .ui-menu-item-wrapper {
+ padding-left: 2em;
+}
+
+/* left-aligned */
+.ui-menu .ui-icon {
+ position: absolute;
+ top: 0;
+ bottom: 0;
+ left: .2em;
+ margin: auto 0;
+}
+
+/* right-aligned */
+.ui-menu .ui-menu-icon {
+ left: auto;
+ right: 0;
+}
+.ui-button {
+ padding: .4em 1em;
+ display: inline-block;
+ position: relative;
+ line-height: normal;
+ margin-right: .1em;
+ cursor: pointer;
+ vertical-align: middle;
+ text-align: center;
+ -webkit-user-select: none;
+ -moz-user-select: none;
+ -ms-user-select: none;
+ user-select: none;
+
+ /* Support: IE <= 11 */
+ overflow: visible;
+}
+
+.ui-button,
+.ui-button:link,
+.ui-button:visited,
+.ui-button:hover,
+.ui-button:active {
+ text-decoration: none;
+}
+
+/* to make room for the icon, a width needs to be set here */
+.ui-button-icon-only {
+ width: 2em;
+ box-sizing: border-box;
+ text-indent: -9999px;
+ white-space: nowrap;
+}
+
+/* no icon support for input elements */
+input.ui-button.ui-button-icon-only {
+ text-indent: 0;
+}
+
+/* button icon element(s) */
+.ui-button-icon-only .ui-icon {
+ position: absolute;
+ top: 50%;
+ left: 50%;
+ margin-top: -8px;
+ margin-left: -8px;
+}
+
+.ui-button.ui-icon-notext .ui-icon {
+ padding: 0;
+ width: 2.1em;
+ height: 2.1em;
+ text-indent: -9999px;
+ white-space: nowrap;
+
+}
+
+input.ui-button.ui-icon-notext .ui-icon {
+ width: auto;
+ height: auto;
+ text-indent: 0;
+ white-space: normal;
+ padding: .4em 1em;
+}
+
+/* workarounds */
+/* Support: Firefox 5 - 40 */
+input.ui-button::-moz-focus-inner,
+button.ui-button::-moz-focus-inner {
+ border: 0;
+ padding: 0;
+}
+.ui-controlgroup {
+ vertical-align: middle;
+ display: inline-block;
+}
+.ui-controlgroup > .ui-controlgroup-item {
+ float: left;
+ margin-left: 0;
+ margin-right: 0;
+}
+.ui-controlgroup > .ui-controlgroup-item:focus,
+.ui-controlgroup > .ui-controlgroup-item.ui-visual-focus {
+ z-index: 9999;
+}
+.ui-controlgroup-vertical > .ui-controlgroup-item {
+ display: block;
+ float: none;
+ width: 100%;
+ margin-top: 0;
+ margin-bottom: 0;
+ text-align: left;
+}
+.ui-controlgroup-vertical .ui-controlgroup-item {
+ box-sizing: border-box;
+}
+.ui-controlgroup .ui-controlgroup-label {
+ padding: .4em 1em;
+}
+.ui-controlgroup .ui-controlgroup-label span {
+ font-size: 80%;
+}
+.ui-controlgroup-horizontal .ui-controlgroup-label + .ui-controlgroup-item {
+ border-left: none;
+}
+.ui-controlgroup-vertical .ui-controlgroup-label + .ui-controlgroup-item {
+ border-top: none;
+}
+.ui-controlgroup-horizontal .ui-controlgroup-label.ui-widget-content {
+ border-right: none;
+}
+.ui-controlgroup-vertical .ui-controlgroup-label.ui-widget-content {
+ border-bottom: none;
+}
+
+/* Spinner specific style fixes */
+.ui-controlgroup-vertical .ui-spinner-input {
+
+ /* Support: IE8 only, Android < 4.4 only */
+ width: 75%;
+ width: calc( 100% - 2.4em );
+}
+.ui-controlgroup-vertical .ui-spinner .ui-spinner-up {
+ border-top-style: solid;
+}
+
+.ui-checkboxradio-label .ui-icon-background {
+ box-shadow: inset 1px 1px 1px #ccc;
+ border-radius: .12em;
+ border: none;
+}
+.ui-checkboxradio-radio-label .ui-icon-background {
+ width: 16px;
+ height: 16px;
+ border-radius: 1em;
+ overflow: visible;
+ border: none;
+}
+.ui-checkboxradio-radio-label.ui-checkboxradio-checked .ui-icon,
+.ui-checkboxradio-radio-label.ui-checkboxradio-checked:hover .ui-icon {
+ background-image: none;
+ width: 8px;
+ height: 8px;
+ border-width: 4px;
+ border-style: solid;
+}
+.ui-checkboxradio-disabled {
+ pointer-events: none;
+}
+.ui-datepicker {
+ width: 17em;
+ padding: .2em .2em 0;
+ display: none;
+}
+.ui-datepicker .ui-datepicker-header {
+ position: relative;
+ padding: .2em 0;
+}
+.ui-datepicker .ui-datepicker-prev,
+.ui-datepicker .ui-datepicker-next {
+ position: absolute;
+ top: 2px;
+ width: 1.8em;
+ height: 1.8em;
+}
+.ui-datepicker .ui-datepicker-prev-hover,
+.ui-datepicker .ui-datepicker-next-hover {
+ top: 1px;
+}
+.ui-datepicker .ui-datepicker-prev {
+ left: 2px;
+}
+.ui-datepicker .ui-datepicker-next {
+ right: 2px;
+}
+.ui-datepicker .ui-datepicker-prev-hover {
+ left: 1px;
+}
+.ui-datepicker .ui-datepicker-next-hover {
+ right: 1px;
+}
+.ui-datepicker .ui-datepicker-prev span,
+.ui-datepicker .ui-datepicker-next span {
+ display: block;
+ position: absolute;
+ left: 50%;
+ margin-left: -8px;
+ top: 50%;
+ margin-top: -8px;
+}
+.ui-datepicker .ui-datepicker-title {
+ margin: 0 2.3em;
+ line-height: 1.8em;
+ text-align: center;
+}
+.ui-datepicker .ui-datepicker-title select {
+ font-size: 1em;
+ margin: 1px 0;
+}
+.ui-datepicker select.ui-datepicker-month,
+.ui-datepicker select.ui-datepicker-year {
+ width: 45%;
+}
+.ui-datepicker table {
+ width: 100%;
+ font-size: .9em;
+ border-collapse: collapse;
+ margin: 0 0 .4em;
+}
+.ui-datepicker th {
+ padding: .7em .3em;
+ text-align: center;
+ font-weight: bold;
+ border: 0;
+}
+.ui-datepicker td {
+ border: 0;
+ padding: 1px;
+}
+.ui-datepicker td span,
+.ui-datepicker td a {
+ display: block;
+ padding: .2em;
+ text-align: right;
+ text-decoration: none;
+}
+.ui-datepicker .ui-datepicker-buttonpane {
+ background-image: none;
+ margin: .7em 0 0 0;
+ padding: 0 .2em;
+ border-left: 0;
+ border-right: 0;
+ border-bottom: 0;
+}
+.ui-datepicker .ui-datepicker-buttonpane button {
+ float: right;
+ margin: .5em .2em .4em;
+ cursor: pointer;
+ padding: .2em .6em .3em .6em;
+ width: auto;
+ overflow: visible;
+}
+.ui-datepicker .ui-datepicker-buttonpane button.ui-datepicker-current {
+ float: left;
+}
+
+/* with multiple calendars */
+.ui-datepicker.ui-datepicker-multi {
+ width: auto;
+}
