From f7fbba877e6d99f4e4f6601ca37f0176103e2311 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 01:08:48 +0800 Subject: [PATCH 01/35] tcp --- gpssim.c | 44 +- gpssim.c~ | 2349 ++++++++++++++++++++++++++++++ gpssim.h | 3 +- gpssim.h~ | 177 +++ rtk/eil41040.17n | 3571 ++++++++++++++++++++++++++++++++++++++++++++++ socket.c | 39 + socket.c~ | 39 + tcp.grc | 1183 +++++++++++++++ wslb1110.17n | 1208 ++++++++++++++++ 9 files changed, 8600 insertions(+), 13 deletions(-) create mode 100644 gpssim.c~ create mode 100644 gpssim.h~ create mode 100644 rtk/eil41040.17n create mode 100644 socket.c create mode 100644 socket.c~ create mode 100644 tcp.grc create mode 100644 wslb1110.17n diff --git a/gpssim.c b/gpssim.c index f24eb76..bad7187 100644 --- a/gpssim.c +++ b/gpssim.c @@ -11,6 +11,7 @@ #include #endif #include "gpssim.h" +#include "socket.c" int sinTable512[] = { 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, @@ -1726,6 +1727,10 @@ int main(int argc, char *argv[]) int timeoverwrite = FALSE; // Overwirte the TOC and TOE in the RINEX file ionoutc_t ionoutc; + + + int usesocket=false; + int sockc=0; //////////////////////////////////////////////////////////// // Read options @@ -1749,7 +1754,7 @@ int main(int argc, char *argv[]) exit(1); } - while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:iv"))!=-1) + while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:iv:n"))!=-1) { switch (result) { @@ -1836,6 +1841,9 @@ int main(int argc, char *argv[]) case '?': usage(); exit(1); + case 'n': + sockc=sockinit(); + usesocket=true; default: break; } @@ -2075,14 +2083,14 @@ int main(int argc, char *argv[]) exit(1); } } - + if(usesocket==false){ // Open output file - if (NULL==(fp=fopen(outfile,"wb"))) - { - printf("ERROR: Failed to open output file.\n"); - exit(1); + if (NULL==(fp=fopen(outfile,"wb"))) + { + printf("ERROR: Failed to open output file.\n"); + exit(1); + } } - //////////////////////////////////////////////////////////// // Initialize channels //////////////////////////////////////////////////////////// @@ -2223,7 +2231,7 @@ int main(int argc, char *argv[]) iq_buff[isamp*2+1] = (short)q_acc; } - if (data_format==SC01) + if (data_format==SC01&&usesocket==false) { for (isamp=0; isamp<2*iq_buff_size; isamp++) { @@ -2235,17 +2243,26 @@ int main(int argc, char *argv[]) fwrite(iq8_buff, 1, iq_buff_size/4, fp); } - else if (data_format==SC08) + else if (data_format==SC08&&usesocket==false) { for (isamp=0; isamp<2*iq_buff_size; isamp++) iq8_buff[isamp] = iq_buff[isamp]>>4; // 12-bit bladeRF -> 8-bit HackRF fwrite(iq8_buff, 1, 2*iq_buff_size, fp); } - else // data_format==SC16 + else if(data_format==SC16&&usesocket==false) { fwrite(iq_buff, 2, 2*iq_buff_size, fp); } + if(usesocket==true){ + float *datap=(float*)calloc(iq_buff_size*2,sizeof(float)); + int l=0; + for(l=0;l0.2&&usesocket==true){ + sleep(0.2); + } // Update receiver time grx = incGpsTime(grx, 0.1); @@ -2320,8 +2339,9 @@ int main(int argc, char *argv[]) free(iq_buff); // Close file + if(usesocket==false) fclose(fp); - + else sockclose(sockc); // Process time printf("Process time = %.1f [sec]\n", (double)(tend-tstart)/CLOCKS_PER_SEC); diff --git a/gpssim.c~ b/gpssim.c~ new file mode 100644 index 0000000..bb6d134 --- /dev/null +++ b/gpssim.c~ @@ -0,0 +1,2349 @@ +#define _CRT_SECURE_NO_DEPRECATE + +#include +#include +#include +#include +#include +#ifdef _WIN32 +#include "getopt.h" +#else +#include +#endif +#include "gpssim.h" +#include "socket.c" + +int sinTable512[] = { + 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, + 50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94, + 97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138, + 140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176, + 178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207, + 209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230, + 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245, + 245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250, + 250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245, + 245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232, + 230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209, + 207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178, + 176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140, + 138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97, + 94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50, + 47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2, + -2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47, + -50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94, + -97,-100,-103,-105,-108,-111,-114,-116,-119,-122,-125,-127,-130,-132,-135,-138, + -140,-143,-145,-148,-150,-153,-155,-157,-160,-162,-164,-167,-169,-171,-173,-176, + -178,-180,-182,-184,-186,-188,-190,-192,-194,-196,-198,-200,-202,-204,-205,-207, + -209,-210,-212,-214,-215,-217,-218,-220,-221,-223,-224,-225,-227,-228,-229,-230, + -232,-233,-234,-235,-236,-237,-238,-239,-240,-241,-241,-242,-243,-244,-244,-245, + -245,-246,-247,-247,-248,-248,-248,-249,-249,-249,-249,-250,-250,-250,-250,-250, + -250,-250,-250,-250,-250,-249,-249,-249,-249,-248,-248,-248,-247,-247,-246,-245, + -245,-244,-244,-243,-242,-241,-241,-240,-239,-238,-237,-236,-235,-234,-233,-232, + -230,-229,-228,-227,-225,-224,-223,-221,-220,-218,-217,-215,-214,-212,-210,-209, + -207,-205,-204,-202,-200,-198,-196,-194,-192,-190,-188,-186,-184,-182,-180,-178, + -176,-173,-171,-169,-167,-164,-162,-160,-157,-155,-153,-150,-148,-145,-143,-140, + -138,-135,-132,-130,-127,-125,-122,-119,-116,-114,-111,-108,-105,-103,-100, -97, + -94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50, + -47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2 +}; + +int cosTable512[] = { + 250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245, + 245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232, + 230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209, + 207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178, + 176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140, + 138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97, + 94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50, + 47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2, + -2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47, + -50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94, + -97,-100,-103,-105,-108,-111,-114,-116,-119,-122,-125,-127,-130,-132,-135,-138, + -140,-143,-145,-148,-150,-153,-155,-157,-160,-162,-164,-167,-169,-171,-173,-176, + -178,-180,-182,-184,-186,-188,-190,-192,-194,-196,-198,-200,-202,-204,-205,-207, + -209,-210,-212,-214,-215,-217,-218,-220,-221,-223,-224,-225,-227,-228,-229,-230, + -232,-233,-234,-235,-236,-237,-238,-239,-240,-241,-241,-242,-243,-244,-244,-245, + -245,-246,-247,-247,-248,-248,-248,-249,-249,-249,-249,-250,-250,-250,-250,-250, + -250,-250,-250,-250,-250,-249,-249,-249,-249,-248,-248,-248,-247,-247,-246,-245, + -245,-244,-244,-243,-242,-241,-241,-240,-239,-238,-237,-236,-235,-234,-233,-232, + -230,-229,-228,-227,-225,-224,-223,-221,-220,-218,-217,-215,-214,-212,-210,-209, + -207,-205,-204,-202,-200,-198,-196,-194,-192,-190,-188,-186,-184,-182,-180,-178, + -176,-173,-171,-169,-167,-164,-162,-160,-157,-155,-153,-150,-148,-145,-143,-140, + -138,-135,-132,-130,-127,-125,-122,-119,-116,-114,-111,-108,-105,-103,-100, -97, + -94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50, + -47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2, + 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, + 50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94, + 97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138, + 140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176, + 178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207, + 209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230, + 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245, + 245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250 +}; + +// Receiver antenna attenuation in dB for boresight angle = 0:5:180 [deg] +double ant_pat_db[37] = { + 0.00, 0.00, 0.22, 0.44, 0.67, 1.11, 1.56, 2.00, 2.44, 2.89, 3.56, 4.22, + 4.89, 5.56, 6.22, 6.89, 7.56, 8.22, 8.89, 9.78, 10.67, 11.56, 12.44, 13.33, + 14.44, 15.56, 16.67, 17.78, 18.89, 20.00, 21.33, 22.67, 24.00, 25.56, 27.33, 29.33, + 31.56 +}; + +int allocatedSat[MAX_SAT]; + +/*! \brief Subtract two vectors of double + * \param[out] y Result of subtraction + * \param[in] x1 Minuend of subtracion + * \param[in] x2 Subtrahend of subtracion + */ +void subVect(double *y, const double *x1, const double *x2) +{ + y[0] = x1[0]-x2[0]; + y[1] = x1[1]-x2[1]; + y[2] = x1[2]-x2[2]; + + return; +} + +/*! \brief Compute Norm of Vector + * \param[in] x Input vector + * \returns Length (Norm) of the input vector + */ +double normVect(const double *x) +{ + return(sqrt(x[0]*x[0]+x[1]*x[1]+x[2]*x[2])); +} + +/*! \brief Compute dot-product of two vectors + * \param[in] x1 First multiplicand + * \param[in] x2 Second multiplicand + * \returns Dot-product of both multiplicands + */ +double dotProd(const double *x1, const double *x2) +{ + return(x1[0]*x2[0]+x1[1]*x2[1]+x1[2]*x2[2]); +} + +/* !\brief generate the C/A code sequence for a given Satellite Vehicle PRN + * \param[in] prn PRN nuber of the Satellite Vehicle + * \param[out] ca Caller-allocated integer array of 1023 bytes + */ +void codegen(int *ca, int prn) +{ + int delay[] = { + 5, 6, 7, 8, 17, 18, 139, 140, 141, 251, + 252, 254, 255, 256, 257, 258, 469, 470, 471, 472, + 473, 474, 509, 512, 513, 514, 515, 516, 859, 860, + 861, 862}; + + int g1[CA_SEQ_LEN], g2[CA_SEQ_LEN]; + int r1[N_DWRD_SBF], r2[N_DWRD_SBF]; + int c1, c2; + int i,j; + + if (prn<1 || prn>32) + return; + + for (i=0; i0; j--) + { + r1[j] = r1[j-1]; + r2[j] = r2[j-1]; + } + r1[0] = c1; + r2[0] = c2; + } + + for (i=0,j=CA_SEQ_LEN-delay[prn-1]; iy - 1980; + + // Compute the number of leap days since Jan 5/Jan 6, 1980. + lpdays = ye/4 + 1; + if ((ye%4)==0 && t->m<=2) + lpdays--; + + // Compute the number of days elapsed since Jan 5/Jan 6, 1980. + de = ye*365 + doy[t->m-1] + t->d + lpdays - 6; + + // Convert time to GPS weeks and seconds. + g->week = de / 7; + g->sec = (double)(de%7)*SECONDS_IN_DAY + t->hh*SECONDS_IN_HOUR + + t->mm*SECONDS_IN_MINUTE + t->sec; + + return; +} + +void gps2date(const gpstime_t *g, datetime_t *t) +{ + // Convert Julian day number to calendar date + int c = (int)(7*g->week + floor(g->sec/86400.0)+2444245.0) + 1537; + int d = (int)((c-122.1)/365.25); + int e = 365*d + d/4; + int f = (int)((c-e)/30.6001); + + t->d = c - e - (int)(30.6001*f); + t->m = f - 1 - 12*(f/14); + t->y = d - 4715 - ((7 + t->m)/10); + + t->hh = ((int)(g->sec/3600.0))%24; + t->mm = ((int)(g->sec/60.0))%60; + t->sec = g->sec - 60.0*floor(g->sec/60.0); + + return; +} + +/*! \brief Convert Earth-centered Earth-fixed (ECEF) into Lat/Long/Heighth + * \param[in] xyz Input Array of X, Y and Z ECEF coordinates + * \param[out] llh Output Array of Latitude, Longitude and Height + */ +void xyz2llh(const double *xyz, double *llh) +{ + double a,eps,e,e2; + double x,y,z; + double rho2,dz,zdz,nh,slat,n,dz_new; + + a = WGS84_RADIUS; + e = WGS84_ECCENTRICITY; + + eps = 1.0e-3; + e2 = e*e; + + if (normVect(xyz)SECONDS_IN_HALF_WEEK) + tk -= SECONDS_IN_WEEK; + else if(tk<-SECONDS_IN_HALF_WEEK) + tk += SECONDS_IN_WEEK; + + mk = eph.m0 + eph.n*tk; + ek = mk; + ekold = ek + 1.0; + + OneMinusecosE = 0; // Suppress the uninitialized warning. + while(fabs(ek-ekold)>1.0E-14) + { + ekold = ek; + OneMinusecosE = 1.0-eph.ecc*cos(ekold); + ek = ek + (mk-ekold+eph.ecc*sin(ekold))/OneMinusecosE; + } + + sek = sin(ek); + cek = cos(ek); + + ekdot = eph.n/OneMinusecosE; + + relativistic = -4.442807633E-10*eph.ecc*eph.sqrta*sek; + + pk = atan2(eph.sq1e2*sek,cek-eph.ecc) + eph.aop; + pkdot = eph.sq1e2*ekdot/OneMinusecosE; + + s2pk = sin(2.0*pk); + c2pk = cos(2.0*pk); + + uk = pk + eph.cus*s2pk + eph.cuc*c2pk; + suk = sin(uk); + cuk = cos(uk); + ukdot = pkdot*(1.0 + 2.0*(eph.cus*c2pk - eph.cuc*s2pk)); + + rk = eph.A*OneMinusecosE + eph.crc*c2pk + eph.crs*s2pk; + rkdot = eph.A*eph.ecc*sek*ekdot + 2.0*pkdot*(eph.crs*c2pk - eph.crc*s2pk); + + ik = eph.inc0 + eph.idot*tk + eph.cic*c2pk + eph.cis*s2pk; + sik = sin(ik); + cik = cos(ik); + ikdot = eph.idot + 2.0*pkdot*(eph.cis*c2pk - eph.cic*s2pk); + + xpk = rk*cuk; + ypk = rk*suk; + xpkdot = rkdot*cuk - ypk*ukdot; + ypkdot = rkdot*suk + xpk*ukdot; + + ok = eph.omg0 + tk*eph.omgkdot - OMEGA_EARTH*eph.toe.sec; + sok = sin(ok); + cok = cos(ok); + + pos[0] = xpk*cok - ypk*cik*sok; + pos[1] = xpk*sok + ypk*cik*cok; + pos[2] = ypk*sik; + + tmp = ypkdot*cik - ypk*sik*ikdot; + + vel[0] = -eph.omgkdot*pos[1] + xpkdot*cok - tmp*sok; + vel[1] = eph.omgkdot*pos[0] + xpkdot*sok + tmp*cok; + vel[2] = ypk*cik*ikdot + ypkdot*sik; + + // Satellite clock correction + tk = g.sec - eph.toc.sec; + + if(tk>SECONDS_IN_HALF_WEEK) + tk -= SECONDS_IN_WEEK; + else if(tk<-SECONDS_IN_HALF_WEEK) + tk += SECONDS_IN_WEEK; + + clk[0] = eph.af0 + tk*(eph.af1 + tk*eph.af2) + relativistic - eph.tgd; + clk[1] = eph.af1 + 2.0*tk*eph.af2; + + return; +} + +/*! \brief Compute Subframe from Ephemeris + * \param[in] eph Ephemeris of given SV + * \param[out] sbf Array of five sub-frames, 10 long words each + */ +void eph2sbf(const ephem_t eph, const ionoutc_t ionoutc, unsigned long sbf[5][N_DWRD_SBF]) +{ + unsigned long wn; + unsigned long toe; + unsigned long toc; + unsigned long iode; + unsigned long iodc; + long deltan; + long cuc; + long cus; + long cic; + long cis; + long crc; + long crs; + unsigned long ecc; + unsigned long sqrta; + long m0; + long omg0; + long inc0; + long aop; + long omgdot; + long idot; + long af0; + long af1; + long af2; + long tgd; + int svhlth; + int codeL2; + + unsigned long ura = 0UL; + unsigned long dataId = 1UL; + unsigned long sbf4_page25_svId = 63UL; + unsigned long sbf5_page25_svId = 51UL; + + unsigned long wna; + unsigned long toa; + + signed long alpha0,alpha1,alpha2,alpha3; + signed long beta0,beta1,beta2,beta3; + signed long A0,A1; + signed long dtls,dtlsf; + unsigned long tot,wnt,wnlsf,dn; + unsigned long sbf4_page18_svId = 56UL; + + // FIXED: This has to be the "transmission" week number, not for the ephemeris reference time + //wn = (unsigned long)(eph.toe.week%1024); + wn = 0UL; + toe = (unsigned long)(eph.toe.sec/16.0); + toc = (unsigned long)(eph.toc.sec/16.0); + iode = (unsigned long)(eph.iode); + iodc = (unsigned long)(eph.iodc); + deltan = (long)(eph.deltan/POW2_M43/PI); + cuc = (long)(eph.cuc/POW2_M29); + cus = (long)(eph.cus/POW2_M29); + cic = (long)(eph.cic/POW2_M29); + cis = (long)(eph.cis/POW2_M29); + crc = (long)(eph.crc/POW2_M5); + crs = (long)(eph.crs/POW2_M5); + ecc = (unsigned long)(eph.ecc/POW2_M33); + sqrta = (unsigned long)(eph.sqrta/POW2_M19); + m0 = (long)(eph.m0/POW2_M31/PI); + omg0 = (long)(eph.omg0/POW2_M31/PI); + inc0 = (long)(eph.inc0/POW2_M31/PI); + aop = (long)(eph.aop/POW2_M31/PI); + omgdot = (long)(eph.omgdot/POW2_M43/PI); + idot = (long)(eph.idot/POW2_M43/PI); + af0 = (long)(eph.af0/POW2_M31); + af1 = (long)(eph.af1/POW2_M43); + af2 = (long)(eph.af2/POW2_M55); + tgd = (long)(eph.tgd/POW2_M31); + svhlth = (unsigned long)(eph.svhlth); + codeL2 = (unsigned long)(eph.codeL2); + + wna = (unsigned long)(eph.toe.week%256); + toa = (unsigned long)(eph.toe.sec/4096.0); + + alpha0 = (signed long)round(ionoutc.alpha0/POW2_M30); + alpha1 = (signed long)round(ionoutc.alpha1/POW2_M27); + alpha2 = (signed long)round(ionoutc.alpha2/POW2_M24); + alpha3 = (signed long)round(ionoutc.alpha3/POW2_M24); + beta0 = (signed long)round(ionoutc.beta0/2048.0); + beta1 = (signed long)round(ionoutc.beta1/16384.0); + beta2 = (signed long)round(ionoutc.beta2/65536.0); + beta3 = (signed long)round(ionoutc.beta3/65536.0); + A0 = (signed long)round(ionoutc.A0/POW2_M30); + A1 = (signed long)round(ionoutc.A1/POW2_M50); + dtls = (signed long)(ionoutc.dtls); + tot = (unsigned long)(ionoutc.tot/4096); + wnt = (unsigned long)(ionoutc.wnt%256); + // TO DO: Specify scheduled leap seconds in command options + // 2016/12/31 (Sat) -> WNlsf = 1929, DN = 7 (http://navigationservices.agi.com/GNSSWeb/) + // Days are counted from 1 to 7 (Sunday is 1). + wnlsf = 1929%256; + dn = 7; + dtlsf = 18; + + // Subframe 1 + sbf[0][0] = 0x8B0000UL<<6; + sbf[0][1] = 0x1UL<<8; + sbf[0][2] = ((wn&0x3FFUL)<<20) | ((codeL2&0x3UL)<<18) | ((ura&0xFUL)<<14) | ((svhlth&0x3FUL)<<8) | (((iodc>>8)&0x3UL)<<6); + sbf[0][3] = 0UL; + sbf[0][4] = 0UL; + sbf[0][5] = 0UL; + sbf[0][6] = (tgd&0xFFUL)<<6; + sbf[0][7] = ((iodc&0xFFUL)<<22) | ((toc&0xFFFFUL)<<6); + sbf[0][8] = ((af2&0xFFUL)<<22) | ((af1&0xFFFFUL)<<6); + sbf[0][9] = (af0&0x3FFFFFUL)<<8; + + // Subframe 2 + sbf[1][0] = 0x8B0000UL<<6; + sbf[1][1] = 0x2UL<<8; + sbf[1][2] = ((iode&0xFFUL)<<22) | ((crs&0xFFFFUL)<<6); + sbf[1][3] = ((deltan&0xFFFFUL)<<14) | (((m0>>24)&0xFFUL)<<6); + sbf[1][4] = (m0&0xFFFFFFUL)<<6; + sbf[1][5] = ((cuc&0xFFFFUL)<<14) | (((ecc>>24)&0xFFUL)<<6); + sbf[1][6] = (ecc&0xFFFFFFUL)<<6; + sbf[1][7] = ((cus&0xFFFFUL)<<14) | (((sqrta>>24)&0xFFUL)<<6); + sbf[1][8] = (sqrta&0xFFFFFFUL)<<6; + sbf[1][9] = (toe&0xFFFFUL)<<14; + + // Subframe 3 + sbf[2][0] = 0x8B0000UL<<6; + sbf[2][1] = 0x3UL<<8; + sbf[2][2] = ((cic&0xFFFFUL)<<14) | (((omg0>>24)&0xFFUL)<<6); + sbf[2][3] = (omg0&0xFFFFFFUL)<<6; + sbf[2][4] = ((cis&0xFFFFUL)<<14) | (((inc0>>24)&0xFFUL)<<6); + sbf[2][5] = (inc0&0xFFFFFFUL)<<6; + sbf[2][6] = ((crc&0xFFFFUL)<<14) | (((aop>>24)&0xFFUL)<<6); + sbf[2][7] = (aop&0xFFFFFFUL)<<6; + sbf[2][8] = (omgdot&0xFFFFFFUL)<<6; + sbf[2][9] = ((iode&0xFFUL)<<22) | ((idot&0x3FFFUL)<<8); + + if (ionoutc.vflg==TRUE) + { + // Subframe 4, page 18 + sbf[3][0] = 0x8B0000UL<<6; + sbf[3][1] = 0x4UL<<8; + sbf[3][2] = (dataId<<28) | (sbf4_page18_svId<<22) | ((alpha0&0xFFUL)<<14) | ((alpha1&0xFFUL)<<6); + sbf[3][3] = ((alpha2&0xFFUL)<<22) | ((alpha3&0xFFUL)<<14) | ((beta0&0xFFUL)<<6); + sbf[3][4] = ((beta1&0xFFUL)<<22) | ((beta2&0xFFUL)<<14) | ((beta3&0xFFUL)<<6); + sbf[3][5] = (A1&0xFFFFFFUL)<<6; + sbf[3][6] = ((A0>>8)&0xFFFFFFUL)<<6; + sbf[3][7] = ((A0&0xFFUL)<<22) | ((tot&0xFFUL)<<14) | ((wnt&0xFFUL)<<6); + sbf[3][8] = ((dtls&0xFFUL)<<22) | ((wnlsf&0xFFUL)<<14) | ((dn&0xFFUL)<<6); + sbf[3][9] = (dtlsf&0xFFUL)<<22; + + } + else + { + // Subframe 4, page 25 + sbf[3][0] = 0x8B0000UL<<6; + sbf[3][1] = 0x4UL<<8; + sbf[3][2] = (dataId<<28) | (sbf4_page25_svId<<22); + sbf[3][3] = 0UL; + sbf[3][4] = 0UL; + sbf[3][5] = 0UL; + sbf[3][6] = 0UL; + sbf[3][7] = 0UL; + sbf[3][8] = 0UL; + sbf[3][9] = 0UL; + } + + // Subframe 5, page 25 + sbf[4][0] = 0x8B0000UL<<6; + sbf[4][1] = 0x5UL<<8; + sbf[4][2] = (dataId<<28) | (sbf5_page25_svId<<22) | ((toa&0xFFUL)<<14) | ((wna&0xFFUL)<<6); + sbf[4][3] = 0UL; + sbf[4][4] = 0UL; + sbf[4][5] = 0UL; + sbf[4][6] = 0UL; + sbf[4][7] = 0UL; + sbf[4][8] = 0UL; + sbf[4][9] = 0UL; + + return; +} + +/*! \brief Count number of bits set to 1 + * \param[in] v long word in whihc bits are counted + * \returns Count of bits set to 1 + */ +unsigned long countBits(unsigned long v) +{ + unsigned long c; + const int S[] = {1, 2, 4, 8, 16}; + const unsigned long B[] = { + 0x55555555, 0x33333333, 0x0F0F0F0F, 0x00FF00FF, 0x0000FFFF}; + + c = v; + c = ((c >> S[0]) & B[0]) + (c & B[0]); + c = ((c >> S[1]) & B[1]) + (c & B[1]); + c = ((c >> S[2]) & B[2]) + (c & B[2]); + c = ((c >> S[3]) & B[3]) + (c & B[3]); + c = ((c >> S[4]) & B[4]) + (c & B[4]); + + return(c); +} + +/*! \brief Compute the Checksum for one given word of a subframe + * \param[in] source The input data + * \param[in] nib Does this word contain non-information-bearing bits? + * \returns Computed Checksum + */ +unsigned long computeChecksum(unsigned long source, int nib) +{ + /* + Bits 31 to 30 = 2 LSBs of the previous transmitted word, D29* and D30* + Bits 29 to 6 = Source data bits, d1, d2, ..., d24 + Bits 5 to 0 = Empty parity bits + */ + + /* + Bits 31 to 30 = 2 LSBs of the previous transmitted word, D29* and D30* + Bits 29 to 6 = Data bits transmitted by the SV, D1, D2, ..., D24 + Bits 5 to 0 = Computed parity bits, D25, D26, ..., D30 + */ + + /* + 1 2 3 + bit 12 3456 7890 1234 5678 9012 3456 7890 + --- ------------------------------------- + D25 11 1011 0001 1111 0011 0100 1000 0000 + D26 01 1101 1000 1111 1001 1010 0100 0000 + D27 10 1110 1100 0111 1100 1101 0000 0000 + D28 01 0111 0110 0011 1110 0110 1000 0000 + D29 10 1011 1011 0001 1111 0011 0100 0000 + D30 00 1011 0111 1010 1000 1001 1100 0000 + */ + + unsigned long bmask[6] = { + 0x3B1F3480UL, 0x1D8F9A40UL, 0x2EC7CD00UL, + 0x1763E680UL, 0x2BB1F340UL, 0x0B7A89C0UL }; + + unsigned long D; + unsigned long d = source & 0x3FFFFFC0UL; + unsigned long D29 = (source>>31)&0x1UL; + unsigned long D30 = (source>>30)&0x1UL; + + if (nib) // Non-information bearing bits for word 2 and 10 + { + /* + Solve bits 23 and 24 to presearve parity check + with zeros in bits 29 and 30. + */ + + if ((D30 + countBits(bmask[4] & d)) % 2) + d ^= (0x1UL<<6); + if ((D29 + countBits(bmask[5] & d)) % 2) + d ^= (0x1UL<<7); + } + + D = d; + if (D30) + D ^= 0x3FFFFFC0UL; + + D |= ((D29 + countBits(bmask[0] & d)) % 2) << 5; + D |= ((D30 + countBits(bmask[1] & d)) % 2) << 4; + D |= ((D29 + countBits(bmask[2] & d)) % 2) << 3; + D |= ((D30 + countBits(bmask[3] & d)) % 2) << 2; + D |= ((D30 + countBits(bmask[4] & d)) % 2) << 1; + D |= ((D29 + countBits(bmask[5] & d)) % 2); + + D &= 0x3FFFFFFFUL; + //D |= (source & 0xC0000000UL); // Add D29* and D30* from source data bits + + return(D); +} + +/*! \brief Replace all 'E' exponential designators to 'D' + * \param str String in which all occurrences of 'E' are replaced with * 'D' + * \param len Length of input string in bytes + * \returns Number of characters replaced + */ +int replaceExpDesignator(char *str, int len) +{ + int i,n=0; + + for (i=0; i=SECONDS_IN_WEEK) + { + g1.sec -= SECONDS_IN_WEEK; + g1.week++; + } + + while (g1.sec<0.0) + { + g1.sec += SECONDS_IN_WEEK; + g1.week--; + } + + return(g1); +} + +/*! \brief Read Ephemersi data from the RINEX Navigation file */ +/* \param[out] eph Array of Output SV ephemeris data + * \param[in] fname File name of the RINEX file + * \returns Number of sets of ephemerides in the file + */ +int readRinexNavAll(ephem_t eph[][MAX_SAT], ionoutc_t *ionoutc, const char *fname) +{ + FILE *fp; + int ieph; + + int sv; + char str[MAX_CHAR]; + char tmp[20]; + + datetime_t t; + gpstime_t g; + gpstime_t g0; + double dt; + + int flags = 0x0; + + if (NULL==(fp=fopen(fname, "rt"))) + return(-1); + + // Clear valid flag + for (ieph=0; iephalpha0 = atof(tmp); + + strncpy(tmp, str+14, 12); + tmp[12] = 0; + replaceExpDesignator(tmp, 12); + ionoutc->alpha1 = atof(tmp); + + strncpy(tmp, str+26, 12); + tmp[12] = 0; + replaceExpDesignator(tmp, 12); + ionoutc->alpha2 = atof(tmp); + + strncpy(tmp, str+38, 12); + tmp[12] = 0; + replaceExpDesignator(tmp, 12); + ionoutc->alpha3 = atof(tmp); + + flags |= 0x1; + } + else if (strncmp(str+60, "ION BETA", 8)==0) + { + strncpy(tmp, str+2, 12); + tmp[12] = 0; + replaceExpDesignator(tmp, 12); + ionoutc->beta0 = atof(tmp); + + strncpy(tmp, str+14, 12); + tmp[12] = 0; + replaceExpDesignator(tmp, 12); + ionoutc->beta1 = atof(tmp); + + strncpy(tmp, str+26, 12); + tmp[12] = 0; + replaceExpDesignator(tmp, 12); + ionoutc->beta2 = atof(tmp); + + strncpy(tmp, str+38, 12); + tmp[12] = 0; + replaceExpDesignator(tmp, 12); + ionoutc->beta3 = atof(tmp); + + flags |= 0x1<<1; + } + else if (strncmp(str+60, "DELTA-UTC", 9)==0) + { + strncpy(tmp, str+3, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + ionoutc->A0 = atof(tmp); + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + ionoutc->A1 = atof(tmp); + + strncpy(tmp, str+41, 9); + tmp[9] = 0; + ionoutc->tot = atoi(tmp); + + strncpy(tmp, str+50, 9); + tmp[9] = 0; + ionoutc->wnt = atoi(tmp); + + if (ionoutc->tot%4096==0) + flags |= 0x1<<2; + } + else if (strncmp(str+60, "LEAP SECONDS", 12)==0) + { + strncpy(tmp, str, 6); + tmp[6] = 0; + ionoutc->dtls = atoi(tmp); + + flags |= 0x1<<3; + } + } + + ionoutc->vflg = FALSE; + if (flags==0xF) // Read all Iono/UTC lines + ionoutc->vflg = TRUE; + + // Read ephemeris blocks + g0.week = -1; + ieph = 0; + + while (1) + { + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + // PRN + strncpy(tmp, str, 2); + tmp[2] = 0; + sv = atoi(tmp)-1; + + // EPOCH + strncpy(tmp, str+3, 2); + tmp[2] = 0; + t.y = atoi(tmp) + 2000; + + strncpy(tmp, str+6, 2); + tmp[2] = 0; + t.m = atoi(tmp); + + strncpy(tmp, str+9, 2); + tmp[2] = 0; + t.d = atoi(tmp); + + strncpy(tmp, str+12, 2); + tmp[2] = 0; + t.hh = atoi(tmp); + + strncpy(tmp, str+15, 2); + tmp[2] = 0; + t.mm = atoi(tmp); + + strncpy(tmp, str+18, 4); + tmp[2] = 0; + t.sec = atof(tmp); + + date2gps(&t, &g); + + if (g0.week==-1) + g0 = g; + + // Check current time of clock + dt = subGpsTime(g, g0); + + if (dt>SECONDS_IN_HOUR) + { + g0 = g; + ieph++; // a new set of ephemerides + + if (ieph>=EPHEM_ARRAY_SIZE) + break; + } + + // Date and time + eph[ieph][sv].t = t; + + // SV CLK + eph[ieph][sv].toc = g; + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); // tmp[15]='E'; + eph[ieph][sv].af0 = atof(tmp); + + strncpy(tmp, str+41, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].af1 = atof(tmp); + + strncpy(tmp, str+60, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].af2 = atof(tmp); + + // BROADCAST ORBIT - 1 + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + strncpy(tmp, str+3, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].iode = (int)atof(tmp); + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].crs = atof(tmp); + + strncpy(tmp, str+41, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].deltan = atof(tmp); + + strncpy(tmp, str+60, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].m0 = atof(tmp); + + // BROADCAST ORBIT - 2 + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + strncpy(tmp, str+3, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].cuc = atof(tmp); + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].ecc = atof(tmp); + + strncpy(tmp, str+41, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].cus = atof(tmp); + + strncpy(tmp, str+60, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].sqrta = atof(tmp); + + // BROADCAST ORBIT - 3 + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + strncpy(tmp, str+3, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].toe.sec = atof(tmp); + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].cic = atof(tmp); + + strncpy(tmp, str+41, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].omg0 = atof(tmp); + + strncpy(tmp, str+60, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].cis = atof(tmp); + + // BROADCAST ORBIT - 4 + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + strncpy(tmp, str+3, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].inc0 = atof(tmp); + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].crc = atof(tmp); + + strncpy(tmp, str+41, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].aop = atof(tmp); + + strncpy(tmp, str+60, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].omgdot = atof(tmp); + + // BROADCAST ORBIT - 5 + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + strncpy(tmp, str+3, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].idot = atof(tmp); + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].codeL2 = (int)atof(tmp); + + strncpy(tmp, str+41, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].toe.week = (int)atof(tmp); + + // BROADCAST ORBIT - 6 + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + strncpy(tmp, str+22, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].svhlth = (int)atof(tmp); + if ((eph[ieph][sv].svhlth>0) && (eph[ieph][sv].svhlth<32)) + eph[ieph][sv].svhlth += 32; // Set MSB to 1 + + strncpy(tmp, str+41, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].tgd = atof(tmp); + + strncpy(tmp, str+60, 19); + tmp[19] = 0; + replaceExpDesignator(tmp, 19); + eph[ieph][sv].iodc = (int)atof(tmp); + + // BROADCAST ORBIT - 7 + if (NULL==fgets(str, MAX_CHAR, fp)) + break; + + // Set valid flag + eph[ieph][sv].vflg = 1; + + // Update the working variables + eph[ieph][sv].A = eph[ieph][sv].sqrta * eph[ieph][sv].sqrta; + eph[ieph][sv].n = sqrt(GM_EARTH/(eph[ieph][sv].A*eph[ieph][sv].A*eph[ieph][sv].A)) + eph[ieph][sv].deltan; + eph[ieph][sv].sq1e2 = sqrt(1.0 - eph[ieph][sv].ecc*eph[ieph][sv].ecc); + eph[ieph][sv].omgkdot = eph[ieph][sv].omgdot - OMEGA_EARTH; + } + + fclose(fp); + + if (g0.week>=0) + ieph += 1; // Number of sets of ephemerides + + return(ieph); +} + +double ionosphericDelay(const ionoutc_t *ionoutc, gpstime_t g, double *llh, double *azel) +{ + double iono_delay = 0.0; + double E,phi_u,lam_u,F; + + if (ionoutc->enable==FALSE) + return (0.0); // No ionospheric delay + + E = azel[1]/PI; + phi_u = llh[0]/PI; + lam_u = llh[1]/PI; + + // Obliquity factor + F = 1.0 + 16.0*pow((0.53 - E),3.0); + + if (ionoutc->vflg==FALSE) + iono_delay = F*5.0e-9*SPEED_OF_LIGHT; + else + { + double t,psi,phi_i,lam_i,phi_m,phi_m2,phi_m3; + double AMP,PER,X,X2,X4; + + // Earth's central angle between the user position and the earth projection of + // ionospheric intersection point (semi-circles) + psi = 0.0137/(E + 0.11) - 0.022; + + // Geodetic latitude of the earth projection of the ionospheric intersection point + // (semi-circles) + phi_i = phi_u + psi*cos(azel[0]); + if(phi_i>0.416) + phi_i = 0.416; + else if(phi_i<-0.416) + phi_i = -0.416; + + // Geodetic longitude of the earth projection of the ionospheric intersection point + // (semi-circles) + lam_i = lam_u + psi*sin(azel[0])/cos(phi_i*PI); + + // Geomagnetic latitude of the earth projection of the ionospheric intersection + // point (mean ionospheric height assumed 350 km) (semi-circles) + phi_m = phi_i + 0.064*cos((lam_i - 1.617)*PI); + phi_m2 = phi_m*phi_m; + phi_m3 = phi_m2*phi_m; + + AMP = ionoutc->alpha0 + ionoutc->alpha1*phi_m + + ionoutc->alpha2*phi_m2 + ionoutc->alpha3*phi_m3; + if (AMP<0.0) + AMP = 0.0; + + PER = ionoutc->beta0 + ionoutc->beta1*phi_m + + ionoutc->beta2*phi_m2 + ionoutc->beta3*phi_m3; + if (PER<72000.0) + PER = 72000.0; + + // Local time (sec) + t = SECONDS_IN_DAY/2.0*lam_i + g.sec; + while(t>=SECONDS_IN_DAY) + t -= SECONDS_IN_DAY; + while(t<0) + t += SECONDS_IN_DAY; + + // Phase (radians) + X = 2.0*PI*(t - 50400.0)/PER; + + if(fabs(X)<1.57) + { + X2 = X*X; + X4 = X2*X2; + iono_delay = F*(5.0e-9 + AMP*(1.0 - X2/2.0 + X4/24.0))*SPEED_OF_LIGHT; + } + else + iono_delay = F*5.0e-9*SPEED_OF_LIGHT; + } + + return (iono_delay); +} + +/*! \brief Compute range between a satellite and the receiver + * \param[out] rho The computed range + * \param[in] eph Ephemeris data of the satellite + * \param[in] g GPS time at time of receiving the signal + * \param[in] xyz position of the receiver + */ +void computeRange(range_t *rho, ephem_t eph, ionoutc_t *ionoutc, gpstime_t g, double xyz[]) +{ + double pos[3],vel[3],clk[2]; + double los[3]; + double tau; + double range,rate; + double xrot,yrot; + + double llh[3],neu[3]; + double tmat[3][3]; + + // SV position at time of the pseudorange observation. + satpos(eph, g, pos, vel, clk); + + // Receiver to satellite vector and light-time. + subVect(los, pos, xyz); + tau = normVect(los)/SPEED_OF_LIGHT; + + // Extrapolate the satellite position backwards to the transmission time. + pos[0] -= vel[0]*tau; + pos[1] -= vel[1]*tau; + pos[2] -= vel[2]*tau; + + // Earth rotation correction. The change in velocity can be neglected. + xrot = pos[0] + pos[1]*OMEGA_EARTH*tau; + yrot = pos[1] - pos[0]*OMEGA_EARTH*tau; + pos[0] = xrot; + pos[1] = yrot; + + // New observer to satellite vector and satellite range. + subVect(los, pos, xyz); + range = normVect(los); + rho->d = range; + + // Pseudorange. + rho->range = range - SPEED_OF_LIGHT*clk[0]; + + // Relative velocity of SV and receiver. + rate = dotProd(vel, los)/range; + + // Pseudorange rate. + rho->rate = rate; // - SPEED_OF_LIGHT*clk[1]; + + // Time of application. + rho->g = g; + + // Azimuth and elevation angles. + xyz2llh(xyz, llh); + ltcmat(llh, tmat); + ecef2neu(los, tmat, neu); + neu2azel(rho->azel, neu); + + // Add ionospheric delay + rho->iono_delay = ionosphericDelay(ionoutc, g, llh, rho->azel); + rho->range += rho->iono_delay; + + return; +} + +/*! \brief Compute the code phase for a given channel (satellite) + * \param chan Channel on which we operate (is updated) + * \param[in] rho1 Current range, after \a dt has expired + * \param[in dt delta-t (time difference) in seconds + */ +void computeCodePhase(channel_t *chan, range_t rho1, double dt) +{ + double ms; + int ims; + double rhorate; + + // Pseudorange rate. + rhorate = (rho1.range - chan->rho0.range)/dt; + + // Carrier and code frequency. + chan->f_carr = -rhorate/LAMBDA_L1; + chan->f_code = CODE_FREQ + chan->f_carr*CARR_TO_CODE; + + // Initial code phase and data bit counters. + ms = ((subGpsTime(chan->rho0.g,chan->g0)+6.0) - chan->rho0.range/SPEED_OF_LIGHT)*1000.0; + + ims = (int)ms; + chan->code_phase = (ms-(double)ims)*CA_SEQ_LEN; // in chip + + chan->iword = ims/600; // 1 word = 30 bits = 600 ms + ims -= chan->iword*600; + + chan->ibit = ims/20; // 1 bit = 20 code = 20 ms + ims -= chan->ibit*20; + + chan->icode = ims; // 1 code = 1 ms + + chan->codeCA = chan->ca[(int)chan->code_phase]*2-1; + chan->dataBit = (int)((chan->dwrd[chan->iword]>>(29-chan->ibit)) & 0x1UL)*2-1; + + // Save current pseudorange + chan->rho0 = rho1; + + return; +} + +/*! \brief Read the list of user motions from the input file + * \param[out] xyz Output array of ECEF vectors for user motion + * \param[[in] filename File name of the text input file + * \returns Number of user data motion records read, -1 on error + */ +int readUserMotion(double xyz[USER_MOTION_SIZE][3], const char *filename) +{ + FILE *fp; + int numd; + char str[MAX_CHAR]; + double t,x,y,z; + + if (NULL==(fp=fopen(filename,"rt"))) + return(-1); + + for (numd=0; numd=USER_MOTION_SIZE) + break; + } + } + + fclose(fp); + + return (numd); +} + +int generateNavMsg(gpstime_t g, channel_t *chan, int init) +{ + int iwrd,isbf; + gpstime_t g0; + unsigned long wn,tow; + unsigned sbfwrd; + unsigned long prevwrd; + int nib; + + g0.week = g.week; + g0.sec = (double)(((unsigned long)(g.sec+0.5))/30UL) * 30.0; // Align with the full frame length = 30 sec + chan->g0 = g0; // Data bit reference time + + wn = (unsigned long)(g0.week%1024); + tow = ((unsigned long)g0.sec)/6UL; + + if (init==1) // Initialize subframe 5 + { + prevwrd = 0UL; + + for (iwrd=0; iwrdsbf[4][iwrd]; + + // Add TOW-count message into HOW + if (iwrd==1) + sbfwrd |= ((tow&0x1FFFFUL)<<13); + + // Compute checksum + sbfwrd |= (prevwrd<<30) & 0xC0000000UL; // 2 LSBs of the previous transmitted word + nib = ((iwrd==1)||(iwrd==9))?1:0; // Non-information bearing bits for word 2 and 10 + chan->dwrd[iwrd] = computeChecksum(sbfwrd, nib); + + prevwrd = chan->dwrd[iwrd]; + } + } + else // Save subframe 5 + { + for (iwrd=0; iwrddwrd[iwrd] = chan->dwrd[N_DWRD_SBF*N_SBF+iwrd]; + + prevwrd = chan->dwrd[iwrd]; + } + /* + // Sanity check + if (((chan->dwrd[1])&(0x1FFFFUL<<13)) != ((tow&0x1FFFFUL)<<13)) + { + printf("\nWARNING: Invalid TOW in subframe 5.\n"); + return(0); + } + */ + } + + for (isbf=0; isbfsbf[isbf][iwrd]; + + // Add transmission week number to Subframe 1 + if ((isbf==0)&&(iwrd==2)) + sbfwrd |= (wn&0x3FFUL)<<20; + + // Add TOW-count message into HOW + if (iwrd==1) + sbfwrd |= ((tow&0x1FFFFUL)<<13); + + // Compute checksum + sbfwrd |= (prevwrd<<30) & 0xC0000000UL; // 2 LSBs of the previous transmitted word + nib = ((iwrd==1)||(iwrd==9))?1:0; // Non-information bearing bits for word 2 and 10 + chan->dwrd[(isbf+1)*N_DWRD_SBF+iwrd] = computeChecksum(sbfwrd, nib); + + prevwrd = chan->dwrd[(isbf+1)*N_DWRD_SBF+iwrd]; + } + } + + return(1); +} + +int checkSatVisibility(ephem_t eph, gpstime_t g, double *xyz, double elvMask, double *azel) +{ + double llh[3],neu[3]; + double pos[3],vel[3],clk[3],los[3]; + double tmat[3][3]; + + if (eph.vflg != 1) + return (-1); // Invalid + + xyz2llh(xyz,llh); + ltcmat(llh, tmat); + + satpos(eph, g, pos, vel, clk); + subVect(los, pos, xyz); + ecef2neu(los, tmat, neu); + neu2azel(azel, neu); + + if (azel[1]*R2D > elvMask) + return (1); // Visible + // else + return (0); // Invisible +} + +int allocateChannel(channel_t *chan, ephem_t *eph, ionoutc_t ionoutc, gpstime_t grx, double *xyz, double elvMask) +{ + int nsat=0; + int i,sv; + double azel[2]; + + range_t rho; + double ref[3]={0.0}; + double r_ref,r_xyz; + double phase_ini; + + for (sv=0; sv=0) // Not visible but allocated + { + // Clear channel + chan[allocatedSat[sv]].prn = 0; + + // Clear satellite allocation flag + allocatedSat[sv] = -1; + } + } + + return(nsat); +} + +void usage(void) +{ + printf("Usage: gps-sdr-sim [options]\n" + "Options:\n" + " -e RINEX navigation file for GPS ephemerides (required)\n" + " -u User motion file (dynamic mode)\n" + " -g NMEA GGA stream (dynamic mode)\n" + " -l Lat,Lon,Hgt (static mode) e.g. 35.681298,139.766247,10.0\n" + " -t Scenario start time YYYY/MM/DD,hh:mm:ss\n" + " -T Overwrite TOC and TOE to scenario start time\n" + " -d Duration [sec] (dynamic mode max: %.0f, static mode max: %d)\n" + " -o I/Q sampling data file (default: gpssim.bin)\n" + " -s Sampling frequency [Hz] (default: 2600000)\n" + " -b I/Q data format [1/8/16] (default: 16)\n" + " -i Disable ionospheric delay for spacecraft scenario\n" + " -v Show details about simulated channels\n", + ((double)USER_MOTION_SIZE) / 10.0, STATIC_MAX_DURATION); + + return; +} + +int main(int argc, char *argv[]) +{ + clock_t tstart,tend; + + FILE *fp; + + int sv; + int neph,ieph; + ephem_t eph[EPHEM_ARRAY_SIZE][MAX_SAT]; + gpstime_t g0; + + double llh[3]; + + int i; + channel_t chan[MAX_CHAN]; + double elvmask = 0.0; // in degree + + int ip,qp; + int iTable; + short *iq_buff = NULL; + signed char *iq8_buff = NULL; + + gpstime_t grx; + double delt; + int isamp; + + int iumd; + int numd; + char umfile[MAX_CHAR]; + double xyz[USER_MOTION_SIZE][3]; + + int staticLocationMode = FALSE; + int nmeaGGA = FALSE; + + char navfile[MAX_CHAR]; + char outfile[MAX_CHAR]; + + double samp_freq; + int iq_buff_size; + int data_format; + + int result; + + int gain[MAX_CHAN]; + double path_loss; + double ant_gain; + double ant_pat[37]; + int ibs; // boresight angle index + + datetime_t t0,tmin,tmax; + gpstime_t gmin,gmax; + double dt; + int igrx; + + double duration; + int iduration; + int verb; + + int timeoverwrite = FALSE; // Overwirte the TOC and TOE in the RINEX file + + ionoutc_t ionoutc; + + + int usesocket=false; + int sockc=0; + + //////////////////////////////////////////////////////////// + // Read options + //////////////////////////////////////////////////////////// + + // Default options + navfile[0] = 0; + umfile[0] = 0; + strcpy(outfile, "gpssim.bin"); + samp_freq = 2.6e6; + data_format = SC16; + g0.week = -1; // Invalid start time + iduration = USER_MOTION_SIZE; + duration = (double)iduration/10.0; // Default duration + verb = FALSE; + ionoutc.enable = TRUE; + + if (argc<3) + { + usage(); + exit(1); + } + + while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:iv:n"))!=-1) + { + switch (result) + { + case 'e': + strcpy(navfile, optarg); + break; + case 'u': + strcpy(umfile, optarg); + nmeaGGA = FALSE; + break; + case 'g': + strcpy(umfile, optarg); + nmeaGGA = TRUE; + break; + case 'l': + // Static geodetic coordinates input mode + // Added by scateu@gmail.com + staticLocationMode = TRUE; + sscanf(optarg,"%lf,%lf,%lf",&llh[0],&llh[1],&llh[2]); + llh[0] = llh[0] / R2D; // convert to RAD + llh[1] = llh[1] / R2D; // convert to RAD + break; + case 'o': + strcpy(outfile, optarg); + break; + case 's': + samp_freq = atof(optarg); + if (samp_freq<1.0e6) + { + printf("ERROR: Invalid sampling frequency.\n"); + exit(1); + } + break; + case 'b': + data_format = atoi(optarg); + if (data_format!=SC01 && data_format!=SC08 && data_format!=SC16) + { + printf("ERROR: Invalid I/Q data format.\n"); + exit(1); + } + break; + case 'T': + timeoverwrite = TRUE; + if (strncmp(optarg, "now", 3)==0) + { + time_t timer; + struct tm *gmt; + + time(&timer); + gmt = gmtime(&timer); + + t0.y = gmt->tm_year+1900; + t0.m = gmt->tm_mon+1; + t0.d = gmt->tm_mday; + t0.hh = gmt->tm_hour; + t0.mm = gmt->tm_min; + t0.sec = (double)gmt->tm_sec; + + date2gps(&t0, &g0); + + break; + } + case 't': + sscanf(optarg, "%d/%d/%d,%d:%d:%lf", &t0.y, &t0.m, &t0.d, &t0.hh, &t0.mm, &t0.sec); + if (t0.y<=1980 || t0.m<1 || t0.m>12 || t0.d<1 || t0.d>31 || + t0.hh<0 || t0.hh>23 || t0.mm<0 || t0.mm>59 || t0.sec<0.0 || t0.sec>=60.0) + { + printf("ERROR: Invalid date and time.