+.ui-datepicker-multi .ui-datepicker-group {
+ float: left;
+}
+.ui-datepicker-multi .ui-datepicker-group table {
+ width: 95%;
+ margin: 0 auto .4em;
+}
+.ui-datepicker-multi-2 .ui-datepicker-group {
+ width: 50%;
+}
+.ui-datepicker-multi-3 .ui-datepicker-group {
+ width: 33.3%;
+}
+.ui-datepicker-multi-4 .ui-datepicker-group {
+ width: 25%;
+}
+.ui-datepicker-multi .ui-datepicker-group-last .ui-datepicker-header,
+.ui-datepicker-multi .ui-datepicker-group-middle .ui-datepicker-header {
+ border-left-width: 0;
+}
+.ui-datepicker-multi .ui-datepicker-buttonpane {
+ clear: left;
+}
+.ui-datepicker-row-break {
+ clear: both;
+ width: 100%;
+ font-size: 0;
+}
+
+/* RTL support */
+.ui-datepicker-rtl {
+ direction: rtl;
+}
+.ui-datepicker-rtl .ui-datepicker-prev {
+ right: 2px;
+ left: auto;
+}
+.ui-datepicker-rtl .ui-datepicker-next {
+ left: 2px;
+ right: auto;
+}
+.ui-datepicker-rtl .ui-datepicker-prev:hover {
+ right: 1px;
+ left: auto;
+}
+.ui-datepicker-rtl .ui-datepicker-next:hover {
+ left: 1px;
+ right: auto;
+}
+.ui-datepicker-rtl .ui-datepicker-buttonpane {
+ clear: right;
+}
+.ui-datepicker-rtl .ui-datepicker-buttonpane button {
+ float: left;
+}
+.ui-datepicker-rtl .ui-datepicker-buttonpane button.ui-datepicker-current,
+.ui-datepicker-rtl .ui-datepicker-group {
+ float: right;
+}
+.ui-datepicker-rtl .ui-datepicker-group-last .ui-datepicker-header,
+.ui-datepicker-rtl .ui-datepicker-group-middle .ui-datepicker-header {
+ border-right-width: 0;
+ border-left-width: 1px;
+}
+
+/* Icons */
+.ui-datepicker .ui-icon {
+ display: block;
+ text-indent: -99999px;
+ overflow: hidden;
+ background-repeat: no-repeat;
+ left: .5em;
+ top: .3em;
+}
+.ui-dialog {
+ position: absolute;
+ top: 0;
+ left: 0;
+ padding: .2em;
+ outline: 0;
+}
+.ui-dialog .ui-dialog-titlebar {
+ padding: .4em 1em;
+ position: relative;
+}
+.ui-dialog .ui-dialog-title {
+ float: left;
+ margin: .1em 0;
+ white-space: nowrap;
+ width: 90%;
+ overflow: hidden;
+ text-overflow: ellipsis;
+}
+.ui-dialog .ui-dialog-titlebar-close {
+ position: absolute;
+ right: .3em;
+ top: 50%;
+ width: 20px;
+ margin: -10px 0 0 0;
+ padding: 1px;
+ height: 20px;
+}
+.ui-dialog .ui-dialog-content {
+ position: relative;
+ border: 0;
+ padding: .5em 1em;
+ background: none;
+ overflow: auto;
+}
+.ui-dialog .ui-dialog-buttonpane {
+ text-align: left;
+ border-width: 1px 0 0 0;
+ background-image: none;
+ margin-top: .5em;
+ padding: .3em 1em .5em .4em;
+}
+.ui-dialog .ui-dialog-buttonpane .ui-dialog-buttonset {
+ float: right;
+}
+.ui-dialog .ui-dialog-buttonpane button {
+ margin: .5em .4em .5em 0;
+ cursor: pointer;
+}
+.ui-dialog .ui-resizable-n {
+ height: 2px;
+ top: 0;
+}
+.ui-dialog .ui-resizable-e {
+ width: 2px;
+ right: 0;
+}
+.ui-dialog .ui-resizable-s {
+ height: 2px;
+ bottom: 0;
+}
+.ui-dialog .ui-resizable-w {
+ width: 2px;
+ left: 0;
+}
+.ui-dialog .ui-resizable-se,
+.ui-dialog .ui-resizable-sw,
+.ui-dialog .ui-resizable-ne,
+.ui-dialog .ui-resizable-nw {
+ width: 7px;
+ height: 7px;
+}
+.ui-dialog .ui-resizable-se {
+ right: 0;
+ bottom: 0;
+}
+.ui-dialog .ui-resizable-sw {
+ left: 0;
+ bottom: 0;
+}
+.ui-dialog .ui-resizable-ne {
+ right: 0;
+ top: 0;
+}
+.ui-dialog .ui-resizable-nw {
+ left: 0;
+ top: 0;
+}
+.ui-draggable .ui-dialog-titlebar {
+ cursor: move;
+}
+.ui-draggable-handle {
+ -ms-touch-action: none;
+ touch-action: none;
+}
+.ui-resizable {
+ position: relative;
+}
+.ui-resizable-handle {
+ position: absolute;
+ font-size: 0.1px;
+ display: block;
+ -ms-touch-action: none;
+ touch-action: none;
+}
+.ui-resizable-disabled .ui-resizable-handle,
+.ui-resizable-autohide .ui-resizable-handle {
+ display: none;
+}
+.ui-resizable-n {
+ cursor: n-resize;
+ height: 7px;
+ width: 100%;
+ top: -5px;
+ left: 0;
+}
+.ui-resizable-s {
+ cursor: s-resize;
+ height: 7px;
+ width: 100%;
+ bottom: -5px;
+ left: 0;
+}
+.ui-resizable-e {
+ cursor: e-resize;
+ width: 7px;
+ right: -5px;
+ top: 0;
+ height: 100%;
+}
+.ui-resizable-w {
+ cursor: w-resize;
+ width: 7px;
+ left: -5px;
+ top: 0;
+ height: 100%;
+}
+.ui-resizable-se {
+ cursor: se-resize;
+ width: 12px;
+ height: 12px;
+ right: 1px;
+ bottom: 1px;
+}
+.ui-resizable-sw {
+ cursor: sw-resize;
+ width: 9px;
+ height: 9px;
+ left: -5px;
+ bottom: -5px;
+}
+.ui-resizable-nw {
+ cursor: nw-resize;
+ width: 9px;
+ height: 9px;
+ left: -5px;
+ top: -5px;
+}
+.ui-resizable-ne {
+ cursor: ne-resize;
+ width: 9px;
+ height: 9px;
+ right: -5px;
+ top: -5px;
+}
+.ui-progressbar {
+ height: 2em;
+ text-align: left;
+ overflow: hidden;
+}
+.ui-progressbar .ui-progressbar-value {
+ margin: -1px;
+ height: 100%;
+}
+.ui-progressbar .ui-progressbar-overlay {
+ background: url("data:image/gif;base64,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");
+ height: 100%;
+ filter: alpha(opacity=25); /* support: IE8 */
+ opacity: 0.25;
+}
+.ui-progressbar-indeterminate .ui-progressbar-value {
+ background-image: none;
+}
+.ui-selectable {
+ -ms-touch-action: none;
+ touch-action: none;
+}
+.ui-selectable-helper {
+ position: absolute;
+ z-index: 100;
+ border: 1px dotted black;
+}
+.ui-selectmenu-menu {
+ padding: 0;
+ margin: 0;
+ position: absolute;
+ top: 0;
+ left: 0;
+ display: none;
+}
+.ui-selectmenu-menu .ui-menu {
+ overflow: auto;
+ overflow-x: hidden;
+ padding-bottom: 1px;
+}
+.ui-selectmenu-menu .ui-menu .ui-selectmenu-optgroup {
+ font-size: 1em;
+ font-weight: bold;
+ line-height: 1.5;
+ padding: 2px 0.4em;
+ margin: 0.5em 0 0 0;
+ height: auto;
+ border: 0;
+}
+.ui-selectmenu-open {
+ display: block;
+}
+.ui-selectmenu-text {
+ display: block;