\n"); + exit(1); + } + t0.sec = floor(t0.sec); + date2gps(&t0, &g0); + break; + case 'd': + duration = atof(optarg); + break; + case 'i': + ionoutc.enable = FALSE; // Disable ionospheric correction + break; + case 'v': + verb = TRUE; + break; + case ':': + case '?': + usage(); + exit(1); + case 'n': + sockc=sockinit(); + usesocket=true; + default: + break; + } + } + + if (navfile[0]==0) + { + printf("ERROR: GPS ephemeris file is not specified.\n"); + exit(1); + } + + if (umfile[0]==0 && !staticLocationMode) + { + // Default static location; Tokyo + staticLocationMode = TRUE; + llh[0] = 35.681298 / R2D; + llh[1] = 139.766247 / R2D; + llh[2] = 10.0; + } + + if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode)) + { + printf("ERROR: Invalid duration.\n"); + exit(1); + } + iduration = (int)(duration*10.0 + 0.5); + + // Buffer size + samp_freq = floor(samp_freq/10.0); + iq_buff_size = (int)samp_freq; // samples per 0.1sec + samp_freq *= 10.0; + + delt = 1.0/samp_freq; + + //////////////////////////////////////////////////////////// + // Receiver position + //////////////////////////////////////////////////////////// + + if (!staticLocationMode) + { + // Read user motion file + if (nmeaGGA==TRUE) + numd = readNmeaGGA(xyz, umfile); + else + numd = readUserMotion(xyz, umfile); + + if (numd==-1) + { + printf("ERROR: Failed to open user motion / NMEA GGA file.\n"); + exit(1); + } + else if (numd==0) + { + printf("ERROR: Failed to read user motion / NMEA GGA data.\n"); + exit(1); + } + + // Set simulation duration + if (numd>iduration) + numd = iduration; + } + else + { + // Static geodetic coordinates input mode: "-l" + // Added by scateu@gmail.com + printf("Using static location mode.\n"); + llh2xyz(llh,xyz[0]); // Convert llh to xyz + + numd = iduration; + } +/* + printf("xyz = %11.1f, %11.1f, %11.1f\n", xyz[0][0], xyz[0][1], xyz[0][2]); + printf("llh = %11.6f, %11.6f, %11.1f\n", llh[0]*R2D, llh[1]*R2D, llh[2]); +*/ + //////////////////////////////////////////////////////////// + // Read ephemeris + //////////////////////////////////////////////////////////// + + neph = readRinexNavAll(eph, &ionoutc, navfile); + + if (neph==0) + { + printf("ERROR: No ephemeris available.\n"); + exit(1); + } + + if ((verb==TRUE)&&(ionoutc.vflg==TRUE)) + { + printf(" %12.3e %12.3e %12.3e %12.3e\n", + ionoutc.alpha0, ionoutc.alpha1, ionoutc.alpha2, ionoutc.alpha3); + printf(" %12.3e %12.3e %12.3e %12.3e\n", + ionoutc.beta0, ionoutc.beta1, ionoutc.beta2, ionoutc.beta3); + printf(" %19.11e %19.11e %9d %9d\n", + ionoutc.A0, ionoutc.A1, ionoutc.tot, ionoutc.wnt); + printf("%6d\n", ionoutc.dtls); + } + + for (sv=0; sv=0) // Scenario start time has been set. + { + if (timeoverwrite==TRUE) + { + gpstime_t gtmp; + datetime_t ttmp; + double dsec; + + gtmp.week = g0.week; + gtmp.sec = (double)(((int)(g0.sec))/7200)*7200.0; + + dsec = subGpsTime(gtmp,gmin); + + // Overwrite the UTC reference week number + ionoutc.wnt = gtmp.week; + ionoutc.tot = (int)gtmp.sec; + + // Iono/UTC parameters may no longer valid + //ionoutc.vflg = FALSE; + + // Overwrite the TOC and TOE to the scenario start time + for (sv=0; sv=-SECONDS_IN_HOUR && dt=0) // ieph has been set + break; + } + + if (ieph == -1) + { + printf("ERROR: No current set of ephemerides has been found.\n"); + exit(1); + } + + //////////////////////////////////////////////////////////// + // Baseband signal buffer and output file + //////////////////////////////////////////////////////////// + + // Allocate I/Q buffer + iq_buff = calloc(2*iq_buff_size, 2); + + if (iq_buff==NULL) + { + printf("ERROR: Faild to allocate 16-bit I/Q buffer.\n"); + exit(1); + } + + if (data_format==SC08) + { + iq8_buff = calloc(2*iq_buff_size, 1); + if (iq8_buff==NULL) + { + printf("ERROR: Faild to allocate 8-bit I/Q buffer.\n"); + exit(1); + } + } + else if (data_format==SC01) + { + iq8_buff = calloc(iq_buff_size/4, 1); // byte = {I0, Q0, I1, Q1, I2, Q2, I3, Q3} + if (iq8_buff==NULL) + { + printf("ERROR: Faild to allocate compressed 1-bit I/Q buffer.\n"); + exit(1); + } + } + if(usesocket==false){ + // Open output file + if (NULL==(fp=fopen(outfile,"wb"))) + { + printf("ERROR: Failed to open output file.\n"); + exit(1); + } + } + //////////////////////////////////////////////////////////// + // Initialize channels + //////////////////////////////////////////////////////////// + + // Clear all channels + for (i=0; i0) + printf("%02d %6.1f %5.1f %11.1f %5.1f\n", chan[i].prn, + chan[i].azel[0]*R2D, chan[i].azel[1]*R2D, chan[i].rho0.d, chan[i].rho0.iono_delay); + } + + //////////////////////////////////////////////////////////// + // Receiver antenna gain pattern + //////////////////////////////////////////////////////////// + + for (i=0; i<37; i++) + ant_pat[i] = pow(10.0, -ant_pat_db[i]/20.0); + + //////////////////////////////////////////////////////////// + // Generate baseband signals + //////////////////////////////////////////////////////////// + + tstart = clock(); + + // Update receiver time + grx = incGpsTime(grx, 0.1); + + for (iumd=1; iumd0) + { + // Refresh code phase and data bit counters + range_t rho; + sv = chan[i].prn-1; + + // Current pseudorange + if (!staticLocationMode) + computeRange(&rho, eph[ieph][sv], &ionoutc, grx, xyz[iumd]); + else + computeRange(&rho, eph[ieph][sv], &ionoutc, grx, xyz[0]); + + chan[i].azel[0] = rho.azel[0]; + chan[i].azel[1] = rho.azel[1]; + + // Update code phase and data bit counters + computeCodePhase(&chan[i], rho, 0.1); + chan[i].carr_phasestep = (int)(512 * 65536.0 * chan[i].f_carr * delt); + + // Path loss + path_loss = 20200000.0/rho.d; + + // Receiver antenna gain + ibs = (int)((90.0-rho.azel[1]*R2D)/5.0); // covert elevation to boresight + ant_gain = ant_pat[ibs]; + + // Signal gain + gain[i] = (int)(path_loss*ant_gain*128.0); // scaled by 2^7 + } + } + + for (isamp=0; isamp0) + { + iTable = (chan[i].carr_phase >> 16) & 511; + + ip = chan[i].dataBit * chan[i].codeCA * cosTable512[iTable] * gain[i]; + qp = chan[i].dataBit * chan[i].codeCA * sinTable512[iTable] * gain[i]; + + // Accumulate for all visible satellites + i_acc += ip; + q_acc += qp; + + // Update code phase + chan[i].code_phase += chan[i].f_code * delt; + + if (chan[i].code_phase>=CA_SEQ_LEN) + { + chan[i].code_phase -= CA_SEQ_LEN; + + chan[i].icode++; + + if (chan[i].icode>=20) // 20 C/A codes = 1 navigation data bit + { + chan[i].icode = 0; + chan[i].ibit++; + + if (chan[i].ibit>=30) // 30 navigation data bits = 1 word + { + chan[i].ibit = 0; + chan[i].iword++; + /* + if (chan[i].iword>=N_DWRD) + printf("\nWARNING: Subframe word buffer overflow.\n"); + */ + } + + // Set new navigation data bit + chan[i].dataBit = (int)((chan[i].dwrd[chan[i].iword]>>(29-chan[i].ibit)) & 0x1UL)*2-1; + } + } + + // Set currnt code chip + chan[i].codeCA = chan[i].ca[(int)chan[i].code_phase]*2-1; + + // Update carrier phase + chan[i].carr_phase += chan[i].carr_phasestep; + } + } + + // Scaled by 2^7 + i_acc = (i_acc+64)>>7; + q_acc = (q_acc+64)>>7; + + // Store I/Q samples into buffer + iq_buff[isamp*2] = (short)i_acc; + iq_buff[isamp*2+1] = (short)q_acc; + } + + if (data_format==SC01&&usesocket==false) + { + for (isamp=0; isamp<2*iq_buff_size; isamp++) + { + if (isamp%8==0) + iq8_buff[isamp/8] = 0x00; + + iq8_buff[isamp/8] |= (iq_buff[isamp]>0?0x01:0x00)<<(7-isamp%8); + } + + fwrite(iq8_buff, 1, iq_buff_size/4, fp); + } + else if (data_format==SC08&&usesocket==false) + { + for (isamp=0; isamp<2*iq_buff_size; isamp++) + iq8_buff[isamp] = iq_buff[isamp]>>4; // 12-bit bladeRF -> 8-bit HackRF + + fwrite(iq8_buff, 1, 2*iq_buff_size, fp); + } + else if(data_format==SC16&&usesocket==false) + { + fwrite(iq_buff, 2, 2*iq_buff_size, fp); + } + if(usesocket==true){ + float *datap=(float*)calloc(iq_buff_size*2,sizeof(float)); + int l=0; + for(l=0;l0) + generateNavMsg(grx, &chan[i], 0); + } + + // Refresh ephemeris and subframes + // Quick and dirty fix. Need more elegant way. + for (sv=0; sv0) + printf("%02d %6.1f %5.1f %11.1f %5.1f\n", chan[i].prn, + chan[i].azel[0]*R2D, chan[i].azel[1]*R2D, chan[i].rho0.d, chan[i].rho0.iono_delay); + } + } + } + if(subGpsTime(grx, g0)-(double)(clock()-tstart)/CLOCKS_PER_SEC>0.2&&usesocket==true){ + sleep((subGpsTime(grx, g0)-(double)(clock()-tstart)/CLOCKS_PER_SEC)/10); + } + // Update receiver time + grx = incGpsTime(grx, 0.1); + + // Update time counter + printf("\rTime into run = %4.1f", subGpsTime(grx, g0)); + fflush(stdout); + } + + tend = clock(); + + printf("\nDone!\n"); + + // Free I/Q buffer + free(iq_buff); + + // Close file + if(usesocket==false) + fclose(fp); + else sockclose(sockc); + // Process time + printf("Process time = %.1f [sec]\n", (double)(tend-tstart)/CLOCKS_PER_SEC); + + return(0); +} diff --git a/gpssim.h b/gpssim.h index 5cad835..b2332db 100644 --- a/gpssim.h +++ b/gpssim.h @@ -3,7 +3,8 @@ #define TRUE (1) #define FALSE (0) - +#define true (1) +#define false (0) /*! \brief Maximum length of a line in a text file (RINEX, motion) */ #define MAX_CHAR (100) diff --git a/gpssim.h~ b/gpssim.h~ new file mode 100644 index 0000000..5cad835 --- /dev/null +++ b/gpssim.h~ @@ -0,0 +1,177 @@ +#ifndef GPSSIM_H +#define GPSSIM_H + +#define TRUE (1) +#define FALSE (0) + +/*! \brief Maximum length of a line in a text file (RINEX, motion) */ +#define MAX_CHAR (100) + +/*! \brief Maximum number of satellites in RINEX file */ +#define MAX_SAT (32) + +/*! \brief Maximum number of channels we simulate */ +#define MAX_CHAN (16) + +/*! \brief Maximum number of user motion points */ +#define USER_MOTION_SIZE (3000) // max duration at 10Hz + +/*! \brief Maximum duration for static mode*/ +#define STATIC_MAX_DURATION (86400) // second + +/*! \brief Number of subframes */ +#define N_SBF (5) // 5 subframes per frame + +/*! \brief Number of words per subframe */ +#define N_DWRD_SBF (10) // 10 word per subframe + +/*! \brief Number of words */ +#define N_DWRD ((N_SBF+1)*N_DWRD_SBF) // Subframe word buffer size + +/*! \brief C/A code sequence length */ +#define CA_SEQ_LEN (1023) + +#define SECONDS_IN_WEEK 604800.0 +#define SECONDS_IN_HALF_WEEK 302400.0 +#define SECONDS_IN_DAY 86400.0 +#define SECONDS_IN_HOUR 3600.0 +#define SECONDS_IN_MINUTE 60.0 + +#define POW2_M5 0.03125 +#define POW2_M19 1.907348632812500e-6 +#define POW2_M29 1.862645149230957e-9 +#define POW2_M31 4.656612873077393e-10 +#define POW2_M33 1.164153218269348e-10 +#define POW2_M43 1.136868377216160e-13 +#define POW2_M55 2.775557561562891e-17 + +#define POW2_M50 8.881784197001252e-016 +#define POW2_M30 9.313225746154785e-010 +#define POW2_M27 7.450580596923828e-009 +#define POW2_M24 5.960464477539063e-008 + +// Conventional values employed in GPS ephemeris model (ICD-GPS-200) +#define GM_EARTH 3.986005e14 +#define OMEGA_EARTH 7.2921151467e-5 +#define PI 3.1415926535898 + +#define WGS84_RADIUS 6378137.0 +#define WGS84_ECCENTRICITY 0.0818191908426 + +#define R2D 57.2957795131 + +#define SPEED_OF_LIGHT 2.99792458e8 +#define LAMBDA_L1 0.190293672798365 + +/*! \brief GPS L1 Carrier frequency */ +#define CARR_FREQ (1575.42e6) +/*! \brief C/A code frequency */ +#define CODE_FREQ (1.023e6) +#define CARR_TO_CODE (1.0/1540.0) + +// Sampling data format +#define SC01 (1) +#define SC08 (8) +#define SC16 (16) + +#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc) + +/*! \brief Structure representing GPS time */ +typedef struct +{ + int week; /*!< GPS week number (since January 1980) */ + double sec; /*!< second inside the GPS \a week */ +} gpstime_t; + +/*! \brief Structure repreenting UTC time */ +typedef struct +{ + int y; /*!< Calendar year */ + int m; /*!< Calendar month */ + int d; /*!< Calendar day */ + int hh; /*!< Calendar hour */ + int mm; /*!< Calendar minutes */ + double sec; /*!< Calendar seconds */ +} datetime_t; + +/*! \brief Structure representing ephemeris of a single satellite */ +typedef struct +{ + int vflg; /*!< Valid Flag */ + datetime_t t; + gpstime_t toc; /*!< Time of Clock */ + gpstime_t toe; /*!< Time of Ephemeris */ + int iodc; /*!< Issue of Data, Clock */ + int iode; /*!< Isuse of Data, Ephemeris */ + double deltan; /*!< Delta-N (radians/sec) */ + double cuc; /*!< Cuc (radians) */ + double cus; /*!< Cus (radians) */ + double cic; /*!< Correction to inclination cos (radians) */ + double cis; /*!< Correction to inclination sin (radians) */ + double crc; /*!< Correction to radius cos (meters) */ + double crs; /*!< Correction to radius sin (meters) */ + double ecc; /*!< e Eccentricity */ + double sqrta; /*!< sqrt(A) (sqrt(m)) */ + double m0; /*!< Mean anamoly (radians) */ + double omg0; /*!< Longitude of the ascending node (radians) */ + double inc0; /*!< Inclination (radians) */ + double aop; + double omgdot; /*!< Omega dot (radians/s) */ + double idot; /*!< IDOT (radians/s) */ + double af0; /*!< Clock offset (seconds) */ + double af1; /*!< rate (sec/sec) */ + double af2; /*!< acceleration (sec/sec^2) */ + double tgd; /*!< Group delay L2 bias */ + int svhlth; + int codeL2; + // Working variables follow + double n; /*!< Mean motion (Average angular velocity) */ + double sq1e2; /*!< sqrt(1-e^2) */ + double A; /*!< Semi-major axis */ + double omgkdot; /*!< OmegaDot-OmegaEdot */ +} ephem_t; + +typedef struct +{ + int enable; + int vflg; + double alpha0,alpha1,alpha2,alpha3; + double beta0,beta1,beta2,beta3; + double A0,A1; + int dtls,tot,wnt; + int dtlsf,dn,wnlsf; +} ionoutc_t; + +typedef struct +{ + gpstime_t g; + double range; // pseudorange + double rate; + double d; // geometric distance + double azel[2]; + double iono_delay; +} range_t; + +/*! \brief Structure representing a Channel */ +typedef struct +{ + int prn; /*< PRN Number */ + int ca[CA_SEQ_LEN]; /*< C/A Sequence */ + double f_carr; /*< Carrier frequency */ + double f_code; /*< Code frequency */ + unsigned int carr_phase; /*< Carrier phase */ + int carr_phasestep; /*< Carrier phasestep */ + double code_phase; /*< Code phase */ + gpstime_t g0; /*!< GPS time at start */ + unsigned long sbf[5][N_DWRD_SBF]; /*!< current subframe */ + unsigned long dwrd[N_DWRD]; /*!< Data words of sub-frame */ + int iword; /*!< initial word */ + int ibit; /*!< initial bit */ + int icode; /*!< initial code */ + int dataBit; /*!< current data bit */ + int codeCA; /*!< current C/A code */ + double azel[2]; + range_t rho0; +} channel_t; + +#endif diff --git a/rtk/eil41040.17n b/rtk/eil41040.17n new file mode 100644 index 0000000..1e81e57 --- /dev/null +++ b/rtk/eil41040.17n @@ -0,0 +1,3571 @@ + 2.10 NAVIGATION RINEX VERSION / TYPE +rnw Dataflow Processing 04/14/2017 00:00:03 PGM / RUN BY / DATE + END OF HEADER + 1 17 4 14 2 0 0.0 .532181002200D-04 .568434188608D-12 .000000000000D+00 + .210000000000D+02 .327812500000D+02 .475305512668D-08 .193754241961D+01 + .171177089214D-05 .645349663682D-02 .678561627865D-05 .515368391991D+04 + .439200000000D+06 -.163912773132D-06 -.164135153158D+01 .819563865662D-07 + .966642930249D+00 .253000000000D+03 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.000000000000D+00 + .240000000000D+01 .000000000000D+00 .465661287308D-09 .360000000000D+02 + .516726000000D+06 .400000000000D+01 diff --git a/socket.c b/socket.c new file mode 100644 index 0000000..ab688d8 --- /dev/null +++ b/socket.c @@ -0,0 +1,39 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define MYPORT 1234 + + +int sockinit() +{ + int sock = socket(AF_INET,SOCK_STREAM, 0); + struct sockaddr_in servaddr; + memset(&servaddr, 0, sizeof(servaddr)); + servaddr.sin_family = AF_INET; + servaddr.sin_port = htons(MYPORT); + servaddr.sin_addr.s_addr = inet_addr("127.0.0.1"); + if (connect(sock, (struct sockaddr *)&servaddr, sizeof(servaddr)) < 0) + { + perror("connect"); + exit(1); + } + + + return sock; +} +void sockclose(int s){ + close(s); +} +void socksend(int s,void *dataa,int siz){ + send(s,dataa,siz,0); +} + + diff --git a/socket.c~ b/socket.c~ new file mode 100644 index 0000000..0056f07 --- /dev/null +++ b/socket.c~ @@ -0,0 +1,39 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define MYPORT 1234 +#define BUFFER_SIZE 1024 + +int sockinit() +{ + int sock = socket(AF_INET,SOCK_STREAM, 0); + struct sockaddr_in servaddr; + memset(&servaddr, 0, sizeof(servaddr)); + servaddr.sin_family = AF_INET; + servaddr.sin_port = htons(MYPORT); + servaddr.sin_addr.s_addr = inet_addr("127.0.0.1"); + if (connect(sock, (struct sockaddr *)&servaddr, sizeof(servaddr)) < 0) + { + perror("connect"); + exit(1); + } + + + return sock; +} +void sockclose(int s){ + close(s); +} +void socksend(int s,void *dataa,int siz){ + send(s,dataa,siz,0); +} + + diff --git a/tcp.grc b/tcp.grc new file mode 100644 index 0000000..68a9f66 --- /dev/null +++ b/tcp.grc @@ -0,0 +1,1183 @@ + + + + Sun Apr 23 00:42:37 2017 + + options + + author + + + + alias + + + + window_size + + + + category + Custom + + + comment + + + + description + + + + _enabled + True + + + _coordinate + (8, 8) + + + 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+ clock_source3 + + + + time_source3 + + + + clock_source4 + + + + time_source4 + + + + clock_source5 + + + + time_source5 + + + + clock_source6 + + + + time_source6 + + + + clock_source7 + + + + time_source7 + + + + nchan + 1 + + + num_mboards + 1 + + + sample_rate + samp_rate + + + sync + + + + + blks2_tcp_source_0 + osmosdr_sink_0 + 0 + 0 + + diff --git a/wslb1110.17n b/wslb1110.17n new file mode 100644 index 0000000..1ad0fbc --- /dev/null +++ b/wslb1110.17n @@ -0,0 +1,1208 @@ + 2.10 N: GPS NAV DATA RINEX VERSION / TYPE +teqc 2016Nov7 GNSS Operator 20170422 00:01:57UTCPGM / RUN BY / DATE + 18 LEAP SECONDS +Solaris x86 5.10|AMD64|cc SC5.8 -xarch=amd64|=+|=+ COMMENT + 1.0245D-08 1.4901D-08 -5.9605D-08 -1.1921D-07 ION ALPHA + 8.8064D+04 3.2768D+04 -1.9661D+05 -1.9661D+05 ION BETA + -9.313225746155D-10 8.881784197001D-16 589824 1945 DELTA-UTC: A0,A1,T,W + END OF HEADER +13 17 4 21 2 0 0.0-7.880851626396D-05-1.477928890381D-12 0.000000000000D+00 + 5.000000000000D+01 3.990625000000D+01 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2.874375000000D+02-1.849650277998D+00-7.927115910482D-09 + 1.946509651369D-10 1.000000000000D+00 1.945000000000D+03 0.000000000000D+00 + 2.000000000000D+00 0.000000000000D+00-1.117587089539D-08 2.000000000000D+01 + 5.059680000000D+05 4.000000000000D+00 +19 17 4 21 22 0 0.0-5.063526332378D-04 1.364242052659D-12 0.000000000000D+00 + 7.800000000000D+01 3.687500000000D+01 4.464471677451D-09-9.515848160243D-01 + 2.112239599228D-06 1.024526474066D-02 4.885718226433D-06 5.153659532547D+03 + 5.112000000000D+05 9.126961231232D-08-2.724896877521D+00 1.639127731323D-07 + 9.770845036515D-01 2.941250000000D+02 9.514455754815D-01-8.253915237272D-09 + 2.167947446570D-10 1.000000000000D+00 1.945000000000D+03 0.000000000000D+00 + 2.000000000000D+00 0.000000000000D+00-1.536682248116D-08 7.800000000000D+01 + 5.088480000000D+05 4.000000000000D+00 + 1 17 4 21 22 0 0.0 5.362182855606D-05 5.684341886081D-13 0.000000000000D+00 + 9.400000000000D+01-6.131250000000D+01 4.633407285726D-09 1.201058610398D-01 + -3.211200237274D-06 6.491043837741D-03 5.038455128670D-06 5.153688421249D+03 + 5.112000000000D+05 1.862645149231D-09-1.767166886851D+00 5.774199962616D-08 + 9.667619693565D-01 2.809375000000D+02 5.375143664080D-01-8.359633926594D-09 + -3.189418566371D-10 1.000000000000D+00 1.945000000000D+03 0.000000000000D+00 + 2.800000000000D+00 0.000000000000D+00 5.587935447693D-09 9.400000000000D+01 + 5.101380000000D+05 4.000000000000D+00 From 3f1a1f08952589290e943a83fc67176f9706f8b3 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 01:12:45 +0800 Subject: [PATCH 02/35] support tcp for realtime --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 575a5fc..2da37b8 100644 --- a/.gitignore +++ b/.gitignore @@ -38,3 +38,4 @@ gps-sdr-sim-lut # Temporary files *.swp +*~ From a44168a2cc8ee58288fa731d8bf16d78fc1a3e87 Mon Sep 17 00:00:00 2001 From: QingBiJuShi Date: Sun, 23 Apr 2017 01:13:54 +0800 Subject: [PATCH 03/35] Delete socket.c~ --- socket.c~ | 39 --------------------------------------- 1 file changed, 39 deletions(-) delete mode 100644 socket.c~ diff --git a/socket.c~ b/socket.c~ deleted file mode 100644 index 0056f07..0000000 --- a/socket.c~ +++ /dev/null @@ -1,39 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define MYPORT 1234 -#define BUFFER_SIZE 1024 - -int sockinit() -{ - int sock = socket(AF_INET,SOCK_STREAM, 0); - struct sockaddr_in servaddr; - memset(&servaddr, 0, sizeof(servaddr)); - servaddr.sin_family = AF_INET; - servaddr.sin_port = htons(MYPORT); - servaddr.sin_addr.s_addr = inet_addr("127.0.0.1"); - if (connect(sock, (struct sockaddr *)&servaddr, sizeof(servaddr)) < 0) - { - perror("connect"); - exit(1); - } - - - return sock; -} -void sockclose(int s){ - close(s); -} -void socksend(int s,void *dataa,int siz){ - send(s,dataa,siz,0); -} - - From 06ccc1e87fb9a6c5d98de991ae8603ec196043c4 Mon Sep 17 00:00:00 2001 From: QingBiJuShi Date: Sun, 23 Apr 2017 01:14:05 +0800 Subject: [PATCH 04/35] Delete gpssim.c~ --- gpssim.c~ | 2349 ----------------------------------------------------- 1 file changed, 2349 deletions(-) delete mode 100644 gpssim.c~ diff --git a/gpssim.c~ b/gpssim.c~ deleted file mode 100644 index bb6d134..0000000 --- a/gpssim.c~ +++ /dev/null @@ -1,2349 +0,0 @@ -#define _CRT_SECURE_NO_DEPRECATE - -#include -#include -#include -#include -#include -#ifdef _WIN32 -#include "getopt.h" -#else -#include -#endif -#include "gpssim.h" -#include "socket.c" - -int sinTable512[] = { - 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, - 50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94, - 97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138, - 140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176, - 178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207, - 209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230, - 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245, - 245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250, - 250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245, - 245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232, - 230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209, - 207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178, - 176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140, - 138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97, - 94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50, - 47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2, - -2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47, - -50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94, - -97,-100,-103,-105,-108,-111,-114,-116,-119,-122,-125,-127,-130,-132,-135,-138, - -140,-143,-145,-148,-150,-153,-155,-157,-160,-162,-164,-167,-169,-171,-173,-176, - -178,-180,-182,-184,-186,-188,-190,-192,-194,-196,-198,-200,-202,-204,-205,-207, - -209,-210,-212,-214,-215,-217,-218,-220,-221,-223,-224,-225,-227,-228,-229,-230, - -232,-233,-234,-235,-236,-237,-238,-239,-240,-241,-241,-242,-243,-244,-244,-245, - -245,-246,-247,-247,-248,-248,-248,-249,-249,-249,-249,-250,-250,-250,-250,-250, - -250,-250,-250,-250,-250,-249,-249,-249,-249,-248,-248,-248,-247,-247,-246,-245, - -245,-244,-244,-243,-242,-241,-241,-240,-239,-238,-237,-236,-235,-234,-233,-232, - -230,-229,-228,-227,-225,-224,-223,-221,-220,-218,-217,-215,-214,-212,-210,-209, - -207,-205,-204,-202,-200,-198,-196,-194,-192,-190,-188,-186,-184,-182,-180,-178, - -176,-173,-171,-169,-167,-164,-162,-160,-157,-155,-153,-150,-148,-145,-143,-140, - -138,-135,-132,-130,-127,-125,-122,-119,-116,-114,-111,-108,-105,-103,-100, -97, - -94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50, - -47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2 -}; - -int cosTable512[] = { - 250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245, - 245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232, - 230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209, - 207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178, - 176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140, - 138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97, - 94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50, - 47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2, - -2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47, - -50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94, - -97,-100,-103,-105,-108,-111,-114,-116,-119,-122,-125,-127,-130,-132,-135,-138, - -140,-143,-145,-148,-150,-153,-155,-157,-160,-162,-164,-167,-169,-171,-173,-176, - -178,-180,-182,-184,-186,-188,-190,-192,-194,-196,-198,-200,-202,-204,-205,-207, - -209,-210,-212,-214,-215,-217,-218,-220,-221,-223,-224,-225,-227,-228,-229,-230, - -232,-233,-234,-235,-236,-237,-238,-239,-240,-241,-241,-242,-243,-244,-244,-245, - -245,-246,-247,-247,-248,-248,-248,-249,-249,-249,-249,-250,-250,-250,-250,-250, - -250,-250,-250,-250,-250,-249,-249,-249,-249,-248,-248,-248,-247,-247,-246,-245, - -245,-244,-244,-243,-242,-241,-241,-240,-239,-238,-237,-236,-235,-234,-233,-232, - -230,-229,-228,-227,-225,-224,-223,-221,-220,-218,-217,-215,-214,-212,-210,-209, - -207,-205,-204,-202,-200,-198,-196,-194,-192,-190,-188,-186,-184,-182,-180,-178, - -176,-173,-171,-169,-167,-164,-162,-160,-157,-155,-153,-150,-148,-145,-143,-140, - -138,-135,-132,-130,-127,-125,-122,-119,-116,-114,-111,-108,-105,-103,-100, -97, - -94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50, - -47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2, - 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, - 50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94, - 97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138, - 140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176, - 178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207, - 209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230, - 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245, - 245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250 -}; - -// Receiver antenna attenuation in dB for boresight angle = 0:5:180 [deg] -double ant_pat_db[37] = { - 0.00, 0.00, 0.22, 0.44, 0.67, 1.11, 1.56, 2.00, 2.44, 2.89, 3.56, 4.22, - 4.89, 5.56, 6.22, 6.89, 7.56, 8.22, 8.89, 9.78, 10.67, 11.56, 12.44, 13.33, - 14.44, 15.56, 16.67, 17.78, 18.89, 20.00, 21.33, 22.67, 24.00, 25.56, 27.33, 29.33, - 31.56 -}; - -int allocatedSat[MAX_SAT]; - -/*! \brief Subtract two vectors of double - * \param[out] y Result of subtraction - * \param[in] x1 Minuend of subtracion - * \param[in] x2 Subtrahend of subtracion - */ -void subVect(double *y, const double *x1, const double *x2) -{ - y[0] = x1[0]-x2[0]; - y[1] = x1[1]-x2[1]; - y[2] = x1[2]-x2[2]; - - return; -} - -/*! \brief Compute Norm of Vector - * \param[in] x Input vector - * \returns Length (Norm) of the input vector - */ -double normVect(const double *x) -{ - return(sqrt(x[0]*x[0]+x[1]*x[1]+x[2]*x[2])); -} - -/*! \brief Compute dot-product of two vectors - * \param[in] x1 First multiplicand - * \param[in] x2 Second multiplicand - * \returns Dot-product of both multiplicands - */ -double dotProd(const double *x1, const double *x2) -{ - return(x1[0]*x2[0]+x1[1]*x2[1]+x1[2]*x2[2]); -} - -/* !\brief generate the C/A code sequence for a given Satellite Vehicle PRN - * \param[in] prn PRN nuber of the Satellite Vehicle - * \param[out] ca Caller-allocated integer array of 1023 bytes - */ -void codegen(int *ca, int prn) -{ - int delay[] = { - 5, 6, 7, 8, 17, 18, 139, 140, 141, 251, - 252, 254, 255, 256, 257, 258, 469, 470, 471, 472, - 473, 474, 509, 512, 513, 514, 515, 516, 859, 860, - 861, 862}; - - int g1[CA_SEQ_LEN], g2[CA_SEQ_LEN]; - int r1[N_DWRD_SBF], r2[N_DWRD_SBF]; - int c1, c2; - int i,j; - - if (prn<1 || prn>32) - return; - - for (i=0; i0; j--) - { - r1[j] = r1[j-1]; - r2[j] = r2[j-1]; - } - r1[0] = c1; - r2[0] = c2; - } - - for (i=0,j=CA_SEQ_LEN-delay[prn-1]; iy - 1980; - - // Compute the number of leap days since Jan 5/Jan 6, 1980. - lpdays = ye/4 + 1; - if ((ye%4)==0 && t->m<=2) - lpdays--; - - // Compute the number of days elapsed since Jan 5/Jan 6, 1980. - de = ye*365 + doy[t->m-1] + t->d + lpdays - 6; - - // Convert time to GPS weeks and seconds. - g->week = de / 7; - g->sec = (double)(de%7)*SECONDS_IN_DAY + t->hh*SECONDS_IN_HOUR - + t->mm*SECONDS_IN_MINUTE + t->sec; - - return; -} - -void gps2date(const gpstime_t *g, datetime_t *t) -{ - // Convert Julian day number to calendar date - int c = (int)(7*g->week + floor(g->sec/86400.0)+2444245.0) + 1537; - int d = (int)((c-122.1)/365.25); - int e = 365*d + d/4; - int f = (int)((c-e)/30.6001); - - t->d = c - e - (int)(30.6001*f); - t->m = f - 1 - 12*(f/14); - t->y = d - 4715 - ((7 + t->m)/10); - - t->hh = ((int)(g->sec/3600.0))%24; - t->mm = ((int)(g->sec/60.0))%60; - t->sec = g->sec - 60.0*floor(g->sec/60.0); - - return; -} - -/*! \brief Convert Earth-centered Earth-fixed (ECEF) into Lat/Long/Heighth - * \param[in] xyz Input Array of X, Y and Z ECEF coordinates - * \param[out] llh Output Array of Latitude, Longitude and Height - */ -void xyz2llh(const double *xyz, double *llh) -{ - double a,eps,e,e2; - double x,y,z; - double rho2,dz,zdz,nh,slat,n,dz_new; - - a = WGS84_RADIUS; - e = WGS84_ECCENTRICITY; - - eps = 1.0e-3; - e2 = e*e; - - if (normVect(xyz)SECONDS_IN_HALF_WEEK) - tk -= SECONDS_IN_WEEK; - else if(tk<-SECONDS_IN_HALF_WEEK) - tk += SECONDS_IN_WEEK; - - mk = eph.m0 + eph.n*tk; - ek = mk; - ekold = ek + 1.0; - - OneMinusecosE = 0; // Suppress the uninitialized warning. - while(fabs(ek-ekold)>1.0E-14) - { - ekold = ek; - OneMinusecosE = 1.0-eph.ecc*cos(ekold); - ek = ek + (mk-ekold+eph.ecc*sin(ekold))/OneMinusecosE; - } - - sek = sin(ek); - cek = cos(ek); - - ekdot = eph.n/OneMinusecosE; - - relativistic = -4.442807633E-10*eph.ecc*eph.sqrta*sek; - - pk = atan2(eph.sq1e2*sek,cek-eph.ecc) + eph.aop; - pkdot = eph.sq1e2*ekdot/OneMinusecosE; - - s2pk = sin(2.0*pk); - c2pk = cos(2.0*pk); - - uk = pk + eph.cus*s2pk + eph.cuc*c2pk; - suk = sin(uk); - cuk = cos(uk); - ukdot = pkdot*(1.0 + 2.0*(eph.cus*c2pk - eph.cuc*s2pk)); - - rk = eph.A*OneMinusecosE + eph.crc*c2pk + eph.crs*s2pk; - rkdot = eph.A*eph.ecc*sek*ekdot + 2.0*pkdot*(eph.crs*c2pk - eph.crc*s2pk); - - ik = eph.inc0 + eph.idot*tk + eph.cic*c2pk + eph.cis*s2pk; - sik = sin(ik); - cik = cos(ik); - ikdot = eph.idot + 2.0*pkdot*(eph.cis*c2pk - eph.cic*s2pk); - - xpk = rk*cuk; - ypk = rk*suk; - xpkdot = rkdot*cuk - ypk*ukdot; - ypkdot = rkdot*suk + xpk*ukdot; - - ok = eph.omg0 + tk*eph.omgkdot - OMEGA_EARTH*eph.toe.sec; - sok = sin(ok); - cok = cos(ok); - - pos[0] = xpk*cok - ypk*cik*sok; - pos[1] = xpk*sok + ypk*cik*cok; - pos[2] = ypk*sik; - - tmp = ypkdot*cik - ypk*sik*ikdot; - - vel[0] = -eph.omgkdot*pos[1] + xpkdot*cok - tmp*sok; - vel[1] = eph.omgkdot*pos[0] + xpkdot*sok + tmp*cok; - vel[2] = ypk*cik*ikdot + ypkdot*sik; - - // Satellite clock correction - tk = g.sec - eph.toc.sec; - - if(tk>SECONDS_IN_HALF_WEEK) - tk -= SECONDS_IN_WEEK; - else if(tk<-SECONDS_IN_HALF_WEEK) - tk += SECONDS_IN_WEEK; - - clk[0] = eph.af0 + tk*(eph.af1 + tk*eph.af2) + relativistic - eph.tgd; - clk[1] = eph.af1 + 2.0*tk*eph.af2; - - return; -} - -/*! \brief Compute Subframe from Ephemeris - * \param[in] eph Ephemeris of given SV - * \param[out] sbf Array of five sub-frames, 10 long words each - */ -void eph2sbf(const ephem_t eph, const ionoutc_t ionoutc, unsigned long sbf[5][N_DWRD_SBF]) -{ - unsigned long wn; - unsigned long toe; - unsigned long toc; - unsigned long iode; - unsigned long iodc; - long deltan; - long cuc; - long cus; - long cic; - long cis; - long crc; - long crs; - unsigned long ecc; - unsigned long sqrta; - long m0; - long omg0; - long inc0; - long aop; - long omgdot; - long idot; - long af0; - long af1; - long af2; - long tgd; - int svhlth; - int codeL2; - - unsigned long ura = 0UL; - unsigned long dataId = 1UL; - unsigned long sbf4_page25_svId = 63UL; - unsigned long sbf5_page25_svId = 51UL; - - unsigned long wna; - unsigned long toa; - - signed long alpha0,alpha1,alpha2,alpha3; - signed long beta0,beta1,beta2,beta3; - signed long A0,A1; - signed long dtls,dtlsf; - unsigned long tot,wnt,wnlsf,dn; - unsigned long sbf4_page18_svId = 56UL; - - // FIXED: This has to be the "transmission" week number, not for the ephemeris reference time - //wn = (unsigned long)(eph.toe.week%1024); - wn = 0UL; - toe = (unsigned long)(eph.toe.sec/16.0); - toc = (unsigned long)(eph.toc.sec/16.0); - iode = (unsigned long)(eph.iode); - iodc = (unsigned long)(eph.iodc); - deltan = (long)(eph.deltan/POW2_M43/PI); - cuc = (long)(eph.cuc/POW2_M29); - cus = (long)(eph.cus/POW2_M29); - cic = (long)(eph.cic/POW2_M29); - cis = (long)(eph.cis/POW2_M29); - crc = (long)(eph.crc/POW2_M5); - crs = (long)(eph.crs/POW2_M5); - ecc = (unsigned long)(eph.ecc/POW2_M33); - sqrta = (unsigned long)(eph.sqrta/POW2_M19); - m0 = (long)(eph.m0/POW2_M31/PI); - omg0 = (long)(eph.omg0/POW2_M31/PI); - inc0 = (long)(eph.inc0/POW2_M31/PI); - aop = (long)(eph.aop/POW2_M31/PI); - omgdot = (long)(eph.omgdot/POW2_M43/PI); - idot = (long)(eph.idot/POW2_M43/PI); - af0 = (long)(eph.af0/POW2_M31); - af1 = (long)(eph.af1/POW2_M43); - af2 = (long)(eph.af2/POW2_M55); - tgd = (long)(eph.tgd/POW2_M31); - svhlth = (unsigned long)(eph.svhlth); - codeL2 = (unsigned long)(eph.codeL2); - - wna = (unsigned long)(eph.toe.week%256); - toa = (unsigned long)(eph.toe.sec/4096.0); - - alpha0 = (signed long)round(ionoutc.alpha0/POW2_M30); - alpha1 = (signed long)round(ionoutc.alpha1/POW2_M27); - alpha2 = (signed long)round(ionoutc.alpha2/POW2_M24); - alpha3 = (signed long)round(ionoutc.alpha3/POW2_M24); - beta0 = (signed long)round(ionoutc.beta0/2048.0); - beta1 = (signed long)round(ionoutc.beta1/16384.0); - beta2 = (signed long)round(ionoutc.beta2/65536.0); - beta3 = (signed long)round(ionoutc.beta3/65536.0); - A0 = (signed long)round(ionoutc.A0/POW2_M30); - A1 = (signed long)round(ionoutc.A1/POW2_M50); - dtls = (signed long)(ionoutc.dtls); - tot = (unsigned long)(ionoutc.tot/4096); - wnt = (unsigned long)(ionoutc.wnt%256); - // TO DO: Specify scheduled leap seconds in command options - // 2016/12/31 (Sat) -> WNlsf = 1929, DN = 7 (http://navigationservices.agi.com/GNSSWeb/) - // Days are counted from 1 to 7 (Sunday is 1). - wnlsf = 1929%256; - dn = 7; - dtlsf = 18; - - // Subframe 1 - sbf[0][0] = 0x8B0000UL<<6; - sbf[0][1] = 0x1UL<<8; - sbf[0][2] = ((wn&0x3FFUL)<<20) | ((codeL2&0x3UL)<<18) | ((ura&0xFUL)<<14) | ((svhlth&0x3FUL)<<8) | (((iodc>>8)&0x3UL)<<6); - sbf[0][3] = 0UL; - sbf[0][4] = 0UL; - sbf[0][5] = 0UL; - sbf[0][6] = (tgd&0xFFUL)<<6; - sbf[0][7] = ((iodc&0xFFUL)<<22) | ((toc&0xFFFFUL)<<6); - sbf[0][8] = ((af2&0xFFUL)<<22) | ((af1&0xFFFFUL)<<6); - sbf[0][9] = (af0&0x3FFFFFUL)<<8; - - // Subframe 2 - sbf[1][0] = 0x8B0000UL<<6; - sbf[1][1] = 0x2UL<<8; - sbf[1][2] = ((iode&0xFFUL)<<22) | ((crs&0xFFFFUL)<<6); - sbf[1][3] = ((deltan&0xFFFFUL)<<14) | (((m0>>24)&0xFFUL)<<6); - sbf[1][4] = (m0&0xFFFFFFUL)<<6; - sbf[1][5] = ((cuc&0xFFFFUL)<<14) | (((ecc>>24)&0xFFUL)<<6); - sbf[1][6] = (ecc&0xFFFFFFUL)<<6; - sbf[1][7] = ((cus&0xFFFFUL)<<14) | (((sqrta>>24)&0xFFUL)<<6); - sbf[1][8] = (sqrta&0xFFFFFFUL)<<6; - sbf[1][9] = (toe&0xFFFFUL)<<14; - - // Subframe 3 - sbf[2][0] = 0x8B0000UL<<6; - sbf[2][1] = 0x3UL<<8; - sbf[2][2] = ((cic&0xFFFFUL)<<14) | (((omg0>>24)&0xFFUL)<<6); - sbf[2][3] = (omg0&0xFFFFFFUL)<<6; - sbf[2][4] = ((cis&0xFFFFUL)<<14) | (((inc0>>24)&0xFFUL)<<6); - sbf[2][5] = (inc0&0xFFFFFFUL)<<6; - sbf[2][6] = ((crc&0xFFFFUL)<<14) | (((aop>>24)&0xFFUL)<<6); - sbf[2][7] = (aop&0xFFFFFFUL)<<6; - sbf[2][8] = (omgdot&0xFFFFFFUL)<<6; - sbf[2][9] = ((iode&0xFFUL)<<22) | ((idot&0x3FFFUL)<<8); - - if (ionoutc.vflg==TRUE) - { - // Subframe 4, page 18 - sbf[3][0] = 0x8B0000UL<<6; - sbf[3][1] = 0x4UL<<8; - sbf[3][2] = (dataId<<28) | (sbf4_page18_svId<<22) | ((alpha0&0xFFUL)<<14) | ((alpha1&0xFFUL)<<6); - sbf[3][3] = ((alpha2&0xFFUL)<<22) | ((alpha3&0xFFUL)<<14) | ((beta0&0xFFUL)<<6); - sbf[3][4] = ((beta1&0xFFUL)<<22) | ((beta2&0xFFUL)<<14) | ((beta3&0xFFUL)<<6); - sbf[3][5] = (A1&0xFFFFFFUL)<<6; - sbf[3][6] = ((A0>>8)&0xFFFFFFUL)<<6; - sbf[3][7] = ((A0&0xFFUL)<<22) | ((tot&0xFFUL)<<14) | ((wnt&0xFFUL)<<6); - sbf[3][8] = ((dtls&0xFFUL)<<22) | ((wnlsf&0xFFUL)<<14) | ((dn&0xFFUL)<<6); - sbf[3][9] = (dtlsf&0xFFUL)<<22; - - } - else - { - // Subframe 4, page 25 - sbf[3][0] = 0x8B0000UL<<6; - sbf[3][1] = 0x4UL<<8; - sbf[3][2] = (dataId<<28) | (sbf4_page25_svId<<22); - sbf[3][3] = 0UL; - sbf[3][4] = 0UL; - sbf[3][5] = 0UL; - sbf[3][6] = 0UL; - sbf[3][7] = 0UL; - sbf[3][8] = 0UL; - sbf[3][9] = 0UL; - } - - // Subframe 5, page 25 - sbf[4][0] = 0x8B0000UL<<6; - sbf[4][1] = 0x5UL<<8; - sbf[4][2] = (dataId<<28) | (sbf5_page25_svId<<22) | ((toa&0xFFUL)<<14) | ((wna&0xFFUL)<<6); - sbf[4][3] = 0UL; - sbf[4][4] = 0UL; - sbf[4][5] = 0UL; - sbf[4][6] = 0UL; - sbf[4][7] = 0UL; - sbf[4][8] = 0UL; - sbf[4][9] = 0UL; - - return; -} - -/*! \brief Count number of bits set to 1 - * \param[in] v long word in whihc bits are counted - * \returns Count of bits set to 1 - */ -unsigned long countBits(unsigned long v) -{ - unsigned long c; - const int S[] = {1, 2, 4, 8, 16}; - const unsigned long B[] = { - 0x55555555, 0x33333333, 0x0F0F0F0F, 0x00FF00FF, 0x0000FFFF}; - - c = v; - c = ((c >> S[0]) & B[0]) + (c & B[0]); - c = ((c >> S[1]) & B[1]) + (c & B[1]); - c = ((c >> S[2]) & B[2]) + (c & B[2]); - c = ((c >> S[3]) & B[3]) + (c & B[3]); - c = ((c >> S[4]) & B[4]) + (c & B[4]); - - return(c); -} - -/*! \brief Compute the Checksum for one given word of a subframe - * \param[in] source The input data - * \param[in] nib Does this word contain non-information-bearing bits? - * \returns Computed Checksum - */ -unsigned long computeChecksum(unsigned long source, int nib) -{ - /* - Bits 31 to 30 = 2 LSBs of the previous transmitted word, D29* and D30* - Bits 29 to 6 = Source data bits, d1, d2, ..., d24 - Bits 5 to 0 = Empty parity bits - */ - - /* - Bits 31 to 30 = 2 LSBs of the previous transmitted word, D29* and D30* - Bits 29 to 6 = Data bits transmitted by the SV, D1, D2, ..., D24 - Bits 5 to 0 = Computed parity bits, D25, D26, ..., D30 - */ - - /* - 1 2 3 - bit 12 3456 7890 1234 5678 9012 3456 7890 - --- ------------------------------------- - D25 11 1011 0001 1111 0011 0100 1000 0000 - D26 01 1101 1000 1111 1001 1010 0100 0000 - D27 10 1110 1100 0111 1100 1101 0000 0000 - D28 01 0111 0110 0011 1110 0110 1000 0000 - D29 10 1011 1011 0001 1111 0011 0100 0000 - D30 00 1011 0111 1010 1000 1001 1100 0000 - */ - - unsigned long bmask[6] = { - 0x3B1F3480UL, 0x1D8F9A40UL, 0x2EC7CD00UL, - 0x1763E680UL, 0x2BB1F340UL, 0x0B7A89C0UL }; - - unsigned long D; - unsigned long d = source & 0x3FFFFFC0UL; - unsigned long D29 = (source>>31)&0x1UL; - unsigned long D30 = (source>>30)&0x1UL; - - if (nib) // Non-information bearing bits for word 2 and 10 - { - /* - Solve bits 23 and 24 to presearve parity check - with zeros in bits 29 and 30. - */ - - if ((D30 + countBits(bmask[4] & d)) % 2) - d ^= (0x1UL<<6); - if ((D29 + countBits(bmask[5] & d)) % 2) - d ^= (0x1UL<<7); - } - - D = d; - if (D30) - D ^= 0x3FFFFFC0UL; - - D |= ((D29 + countBits(bmask[0] & d)) % 2) << 5; - D |= ((D30 + countBits(bmask[1] & d)) % 2) << 4; - D |= ((D29 + countBits(bmask[2] & d)) % 2) << 3; - D |= ((D30 + countBits(bmask[3] & d)) % 2) << 2; - D |= ((D30 + countBits(bmask[4] & d)) % 2) << 1; - D |= ((D29 + countBits(bmask[5] & d)) % 2); - - D &= 0x3FFFFFFFUL; - //D |= (source & 0xC0000000UL); // Add D29* and D30* from source data bits - - return(D); -} - -/*! \brief Replace all 'E' exponential designators to 'D' - * \param str String in which all occurrences of 'E' are replaced with * 'D' - * \param len Length of input string in bytes - * \returns Number of characters replaced - */ -int replaceExpDesignator(char *str, int len) -{ - int i,n=0; - - for (i=0; i=SECONDS_IN_WEEK) - { - g1.sec -= SECONDS_IN_WEEK; - g1.week++; - } - - while (g1.sec<0.0) - { - g1.sec += SECONDS_IN_WEEK; - g1.week--; - } - - return(g1); -} - -/*! \brief Read Ephemersi data from the RINEX Navigation file */ -/* \param[out] eph Array of Output SV ephemeris data - * \param[in] fname File name of the RINEX file - * \returns Number of sets of ephemerides in the file - */ -int readRinexNavAll(ephem_t eph[][MAX_SAT], ionoutc_t *ionoutc, const char *fname) -{ - FILE *fp; - int ieph; - - int sv; - char str[MAX_CHAR]; - char tmp[20]; - - datetime_t t; - gpstime_t g; - gpstime_t g0; - double dt; - - int flags = 0x0; - - if (NULL==(fp=fopen(fname, "rt"))) - return(-1); - - // Clear valid flag - for (ieph=0; iephalpha0 = atof(tmp); - - strncpy(tmp, str+14, 12); - tmp[12] = 0; - replaceExpDesignator(tmp, 