+ margin-right: 20px;
+ overflow: hidden;
+ text-overflow: ellipsis;
+}
+.ui-selectmenu-button.ui-button {
+ text-align: left;
+ white-space: nowrap;
+ width: 14em;
+}
+.ui-selectmenu-icon.ui-icon {
+ float: right;
+ margin-top: 0;
+}
+.ui-slider {
+ position: relative;
+ text-align: left;
+}
+.ui-slider .ui-slider-handle {
+ position: absolute;
+ z-index: 2;
+ width: 1.2em;
+ height: 1.2em;
+ cursor: default;
+ -ms-touch-action: none;
+ touch-action: none;
+}
+.ui-slider .ui-slider-range {
+ position: absolute;
+ z-index: 1;
+ font-size: .7em;
+ display: block;
+ border: 0;
+ background-position: 0 0;
+}
+
+/* support: IE8 - See #6727 */
+.ui-slider.ui-state-disabled .ui-slider-handle,
+.ui-slider.ui-state-disabled .ui-slider-range {
+ filter: inherit;
+}
+
+.ui-slider-horizontal {
+ height: .8em;
+}
+.ui-slider-horizontal .ui-slider-handle {
+ top: -.3em;
+ margin-left: -.6em;
+}
+.ui-slider-horizontal .ui-slider-range {
+ top: 0;
+ height: 100%;
+}
+.ui-slider-horizontal .ui-slider-range-min {
+ left: 0;
+}
+.ui-slider-horizontal .ui-slider-range-max {
+ right: 0;
+}
+
+.ui-slider-vertical {
+ width: .8em;
+ height: 100px;
+}
+.ui-slider-vertical .ui-slider-handle {
+ left: -.3em;
+ margin-left: 0;
+ margin-bottom: -.6em;
+}
+.ui-slider-vertical .ui-slider-range {
+ left: 0;
+ width: 100%;
+}
+.ui-slider-vertical .ui-slider-range-min {
+ bottom: 0;
+}
+.ui-slider-vertical .ui-slider-range-max {
+ top: 0;
+}
+.ui-sortable-handle {
+ -ms-touch-action: none;
+ touch-action: none;
+}
+.ui-spinner {
+ position: relative;
+ display: inline-block;
+ overflow: hidden;
+ padding: 0;
+ vertical-align: middle;
+}
+.ui-spinner-input {
+ border: none;
+ background: none;
+ color: inherit;
+ padding: .222em 0;
+ margin: .2em 0;
+ vertical-align: middle;
+ margin-left: .4em;
+ margin-right: 2em;
+}
+.ui-spinner-button {
+ width: 1.6em;
+ height: 50%;
+ font-size: .5em;
+ padding: 0;
+ margin: 0;
+ text-align: center;
+ position: absolute;
+ cursor: default;
+ display: block;
+ overflow: hidden;
+ right: 0;
+}
+/* more specificity required here to override default borders */
+.ui-spinner a.ui-spinner-button {
+ border-top-style: none;
+ border-bottom-style: none;
+ border-right-style: none;
+}
+.ui-spinner-up {
+ top: 0;
+}
+.ui-spinner-down {
+ bottom: 0;
+}
+.ui-tabs {
+ position: relative;/* position: relative prevents IE scroll bug (element with position: relative inside container with overflow: auto appear as "fixed") */
+ padding: .2em;
+}
+.ui-tabs .ui-tabs-nav {
+ margin: 0;
+ padding: .2em .2em 0;
+}
+.ui-tabs .ui-tabs-nav li {
+ list-style: none;
+ float: left;
+ position: relative;
+ top: 0;
+ margin: 1px .2em 0 0;
+ border-bottom-width: 0;
+ padding: 0;
+ white-space: nowrap;
+}
+.ui-tabs .ui-tabs-nav .ui-tabs-anchor {
+ float: left;
+ padding: .5em 1em;
+ text-decoration: none;
+}
+.ui-tabs .ui-tabs-nav li.ui-tabs-active {
+ margin-bottom: -1px;
+ padding-bottom: 1px;
+}
+.ui-tabs .ui-tabs-nav li.ui-tabs-active .ui-tabs-anchor,
+.ui-tabs .ui-tabs-nav li.ui-state-disabled .ui-tabs-anchor,
+.ui-tabs .ui-tabs-nav li.ui-tabs-loading .ui-tabs-anchor {
+ cursor: text;
+}
+.ui-tabs-collapsible .ui-tabs-nav li.ui-tabs-active .ui-tabs-anchor {
+ cursor: pointer;
+}
+.ui-tabs .ui-tabs-panel {
+ display: block;
+ border-width: 0;
+ padding: 1em 1.4em;
+ background: none;
+}
+.ui-tooltip {
+ padding: 8px;
+ position: absolute;
+ z-index: 9999;
+ max-width: 300px;
+}
+body .ui-tooltip {
+ border-width: 2px;
+}
+
+/* Component containers
+----------------------------------*/
+.ui-widget {
+ font-family: Arial,Helvetica,sans-serif;
+ font-size: 1em;
+}
+.ui-widget .ui-widget {
+ font-size: 1em;
+}
+.ui-widget input,
+.ui-widget select,
+.ui-widget textarea,
+.ui-widget button {
+ font-family: Arial,Helvetica,sans-serif;
+ font-size: 1em;
+}
+.ui-widget.ui-widget-content {
+ border: 1px solid #c5c5c5;
+}
+.ui-widget-content {
+ border: 1px solid #dddddd;
+ background: #ffffff;
+ color: #333333;
+}
+.ui-widget-content a {
+ color: #333333;
+}
+.ui-widget-header {
+ border: 1px solid #dddddd;
+ background: #e9e9e9;
+ color: #333333;
+ font-weight: bold;
+}
+.ui-widget-header a {
+ color: #333333;
+}
+
+/* Interaction states
+----------------------------------*/
+.ui-state-default,
+.ui-widget-content .ui-state-default,
+.ui-widget-header .ui-state-default,
+.ui-button,
+
+/* We use html here because we need a greater specificity to make sure disabled
+works properly when clicked or hovered */
+html .ui-button.ui-state-disabled:hover,
+html .ui-button.ui-state-disabled:active {
+ border: 1px solid #c5c5c5;
+ background: #f6f6f6;
+ font-weight: normal;
+ color: #454545;
+}
+.ui-state-default a,
+.ui-state-default a:link,
+.ui-state-default a:visited,
+a.ui-button,
+a:link.ui-button,
+a:visited.ui-button,
+.ui-button {
+ color: #454545;
+ text-decoration: none;
+}
+.ui-state-hover,
+.ui-widget-content .ui-state-hover,
+.ui-widget-header .ui-state-hover,
+.ui-state-focus,
+.ui-widget-content .ui-state-focus,
+.ui-widget-header .ui-state-focus,
+.ui-button:hover,
+.ui-button:focus {
+ border: 1px solid #cccccc;
+ background: #ededed;
+ font-weight: normal;
+ color: #2b2b2b;
+}
+.ui-state-hover a,
+.ui-state-hover a:hover,
+.ui-state-hover a:link,
+.ui-state-hover a:visited,
+.ui-state-focus a,
+.ui-state-focus a:hover,
+.ui-state-focus a:link,
+.ui-state-focus a:visited,
+a.ui-button:hover,
+a.ui-button:focus {
+ color: #2b2b2b;
+ text-decoration: none;
+}
+
+.ui-visual-focus {
+ box-shadow: 0 0 3px 1px rgb(94, 158, 214);
+}
+.ui-state-active,
+.ui-widget-content .ui-state-active,