12); - ionoutc->alpha1 = atof(tmp); - - strncpy(tmp, str+26, 12); - tmp[12] = 0; - replaceExpDesignator(tmp, 12); - ionoutc->alpha2 = atof(tmp); - - strncpy(tmp, str+38, 12); - tmp[12] = 0; - replaceExpDesignator(tmp, 12); - ionoutc->alpha3 = atof(tmp); - - flags |= 0x1; - } - else if (strncmp(str+60, "ION BETA", 8)==0) - { - strncpy(tmp, str+2, 12); - tmp[12] = 0; - replaceExpDesignator(tmp, 12); - ionoutc->beta0 = atof(tmp); - - strncpy(tmp, str+14, 12); - tmp[12] = 0; - replaceExpDesignator(tmp, 12); - ionoutc->beta1 = atof(tmp); - - strncpy(tmp, str+26, 12); - tmp[12] = 0; - replaceExpDesignator(tmp, 12); - ionoutc->beta2 = atof(tmp); - - strncpy(tmp, str+38, 12); - tmp[12] = 0; - replaceExpDesignator(tmp, 12); - ionoutc->beta3 = atof(tmp); - - flags |= 0x1<<1; - } - else if (strncmp(str+60, "DELTA-UTC", 9)==0) - { - strncpy(tmp, str+3, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - ionoutc->A0 = atof(tmp); - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - ionoutc->A1 = atof(tmp); - - strncpy(tmp, str+41, 9); - tmp[9] = 0; - ionoutc->tot = atoi(tmp); - - strncpy(tmp, str+50, 9); - tmp[9] = 0; - ionoutc->wnt = atoi(tmp); - - if (ionoutc->tot%4096==0) - flags |= 0x1<<2; - } - else if (strncmp(str+60, "LEAP SECONDS", 12)==0) - { - strncpy(tmp, str, 6); - tmp[6] = 0; - ionoutc->dtls = atoi(tmp); - - flags |= 0x1<<3; - } - } - - ionoutc->vflg = FALSE; - if (flags==0xF) // Read all Iono/UTC lines - ionoutc->vflg = TRUE; - - // Read ephemeris blocks - g0.week = -1; - ieph = 0; - - while (1) - { - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - // PRN - strncpy(tmp, str, 2); - tmp[2] = 0; - sv = atoi(tmp)-1; - - // EPOCH - strncpy(tmp, str+3, 2); - tmp[2] = 0; - t.y = atoi(tmp) + 2000; - - strncpy(tmp, str+6, 2); - tmp[2] = 0; - t.m = atoi(tmp); - - strncpy(tmp, str+9, 2); - tmp[2] = 0; - t.d = atoi(tmp); - - strncpy(tmp, str+12, 2); - tmp[2] = 0; - t.hh = atoi(tmp); - - strncpy(tmp, str+15, 2); - tmp[2] = 0; - t.mm = atoi(tmp); - - strncpy(tmp, str+18, 4); - tmp[2] = 0; - t.sec = atof(tmp); - - date2gps(&t, &g); - - if (g0.week==-1) - g0 = g; - - // Check current time of clock - dt = subGpsTime(g, g0); - - if (dt>SECONDS_IN_HOUR) - { - g0 = g; - ieph++; // a new set of ephemerides - - if (ieph>=EPHEM_ARRAY_SIZE) - break; - } - - // Date and time - eph[ieph][sv].t = t; - - // SV CLK - eph[ieph][sv].toc = g; - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); // tmp[15]='E'; - eph[ieph][sv].af0 = atof(tmp); - - strncpy(tmp, str+41, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].af1 = atof(tmp); - - strncpy(tmp, str+60, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].af2 = atof(tmp); - - // BROADCAST ORBIT - 1 - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - strncpy(tmp, str+3, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].iode = (int)atof(tmp); - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].crs = atof(tmp); - - strncpy(tmp, str+41, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].deltan = atof(tmp); - - strncpy(tmp, str+60, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].m0 = atof(tmp); - - // BROADCAST ORBIT - 2 - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - strncpy(tmp, str+3, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].cuc = atof(tmp); - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].ecc = atof(tmp); - - strncpy(tmp, str+41, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].cus = atof(tmp); - - strncpy(tmp, str+60, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].sqrta = atof(tmp); - - // BROADCAST ORBIT - 3 - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - strncpy(tmp, str+3, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].toe.sec = atof(tmp); - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].cic = atof(tmp); - - strncpy(tmp, str+41, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].omg0 = atof(tmp); - - strncpy(tmp, str+60, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].cis = atof(tmp); - - // BROADCAST ORBIT - 4 - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - strncpy(tmp, str+3, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].inc0 = atof(tmp); - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].crc = atof(tmp); - - strncpy(tmp, str+41, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].aop = atof(tmp); - - strncpy(tmp, str+60, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].omgdot = atof(tmp); - - // BROADCAST ORBIT - 5 - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - strncpy(tmp, str+3, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].idot = atof(tmp); - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].codeL2 = (int)atof(tmp); - - strncpy(tmp, str+41, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].toe.week = (int)atof(tmp); - - // BROADCAST ORBIT - 6 - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - strncpy(tmp, str+22, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].svhlth = (int)atof(tmp); - if ((eph[ieph][sv].svhlth>0) && (eph[ieph][sv].svhlth<32)) - eph[ieph][sv].svhlth += 32; // Set MSB to 1 - - strncpy(tmp, str+41, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].tgd = atof(tmp); - - strncpy(tmp, str+60, 19); - tmp[19] = 0; - replaceExpDesignator(tmp, 19); - eph[ieph][sv].iodc = (int)atof(tmp); - - // BROADCAST ORBIT - 7 - if (NULL==fgets(str, MAX_CHAR, fp)) - break; - - // Set valid flag - eph[ieph][sv].vflg = 1; - - // Update the working variables - eph[ieph][sv].A = eph[ieph][sv].sqrta * eph[ieph][sv].sqrta; - eph[ieph][sv].n = sqrt(GM_EARTH/(eph[ieph][sv].A*eph[ieph][sv].A*eph[ieph][sv].A)) + eph[ieph][sv].deltan; - eph[ieph][sv].sq1e2 = sqrt(1.0 - eph[ieph][sv].ecc*eph[ieph][sv].ecc); - eph[ieph][sv].omgkdot = eph[ieph][sv].omgdot - OMEGA_EARTH; - } - - fclose(fp); - - if (g0.week>=0) - ieph += 1; // Number of sets of ephemerides - - return(ieph); -} - -double ionosphericDelay(const ionoutc_t *ionoutc, gpstime_t g, double *llh, double *azel) -{ - double iono_delay = 0.0; - double E,phi_u,lam_u,F; - - if (ionoutc->enable==FALSE) - return (0.0); // No ionospheric delay - - E = azel[1]/PI; - phi_u = llh[0]/PI; - lam_u = llh[1]/PI; - - // Obliquity factor - F = 1.0 + 16.0*pow((0.53 - E),3.0); - - if (ionoutc->vflg==FALSE) - iono_delay = F*5.0e-9*SPEED_OF_LIGHT; - else - { - double t,psi,phi_i,lam_i,phi_m,phi_m2,phi_m3; - double AMP,PER,X,X2,X4; - - // Earth's central angle between the user position and the earth projection of - // ionospheric intersection point (semi-circles) - psi = 0.0137/(E + 0.11) - 0.022; - - // Geodetic latitude of the earth projection of the ionospheric intersection point - // (semi-circles) - phi_i = phi_u + psi*cos(azel[0]); - if(phi_i>0.416) - phi_i = 0.416; - else if(phi_i<-0.416) - phi_i = -0.416; - - // Geodetic longitude of the earth projection of the ionospheric intersection point - // (semi-circles) - lam_i = lam_u + psi*sin(azel[0])/cos(phi_i*PI); - - // Geomagnetic latitude of the earth projection of the ionospheric intersection - // point (mean ionospheric height assumed 350 km) (semi-circles) - phi_m = phi_i + 0.064*cos((lam_i - 1.617)*PI); - phi_m2 = phi_m*phi_m; - phi_m3 = phi_m2*phi_m; - - AMP = ionoutc->alpha0 + ionoutc->alpha1*phi_m - + ionoutc->alpha2*phi_m2 + ionoutc->alpha3*phi_m3; - if (AMP<0.0) - AMP = 0.0; - - PER = ionoutc->beta0 + ionoutc->beta1*phi_m - + ionoutc->beta2*phi_m2 + ionoutc->beta3*phi_m3; - if (PER<72000.0) - PER = 72000.0; - - // Local time (sec) - t = SECONDS_IN_DAY/2.0*lam_i + g.sec; - while(t>=SECONDS_IN_DAY) - t -= SECONDS_IN_DAY; - while(t<0) - t += SECONDS_IN_DAY; - - // Phase (radians) - X = 2.0*PI*(t - 50400.0)/PER; - - if(fabs(X)<1.57) - { - X2 = X*X; - X4 = X2*X2; - iono_delay = F*(5.0e-9 + AMP*(1.0 - X2/2.0 + X4/24.0))*SPEED_OF_LIGHT; - } - else - iono_delay = F*5.0e-9*SPEED_OF_LIGHT; - } - - return (iono_delay); -} - -/*! \brief Compute range between a satellite and the receiver - * \param[out] rho The computed range - * \param[in] eph Ephemeris data of the satellite - * \param[in] g GPS time at time of receiving the signal - * \param[in] xyz position of the receiver - */ -void computeRange(range_t *rho, ephem_t eph, ionoutc_t *ionoutc, gpstime_t g, double xyz[]) -{ - double pos[3],vel[3],clk[2]; - double los[3]; - double tau; - double range,rate; - double xrot,yrot; - - double llh[3],neu[3]; - double tmat[3][3]; - - // SV position at time of the pseudorange observation. - satpos(eph, g, pos, vel, clk); - - // Receiver to satellite vector and light-time. - subVect(los, pos, xyz); - tau = normVect(los)/SPEED_OF_LIGHT; - - // Extrapolate the satellite position backwards to the transmission time. - pos[0] -= vel[0]*tau; - pos[1] -= vel[1]*tau; - pos[2] -= vel[2]*tau; - - // Earth rotation correction. The change in velocity can be neglected. - xrot = pos[0] + pos[1]*OMEGA_EARTH*tau; - yrot = pos[1] - pos[0]*OMEGA_EARTH*tau; - pos[0] = xrot; - pos[1] = yrot; - - // New observer to satellite vector and satellite range. - subVect(los, pos, xyz); - range = normVect(los); - rho->d = range; - - // Pseudorange. - rho->range = range - SPEED_OF_LIGHT*clk[0]; - - // Relative velocity of SV and receiver. - rate = dotProd(vel, los)/range; - - // Pseudorange rate. - rho->rate = rate; // - SPEED_OF_LIGHT*clk[1]; - - // Time of application. - rho->g = g; - - // Azimuth and elevation angles. - xyz2llh(xyz, llh); - ltcmat(llh, tmat); - ecef2neu(los, tmat, neu); - neu2azel(rho->azel, neu); - - // Add ionospheric delay - rho->iono_delay = ionosphericDelay(ionoutc, g, llh, rho->azel); - rho->range += rho->iono_delay; - - return; -} - -/*! \brief Compute the code phase for a given channel (satellite) - * \param chan Channel on which we operate (is updated) - * \param[in] rho1 Current range, after \a dt has expired - * \param[in dt delta-t (time difference) in seconds - */ -void computeCodePhase(channel_t *chan, range_t rho1, double dt) -{ - double ms; - int ims; - double rhorate; - - // Pseudorange rate. - rhorate = (rho1.range - chan->rho0.range)/dt; - - // Carrier and code frequency. - chan->f_carr = -rhorate/LAMBDA_L1; - chan->f_code = CODE_FREQ + chan->f_carr*CARR_TO_CODE; - - // Initial code phase and data bit counters. - ms = ((subGpsTime(chan->rho0.g,chan->g0)+6.0) - chan->rho0.range/SPEED_OF_LIGHT)*1000.0; - - ims = (int)ms; - chan->code_phase = (ms-(double)ims)*CA_SEQ_LEN; // in chip - - chan->iword = ims/600; // 1 word = 30 bits = 600 ms - ims -= chan->iword*600; - - chan->ibit = ims/20; // 1 bit = 20 code = 20 ms - ims -= chan->ibit*20; - - chan->icode = ims; // 1 code = 1 ms - - chan->codeCA = chan->ca[(int)chan->code_phase]*2-1; - chan->dataBit = (int)((chan->dwrd[chan->iword]>>(29-chan->ibit)) & 0x1UL)*2-1; - - // Save current pseudorange - chan->rho0 = rho1; - - return; -} - -/*! \brief Read the list of user motions from the input file - * \param[out] xyz Output array of ECEF vectors for user motion - * \param[[in] filename File name of the text input file - * \returns Number of user data motion records read, -1 on error - */ -int readUserMotion(double xyz[USER_MOTION_SIZE][3], const char *filename) -{ - FILE *fp; - int numd; - char str[MAX_CHAR]; - double t,x,y,z; - - if (NULL==(fp=fopen(filename,"rt"))) - return(-1); - - for (numd=0; numd=USER_MOTION_SIZE) - break; - } - } - - fclose(fp); - - return (numd); -} - -int generateNavMsg(gpstime_t g, channel_t *chan, int init) -{ - int iwrd,isbf; - gpstime_t g0; - unsigned long wn,tow; - unsigned sbfwrd; - unsigned long prevwrd; - int nib; - - g0.week = g.week; - g0.sec = (double)(((unsigned long)(g.sec+0.5))/30UL) * 30.0; // Align with the full frame length = 30 sec - chan->g0 = g0; // Data bit reference time - - wn = (unsigned long)(g0.week%1024); - tow = ((unsigned long)g0.sec)/6UL; - - if (init==1) // Initialize subframe 5 - { - prevwrd = 0UL; - - for (iwrd=0; iwrdsbf[4][iwrd]; - - // Add TOW-count message into HOW - if (iwrd==1) - sbfwrd |= ((tow&0x1FFFFUL)<<13); - - // Compute checksum - sbfwrd |= (prevwrd<<30) & 0xC0000000UL; // 2 LSBs of the previous transmitted word - nib = ((iwrd==1)||(iwrd==9))?1:0; // Non-information bearing bits for word 2 and 10 - chan->dwrd[iwrd] = computeChecksum(sbfwrd, nib); - - prevwrd = chan->dwrd[iwrd]; - } - } - else // Save subframe 5 - { - for (iwrd=0; iwrddwrd[iwrd] = chan->dwrd[N_DWRD_SBF*N_SBF+iwrd]; - - prevwrd = chan->dwrd[iwrd]; - } - /* - // Sanity check - if (((chan->dwrd[1])&(0x1FFFFUL<<13)) != ((tow&0x1FFFFUL)<<13)) - { - printf("\nWARNING: Invalid TOW in subframe 5.\n"); - return(0); - } - */ - } - - for (isbf=0; isbfsbf[isbf][iwrd]; - - // Add transmission week number to Subframe 1 - if ((isbf==0)&&(iwrd==2)) - sbfwrd |= (wn&0x3FFUL)<<20; - - // Add TOW-count message into HOW - if (iwrd==1) - sbfwrd |= ((tow&0x1FFFFUL)<<13); - - // Compute checksum - sbfwrd |= (prevwrd<<30) & 0xC0000000UL; // 2 LSBs of the previous transmitted word - nib = ((iwrd==1)||(iwrd==9))?1:0; // Non-information bearing bits for word 2 and 10 - chan->dwrd[(isbf+1)*N_DWRD_SBF+iwrd] = computeChecksum(sbfwrd, nib); - - prevwrd = chan->dwrd[(isbf+1)*N_DWRD_SBF+iwrd]; - } - } - - return(1); -} - -int checkSatVisibility(ephem_t eph, gpstime_t g, double *xyz, double elvMask, double *azel) -{ - double llh[3],neu[3]; - double pos[3],vel[3],clk[3],los[3]; - double tmat[3][3]; - - if (eph.vflg != 1) - return (-1); // Invalid - - xyz2llh(xyz,llh); - ltcmat(llh, tmat); - - satpos(eph, g, pos, vel, clk); - subVect(los, pos, xyz); - ecef2neu(los, tmat, neu); - neu2azel(azel, neu); - - if (azel[1]*R2D > elvMask) - return (1); // Visible - // else - return (0); // Invisible -} - -int allocateChannel(channel_t *chan, ephem_t *eph, ionoutc_t ionoutc, gpstime_t grx, double *xyz, double elvMask) -{ - int nsat=0; - int i,sv; - double azel[2]; - - range_t rho; - double ref[3]={0.0}; - double r_ref,r_xyz; - double phase_ini; - - for (sv=0; sv=0) // Not visible but allocated - { - // Clear channel - chan[allocatedSat[sv]].prn = 0; - - // Clear satellite allocation flag - allocatedSat[sv] = -1; - } - } - - return(nsat); -} - -void usage(void) -{ - printf("Usage: gps-sdr-sim [options]\n" - "Options:\n" - " -e RINEX navigation file for GPS ephemerides (required)\n" - " -u User motion file (dynamic mode)\n" - " -g NMEA GGA stream (dynamic mode)\n" - " -l Lat,Lon,Hgt (static mode) e.g. 35.681298,139.766247,10.0\n" - " -t Scenario start time YYYY/MM/DD,hh:mm:ss\n" - " -T Overwrite TOC and TOE to scenario start time\n" - " -d Duration [sec] (dynamic mode max: %.0f, static mode max: %d)\n" - " -o I/Q sampling data file (default: gpssim.bin)\n" - " -s Sampling frequency [Hz] (default: 2600000)\n" - " -b I/Q data format [1/8/16] (default: 16)\n" - " -i Disable ionospheric delay for spacecraft scenario\n" - " -v Show details about simulated channels\n", - ((double)USER_MOTION_SIZE) / 10.0, STATIC_MAX_DURATION); - - return; -} - -int main(int argc, char *argv[]) -{ - clock_t tstart,tend; - - FILE *fp; - - int sv; - int neph,ieph; - ephem_t eph[EPHEM_ARRAY_SIZE][MAX_SAT]; - gpstime_t g0; - - double llh[3]; - - int i; - channel_t chan[MAX_CHAN]; - double elvmask = 0.0; // in degree - - int ip,qp; - int iTable; - short *iq_buff = NULL; - signed char *iq8_buff = NULL; - - gpstime_t grx; - double delt; - int isamp; - - int iumd; - int numd; - char umfile[MAX_CHAR]; - double xyz[USER_MOTION_SIZE][3]; - - int staticLocationMode = FALSE; - int nmeaGGA = FALSE; - - char navfile[MAX_CHAR]; - char outfile[MAX_CHAR]; - - double samp_freq; - int iq_buff_size; - int data_format; - - int result; - - int gain[MAX_CHAN]; - double path_loss; - double ant_gain; - double ant_pat[37]; - int ibs; // boresight angle index - - datetime_t t0,tmin,tmax; - gpstime_t gmin,gmax; - double dt; - int igrx; - - double duration; - int iduration; - int verb; - - int timeoverwrite = FALSE; // Overwirte the TOC and TOE in the RINEX file - - ionoutc_t ionoutc; - - - int usesocket=false; - int sockc=0; - - //////////////////////////////////////////////////////////// - // Read options - //////////////////////////////////////////////////////////// - - // Default options - navfile[0] = 0; - umfile[0] = 0; - strcpy(outfile, "gpssim.bin"); - samp_freq = 2.6e6; - data_format = SC16; - g0.week = -1; // Invalid start time - iduration = USER_MOTION_SIZE; - duration = (double)iduration/10.0; // Default duration - verb = FALSE; - ionoutc.enable = TRUE; - - if (argc<3) - { - usage(); - exit(1); - } - - while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:iv:n"))!=-1) - { - switch (result) - { - case 'e': - strcpy(navfile, optarg); - break; - case 'u': - strcpy(umfile, optarg); - nmeaGGA = FALSE; - break; - case 'g': - strcpy(umfile, optarg); - nmeaGGA = TRUE; - break; - case 'l': - // Static geodetic coordinates input mode - // Added by scateu@gmail.com - staticLocationMode = TRUE; - sscanf(optarg,"%lf,%lf,%lf",&llh[0],&llh[1],&llh[2]); - llh[0] = llh[0] / R2D; // convert to RAD - llh[1] = llh[1] / R2D; // convert to RAD - break; - case 'o': - strcpy(outfile, optarg); - break; - case 's': - samp_freq = atof(optarg); - if (samp_freq<1.0e6) - { - printf("ERROR: Invalid sampling frequency.\n"); - exit(1); - } - break; - case 'b': - data_format = atoi(optarg); - if (data_format!=SC01 && data_format!=SC08 && data_format!=SC16) - { - printf("ERROR: Invalid I/Q data format.\n"); - exit(1); - } - break; - case 'T': - timeoverwrite = TRUE; - if (strncmp(optarg, "now", 3)==0) - { - time_t timer; - struct tm *gmt; - - time(&timer); - gmt = gmtime(&timer); - - t0.y = gmt->tm_year+1900; - t0.m = gmt->tm_mon+1; - t0.d = gmt->tm_mday; - t0.hh = gmt->tm_hour; - t0.mm = gmt->tm_min; - t0.sec = (double)gmt->tm_sec; - - date2gps(&t0, &g0); - - break; - } - case 't': - sscanf(optarg, "%d/%d/%d,%d:%d:%lf", &t0.y, &t0.m, &t0.d, &t0.hh, &t0.mm, &t0.sec); - if (t0.y<=1980 || t0.m<1 || t0.m>12 || t0.d<1 || t0.d>31 || - t0.hh<0 || t0.hh>23 || t0.mm<0 || t0.mm>59 || t0.sec<0.0 || t0.sec>=60.0) - { - printf("ERROR: Invalid date and time.\n"); - exit(1); - } - t0.sec = floor(t0.sec); - date2gps(&t0, &g0); - break; - case 'd': - duration = atof(optarg); - break; - case 'i': - ionoutc.enable = FALSE; // Disable ionospheric correction - break; - case 'v': - verb = TRUE; - break; - case ':': - case '?': - usage(); - exit(1); - case 'n': - sockc=sockinit(); - usesocket=true; - default: - break; - } - } - - if (navfile[0]==0) - { - printf("ERROR: GPS ephemeris file is not specified.\n"); - exit(1); - } - - if (umfile[0]==0 && !staticLocationMode) - { - // Default static location; Tokyo - staticLocationMode = TRUE; - llh[0] = 35.681298 / R2D; - llh[1] = 139.766247 / R2D; - llh[2] = 10.0; - } - - if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode)) - { - printf("ERROR: Invalid duration.\n"); - exit(1); - } - iduration = (int)(duration*10.0 + 0.5); - - // Buffer size - samp_freq = floor(samp_freq/10.0); - iq_buff_size = (int)samp_freq; // samples per 0.1sec - samp_freq *= 10.0; - - delt = 1.0/samp_freq; - - //////////////////////////////////////////////////////////// - // Receiver position - //////////////////////////////////////////////////////////// - - if (!staticLocationMode) - { - // Read user motion file - if (nmeaGGA==TRUE) - numd = readNmeaGGA(xyz, umfile); - else - numd = readUserMotion(xyz, umfile); - - if (numd==-1) - { - printf("ERROR: Failed to open user motion / NMEA GGA file.\n"); - exit(1); - } - else if (numd==0) - { - printf("ERROR: Failed to read user motion / NMEA GGA data.\n"); - exit(1); - } - - // Set simulation duration - if (numd>iduration) - numd = iduration; - } - else - { - // Static geodetic coordinates input mode: "-l" - // Added by scateu@gmail.com - printf("Using static location mode.\n"); - llh2xyz(llh,xyz[0]); // Convert llh to xyz - - numd = iduration; - } -/* - printf("xyz = %11.1f, %11.1f, %11.1f\n", xyz[0][0], xyz[0][1], xyz[0][2]); - printf("llh = %11.6f, %11.6f, %11.1f\n", llh[0]*R2D, llh[1]*R2D, llh[2]); -*/ - //////////////////////////////////////////////////////////// - // Read ephemeris - //////////////////////////////////////////////////////////// - - neph = readRinexNavAll(eph, &ionoutc, navfile); - - if (neph==0) - { - printf("ERROR: No ephemeris available.\n"); - exit(1); - } - - if ((verb==TRUE)&&(ionoutc.vflg==TRUE)) - { - printf(" %12.3e %12.3e %12.3e %12.3e\n", - ionoutc.alpha0, ionoutc.alpha1, ionoutc.alpha2, ionoutc.alpha3); - printf(" %12.3e %12.3e %12.3e %12.3e\n", - ionoutc.beta0, ionoutc.beta1, ionoutc.beta2, ionoutc.beta3); - printf(" %19.11e %19.11e %9d %9d\n", - ionoutc.A0, ionoutc.A1, ionoutc.tot, ionoutc.wnt); - printf("%6d\n", ionoutc.dtls); - } - - for (sv=0; sv=0) // Scenario start time has been set. - { - if (timeoverwrite==TRUE) - { - gpstime_t gtmp; - datetime_t ttmp; - double dsec; - - gtmp.week = g0.week; - gtmp.sec = (double)(((int)(g0.sec))/7200)*7200.0; - - dsec = subGpsTime(gtmp,gmin); - - // Overwrite the UTC reference week number - ionoutc.wnt = gtmp.week; - ionoutc.tot = (int)gtmp.sec; - - // Iono/UTC parameters may no longer valid - //ionoutc.vflg = FALSE; - - // Overwrite the TOC and TOE to the scenario start time - for (sv=0; sv=-SECONDS_IN_HOUR && dt=0) // ieph has been set - break; - } - - if (ieph == -1) - { - printf("ERROR: No current set of ephemerides has been found.\n"); - exit(1); - } - - //////////////////////////////////////////////////////////// - // Baseband signal buffer and output file - //////////////////////////////////////////////////////////// - - // Allocate I/Q buffer - iq_buff = calloc(2*iq_buff_size, 2); - - if (iq_buff==NULL) - { - printf("ERROR: Faild to allocate 16-bit I/Q buffer.\n"); - exit(1); - } - - if (data_format==SC08) - { - iq8_buff = calloc(2*iq_buff_size, 1); - if (iq8_buff==NULL) - { - printf("ERROR: Faild to allocate 8-bit I/Q buffer.\n"); - exit(1); - } - } - else if (data_format==SC01) - { - iq8_buff = calloc(iq_buff_size/4, 1); // byte = {I0, Q0, I1, Q1, I2, Q2, I3, Q3} - if (iq8_buff==NULL) - { - printf("ERROR: Faild to allocate compressed 1-bit I/Q buffer.\n"); - exit(1); - } - } - if(usesocket==false){ - // Open output file - if (NULL==(fp=fopen(outfile,"wb"))) - { - printf("ERROR: Failed to open output file.\n"); - exit(1); - } - } - //////////////////////////////////////////////////////////// - // Initialize channels - //////////////////////////////////////////////////////////// - - // Clear all channels - for (i=0; i0) - printf("%02d %6.1f %5.1f %11.1f %5.1f\n", chan[i].prn, - chan[i].azel[0]*R2D, chan[i].azel[1]*R2D, chan[i].rho0.d, chan[i].rho0.iono_delay); - } - - //////////////////////////////////////////////////////////// - // Receiver antenna gain pattern - //////////////////////////////////////////////////////////// - - for (i=0; i<37; i++) - ant_pat[i] = pow(10.0, -ant_pat_db[i]/20.0); - - //////////////////////////////////////////////////////////// - // Generate baseband signals - //////////////////////////////////////////////////////////// - - tstart = clock(); - - // Update receiver time - grx = incGpsTime(grx, 0.1); - - for (iumd=1; iumd0) - { - // Refresh code phase and data bit counters - range_t rho; - sv = chan[i].prn-1; - - // Current pseudorange - if (!staticLocationMode) - computeRange(&rho, eph[ieph][sv], &ionoutc, grx, xyz[iumd]); - else - computeRange(&rho, eph[ieph][sv], &ionoutc, grx, xyz[0]); - - chan[i].azel[0] = rho.azel[0]; - chan[i].azel[1] = rho.azel[1]; - - // Update code phase and data bit counters - computeCodePhase(&chan[i], rho, 0.1); - chan[i].carr_phasestep = (int)(512 * 65536.0 * chan[i].f_carr * delt); - - // Path loss - path_loss = 20200000.0/rho.d; - - // Receiver antenna gain - ibs = (int)((90.0-rho.azel[1]*R2D)/5.0); // covert elevation to boresight - ant_gain = ant_pat[ibs]; - - // Signal gain - gain[i] = (int)(path_loss*ant_gain*128.0); // scaled by 2^7 - } - } - - for (isamp=0; isamp0) - { - iTable = (chan[i].carr_phase >> 16) & 511; - - ip = chan[i].dataBit * chan[i].codeCA * cosTable512[iTable] * gain[i]; - qp = chan[i].dataBit * chan[i].codeCA * sinTable512[iTable] * gain[i]; - - // Accumulate for all visible satellites - i_acc += ip; - q_acc += qp; - - // Update code phase - chan[i].code_phase += chan[i].f_code * delt; - - if (chan[i].code_phase>=CA_SEQ_LEN) - { - chan[i].code_phase -= CA_SEQ_LEN; - - chan[i].icode++; - - if (chan[i].icode>=20) // 20 C/A codes = 1 navigation data bit - { - chan[i].icode = 0; - chan[i].ibit++; - - if (chan[i].ibit>=30) // 30 navigation data bits = 1 word - { - chan[i].ibit = 0; - chan[i].iword++; - /* - if (chan[i].iword>=N_DWRD) - printf("\nWARNING: Subframe word buffer overflow.\n"); - */ - } - - // Set new navigation data bit - chan[i].dataBit = (int)((chan[i].dwrd[chan[i].iword]>>(29-chan[i].ibit)) & 0x1UL)*2-1; - } - } - - // Set currnt code chip - chan[i].codeCA = chan[i].ca[(int)chan[i].code_phase]*2-1; - - // Update carrier phase - chan[i].carr_phase += chan[i].carr_phasestep; - } - } - - // Scaled by 2^7 - i_acc = (i_acc+64)>>7; - q_acc = (q_acc+64)>>7; - - // Store I/Q samples into buffer - iq_buff[isamp*2] = (short)i_acc; - iq_buff[isamp*2+1] = (short)q_acc; - } - - if (data_format==SC01&&usesocket==false) - { - for (isamp=0; isamp<2*iq_buff_size; isamp++) - { - if (isamp%8==0) - iq8_buff[isamp/8] = 0x00; - - iq8_buff[isamp/8] |= (iq_buff[isamp]>0?0x01:0x00)<<(7-isamp%8); - } - - fwrite(iq8_buff, 1, iq_buff_size/4, fp); - } - else if (data_format==SC08&&usesocket==false) - { - for (isamp=0; isamp<2*iq_buff_size; isamp++) - iq8_buff[isamp] = iq_buff[isamp]>>4; // 12-bit bladeRF -> 8-bit HackRF - - fwrite(iq8_buff, 1, 2*iq_buff_size, fp); - } - else if(data_format==SC16&&usesocket==false) - { - fwrite(iq_buff, 2, 2*iq_buff_size, fp); - } - if(usesocket==true){ - float *datap=(float*)calloc(iq_buff_size*2,sizeof(float)); - int l=0; - for(l=0;l0) - generateNavMsg(grx, &chan[i], 0); - } - - // Refresh ephemeris and subframes - // Quick and dirty fix. Need more elegant way. - for (sv=0; sv0) - printf("%02d %6.1f %5.1f %11.1f %5.1f\n", chan[i].prn, - chan[i].azel[0]*R2D, chan[i].azel[1]*R2D, chan[i].rho0.d, chan[i].rho0.iono_delay); - } - } - } - if(subGpsTime(grx, g0)-(double)(clock()-tstart)/CLOCKS_PER_SEC>0.2&&usesocket==true){ - sleep((subGpsTime(grx, g0)-(double)(clock()-tstart)/CLOCKS_PER_SEC)/10); - } - // Update receiver time - grx = incGpsTime(grx, 0.1); - - // Update time counter - printf("\rTime into run = %4.1f", subGpsTime(grx, g0)); - fflush(stdout); - } - - tend = clock(); - - printf("\nDone!\n"); - - // Free I/Q buffer - free(iq_buff); - - // Close file - if(usesocket==false) - fclose(fp); - else sockclose(sockc); - // Process time - printf("Process time = %.1f [sec]\n", (double)(tend-tstart)/CLOCKS_PER_SEC); - - return(0); -} From a476e0a8b5c18cfb6b98f9f757c14a8ab45784a5 Mon Sep 17 00:00:00 2001 From: QingBiJuShi Date: Sun, 23 Apr 2017 01:14:21 +0800 Subject: [PATCH 05/35] Delete gpssim.h~ --- gpssim.h~ | 177 ------------------------------------------------------ 1 file changed, 177 deletions(-) delete mode 100644 gpssim.h~ diff --git a/gpssim.h~ b/gpssim.h~ deleted file mode 100644 index 5cad835..0000000 --- a/gpssim.h~ +++ /dev/null @@ -1,177 +0,0 @@ -#ifndef GPSSIM_H -#define GPSSIM_H - -#define TRUE (1) -#define FALSE (0) - -/*! \brief Maximum length of a line in a text file (RINEX, motion) */ -#define MAX_CHAR (100) - -/*! \brief Maximum number of satellites in RINEX file */ -#define MAX_SAT (32) - -/*! \brief Maximum number of channels we simulate */ -#define MAX_CHAN (16) - -/*! \brief Maximum number of user motion points */ -#define USER_MOTION_SIZE (3000) // max duration at 10Hz - -/*! \brief Maximum duration for static mode*/ -#define STATIC_MAX_DURATION (86400) // second - -/*! \brief Number of subframes */ -#define N_SBF (5) // 5 subframes per frame - -/*! \brief Number of words per subframe */ -#define N_DWRD_SBF (10) // 10 word per subframe - -/*! \brief Number of words */ -#define N_DWRD ((N_SBF+1)*N_DWRD_SBF) // Subframe word buffer size - -/*! \brief C/A code sequence length */ -#define CA_SEQ_LEN (1023) - -#define SECONDS_IN_WEEK 604800.0 -#define SECONDS_IN_HALF_WEEK 302400.0 -#define SECONDS_IN_DAY 86400.0 -#define SECONDS_IN_HOUR 3600.0 -#define SECONDS_IN_MINUTE 60.0 - -#define POW2_M5 0.03125 -#define POW2_M19 1.907348632812500e-6 -#define POW2_M29 1.862645149230957e-9 -#define POW2_M31 4.656612873077393e-10 -#define POW2_M33 1.164153218269348e-10 -#define POW2_M43 1.136868377216160e-13 -#define POW2_M55 2.775557561562891e-17 - -#define POW2_M50 8.881784197001252e-016 -#define POW2_M30 9.313225746154785e-010 -#define POW2_M27 7.450580596923828e-009 -#define POW2_M24 5.960464477539063e-008 - -// Conventional values employed in GPS ephemeris model (ICD-GPS-200) -#define GM_EARTH 3.986005e14 -#define OMEGA_EARTH 7.2921151467e-5 -#define PI 3.1415926535898 - -#define WGS84_RADIUS 6378137.0 -#define WGS84_ECCENTRICITY 0.0818191908426 - -#define R2D 57.2957795131 - -#define SPEED_OF_LIGHT 2.99792458e8 -#define LAMBDA_L1 0.190293672798365 - -/*! \brief GPS L1 Carrier frequency */ -#define CARR_FREQ (1575.42e6) -/*! \brief C/A code frequency */ -#define CODE_FREQ (1.023e6) -#define CARR_TO_CODE (1.0/1540.0) - -// Sampling data format -#define SC01 (1) -#define SC08 (8) -#define SC16 (16) - -#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc) - -/*! \brief Structure representing GPS time */ -typedef struct -{ - int week; /*!< GPS week number (since January 1980) */ - double sec; /*!< second inside the GPS \a week */ -} gpstime_t; - -/*! \brief Structure repreenting UTC time */ -typedef struct -{ - int y; /*!< Calendar year */ - int m; /*!< Calendar month */ - int d; /*!< Calendar day */ - int hh; /*!< Calendar hour */ - int mm; /*!< Calendar minutes */ - double sec; /*!< Calendar seconds */ -} datetime_t; - -/*! \brief Structure representing ephemeris of a single satellite */ -typedef struct -{ - int vflg; /*!< Valid Flag */ - datetime_t t; - gpstime_t toc; /*!< Time of Clock */ - gpstime_t toe; /*!< Time of Ephemeris */ - int iodc; /*!< Issue of Data, Clock */ - int iode; /*!< Isuse of Data, Ephemeris */ - double deltan; /*!< Delta-N (radians/sec) */ - double cuc; /*!< Cuc (radians) */ - double cus; /*!< Cus (radians) */ - double cic; /*!< Correction to inclination cos (radians) */ - double cis; /*!< Correction to inclination sin (radians) */ - double crc; /*!< Correction to radius cos (meters) */ - double crs; /*!< Correction to radius sin (meters) */ - double ecc; /*!< e Eccentricity */ - double sqrta; /*!< sqrt(A) (sqrt(m)) */ - double m0; /*!< Mean anamoly (radians) */ - double omg0; /*!< Longitude of the ascending node (radians) */ - double inc0; /*!< Inclination (radians) */ - double aop; - double omgdot; /*!< Omega dot (radians/s) */ - double idot; /*!< IDOT (radians/s) */ - double af0; /*!< Clock offset (seconds) */ - double af1; /*!< rate (sec/sec) */ - double af2; /*!< acceleration (sec/sec^2) */ - double tgd; /*!< Group delay L2 bias */ - int svhlth; - int codeL2; - // Working variables follow - double n; /*!< Mean motion (Average angular velocity) */ - double sq1e2; /*!< sqrt(1-e^2) */ - double A; /*!< Semi-major axis */ - double omgkdot; /*!< OmegaDot-OmegaEdot */ -} ephem_t; - -typedef struct -{ - int enable; - int vflg; - double alpha0,alpha1,alpha2,alpha3; - double beta0,beta1,beta2,beta3; - double A0,A1; - int dtls,tot,wnt; - int dtlsf,dn,wnlsf; -} ionoutc_t; - -typedef struct -{ - gpstime_t g; - double range; // pseudorange - double rate; - double d; // geometric distance - double azel[2]; - double iono_delay; -} range_t; - -/*! \brief Structure representing a Channel */ -typedef struct -{ - int prn; /*< PRN Number */ - int ca[CA_SEQ_LEN]; /*< C/A Sequence */ - double f_carr; /*< Carrier frequency */ - double f_code; /*< Code frequency */ - unsigned int carr_phase; /*< Carrier phase */ - int carr_phasestep; /*< Carrier phasestep */ - double code_phase; /*< Code phase */ - gpstime_t g0; /*!< GPS time at start */ - unsigned long sbf[5][N_DWRD_SBF]; /*!< current subframe */ - unsigned long dwrd[N_DWRD]; /*!< Data words of sub-frame */ - int iword; /*!< initial word */ - int ibit; /*!< initial bit */ - int icode; /*!< initial code */ - int dataBit; /*!< current data bit */ - int codeCA; /*!< current C/A code */ - double azel[2]; - range_t rho0; -} channel_t; - -#endif From 7cd1c942d8573f2d150295a2dcc1b953986a68ba Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 01:22:57 +0800 Subject: [PATCH 06/35] descreption --- README.md | 11 ++++++++++- gpssim.c | 1 + 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 52b8699..6f199fb 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# GPS-SDR-SIM +# GPS-SDR-SIM realtime GPS-SDR-SIM generates GPS baseband signal data streams, which can be converted to RF using software-defined radio (SDR) platforms, such as @@ -18,6 +18,14 @@ to RF using software-defined radio (SDR) platforms, such as $ gcc gpssim.c -lm -O3 -o gps-sdr-sim ``` +## Realtime + +Use -n option can connect to a TCP source in Gnuradio for realtime simulation. + +The tcp source should be set in "Server" mode, listening to port 1234. + +See tcp.grc as a example. + ### Generating the GPS signal file A user-defined trajectory can be specified in either a CSV file, which contains @@ -69,6 +77,7 @@ Options: -b I/Q data format [1/8/16] (default: 16) -i Disable ionospheric delay for spacecraft scenario -v Show details about simulated channels + -n Use tcp connect to gnuradio for realtime simulation ``` The user motion can be specified in either dynamic or static mode: diff --git a/gpssim.c b/gpssim.c index bad7187..76f10fa 100644 --- a/gpssim.c +++ b/gpssim.c @@ -1661,6 +1661,7 @@ void usage(void) " -b I/Q data format [1/8/16] (default: 16)\n" " -i Disable ionospheric delay for spacecraft scenario\n" " -v Show details about simulated channels\n", + " -n Use TCP connect to gnuradio for realtime simulation\n", ((double)USER_MOTION_SIZE) / 10.0, STATIC_MAX_DURATION); return; From 44a428face7bc97f2ba8463aca4eb15206703555 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 01:42:33 +0800 Subject: [PATCH 07/35] port --- gpssim.c | 10 +++-- socket.c | 5 +-- tcp.grc | 2 +- top_block.py | 115 +++++++++++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 124 insertions(+), 8 deletions(-) create mode 100644 top_block.py diff --git a/gpssim.c b/gpssim.c index 76f10fa..fa114be 100644 --- a/gpssim.c +++ b/gpssim.c @@ -1661,8 +1661,8 @@ void usage(void) " -b I/Q data format [1/8/16] (default: 16)\n" " -i Disable ionospheric delay for spacecraft scenario\n" " -v Show details about simulated channels\n", - " -n Use TCP connect to gnuradio for realtime simulation\n", - ((double)USER_MOTION_SIZE) / 10.0, STATIC_MAX_DURATION); + " -n Use TCP connect to Gnuradio TCP-Source for\n realtime simulation and port(default 1234)\n", + (USER_MOTION_SIZE)/10.0,STATIC_MAX_DURATION); return; } @@ -1732,6 +1732,7 @@ int main(int argc, char *argv[]) int usesocket=false; int sockc=0; + short port=1234; //////////////////////////////////////////////////////////// // Read options @@ -1755,7 +1756,7 @@ int main(int argc, char *argv[]) exit(1); } - while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:iv:n"))!=-1) + while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:iv:n:"))!=-1) { switch (result) { @@ -1843,7 +1844,8 @@ int main(int argc, char *argv[]) usage(); exit(1); case 'n': - sockc=sockinit(); + sscanf(optarg,"%hd",&port); + sockc=sockinit(port); usesocket=true; default: break; diff --git a/socket.c b/socket.c index ab688d8..ff11d77 100644 --- a/socket.c +++ b/socket.c @@ -9,16 +9,15 @@ #include #include -#define MYPORT 1234 -int sockinit() +int sockinit(short port) { int sock = socket(AF_INET,SOCK_STREAM, 0); struct sockaddr_in servaddr; memset(&servaddr, 0, sizeof(servaddr)); servaddr.sin_family = AF_INET; - servaddr.sin_port = htons(MYPORT); + servaddr.sin_port = htons(port); servaddr.sin_addr.s_addr = inet_addr("127.0.0.1"); if (connect(sock, (struct sockaddr *)&servaddr, sizeof(servaddr)) < 0) { diff --git a/tcp.grc b/tcp.grc index 68a9f66..2361b06 100644 --- a/tcp.grc +++ b/tcp.grc @@ -152,7 +152,7 @@ port - 1234 + 2345 vlen diff --git a/top_block.py b/top_block.py new file mode 100644 index 0000000..49ae3d6 --- /dev/null +++ b/top_block.py @@ -0,0 +1,115 @@ +#!/usr/bin/env python2 +################################################## +# GNU Radio Python Flow Graph +# Title: Top Block +# Generated: Sun Apr 23 01:40:34 2017 +################################################## + +if __name__ == '__main__': + import ctypes + import sys + if sys.platform.startswith('linux'): + try: + x11 = ctypes.cdll.LoadLibrary('libX11.so') + x11.XInitThreads() + except: + print "Warning: failed to XInitThreads()" + +from PyQt4 import Qt +from gnuradio import eng_notation +from gnuradio import gr +from gnuradio.eng_option import eng_option +from gnuradio.filter import firdes +from grc_gnuradio import blks2 as grc_blks2 +from optparse import OptionParser +import osmosdr +import sys +import time + + +class top_block(gr.top_block, Qt.QWidget): + + def __init__(self): + gr.top_block.__init__(self, "Top Block") + Qt.QWidget.__init__(self) + self.setWindowTitle("Top Block") + try: + self.setWindowIcon(Qt.QIcon.fromTheme('gnuradio-grc')) + except: + pass + self.top_scroll_layout = Qt.QVBoxLayout() + self.setLayout(self.top_scroll_layout) + self.top_scroll = Qt.QScrollArea() + self.top_scroll.setFrameStyle(Qt.QFrame.NoFrame) + self.top_scroll_layout.addWidget(self.top_scroll) + self.top_scroll.setWidgetResizable(True) + self.top_widget = Qt.QWidget() + self.top_scroll.setWidget(self.top_widget) + self.top_layout = Qt.QVBoxLayout(self.top_widget) + self.top_grid_layout = Qt.QGridLayout() + self.top_layout.addLayout(self.top_grid_layout) + + self.settings = Qt.QSettings("GNU Radio", "top_block") + self.restoreGeometry(self.settings.value("geometry").toByteArray()) + + ################################################## + # Variables + ################################################## + self.samp_rate = samp_rate = 2600000 + + ################################################## + # Blocks + ################################################## + self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf=81320f" ) + self.osmosdr_sink_0.set_sample_rate(samp_rate) + self.osmosdr_sink_0.set_center_freq(100e6, 0) + self.osmosdr_sink_0.set_freq_corr(0, 0) + self.osmosdr_sink_0.set_gain(14, 0) + self.osmosdr_sink_0.set_if_gain(40, 0) + self.osmosdr_sink_0.set_bb_gain(20, 0) + self.osmosdr_sink_0.set_antenna("1", 0) + self.osmosdr_sink_0.set_bandwidth(0, 0) + + self.blks2_tcp_source_0 = grc_blks2.tcp_source( + itemsize=gr.sizeof_gr_complex*1, + addr="127.0.0.1", + port=2345, + server=True, + ) + (self.blks2_tcp_source_0).set_max_output_buffer(10000) + + ################################################## + # Connections + ################################################## + self.connect((self.blks2_tcp_source_0, 0), (self.osmosdr_sink_0, 0)) + + def closeEvent(self, event): + self.settings = Qt.QSettings("GNU Radio", "top_block") + self.settings.setValue("geometry", self.saveGeometry()) + event.accept() + + def get_samp_rate(self): + return self.samp_rate + + def set_samp_rate(self, samp_rate): + self.samp_rate = samp_rate + self.osmosdr_sink_0.set_sample_rate(self.samp_rate) + + +if __name__ == '__main__': + parser = OptionParser(option_class=eng_option, usage="%prog: [options]") + (options, args) = parser.parse_args() + from distutils.version import StrictVersion + if StrictVersion(Qt.qVersion()) >= StrictVersion("4.5.0"): + Qt.QApplication.setGraphicsSystem(gr.prefs().get_string('qtgui','style','raster')) + qapp = Qt.QApplication(sys.argv) + tb = top_block() + tb.start() + tb.show() + + def quitting(): + tb.stop() + tb.wait() + qapp.connect(qapp, Qt.SIGNAL("aboutToQuit()"), quitting) + qapp.exec_() + tb = None # to clean up Qt widgets From 309f14e51f09c55657cc28090289d531c3f4b9d7 Mon Sep 17 00:00:00 2001 From: QingBiJuShi Date: Sun, 23 Apr 2017 01:51:36 +0800 Subject: [PATCH 08/35] Update README.md --- README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/README.md b/README.md index 6f199fb..094b378 100644 --- a/README.md +++ b/README.md @@ -22,8 +22,7 @@ $ gcc gpssim.c -lm -O3 -o gps-sdr-sim Use -n option can connect to a TCP source in Gnuradio for realtime simulation. -The tcp source should be set in "Server" mode, listening to port 1234. - +The tcp source should be set in "Server" mode, listening to port 1234 (as default, it can be changed by.option -n). See tcp.grc as a example. ### Generating the GPS signal file From 789e2e45d1510ea3acd9cb87df734f8facb4c658 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 02:23:03 +0800 Subject: [PATCH 09/35] demo --- README.md | 11 +++++++++-- gpssim.c | 4 ++-- tcp.grc | 6 +++--- top_block.py | 4 ++-- 4 files changed, 16 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 094b378..75e4ae7 100644 --- a/README.md +++ b/README.md @@ -18,11 +18,12 @@ to RF using software-defined radio (SDR) platforms, such as $ gcc gpssim.c -lm -O3 -o gps-sdr-sim ``` -## Realtime +## Realtime by Gnuradio Use -n option can connect to a TCP source in Gnuradio for realtime simulation. The tcp source should be set in "Server" mode, listening to port 1234 (as default, it can be changed by.option -n). + See tcp.grc as a example. ### Generating the GPS signal file @@ -76,7 +77,7 @@ Options: -b I/Q data format [1/8/16] (default: 16) -i Disable ionospheric delay for spacecraft scenario -v Show details about simulated channels - -n Use tcp connect to gnuradio for realtime simulation + -n Use TCP connection to Gnuradio TCP-Source for realtime simulation. (Default 1234). ``` The user motion can be specified in either dynamic or static mode: @@ -93,6 +94,12 @@ The user motion can be specified in either dynamic or static mode: > gps-sdr-sim -e brdc3540.14n -l 30.286502,120.032669,100 ``` +Use Gnuradio to realtime simulate 3000s: + +``` +> gps-sdr-sim -e brdc3540.14n -l 30.286502,120.032669,100 -n 1234 -d 3000 +``` + ### Transmitting the samples The TX port of a particular SDR platform is connected to the GPS receiver diff --git a/gpssim.c b/gpssim.c index fa114be..f4165b5 100644 --- a/gpssim.c +++ b/gpssim.c @@ -1661,7 +1661,7 @@ void usage(void) " -b I/Q data format [1/8/16] (default: 16)\n" " -i Disable ionospheric delay for spacecraft scenario\n" " -v Show details about simulated channels\n", - " -n Use TCP connect to Gnuradio TCP-Source for\n realtime simulation and port(default 1234)\n", + " -n Use TCP connect to Gnuradio TCP-Source for\n realtime simulation. (default 1234)\n", (USER_MOTION_SIZE)/10.0,STATIC_MAX_DURATION); return; @@ -1867,7 +1867,7 @@ int main(int argc, char *argv[]) llh[2] = 10.0; } - if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode)) + if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode)&&usesocket==false) { printf("ERROR: Invalid duration.