+.ui-widget-header .ui-state-active,
+a.ui-button:active,
+.ui-button:active,
+.ui-button.ui-state-active:hover {
+ border: 1px solid #003eff;
+ background: #007fff;
+ font-weight: normal;
+ color: #ffffff;
+}
+.ui-icon-background,
+.ui-state-active .ui-icon-background {
+ border: #003eff;
+ background-color: #ffffff;
+}
+.ui-state-active a,
+.ui-state-active a:link,
+.ui-state-active a:visited {
+ color: #ffffff;
+ text-decoration: none;
+}
+
+/* Interaction Cues
+----------------------------------*/
+.ui-state-highlight,
+.ui-widget-content .ui-state-highlight,
+.ui-widget-header .ui-state-highlight {
+ border: 1px solid #dad55e;
+ background: #fffa90;
+ color: #777620;
+}
+.ui-state-checked {
+ border: 1px solid #dad55e;
+ background: #fffa90;
+}
+.ui-state-highlight a,
+.ui-widget-content .ui-state-highlight a,
+.ui-widget-header .ui-state-highlight a {
+ color: #777620;
+}
+.ui-state-error,
+.ui-widget-content .ui-state-error,
+.ui-widget-header .ui-state-error {
+ border: 1px solid #f1a899;
+ background: #fddfdf;
+ color: #5f3f3f;
+}
+.ui-state-error a,
+.ui-widget-content .ui-state-error a,
+.ui-widget-header .ui-state-error a {
+ color: #5f3f3f;
+}
+.ui-state-error-text,
+.ui-widget-content .ui-state-error-text,
+.ui-widget-header .ui-state-error-text {
+ color: #5f3f3f;
+}
+.ui-priority-primary,
+.ui-widget-content .ui-priority-primary,
+.ui-widget-header .ui-priority-primary {
+ font-weight: bold;
+}
+.ui-priority-secondary,
+.ui-widget-content .ui-priority-secondary,
+.ui-widget-header .ui-priority-secondary {
+ opacity: .7;
+ filter:Alpha(Opacity=70); /* support: IE8 */
+ font-weight: normal;
+}
+.ui-state-disabled,
+.ui-widget-content .ui-state-disabled,
+.ui-widget-header .ui-state-disabled {
+ opacity: .35;
+ filter:Alpha(Opacity=35); /* support: IE8 */
+ background-image: none;
+}
+.ui-state-disabled .ui-icon {
+ filter:Alpha(Opacity=35); /* support: IE8 - See #6059 */
+}
+
+/* Icons
+----------------------------------*/
+
+/* states and images */
+.ui-icon {
+ width: 16px;
+ height: 16px;
+}
+.ui-icon,
+.ui-widget-content .ui-icon {
+ background-image: url("images/ui-icons_444444_256x240.png");
+}
+.ui-widget-header .ui-icon {
+ background-image: url("images/ui-icons_444444_256x240.png");
+}
+.ui-state-hover .ui-icon,
+.ui-state-focus .ui-icon,
+.ui-button:hover .ui-icon,
+.ui-button:focus .ui-icon {
+ background-image: url("images/ui-icons_555555_256x240.png");
+}
+.ui-state-active .ui-icon,
+.ui-button:active .ui-icon {
+ background-image: url("images/ui-icons_ffffff_256x240.png");
+}
+.ui-state-highlight .ui-icon,
+.ui-button .ui-state-highlight.ui-icon {
+ background-image: url("images/ui-icons_777620_256x240.png");
+}
+.ui-state-error .ui-icon,
+.ui-state-error-text .ui-icon {
+ background-image: url("images/ui-icons_cc0000_256x240.png");
+}
+.ui-button .ui-icon {
+ background-image: url("images/ui-icons_777777_256x240.png");
+}
+
+/* positioning */
+.ui-icon-blank { background-position: 16px 16px; }
+.ui-icon-caret-1-n { background-position: 0 0; }
+.ui-icon-caret-1-ne { background-position: -16px 0; }
+.ui-icon-caret-1-e { background-position: -32px 0; }
+.ui-icon-caret-1-se { background-position: -48px 0; }
+.ui-icon-caret-1-s { background-position: -65px 0; }
+.ui-icon-caret-1-sw { background-position: -80px 0; }
+.ui-icon-caret-1-w { background-position: -96px 0; }
+.ui-icon-caret-1-nw { background-position: -112px 0; }
+.ui-icon-caret-2-n-s { background-position: -128px 0; }
+.ui-icon-caret-2-e-w { background-position: -144px 0; }
+.ui-icon-triangle-1-n { background-position: 0 -16px; }
+.ui-icon-triangle-1-ne { background-position: -16px -16px; }
+.ui-icon-triangle-1-e { background-position: -32px -16px; }
+.ui-icon-triangle-1-se { background-position: -48px -16px; }
+.ui-icon-triangle-1-s { background-position: -65px -16px; }
+.ui-icon-triangle-1-sw { background-position: -80px -16px; }
+.ui-icon-triangle-1-w { background-position: -96px -16px; }
+.ui-icon-triangle-1-nw { background-position: -112px -16px; }
+.ui-icon-triangle-2-n-s { background-position: -128px -16px; }
+.ui-icon-triangle-2-e-w { background-position: -144px -16px; }
+.ui-icon-arrow-1-n { background-position: 0 -32px; }
+.ui-icon-arrow-1-ne { background-position: -16px -32px; }
+.ui-icon-arrow-1-e { background-position: -32px -32px; }
+.ui-icon-arrow-1-se { background-position: -48px -32px; }
+.ui-icon-arrow-1-s { background-position: -65px -32px; }
+.ui-icon-arrow-1-sw { background-position: -80px -32px; }
+.ui-icon-arrow-1-w { background-position: -96px -32px; }
+.ui-icon-arrow-1-nw { background-position: -112px -32px; }
+.ui-icon-arrow-2-n-s { background-position: -128px -32px; }
+.ui-icon-arrow-2-ne-sw { background-position: -144px -32px; }
+.ui-icon-arrow-2-e-w { background-position: -160px -32px; }
+.ui-icon-arrow-2-se-nw { background-position: -176px -32px; }
+.ui-icon-arrowstop-1-n { background-position: -192px -32px; }
+.ui-icon-arrowstop-1-e { background-position: -208px -32px; }
+.ui-icon-arrowstop-1-s { background-position: -224px -32px; }
+.ui-icon-arrowstop-1-w { background-position: -240px -32px; }
+.ui-icon-arrowthick-1-n { background-position: 1px -48px; }
+.ui-icon-arrowthick-1-ne { background-position: -16px -48px; }
+.ui-icon-arrowthick-1-e { background-position: -32px -48px; }
+.ui-icon-arrowthick-1-se { background-position: -48px -48px; }
+.ui-icon-arrowthick-1-s { background-position: -64px -48px; }
+.ui-icon-arrowthick-1-sw { background-position: -80px -48px; }
+.ui-icon-arrowthick-1-w { background-position: -96px -48px; }
+.ui-icon-arrowthick-1-nw { background-position: -112px -48px; }