\n"); exit(1); diff --git a/tcp.grc b/tcp.grc index 2361b06..dee5c85 100644 --- a/tcp.grc +++ b/tcp.grc @@ -124,7 +124,7 @@ _coordinate - (272, 200) + (280, 200) _rotation @@ -152,7 +152,7 @@ port - 2345 + 1234 vlen @@ -1071,7 +1071,7 @@ args - hackrf=81320f + hackrf _enabled diff --git a/top_block.py b/top_block.py index 49ae3d6..5551b95 100644 --- a/top_block.py +++ b/top_block.py @@ -2,7 +2,7 @@ ################################################## # GNU Radio Python Flow Graph # Title: Top Block -# Generated: Sun Apr 23 01:40:34 2017 +# Generated: Sun Apr 23 02:13:05 2017 ################################################## if __name__ == '__main__': @@ -60,7 +60,7 @@ def __init__(self): ################################################## # Blocks ################################################## - self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf=81320f" ) + self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf" ) self.osmosdr_sink_0.set_sample_rate(samp_rate) self.osmosdr_sink_0.set_center_freq(100e6, 0) self.osmosdr_sink_0.set_freq_corr(0, 0) From 58048e9a8a267c0cff864297f0a14c5394e3a474 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 02:26:03 +0800 Subject: [PATCH 10/35] readme --- README.md | 4 +- gpssim.c | 2 +- tcp.grc | 2 +- top_block.py | 6 +- tro11110.17n | 28807 +++++++++++++++++++++++++++++++++++++++++++++++++ 5 files changed, 28814 insertions(+), 7 deletions(-) create mode 100644 tro11110.17n diff --git a/README.md b/README.md index 75e4ae7..fbd65dd 100644 --- a/README.md +++ b/README.md @@ -22,7 +22,7 @@ $ gcc gpssim.c -lm -O3 -o gps-sdr-sim Use -n option can connect to a TCP source in Gnuradio for realtime simulation. -The tcp source should be set in "Server" mode, listening to port 1234 (as default, it can be changed by.option -n). +The tcp source should be set in "Server" mode. See tcp.grc as a example. @@ -77,7 +77,7 @@ Options: -b I/Q data format [1/8/16] (default: 16) -i Disable ionospheric delay for spacecraft scenario -v Show details about simulated channels - -n Use TCP connection to Gnuradio TCP-Source for realtime simulation. (Default 1234). + -n Use TCP connection to Gnuradio TCP-Source for realtime simulation. ``` The user motion can be specified in either dynamic or static mode: diff --git a/gpssim.c b/gpssim.c index f4165b5..2444e54 100644 --- a/gpssim.c +++ b/gpssim.c @@ -1661,7 +1661,7 @@ void usage(void) " -b I/Q data format [1/8/16] (default: 16)\n" " -i Disable ionospheric delay for spacecraft scenario\n" " -v Show details about simulated channels\n", - " -n Use TCP connect to Gnuradio TCP-Source for\n realtime simulation. (default 1234)\n", + " -n Use TCP connect to Gnuradio TCP-Source for\n realtime simulation.\n", (USER_MOTION_SIZE)/10.0,STATIC_MAX_DURATION); return; diff --git a/tcp.grc b/tcp.grc index dee5c85..48a84ff 100644 --- a/tcp.grc +++ b/tcp.grc @@ -183,7 +183,7 @@ freq0 - 100e6 + 1575420000 if_gain0 diff --git a/top_block.py b/top_block.py index 5551b95..6c86442 100644 --- a/top_block.py +++ b/top_block.py @@ -2,7 +2,7 @@ ################################################## # GNU Radio Python Flow Graph # Title: Top Block -# Generated: Sun Apr 23 02:13:05 2017 +# Generated: Sun Apr 23 02:23:32 2017 ################################################## if __name__ == '__main__': @@ -62,7 +62,7 @@ def __init__(self): ################################################## self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf" ) self.osmosdr_sink_0.set_sample_rate(samp_rate) - self.osmosdr_sink_0.set_center_freq(100e6, 0) + self.osmosdr_sink_0.set_center_freq(1575420000, 0) self.osmosdr_sink_0.set_freq_corr(0, 0) self.osmosdr_sink_0.set_gain(14, 0) self.osmosdr_sink_0.set_if_gain(40, 0) @@ -73,7 +73,7 @@ def __init__(self): self.blks2_tcp_source_0 = grc_blks2.tcp_source( itemsize=gr.sizeof_gr_complex*1, addr="127.0.0.1", - port=2345, + port=1234, server=True, ) (self.blks2_tcp_source_0).set_max_output_buffer(10000) diff --git a/tro11110.17n b/tro11110.17n new file mode 100644 index 0000000..8baadd6 --- /dev/null +++ b/tro11110.17n @@ -0,0 +1,28807 @@ + 2.10 Navigation RINEX VERSION / TYPE +gl_Rinex NMA 22/04/2017 00:08:08 PGM / RUN BY / DATE + 1.0245E-08 1.4901E-08 -5.9605E-08 -1.1921E-07 ION ALPHA + 8.8064E+04 3.2768E+04 -1.9661E+05 -1.9661E+05 ION BETA + -9.313225746155E-10 1.776356839400E-15 61440 1946 DELTA-UTC: A0,A1,T,W + 18 LEAP SECONDS + END OF HEADER +32 17 4 21 2 0 0.0-3.911135718226E-04-1.136868377216E-11 0.000000000000E+00 + 3.300000000000E+01 3.706250000000E+01 4.714839249123E-09-1.201036505706E+00 + 1.871958374977E-06 1.055727247149E-03 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0.000000000000E+00 + 6.800000000000E+01-3.406250000000E+01 4.359824461332E-09 5.134316802503E-01 + -1.821666955948E-06 5.750081036240E-04 1.103617250919E-05 5.153761348724E+03 + 5.184000000000E+05 3.725290298462E-08-7.246114931486E-01 9.313225746155E-09 + 9.598311345566E-01 1.644687500000E+02 8.754056582166E-02-7.918186967127E-09 + -1.114332130692E-10 1.000000000000E+00 1.945000000000E+03 0.000000000000E+00 + 2.000000000000E+00 0.000000000000E+00 2.328306436539E-09 6.800000000000E+01 + 5.146020000000E+05 0.000000000000E+00 + 1 17 4 21 23 59 44.0 5.362741649151E-05 5.684341886081E-13 0.000000000000E+00 + 1.200000000000E+01-6.328125000000E+01 4.739840290516E-09 1.168052941728E+00 + -3.093853592873E-06 6.490481435321E-03 4.937872290611E-06 5.153686777115E+03 + 5.183840000000E+05-1.862645149231E-09-1.767226944027E+00 6.705522537231E-08 + 9.667596959818E-01 2.876875000000E+02 5.374068960572E-01-8.359276768859E-09 + -3.139416483584E-10 1.000000000000E+00 1.945000000000E+03 0.000000000000E+00 + 2.000000000000E+00 0.000000000000E+00 5.587935447693E-09 1.200000000000E+01 + 5.112180000000E+05 0.000000000000E+00 + 8 17 4 21 23 59 44.0-5.710171535611E-05-1.364242052659E-12 0.000000000000E+00 + 1.200000000000E+01 5.384375000000E+01 4.648050752828E-09-2.417689012372E+00 + 2.870336174965E-06 2.594475168735E-03 6.355345249176E-06 5.153619998932E+03 + 5.183840000000E+05-8.195638656616E-08-2.829915459601E+00 7.450580596924E-08 + 9.666603170309E-01 2.608437500000E+02-7.237435950543E-01-8.154982544899E-09 + 3.378712165495E-10 1.000000000000E+00 1.945000000000E+03 0.000000000000E+00 + 2.000000000000E+00 0.000000000000E+00 5.122274160385E-09 1.200000000000E+01 + 5.157780000000E+05 0.000000000000E+00 +19 17 4 22 0 0 0.0-5.063433200121E-04 1.364242052659E-12 0.000000000000E+00 + 8.000000000000E+01 3.728125000000E+01 4.501973239542E-09 9.856111538607E-02 + 2.112239599228E-06 1.024509011768E-02 5.202367901802E-06 5.153658872604E+03 + 5.184000000000E+05-2.235174179077E-08-2.724956769387E+00 1.192092895508E-07 + 9.770858261294E-01 2.885625000000E+02 9.514897000166E-01-8.318917944895E-09 + 2.171519023912E-10 1.000000000000E+00 1.945000000000E+03 0.000000000000E+00 + 2.000000000000E+00 0.000000000000E+00-1.536682248116E-08 8.000000000000E+01 + 5.163780000000E+05 0.000000000000E+00 From a66b2009b4d769724a1dd8fb1f7e3280a01600ad Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 03:36:31 +0800 Subject: [PATCH 11/35] fix --- gpssim.c | 11 +-- socket.c | 6 +- tcp.grc | 231 ++++++++++++++++++++++++++++++++++++++++++++++++++- top_block.py | 55 ++++++++---- 4 files changed, 279 insertions(+), 24 deletions(-) diff --git a/gpssim.c b/gpssim.c index 2444e54..ee9bf5a 100644 --- a/gpssim.c +++ b/gpssim.c @@ -13,6 +13,7 @@ #include "gpssim.h" #include "socket.c" + int sinTable512[] = { 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, 50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94, @@ -1867,7 +1868,7 @@ int main(int argc, char *argv[]) llh[2] = 10.0; } - if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode)&&usesocket==false) + if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode&&usesocket==false)) { printf("ERROR: Invalid duration.\n"); exit(1); @@ -2131,7 +2132,7 @@ int main(int argc, char *argv[]) //////////////////////////////////////////////////////////// tstart = clock(); - + long int timestart=timem(); // Update receiver time grx = incGpsTime(grx, 0.1); @@ -2323,8 +2324,8 @@ int main(int argc, char *argv[]) } } } - if(subGpsTime(grx, g0)-(double)(clock()-tstart)/CLOCKS_PER_SEC>0.2&&usesocket==true){ - sleep(0.2); + if(subGpsTime(grx, g0)-(float)(timem()-timestart)/1000>0.1&&usesocket==true){ + usleep(100000); } // Update receiver time grx = incGpsTime(grx, 0.1); @@ -2333,7 +2334,7 @@ int main(int argc, char *argv[]) printf("\rTime into run = %4.1f", subGpsTime(grx, g0)); fflush(stdout); } - + tend = clock(); printf("\nDone!\n"); diff --git a/socket.c b/socket.c index ff11d77..e54f54c 100644 --- a/socket.c +++ b/socket.c @@ -35,4 +35,8 @@ void socksend(int s,void *dataa,int siz){ send(s,dataa,siz,0); } - +long int timem(){ + struct timeval t; + gettimeofday(&t, NULL); + return t.tv_sec*1000+t.tv_usec/1000; +} diff --git a/tcp.grc b/tcp.grc index 48a84ff..fafae56 100644 --- a/tcp.grc +++ b/tcp.grc @@ -187,7 +187,7 @@ if_gain0 - 40 + 20 gain0 @@ -1071,11 +1071,11 @@ args - hackrf + hackrf=81320f _enabled - True + 0 _coordinate @@ -1174,10 +1174,235 @@ + + qtgui_waterfall_sink_x + + bw + samp_rate + + + alias + + + + fc + 0 + + + comment + + + + affinity + + + + _enabled + 1 + + + fftsize + 1024 + + + _coordinate + (576, 392) + + + gui_hint + + + + _rotation + 0 + + + grid + False + + + id + qtgui_waterfall_sink_x_0 + + + int_max + 10 + + + int_min + -140 + + + legend + True + + + alpha1 + 1.0 + + + color1 + 0 + + + label1 + + + + alpha10 + 1.0 + + + color10 + 0 + + + label10 + + + + alpha2 + 1.0 + + + color2 + 0 + + + label2 + + + + alpha3 + 1.0 + + + color3 + 0 + + + label3 + + + + alpha4 + 1.0 + + + color4 + 0 + + + label4 + + + + alpha5 + 1.0 + + + color5 + 0 + + + label5 + + + + alpha6 + 1.0 + + + color6 + 0 + + + label6 + + + + alpha7 + 1.0 + + + color7 + 0 + + + label7 + + + + alpha8 + 1.0 + + + color8 + 0 + + + label8 + + + + alpha9 + 1.0 + + + color9 + 0 + + + label9 + + + + maxoutbuf + 0 + + + minoutbuf + 0 + + + name + "" + + + nconnections + 1 + + + showports + True + + + freqhalf + True + + + type + complex + + + update_time + 0.10 + + + wintype + firdes.WIN_BLACKMAN_hARRIS + + blks2_tcp_source_0 osmosdr_sink_0 0 0 + + blks2_tcp_source_0 + qtgui_waterfall_sink_x_0 + 0 + 0 + diff --git a/top_block.py b/top_block.py index 6c86442..41ea3b1 100644 --- a/top_block.py +++ b/top_block.py @@ -2,7 +2,7 @@ ################################################## # GNU Radio Python Flow Graph # Title: Top Block -# Generated: Sun Apr 23 02:23:32 2017 +# Generated: Sun Apr 23 03:36:05 2017 ################################################## if __name__ == '__main__': @@ -18,13 +18,13 @@ from PyQt4 import Qt from gnuradio import eng_notation from gnuradio import gr +from gnuradio import qtgui from gnuradio.eng_option import eng_option from gnuradio.filter import firdes from grc_gnuradio import blks2 as grc_blks2 from optparse import OptionParser -import osmosdr +import sip import sys -import time class top_block(gr.top_block, Qt.QWidget): @@ -60,16 +60,41 @@ def __init__(self): ################################################## # Blocks ################################################## - self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf" ) - self.osmosdr_sink_0.set_sample_rate(samp_rate) - self.osmosdr_sink_0.set_center_freq(1575420000, 0) - self.osmosdr_sink_0.set_freq_corr(0, 0) - self.osmosdr_sink_0.set_gain(14, 0) - self.osmosdr_sink_0.set_if_gain(40, 0) - self.osmosdr_sink_0.set_bb_gain(20, 0) - self.osmosdr_sink_0.set_antenna("1", 0) - self.osmosdr_sink_0.set_bandwidth(0, 0) - + self.qtgui_waterfall_sink_x_0 = qtgui.waterfall_sink_c( + 1024, #size + firdes.WIN_BLACKMAN_hARRIS, #wintype + 0, #fc + samp_rate, #bw + "", #name + 1 #number of inputs + ) + self.qtgui_waterfall_sink_x_0.set_update_time(0.10) + self.qtgui_waterfall_sink_x_0.enable_grid(False) + + if not True: + self.qtgui_waterfall_sink_x_0.disable_legend() + + if complex == type(float()): + self.qtgui_waterfall_sink_x_0.set_plot_pos_half(not True) + + labels = ["", "", "", "", "", + "", "", "", "", ""] + colors = [0, 0, 0, 0, 0, + 0, 0, 0, 0, 0] + alphas = [1.0, 1.0, 1.0, 1.0, 1.0, + 1.0, 1.0, 1.0, 1.0, 1.0] + for i in xrange(1): + if len(labels[i]) == 0: + self.qtgui_waterfall_sink_x_0.set_line_label(i, "Data {0}".format(i)) + else: + self.qtgui_waterfall_sink_x_0.set_line_label(i, labels[i]) + self.qtgui_waterfall_sink_x_0.set_color_map(i, colors[i]) + self.qtgui_waterfall_sink_x_0.set_line_alpha(i, alphas[i]) + + self.qtgui_waterfall_sink_x_0.set_intensity_range(-140, 10) + + self._qtgui_waterfall_sink_x_0_win = sip.wrapinstance(self.qtgui_waterfall_sink_x_0.pyqwidget(), Qt.QWidget) + self.top_layout.addWidget(self._qtgui_waterfall_sink_x_0_win) self.blks2_tcp_source_0 = grc_blks2.tcp_source( itemsize=gr.sizeof_gr_complex*1, addr="127.0.0.1", @@ -81,7 +106,7 @@ def __init__(self): ################################################## # Connections ################################################## - self.connect((self.blks2_tcp_source_0, 0), (self.osmosdr_sink_0, 0)) + self.connect((self.blks2_tcp_source_0, 0), (self.qtgui_waterfall_sink_x_0, 0)) def closeEvent(self, event): self.settings = Qt.QSettings("GNU Radio", "top_block") @@ -93,7 +118,7 @@ def get_samp_rate(self): def set_samp_rate(self, samp_rate): self.samp_rate = samp_rate - self.osmosdr_sink_0.set_sample_rate(self.samp_rate) + self.qtgui_waterfall_sink_x_0.set_frequency_range(0, self.samp_rate) if __name__ == '__main__': From 6b27d22ad35d9e4e99a8de28d397bfbd22cebed3 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 03:37:19 +0800 Subject: [PATCH 12/35] hackrf --- tcp.grc | 4 ++-- top_block.py | 55 ++++++++++++++-------------------------------------- 2 files changed, 17 insertions(+), 42 deletions(-) diff --git a/tcp.grc b/tcp.grc index fafae56..e50c78c 100644 --- a/tcp.grc +++ b/tcp.grc @@ -1075,7 +1075,7 @@ _enabled - 0 + 1 _coordinate @@ -1198,7 +1198,7 @@ _enabled - 1 + 0 fftsize diff --git a/top_block.py b/top_block.py index 41ea3b1..890f791 100644 --- a/top_block.py +++ b/top_block.py @@ -2,7 +2,7 @@ ################################################## # GNU Radio Python Flow Graph # Title: Top Block -# Generated: Sun Apr 23 03:36:05 2017 +# Generated: Sun Apr 23 03:37:07 2017 ################################################## if __name__ == '__main__': @@ -18,13 +18,13 @@ from PyQt4 import Qt from gnuradio import eng_notation from gnuradio import gr -from gnuradio import qtgui from gnuradio.eng_option import eng_option from gnuradio.filter import firdes from grc_gnuradio import blks2 as grc_blks2 from optparse import OptionParser -import sip +import osmosdr import sys +import time class top_block(gr.top_block, Qt.QWidget): @@ -60,41 +60,16 @@ def __init__(self): ################################################## # Blocks ################################################## - self.qtgui_waterfall_sink_x_0 = qtgui.waterfall_sink_c( - 1024, #size - firdes.WIN_BLACKMAN_hARRIS, #wintype - 0, #fc - samp_rate, #bw - "", #name - 1 #number of inputs - ) - self.qtgui_waterfall_sink_x_0.set_update_time(0.10) - self.qtgui_waterfall_sink_x_0.enable_grid(False) - - if not True: - self.qtgui_waterfall_sink_x_0.disable_legend() - - if complex == type(float()): - self.qtgui_waterfall_sink_x_0.set_plot_pos_half(not True) - - labels = ["", "", "", "", "", - "", "", "", "", ""] - colors = [0, 0, 0, 0, 0, - 0, 0, 0, 0, 0] - alphas = [1.0, 1.0, 1.0, 1.0, 1.0, - 1.0, 1.0, 1.0, 1.0, 1.0] - for i in xrange(1): - if len(labels[i]) == 0: - self.qtgui_waterfall_sink_x_0.set_line_label(i, "Data {0}".format(i)) - else: - self.qtgui_waterfall_sink_x_0.set_line_label(i, labels[i]) - self.qtgui_waterfall_sink_x_0.set_color_map(i, colors[i]) - self.qtgui_waterfall_sink_x_0.set_line_alpha(i, alphas[i]) - - self.qtgui_waterfall_sink_x_0.set_intensity_range(-140, 10) - - self._qtgui_waterfall_sink_x_0_win = sip.wrapinstance(self.qtgui_waterfall_sink_x_0.pyqwidget(), Qt.QWidget) - self.top_layout.addWidget(self._qtgui_waterfall_sink_x_0_win) + self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf=81320f" ) + self.osmosdr_sink_0.set_sample_rate(samp_rate) + self.osmosdr_sink_0.set_center_freq(1575420000, 0) + self.osmosdr_sink_0.set_freq_corr(0, 0) + self.osmosdr_sink_0.set_gain(14, 0) + self.osmosdr_sink_0.set_if_gain(20, 0) + self.osmosdr_sink_0.set_bb_gain(20, 0) + self.osmosdr_sink_0.set_antenna("1", 0) + self.osmosdr_sink_0.set_bandwidth(0, 0) + self.blks2_tcp_source_0 = grc_blks2.tcp_source( itemsize=gr.sizeof_gr_complex*1, addr="127.0.0.1", @@ -106,7 +81,7 @@ def __init__(self): ################################################## # Connections ################################################## - self.connect((self.blks2_tcp_source_0, 0), (self.qtgui_waterfall_sink_x_0, 0)) + self.connect((self.blks2_tcp_source_0, 0), (self.osmosdr_sink_0, 0)) def closeEvent(self, event): self.settings = Qt.QSettings("GNU Radio", "top_block") @@ -118,7 +93,7 @@ def get_samp_rate(self): def set_samp_rate(self, samp_rate): self.samp_rate = samp_rate - self.qtgui_waterfall_sink_x_0.set_frequency_range(0, self.samp_rate) + self.osmosdr_sink_0.set_sample_rate(self.samp_rate) if __name__ == '__main__': From 330d178261285872dfdf7ecc83c21f6912459593 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 18:37:15 +0800 Subject: [PATCH 13/35] -v no: --- gpssim.c | 2 +- tcp.grc | 8 ++++---- top_block.py | 46 +++++++++++++++++++++++++++++++++++++++++++--- 3 files changed, 48 insertions(+), 8 deletions(-) diff --git a/gpssim.c b/gpssim.c index ee9bf5a..062c63c 100644 --- a/gpssim.c +++ b/gpssim.c @@ -1757,7 +1757,7 @@ int main(int argc, char *argv[]) exit(1); } - while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:iv:n:"))!=-1) + while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:ivn:"))!