+.ui-icon-arrowthick-2-n-s { background-position: -128px -48px; }
+.ui-icon-arrowthick-2-ne-sw { background-position: -144px -48px; }
+.ui-icon-arrowthick-2-e-w { background-position: -160px -48px; }
+.ui-icon-arrowthick-2-se-nw { background-position: -176px -48px; }
+.ui-icon-arrowthickstop-1-n { background-position: -192px -48px; }
+.ui-icon-arrowthickstop-1-e { background-position: -208px -48px; }
+.ui-icon-arrowthickstop-1-s { background-position: -224px -48px; }
+.ui-icon-arrowthickstop-1-w { background-position: -240px -48px; }
+.ui-icon-arrowreturnthick-1-w { background-position: 0 -64px; }
+.ui-icon-arrowreturnthick-1-n { background-position: -16px -64px; }
+.ui-icon-arrowreturnthick-1-e { background-position: -32px -64px; }
+.ui-icon-arrowreturnthick-1-s { background-position: -48px -64px; }
+.ui-icon-arrowreturn-1-w { background-position: -64px -64px; }
+.ui-icon-arrowreturn-1-n { background-position: -80px -64px; }
+.ui-icon-arrowreturn-1-e { background-position: -96px -64px; }
+.ui-icon-arrowreturn-1-s { background-position: -112px -64px; }
+.ui-icon-arrowrefresh-1-w { background-position: -128px -64px; }
+.ui-icon-arrowrefresh-1-n { background-position: -144px -64px; }
+.ui-icon-arrowrefresh-1-e { background-position: -160px -64px; }
+.ui-icon-arrowrefresh-1-s { background-position: -176px -64px; }
+.ui-icon-arrow-4 { background-position: 0 -80px; }
+.ui-icon-arrow-4-diag { background-position: -16px -80px; }
+.ui-icon-extlink { background-position: -32px -80px; }
+.ui-icon-newwin { background-position: -48px -80px; }
+.ui-icon-refresh { background-position: -64px -80px; }
+.ui-icon-shuffle { background-position: -80px -80px; }
+.ui-icon-transfer-e-w { background-position: -96px -80px; }
+.ui-icon-transferthick-e-w { background-position: -112px -80px; }
+.ui-icon-folder-collapsed { background-position: 0 -96px; }
+.ui-icon-folder-open { background-position: -16px -96px; }
+.ui-icon-document { background-position: -32px -96px; }
+.ui-icon-document-b { background-position: -48px -96px; }
+.ui-icon-note { background-position: -64px -96px; }
+.ui-icon-mail-closed { background-position: -80px -96px; }
+.ui-icon-mail-open { background-position: -96px -96px; }
+.ui-icon-suitcase { background-position: -112px -96px; }
+.ui-icon-comment { background-position: -128px -96px; }
+.ui-icon-person { background-position: -144px -96px; }
+.ui-icon-print { background-position: -160px -96px; }
+.ui-icon-trash { background-position: -176px -96px; }
+.ui-icon-locked { background-position: -192px -96px; }
+.ui-icon-unlocked { background-position: -208px -96px; }
+.ui-icon-bookmark { background-position: -224px -96px; }
+.ui-icon-tag { background-position: -240px -96px; }
+.ui-icon-home { background-position: 0 -112px; }
+.ui-icon-flag { background-position: -16px -112px; }
+.ui-icon-calendar { background-position: -32px -112px; }
+.ui-icon-cart { background-position: -48px -112px; }
+.ui-icon-pencil { background-position: -64px -112px; }
+.ui-icon-clock { background-position: -80px -112px; }
+.ui-icon-disk { background-position: -96px -112px; }
+.ui-icon-calculator { background-position: -112px -112px; }
+.ui-icon-zoomin { background-position: -128px -112px; }
+.ui-icon-zoomout { background-position: -144px -112px; }
+.ui-icon-search { background-position: -160px -112px; }
+.ui-icon-wrench { background-position: -176px -112px; }
+.ui-icon-gear { background-position: -192px -112px; }
+.ui-icon-heart { background-position: -208px -112px; }
+.ui-icon-star { background-position: -224px -112px; }
+.ui-icon-link { background-position: -240px -112px; }
+.ui-icon-cancel { background-position: 0 -128px; }
+.ui-icon-plus { background-position: -16px -128px; }
+.ui-icon-plusthick { background-position: -32px -128px; }
+.ui-icon-minus { background-position: -48px -128px; }
+.ui-icon-minusthick { background-position: -64px -128px; }
+.ui-icon-close { background-position: -80px -128px; }
+.ui-icon-closethick { background-position: -96px -128px; }
+.ui-icon-key { background-position: -112px -128px; }
+.ui-icon-lightbulb { background-position: -128px -128px; }
+.ui-icon-scissors { background-position: -144px -128px; }
+.ui-icon-clipboard { background-position: -160px -128px; }
+.ui-icon-copy { background-position: -176px -128px; }
+.ui-icon-contact { background-position: -192px -128px; }
+.ui-icon-image { background-position: -208px -128px; }
+.ui-icon-video { background-position: -224px -128px; }
+.ui-icon-script { background-position: -240px -128px; }
+.ui-icon-alert { background-position: 0 -144px; }
+.ui-icon-info { background-position: -16px -144px; }
+.ui-icon-notice { background-position: -32px -144px; }
+.ui-icon-help { background-position: -48px -144px; }
+.ui-icon-check { background-position: -64px -144px; }
+.ui-icon-bullet { background-position: -80px -144px; }
+.ui-icon-radio-on { background-position: -96px -144px; }
+.ui-icon-radio-off { background-position: -112px -144px; }
+.ui-icon-pin-w { background-position: -128px -144px; }
+.ui-icon-pin-s { background-position: -144px -144px; }
+.ui-icon-play { background-position: 0 -160px; }
+.ui-icon-pause { background-position: -16px -160px; }
+.ui-icon-seek-next { background-position: -32px -160px; }
+.ui-icon-seek-prev { background-position: -48px -160px; }
+.ui-icon-seek-end { background-position: -64px -160px; }
+.ui-icon-seek-start { background-position: -80px -160px; }
+/* ui-icon-seek-first is deprecated, use ui-icon-seek-start instead */
+.ui-icon-seek-first { background-position: -80px -160px; }
+.ui-icon-stop { background-position: -96px -160px; }
+.ui-icon-eject { background-position: -112px -160px; }
+.ui-icon-volume-off { background-position: -128px -160px; }
+.ui-icon-volume-on { background-position: -144px -160px; }
+.ui-icon-power { background-position: 0 -176px; }
+.ui-icon-signal-diag { background-position: -16px -176px; }
+.ui-icon-signal { background-position: -32px -176px; }
+.ui-icon-battery-0 { background-position: -48px -176px; }
+.ui-icon-battery-1 { background-position: -64px -176px; }
+.ui-icon-battery-2 { background-position: -80px -176px; }
+.ui-icon-battery-3 { background-position: -96px -176px; }
+.ui-icon-circle-plus { background-position: 0 -192px; }
+.ui-icon-circle-minus { background-position: -16px -192px; }
+.ui-icon-circle-close { background-position: -32px -192px; }
+.ui-icon-circle-triangle-e { background-position: -48px -192px; }
+.ui-icon-circle-triangle-s { background-position: -64px -192px; }
+.ui-icon-circle-triangle-w { background-position: -80px -192px; }
+.ui-icon-circle-triangle-n { background-position: -96px -192px; }
+.ui-icon-circle-arrow-e { background-position: -112px -192px; }
+.ui-icon-circle-arrow-s { background-position: -128px -192px; }
+.ui-icon-circle-arrow-w { background-position: -144px -192px; }
+.ui-icon-circle-arrow-n { background-position: -160px -192px; }
+.ui-icon-circle-zoomin { background-position: -176px -192px; }
+.ui-icon-circle-zoomout { background-position: -192px -192px; }
+.ui-icon-circle-check { background-position: -208px -192px; }
+.ui-icon-circlesmall-plus { background-position: 0 -208px; }
+.ui-icon-circlesmall-minus { background-position: -16px -208px; }
+.ui-icon-circlesmall-close { background-position: -32px -208px; }
+.ui-icon-squaresmall-plus { background-position: -48px -208px; }
+.ui-icon-squaresmall-minus { background-position: -64px -208px; }
+.ui-icon-squaresmall-close { background-position: -80px -208px; }
+.ui-icon-grip-dotted-vertical { background-position: 0 -224px; }
+.ui-icon-grip-dotted-horizontal { background-position: -16px -224px; }
+.ui-icon-grip-solid-vertical { background-position: -32px -224px; }
+.ui-icon-grip-solid-horizontal { background-position: -48px -224px; }
+.ui-icon-gripsmall-diagonal-se { background-position: -64px -224px; }
+.ui-icon-grip-diagonal-se { background-position: -80px -224px; }
+
+
+/* Misc visuals
+----------------------------------*/
+
+/* Corner radius */
+.ui-corner-all,
+.ui-corner-top,
+.ui-corner-left,
+.ui-corner-tl {
+ border-top-left-radius: 3px;
+}
+.ui-corner-all,
+.ui-corner-top,
+.ui-corner-right,
+.ui-corner-tr {
+ border-top-right-radius: 3px;
+}
+.ui-corner-all,
+.ui-corner-bottom,
+.ui-corner-left,
+.ui-corner-bl {
+ border-bottom-left-radius: 3px;
+}
+.ui-corner-all,
+.ui-corner-bottom,
+.ui-corner-right,
+.ui-corner-br {
+ border-bottom-right-radius: 3px;
+}
+
+/* Overlays */
+.ui-widget-overlay {
+ background: #aaaaaa;
+ opacity: .003;
+ filter: Alpha(Opacity=.3); /* support: IE8 */
+}
+.ui-widget-shadow {
+ -webkit-box-shadow: 0px 0px 5px #666666;
+ box-shadow: 0px 0px 5px #666666;
+}
--- /dev/null
+.minicolors {
+ position: relative;
+}
+
+.minicolors-sprite {
+ background-image: url(jquery.minicolors.png);
+}
+
+.minicolors-swatch {
+ position: absolute;
+ vertical-align: middle;
+ background-position: -80px 0;
+ border: solid 1px #ccc;
+ cursor: text;
+ padding: 0;
+ margin: 0;
+ display: inline-block;
+}
+
+.minicolors-swatch-color {
+ position: absolute;
+ top: 0;
+ left: 0;
+ right: 0;
+ bottom: 0;
+}
+
+.minicolors input[type=hidden] + .minicolors-swatch {
+ width: 28px;
+ position: static;
+ cursor: pointer;
+}
+
+.minicolors input[type=hidden][disabled] + .minicolors-swatch {
+ cursor: default;
+}
+
+/* Panel */
+.minicolors-panel {
+ position: absolute;
+ width: 173px;
+ background: white;
+ border: solid 1px #CCC;
+ box-shadow: 0 0 20px rgba(0, 0, 0, .2);
+ z-index: 99999;
+ box-sizing: content-box;
+ display: none;
+}
+
+.minicolors-panel.minicolors-visible {
+ display: block;
+}
+
+/* Panel positioning */
+.minicolors-position-top .minicolors-panel {
+ top: -154px;
+}
+
+.minicolors-position-right .minicolors-panel {
+ right: 0;
+}
+
+.minicolors-position-bottom .minicolors-panel {
+ top: auto;
+}
+
+.minicolors-position-left .minicolors-panel {
+ left: 0;
+}
+
+.minicolors-with-opacity .minicolors-panel {
+ width: 194px;
+}
+
+.minicolors .minicolors-grid {
+ position: relative;
+ top: 1px;
+ left: 1px;
+ width: 150px;
+ height: 150px;
+ background-position: -120px 0;
+ cursor: crosshair;
+}
+
+.minicolors .minicolors-grid-inner {
+ position: absolute;
+ top: 0;
+ left: 0;
+ width: 150px;
+ height: 150px;
+}
+
+.minicolors-slider-saturation .minicolors-grid {
+ background-position: -420px 0;
+}
+
+.minicolors-slider-saturation .minicolors-grid-inner {
+ background-position: -270px 0;
+ background-image: inherit;
+}
+
+.minicolors-slider-brightness .minicolors-grid {
+ background-position: -570px 0;
+}
+
+.minicolors-slider-brightness .minicolors-grid-inner {
+ background-color: black;
+}
+
+.minicolors-slider-wheel .minicolors-grid {
+ background-position: -720px 0;
+}
+
+.minicolors-slider,
+.minicolors-opacity-slider {
+ position: absolute;
+ top: 1px;
+ left: 152px;
+ width: 20px;
+ height: 150px;
+ background-color: white;
+ background-position: 0 0;
+ cursor: row-resize;
+}
+
+.minicolors-slider-saturation .minicolors-slider {
+ background-position: -60px 0;
+}
+
+.minicolors-slider-brightness .minicolors-slider {
+ background-position: -20px 0;
+}
+
+.minicolors-slider-wheel .minicolors-slider {
+ background-position: -20px 0;
+}
+
+.minicolors-opacity-slider {
+ left: 173px;
+ background-position: -40px 0;
+ display: none;
+}
+
+.minicolors-with-opacity .minicolors-opacity-slider {
+ display: block;
+}
+
+/* Pickers */
+.minicolors-grid .minicolors-picker {
+ position: absolute;
+ top: 70px;
+ left: 70px;
+ width: 12px;
+ height: 12px;
+ border: solid 1px black;
+ border-radius: 10px;
+ margin-top: -6px;
+ margin-left: -6px;
+ background: none;
+}
+
+.minicolors-grid .minicolors-picker > div {
+ position: absolute;
+ top: 0;
+ left: 0;
+ width: 8px;
+ height: 8px;
+ border-radius: 8px;
+ border: solid 2px white;
+ box-sizing: content-box;
+}
+
+.minicolors-picker {
+ position: absolute;
+ top: 0;
+ left: 0;
+ width: 18px;
+ height: 2px;
+ background: white;
+ border: solid 1px black;
+ margin-top: -2px;
+ box-sizing: content-box;
+}
+
+/* Swatches */
+.minicolors-swatches,
+.minicolors-swatches li {
+ margin: 5px 0 3px 5px;
+ padding: 0;
+ list-style: none;
+ overflow: hidden;
+}
+
+.minicolors-swatches .minicolors-swatch {
+ position: relative;
+ float: left;
+ cursor: pointer;
+ margin:0 4px 0 0;
+}
+
+.minicolors-with-opacity .minicolors-swatches .minicolors-swatch {
+ margin-right: 7px;
+}
+
+.minicolors-swatch.selected {
+ border-color: #000;
+}
+
+/* Inline controls */
+.minicolors-inline {
+ display: inline-block;
+}
+
+.minicolors-inline .minicolors-input {
+ display: none !important;
+}
+
+.minicolors-inline .minicolors-panel {
+ position: relative;
+ top: auto;
+ left: auto;
+ box-shadow: none;
+ z-index: auto;
+ display: inline-block;
+}
+
+/* Default theme */
+.minicolors-theme-default .minicolors-swatch {
+ top: 5px;
+ left: 5px;
+ width: 18px;
+ height: 18px;
+}
+.minicolors-theme-default .minicolors-swatches .minicolors-swatch {
+ margin-bottom: 2px;
+ top: 0;
+ left: 0;
+ width: 18px;
+ height: 18px;
+}
+.minicolors-theme-default.minicolors-position-right .minicolors-swatch {
+ left: auto;
+ right: 5px;
+}
+.minicolors-theme-default.minicolors {
+ width: auto;
+ display: inline-block;
+}
+.minicolors-theme-default .minicolors-input {
+ height: 20px;
+ width: auto;
+ display: inline-block;
+ padding-left: 26px;
+}
+.minicolors-theme-default.minicolors-position-right .minicolors-input {
+ padding-right: 26px;
+ padding-left: inherit;
+}
+
+/* Bootstrap theme */
+.minicolors-theme-bootstrap .minicolors-swatch {
+ z-index: 2;
+ top: 3px;
+ left: 3px;
+ width: 28px;
+ height: 28px;
+ border-radius: 3px;
+}
+.minicolors-theme-bootstrap .minicolors-swatches .minicolors-swatch {
+ margin-bottom: 2px;
+ top: 0;
+ left: 0;
+ width: 20px;
+ height: 20px;
+}
+.minicolors-theme-bootstrap .minicolors-swatch-color {
+ border-radius: inherit;
+}
+.minicolors-theme-bootstrap.minicolors-position-right > .minicolors-swatch {
+ left: auto;
+ right: 3px;
+}
+.minicolors-theme-bootstrap .minicolors-input {
+ float: none;
+ padding-left: 44px;
+}
+.minicolors-theme-bootstrap.minicolors-position-right .minicolors-input {
+ padding-right: 44px;
+ padding-left: 12px;
+}
+.minicolors-theme-bootstrap .minicolors-input.input-lg + .minicolors-swatch {
+ top: 4px;
+ left: 4px;
+ width: 37px;
+ height: 37px;
+ border-radius: 5px;
+}
+.minicolors-theme-bootstrap .minicolors-input.input-sm + .minicolors-swatch {
+ width: 24px;
+ height: 24px;
+}
+.minicolors-theme-bootstrap .minicolors-input.input-xs + .minicolors-swatch {
+ width: 18px;
+ height: 18px;
+}
+.input-group .minicolors-theme-bootstrap:not(:first-child) .minicolors-input {
+ border-top-left-radius: 0;
+ border-bottom-left-radius: 0;
+}
+
+/* Semantic Ui theme */
+.minicolors-theme-semanticui .minicolors-swatch {
+ top: 0;
+ left: 0;
+ padding: 18px;
+}
+.minicolors-theme-semanticui input {
+ text-indent: 30px;
+}
<!doctype html>
-<!--
- Server: python -m SimpleHTTPServer
- Bridge: roslaunch rosbridge_server rosbridge_websocket.launch
--->
<html>
<head>
<meta charset="utf-8" />
- <link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0-beta.2/css/bootstrap.min.css" integrity="sha384-PsH8R72JQ3SOdhVi3uxftmaW6Vc51MKb0q5P2rRUpPvrszuE4W1povHYgTpBfshb" crossorigin="anonymous">
- <link rel="stylesheet" type="text/css" href="https://code.jquery.com/ui/1.12.1/themes/base/jquery-ui.css" />
+ <link rel="stylesheet" href="assets/stylesheets/bootstrap.min.css">
+ <link rel="stylesheet" href="assets/stylesheets/jquery-ui.css">
+ <link rel="stylesheet" href="assets/stylesheets/jquery.minicolors.css">
+
+ <style>
+ .minicolors-theme-default.minicolors { margin: 5px; }
+ </style>
<script type="text/javascript">
function init() {
// robotMarker.y = -tf.translation.y;
// robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
//});
- var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType : 'geometry_msgs/Pose'});
- var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType : 'wild_thumper/Sensor'});
- var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType : 'sensor_msgs/BatteryState'});
+ var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType: 'geometry_msgs/Pose'});
+ var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType: 'wild_thumper/Sensor'});
+ var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType: 'sensor_msgs/BatteryState'});
+ var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
poseTopic.subscribe(function(message) {
var now = new Date();
sensordiv.find("input[name=co]").val(message.co);
});
- itest = 123.4556;
batteryTopic.subscribe(function(message) {
powerdiv = $("#power");
powerdiv.find("input[name=voltage]").val(message.voltage.toFixed(1));
// Set the initial speed.
$('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + '%');
teleop.scale = ($('#speed-slider').slider('value') / 100.0);
+
+ $('.led_color').minicolors({
+ control: 'wheel',
+ format: 'rgb',
+ defaultValue: '#000000',
+ change: function(value) {
+ var rgb = $(this).minicolors('rgbObject');
+ var num = $(this).prop("name");
+ var msg = new ROSLIB.Message({
+ leds: [{
+ num: parseInt(num),
+ red: parseInt(rgb.r*127/255),
+ green: parseInt(rgb.g*127/255),
+ blue: parseInt(rgb.b*127/255)
+ }]
+ });
+ ledStripeTopic.publish(msg);
+ }
+ });
}
</script>
+ <title>Wild Thumper control</title>
</head>
<body onload="init()">
<div class="container-fluid">
<li class="nav-item">
<a class="nav-link" href="#navigation" data-toggle="tab" role="tab">Navigation</a>
</li>
+ <li class="nav-item">
+ <a class="nav-link" href="#lights" data-toggle="tab" role="tab">Lights</a>
+ </li>
</ul>
</nav>
<div class="tab-content">
<label>Voltage:</label>
<div class="input-group">
<input type=text name="voltage" class="form-control" readonly>
- <div class="input-group-addon">V</div>
+ <div class="input-group-append">
+ <span class="input-group-text">V</span>
+ </div>
</div>
<label>Current:</label>
<div class="input-group">
<input type=text name="current" class="form-control" readonly>
- <div class="input-group-addon">A</div>
+ <div class="input-group-append">
+ <span class="input-group-text">A</span>
+ </div>
</div>
</div>
<div id="sensors" class="col-auto">
<label>Light:</label>
<div class="input-group">
<input type=text name="light" class="form-control" readonly>
- <div class="input-group-addon">lx</div>
+ <div class="input-group-append">
+ <span class="input-group-text">lx</span>
+ </div>
</div>
<label>Temperature:</label>
<div class="input-group">
<input type=text name="temp" class="form-control" readonly>
- <div class="input-group-addon">℃</div>
+ <div class="input-group-append">
+ <span class="input-group-text">℃</span>
+ </div>
</div>
<label>Humidity:</label>
<div class="input-group">
<input type=text name="humidity" class="form-control" readonly>
- <div class="input-group-addon">%</div>
+ <div class="input-group-append">
+ <span class="input-group-text">%</span>
+ </div>
</div>
<label>Pressure:</label>
<div class="input-group">
<input type=text name="pressure" class="form-control" readonly>
- <div class="input-group-addon">kPa</div>
+ <div class="input-group-append">
+ <span class="input-group-text">kPa</span>
+ </div>
</div>
<label>CO:</label>
<input type=text name="co" class="form-control" readonly>
<div id="speed-label"></div>
<div id="speed-slider"></div>
</div>
+ <div id="lights" class="tab-pane" role="tabpanel">
+ <div class="row d-flex align-items-center">
+ <div class="col-md-1">
+ <div class="float-right align-middle">
+ <input class="led_color" type="hidden" name="15"/>
+ <input class="led_color" type="hidden" name="14"/>
+ </div>
+ </div>
+ <div class="col-md-2" >
+ <div class="d-flex justify-content-center">
+ <input class="led_color" type="hidden" name="0"/>
+ <input class="led_color" type="hidden" name="1"/>
+ <input class="led_color" type="hidden" name="2"/>
+ <input class="led_color" type="hidden" name="3"/>
+ </div>
+ <div>
+ <div style="background: url('assets/images/wt_top.png'); background-size: cover; background-size: 100%; background-repeat: no-repeat; height: 260px;">
+ <div class="d-flex justify-content-center" style="padding-top: 70px;">
+ <input class="led_color" type="hidden" name="7"/>
+ <input class="led_color" type="hidden" name="6"/>
+ <input class="led_color" type="hidden" name="5"/>
+ <input class="led_color" type="hidden" name="4"/>
+ </div>
+ </div>
+ </div>
+ <div class="d-flex justify-content-center">
+ <input class="led_color" type="hidden" name="8"/>
+ <input class="led_color" type="hidden" name="9"/>
+ <input class="led_color" type="hidden" name="10"/>
+ <input class="led_color" type="hidden" name="11"/>
+ </div>
+ </div>
+ <div class="col-md-1">
+ <div class="float-left align-middle">
+ <input class="led_color" type="hidden" name="13"/>
+ <input class="led_color" type="hidden" name="12"/>
+ </div>
+ </div>
+ </div>
+ </div>
</div>
</div>
- <script src="https://code.jquery.com/jquery-3.2.1.min.js"></script>
- <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.12.3/umd/popper.min.js" integrity="sha384-vFJXuSJphROIrBnz7yo7oB41mKfc8JzQZiCq4NCceLEaO4IHwicKwpJf9c9IpFgh" crossorigin="anonymous"></script>
- <script src="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0-beta.2/js/bootstrap.min.js" integrity="sha384-alpBpkh1PFOepccYVYDB4do5UnbKysX5WZXm3XxPqe5iKTfUKjNkCk9SaVuEZflJ" crossorigin="anonymous"></script>
- <script src="https://code.jquery.com/ui/1.12.1/jquery-ui.min.js"></script>
- <script src="http://static.robotwebtools.org/EaselJS/current/easeljs.min.js"></script>
- <script src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.js"></script>
- <script src="http://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
- <script src="http://static.robotwebtools.org/ros2djs/current/ros2d.js"></script>
- <script src="http://static.robotwebtools.org/nav2djs/current/nav2d.js"></script>
- <script src="http://static.robotwebtools.org/keyboardteleopjs/current/keyboardteleop.js"></script>
+ <script src="assets/javascripts/jquery-3.3.1.min.js"></script>
+ <script src="assets/javascripts/popper.min.js"></script>
+ <script src="assets/javascripts/bootstrap.min.js"></script>
+ <script src="assets/javascripts/jquery-ui.min.js"></script>
+ <script src="assets/javascripts/easeljs.min.js"></script>
+ <script src="assets/javascripts/eventemitter2.js"></script>
+ <script src="assets/javascripts/roslib.js"></script>
+ <script src="assets/javascripts/ros2d.js"></script>
+ <script src="assets/javascripts/nav2d.js"></script>
+ <script src="assets/javascripts/keyboardteleop.js"></script>
+ <script src="assets/javascripts/jquery.minicolors.js"></script>
</body>
</html>
projects / ros_wild_thumper.git / commitdiff