=-1) { switch (result) { diff --git a/tcp.grc b/tcp.grc index e50c78c..436a043 100644 --- a/tcp.grc +++ b/tcp.grc @@ -167,7 +167,7 @@ ant0 - 1 + RX/TX bb_gain0 @@ -175,7 +175,7 @@ bw0 - 0 + 2600000 corr0 @@ -1171,7 +1171,7 @@ sync - + pc_clock @@ -1198,7 +1198,7 @@ _enabled - 0 + 1 fftsize diff --git a/top_block.py b/top_block.py index 890f791..346b319 100644 --- a/top_block.py +++ b/top_block.py @@ -2,7 +2,7 @@ ################################################## # GNU Radio Python Flow Graph # Title: Top Block -# Generated: Sun Apr 23 03:37:07 2017 +# Generated: Sun Apr 23 16:56:24 2017 ################################################## if __name__ == '__main__': @@ -18,11 +18,13 @@ from PyQt4 import Qt from gnuradio import eng_notation from gnuradio import gr +from gnuradio import qtgui from gnuradio.eng_option import eng_option from gnuradio.filter import firdes from grc_gnuradio import blks2 as grc_blks2 from optparse import OptionParser import osmosdr +import sip import sys import time @@ -60,15 +62,51 @@ def __init__(self): ################################################## # Blocks ################################################## + self.qtgui_waterfall_sink_x_0 = qtgui.waterfall_sink_c( + 1024, #size + firdes.WIN_BLACKMAN_hARRIS, #wintype + 0, #fc + samp_rate, #bw + "", #name + 1 #number of inputs + ) + self.qtgui_waterfall_sink_x_0.set_update_time(0.10) + self.qtgui_waterfall_sink_x_0.enable_grid(False) + + if not True: + self.qtgui_waterfall_sink_x_0.disable_legend() + + if complex == type(float()): + self.qtgui_waterfall_sink_x_0.set_plot_pos_half(not True) + + labels = ["", "", "", "", "", + "", "", "", "", ""] + colors = [0, 0, 0, 0, 0, + 0, 0, 0, 0, 0] + alphas = [1.0, 1.0, 1.0, 1.0, 1.0, + 1.0, 1.0, 1.0, 1.0, 1.0] + for i in xrange(1): + if len(labels[i]) == 0: + self.qtgui_waterfall_sink_x_0.set_line_label(i, "Data {0}".format(i)) + else: + self.qtgui_waterfall_sink_x_0.set_line_label(i, labels[i]) + self.qtgui_waterfall_sink_x_0.set_color_map(i, colors[i]) + self.qtgui_waterfall_sink_x_0.set_line_alpha(i, alphas[i]) + + self.qtgui_waterfall_sink_x_0.set_intensity_range(-140, 10) + + self._qtgui_waterfall_sink_x_0_win = sip.wrapinstance(self.qtgui_waterfall_sink_x_0.pyqwidget(), Qt.QWidget) + self.top_layout.addWidget(self._qtgui_waterfall_sink_x_0_win) self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf=81320f" ) + self.osmosdr_sink_0.set_time_now(osmosdr.time_spec_t(time.time()), osmosdr.ALL_MBOARDS) self.osmosdr_sink_0.set_sample_rate(samp_rate) self.osmosdr_sink_0.set_center_freq(1575420000, 0) self.osmosdr_sink_0.set_freq_corr(0, 0) self.osmosdr_sink_0.set_gain(14, 0) self.osmosdr_sink_0.set_if_gain(20, 0) self.osmosdr_sink_0.set_bb_gain(20, 0) - self.osmosdr_sink_0.set_antenna("1", 0) - self.osmosdr_sink_0.set_bandwidth(0, 0) + self.osmosdr_sink_0.set_antenna("RX/TX", 0) + self.osmosdr_sink_0.set_bandwidth(2600000, 0) self.blks2_tcp_source_0 = grc_blks2.tcp_source( itemsize=gr.sizeof_gr_complex*1, @@ -82,6 +120,7 @@ def __init__(self): # Connections ################################################## self.connect((self.blks2_tcp_source_0, 0), (self.osmosdr_sink_0, 0)) + self.connect((self.blks2_tcp_source_0, 0), (self.qtgui_waterfall_sink_x_0, 0)) def closeEvent(self, event): self.settings = Qt.QSettings("GNU Radio", "top_block") @@ -94,6 +133,7 @@ def get_samp_rate(self): def set_samp_rate(self, samp_rate): self.samp_rate = samp_rate self.osmosdr_sink_0.set_sample_rate(self.samp_rate) + self.qtgui_waterfall_sink_x_0.set_frequency_range(0, self.samp_rate) if __name__ == '__main__': From 86a56780f15deba1978e994b1b8389bd65ab9eba Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 23 Apr 2017 20:59:16 +0800 Subject: [PATCH 14/35] typo --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index fbd65dd..95c4da7 100644 --- a/README.md +++ b/README.md @@ -24,7 +24,7 @@ Use -n option can connect to a TCP source in Gnuradio for realtime simulation. The tcp source should be set in "Server" mode. -See tcp.grc as a example. +See tcp.grc as an example. ### Generating the GPS signal file From 8e1a0457968a517f38d1beee8f223747c35a1ad6 Mon Sep 17 00:00:00 2001 From: gym487 Date: Mon, 24 Apr 2017 23:47:16 +0800 Subject: [PATCH 15/35] del useless files --- top_block.py | 155 - tro11110.17n | 28807 ------------------------------------------------- wslb1110.17n | 1208 --- 3 files changed, 30170 deletions(-) delete mode 100644 top_block.py delete mode 100644 tro11110.17n delete mode 100644 wslb1110.17n diff --git a/top_block.py b/top_block.py deleted file mode 100644 index 346b319..0000000 --- a/top_block.py +++ /dev/null @@ -1,155 +0,0 @@ -#!/usr/bin/env python2 -################################################## -# GNU Radio Python Flow Graph -# Title: Top Block -# Generated: Sun Apr 23 16:56:24 2017 -################################################## - -if __name__ == '__main__': - import ctypes - import sys - if sys.platform.startswith('linux'): - try: - x11 = ctypes.cdll.LoadLibrary('libX11.so') - x11.XInitThreads() - except: - print "Warning: failed to XInitThreads()" - -from PyQt4 import Qt -from gnuradio import eng_notation -from gnuradio import gr -from gnuradio import qtgui -from gnuradio.eng_option import eng_option -from gnuradio.filter import firdes -from grc_gnuradio import blks2 as grc_blks2 -from optparse import OptionParser -import osmosdr -import sip -import sys -import time - - -class top_block(gr.top_block, Qt.QWidget): - - def __init__(self): - gr.top_block.__init__(self, "Top Block") - Qt.QWidget.__init__(self) - self.setWindowTitle("Top Block") - try: - self.setWindowIcon(Qt.QIcon.fromTheme('gnuradio-grc')) - except: - pass - self.top_scroll_layout = Qt.QVBoxLayout() - self.setLayout(self.top_scroll_layout) - self.top_scroll = Qt.QScrollArea() - self.top_scroll.setFrameStyle(Qt.QFrame.NoFrame) - self.top_scroll_layout.addWidget(self.top_scroll) - self.top_scroll.setWidgetResizable(True) - self.top_widget = Qt.QWidget() - self.top_scroll.setWidget(self.top_widget) - self.top_layout = Qt.QVBoxLayout(self.top_widget) - self.top_grid_layout = Qt.QGridLayout() - self.top_layout.addLayout(self.top_grid_layout) - - self.settings = Qt.QSettings("GNU Radio", "top_block") - self.restoreGeometry(self.settings.value("geometry").toByteArray()) - - ################################################## - # Variables - ################################################## - self.samp_rate = samp_rate = 2600000 - - ################################################## - # Blocks - ################################################## - self.qtgui_waterfall_sink_x_0 = qtgui.waterfall_sink_c( - 1024, #size - firdes.WIN_BLACKMAN_hARRIS, #wintype - 0, #fc - samp_rate, #bw - "", #name - 1 #number of inputs - ) - self.qtgui_waterfall_sink_x_0.set_update_time(0.10) - self.qtgui_waterfall_sink_x_0.enable_grid(False) - - if not True: - self.qtgui_waterfall_sink_x_0.disable_legend() - - if complex == type(float()): - self.qtgui_waterfall_sink_x_0.set_plot_pos_half(not True) - - labels = ["", "", "", "", "", - "", "", "", "", ""] - colors = [0, 0, 0, 0, 0, - 0, 0, 0, 0, 0] - alphas = [1.0, 1.0, 1.0, 1.0, 1.0, - 1.0, 1.0, 1.0, 1.0, 1.0] - for i in xrange(1): - if len(labels[i]) == 0: - self.qtgui_waterfall_sink_x_0.set_line_label(i, "Data {0}".format(i)) - else: - self.qtgui_waterfall_sink_x_0.set_line_label(i, labels[i]) - self.qtgui_waterfall_sink_x_0.set_color_map(i, colors[i]) - self.qtgui_waterfall_sink_x_0.set_line_alpha(i, alphas[i]) - - self.qtgui_waterfall_sink_x_0.set_intensity_range(-140, 10) - - self._qtgui_waterfall_sink_x_0_win = sip.wrapinstance(self.qtgui_waterfall_sink_x_0.pyqwidget(), Qt.QWidget) - self.top_layout.addWidget(self._qtgui_waterfall_sink_x_0_win) - self.osmosdr_sink_0 = osmosdr.sink( args="numchan=" + str(1) + " " + "hackrf=81320f" ) - self.osmosdr_sink_0.set_time_now(osmosdr.time_spec_t(time.time()), osmosdr.ALL_MBOARDS) - self.osmosdr_sink_0.set_sample_rate(samp_rate) - self.osmosdr_sink_0.set_center_freq(1575420000, 0) - self.osmosdr_sink_0.set_freq_corr(0, 0) - self.osmosdr_sink_0.set_gain(14, 0) - self.osmosdr_sink_0.set_if_gain(20, 0) - self.osmosdr_sink_0.set_bb_gain(20, 0) - self.osmosdr_sink_0.set_antenna("RX/TX", 0) - self.osmosdr_sink_0.set_bandwidth(2600000, 0) - - self.blks2_tcp_source_0 = grc_blks2.tcp_source( - itemsize=gr.sizeof_gr_complex*1, - addr="127.0.0.1", - port=1234, - server=True, - ) - (self.blks2_tcp_source_0).set_max_output_buffer(10000) - - ################################################## - # Connections - ################################################## - self.connect((self.blks2_tcp_source_0, 0), (self.osmosdr_sink_0, 0)) - self.connect((self.blks2_tcp_source_0, 0), (self.qtgui_waterfall_sink_x_0, 0)) - - def closeEvent(self, event): - self.settings = Qt.QSettings("GNU Radio", "top_block") - self.settings.setValue("geometry", self.saveGeometry()) - event.accept() - - def get_samp_rate(self): - return self.samp_rate - - def set_samp_rate(self, samp_rate): - self.samp_rate = samp_rate - self.osmosdr_sink_0.set_sample_rate(self.samp_rate) - self.qtgui_waterfall_sink_x_0.set_frequency_range(0, self.samp_rate) - - -if __name__ == '__main__': - parser = OptionParser(option_class=eng_option, usage="%prog: [options]") - (options, args) = parser.parse_args() - from distutils.version import StrictVersion - if StrictVersion(Qt.qVersion()) >= StrictVersion("4.5.0"): - Qt.QApplication.setGraphicsSystem(gr.prefs().get_string('qtgui','style','raster')) - qapp = Qt.QApplication(sys.argv) - tb = top_block() - tb.start() - tb.show() - - def quitting(): - tb.stop() - tb.wait() - qapp.connect(qapp, Qt.SIGNAL("aboutToQuit()"), quitting) - qapp.exec_() - tb = None # to clean up Qt widgets diff --git a/tro11110.17n b/tro11110.17n deleted file mode 100644 index 8baadd6..0000000 --- a/tro11110.17n +++ /dev/null @@ -1,28807 +0,0 @@ - 2.10 Navigation RINEX VERSION / TYPE -gl_Rinex NMA 22/04/2017 00:08:08 PGM / RUN BY / DATE - 1.0245E-08 1.4901E-08 -5.9605E-08 -1.1921E-07 ION ALPHA - 8.8064E+04 3.2768E+04 -1.9661E+05 -1.9661E+05 ION BETA - -9.313225746155E-10 1.776356839400E-15 61440 1946 DELTA-UTC: A0,A1,T,W - 18 LEAP SECONDS - END OF HEADER -32 17 4 21 2 0 0.0-3.911135718226E-04-1.136868377216E-11 0.000000000000E+00 - 3.300000000000E+01 3.706250000000E+01 4.714839249123E-09-1.201036505706E+00 - 1.871958374977E-06 1.055727247149E-03 6.895512342453E-06 5.153709669113E+03 - 4.392000000000E+05 8.381903171539E-08 3.152345514015E-01-1.192092895508E-07 - 9.585425524248E-01 2.486250000000E+02-2.678180398289E+00-8.114623720935E-09 - 7.286017777600E-11 1.000000000000E+00 1.945000000000E+03 0.000000000000E+00 - 2.000000000000E+00 0.000000000000E+00 4.656612873077E-10 3.300000000000E+01 - 4.320180000000E+05 0.000000000000E+00 -22 17 4 21 2 0 0.0 3.484683111310E-05-1.205080479849E-11 0.000000000000E+00 - 9.100000000000E+01-2.884375000000E+01 5.150214527108E-09-2.471589475600E+00 - -1.514330620012E-06 7.597269723192E-03 1.052767038345E-05 5.153541719437E+03 - 4.392000000000E+05 1.136213541031E-07-7.685831211320E-01 5.774199962616E-08 - 9.235638154200E-01 1.524062500000E+02-1.765052828324E+00-8.167840223330E-09 - 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1.946509651369D-10 1.000000000000D+00 1.945000000000D+03 0.000000000000D+00 - 2.000000000000D+00 0.000000000000D+00-1.117587089539D-08 2.000000000000D+01 - 5.059680000000D+05 4.000000000000D+00 -19 17 4 21 22 0 0.0-5.063526332378D-04 1.364242052659D-12 0.000000000000D+00 - 7.800000000000D+01 3.687500000000D+01 4.464471677451D-09-9.515848160243D-01 - 2.112239599228D-06 1.024526474066D-02 4.885718226433D-06 5.153659532547D+03 - 5.112000000000D+05 9.126961231232D-08-2.724896877521D+00 1.639127731323D-07 - 9.770845036515D-01 2.941250000000D+02 9.514455754815D-01-8.253915237272D-09 - 2.167947446570D-10 1.000000000000D+00 1.945000000000D+03 0.000000000000D+00 - 2.000000000000D+00 0.000000000000D+00-1.536682248116D-08 7.800000000000D+01 - 5.088480000000D+05 4.000000000000D+00 - 1 17 4 21 22 0 0.0 5.362182855606D-05 5.684341886081D-13 0.000000000000D+00 - 9.400000000000D+01-6.131250000000D+01 4.633407285726D-09 1.201058610398D-01 - -3.211200237274D-06 6.491043837741D-03 5.038455128670D-06 5.153688421249D+03 - 5.112000000000D+05 1.862645149231D-09-1.767166886851D+00 5.774199962616D-08 - 9.667619693565D-01 2.809375000000D+02 5.375143664080D-01-8.359633926594D-09 - -3.189418566371D-10 1.000000000000D+00 1.945000000000D+03 0.000000000000D+00 - 2.800000000000D+00 0.000000000000D+00 5.587935447693D-09 9.400000000000D+01 - 5.101380000000D+05 4.000000000000D+00 From de301fa402346512693940068cb1e5b8f4932669 Mon Sep 17 00:00:00 2001 From: gym487 Date: Sun, 30 Apr 2017 23:40:24 +0800 Subject: [PATCH 16/35] map --- Makefile | 2 +- gpssim.c | 27 +- mapserver/mapper.py | 48 + mapserver/mapper.pyc | Bin 0 -> 2065 bytes mapserver/static/baidumap.html | 90 + mapserver/static/jquery.js | 9597 ++++++++++ mapserver/static/jqueryui.css | 1179 ++ mapserver/static/jqueryui.js | 15009 ++++++++++++++++ socket.c | 34 + tcp.grc | 299 +- top_block.py | 198 + tro11110.17n | 28807 +++++++++++++++++++++++++++++++ wslb1110.17n | 1208 ++ 13 files changed, 56491 insertions(+), 7 deletions(-) create mode 100644 mapserver/mapper.py create mode 100644 mapserver/mapper.pyc create mode 100644 mapserver/static/baidumap.html create mode 100644 mapserver/static/jquery.js create mode 100644 mapserver/static/jqueryui.css create mode 100644 mapserver/static/jqueryui.js create mode 100644 top_block.py create mode 100644 tro11110.17n create mode 100644 wslb1110.17n diff --git a/Makefile b/Makefile index 4f6933f..439c022 100644 --- a/Makefile +++ b/Makefile @@ -6,7 +6,7 @@ all: gps-sdr-sim SHELL=/bin/bash CC=gcc CFLAGS=-O3 -Wall -LDFLAGS=-lm +LDFLAGS=-lm -lpthread gps-sdr-sim: gpssim.o ${CC} $< ${LDFLAGS} -o $@ diff --git a/gpssim.c b/gpssim.c index 062c63c..397de7a 100644 --- a/gpssim.c +++ b/gpssim.c @@ -12,7 +12,7 @@ #endif #include "gpssim.h" #include "socket.c" - +#include int sinTable512[] = { 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, @@ -1732,6 +1732,7 @@ int main(int argc, char *argv[]) int usesocket=false; + int webflag=0; int sockc=0; short port=1234; @@ -1757,7 +1758,7 @@ int main(int argc, char *argv[]) exit(1); } - while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:ivn:"))!=-1) + while ((result=getopt(argc,argv,"e:u:g:l:o:s:b:T:t:d:ivn:w"))!=-1) { switch (result) { @@ -1846,12 +1847,22 @@ int main(int argc, char *argv[]) exit(1); case 'n': sscanf(optarg,"%hd",&port); - sockc=sockinit(port); + usesocket=true; + case 'w': + staticLocationMode = TRUE; + webflag=1; + default: break; } } + if(webflag==1){ + pthread_t th; + pthread_create(&th,NULL,(void *)threadrecv,NULL); + } + if(usesocket==1) + sockc=sockinit(port); if (navfile[0]==0) { @@ -2327,6 +2338,13 @@ int main(int argc, char *argv[]) if(subGpsTime(grx, g0)-(float)(timem()-timestart)/1000>0.1&&usesocket==true){ usleep(100000); } + + if(webflag==1){ + memcpy(llh,llhr,3*sizeof(double)); + llh[0] = llh[0] / R2D; // convert to RAD + llh[1] = llh[1] / R2D; // convert to RAD + llh2xyz(llh,xyz[0]); + } // Update receiver time grx = incGpsTime(grx, 0.1); @@ -2351,3 +2369,6 @@ int main(int argc, char *argv[]) return(0); } + + + diff --git a/mapserver/mapper.py b/mapserver/mapper.py new file mode 100644 index 0000000..1fa7680 --- /dev/null +++ b/mapserver/mapper.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python + #-*-coding:utf-8-*- +import socket +import struct +import time +import web +HOST = '127.0.0.1' +PORT = 5678 +BUFFSIZE = 1024 +ADDR = ( HOST, PORT ) + +sock = socket.socket( socket.AF_INET, socket.SOCK_DGRAM ) + + + +urls = ( + '/','index', + '/post','post', + '/static/*','static', +) +app = web.application(urls, globals()) + +class index: + def GET(self): + return "Hello, world!" + +class post: + def POST(self): + inn=web.input() + lon=float(inn.get('lon')) + lat=float(inn.get('lat')) + h=float(inn.get('hgt')) + data=struct.pack("ddd",lat,lon,h) + sock.sendto(data,ADDR) + print lon,lat,h + +class static: + def GET(self, media, file): + try: + f = open(media+'/'+file, 'r') + return f.read() + except: + return '404' + +if __name__ == "__main__": app.run() + + + diff --git a/mapserver/mapper.pyc b/mapserver/mapper.pyc new file mode 100644 index 0000000000000000000000000000000000000000..73982586b1de4f354fd937c2b47ad66362f7b346 GIT binary patch literal 2065 zcmb_dQBNC35T3oWjRVGkxCuz@Lt81)rD`x#D9J+{(RRTHg=lK92Cco*l)`Odmq zCqaTI`VafiAJW%K?Kg8aAo|pT&o?{!?e6UE%r|rXpNsPk|0=)l)AUzC`!nAB4+w+5 zqL`?At}E)Q8SYWno9RAveKJ5wWT2PHl&D)FTOwPgL*R2{iH0PyD)JVc0iP#xo4N~R zeHzxtLRq9UlA$`83YjG`3-lWhqW9g~WU6GA$<)pvjKjtqGK=TXGFkNNbmUR?JJ~u7 z8@ya4a-UAnz}=$1@oVR|plmNBPmlgH<-fyORnSa#e_4F9}Ds*K_mI8Kq_tqpR637yFBLtwU&b z#tL3JK}G#%XL20)P~uGZnjC1SIQ*xIoJS{$hF~fX`JZ~1KyL>6mq338mIxjn3bRjq zI)SMYot5acObGsPj!vLdnYapLElg=)LTk?ug2^Xpi-Y4dDcaCU`*BdT#+ZP~DBx%N zVamPn#EEtor_%)k>!xJOCjBWL!~Rjhh7^i0(I&>Ff^BVY>wq!M)DrVil4uU9mJQkC zA7!cuU3d}9YsFFQz25H}d;{xw9fDL%-IZrmEfvhta;!OwX(rvp);GW-Ch*sI{|}Ft z_3SKeg-4rEj_)&-Kp${t1rc6BwL`E^K?Rg9VOZyFQYEF7@u~Ap;?7pu8ltEunYe#* zeN(bqe3XuDB1&dM6Y%^ZPRtldWEnh+Vk|z&< ztgg*^d!VVnulMzV9O%WH-QCWs?v54xu_+bzBItG+X{G0EcG zEue>L8b^J66p-hPzl)6aRQ{CkKR aa*&^jJT-5%jE|41cz3- + + + + +百度地图 + + + + + + + + + + +
+
+
+
+高度:
+
+
+位置:(lat,lon,hgt) +

+
+ + + + diff --git a/mapserver/static/jquery.js b/mapserver/static/jquery.js new file mode 100644 index 0000000..e2c203f --- /dev/null +++ b/mapserver/static/jquery.js @@ -0,0 +1,9597 @@ +/*! + * jQuery JavaScript Library v1.9.1 + * http://jquery.com/ + * + * Includes Sizzle.js + * http://sizzlejs.com/ + * + * Copyright 2005, 2012 jQuery Foundation, Inc. and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: 2013-2-4 + */ +(function( window, undefined ) { + +// Can't do this because several apps including ASP.NET trace +// the stack via arguments.caller.callee and Firefox dies if +// you try to trace through "use strict" call chains. (#13335) +// Support: Firefox 18+ +//"use strict"; +var + // The deferred used on DOM ready + readyList, + + // A central reference to the root jQuery(document) + rootjQuery, + + // Support: IE<9 + // For `typeof node.method` instead of `node.method !== undefined` + core_strundefined = typeof undefined, + + // Use the correct document accordingly with window argument (sandbox) + document = window.document, + location = window.location, + + // Map over jQuery in case of overwrite + _jQuery = window.jQuery, + + // Map over the $ in case of overwrite + _$ = window.$, + + // [[Class]] -> type pairs + class2type = {}, + + // List of deleted data cache ids, so we can reuse them + core_deletedIds = [], + + core_version = "1.9.1", + + // Save a reference to some core methods + core_concat = core_deletedIds.concat, + core_push = core_deletedIds.push, + core_slice = core_deletedIds.slice, + core_indexOf = core_deletedIds.indexOf, + core_toString = class2type.toString, + core_hasOwn = class2type.hasOwnProperty, + core_trim = core_version.trim, + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + // The jQuery object is actually just the init constructor 'enhanced' + return new jQuery.fn.init( selector, context, rootjQuery ); + }, + + // Used for matching numbers + core_pnum = /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/.source, + + // Used for splitting on whitespace + core_rnotwhite = /\S+/g, + + // Make sure we trim BOM and NBSP (here's looking at you, Safari 5.0 and IE) + rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + rquickExpr = /^(?:(<[\w\W]+>)[^>]*|#([\w-]*))$/, + + // Match a standalone tag + rsingleTag = /^<(\w+)\s*\/?>(?:<\/\1>|)$/, + + // JSON RegExp + rvalidchars = /^[\],:{}\s]*$/, + rvalidbraces = /(?:^|:|,)(?:\s*\[)+/g, + rvalidescape = /\\(?:["\\\/bfnrt]|u[\da-fA-F]{4})/g, + rvalidtokens = /"[^"\\\r\n]*"|true|false|null|-?(?:\d+\.|)\d+(?:[eE][+-]?\d+|)/g, + + // Matches dashed string for camelizing + rmsPrefix = /^-ms-/, + rdashAlpha = /-([\da-z])/gi, + + // Used by jQuery.camelCase as callback to replace() + fcamelCase = function( all, letter ) { + return letter.toUpperCase(); + }, + + // The ready event handler + completed = function( event ) { + + // readyState === "complete" is good enough for us to call the dom ready in oldIE + if ( document.addEventListener || event.type === "load" || document.readyState === "complete" ) { + detach(); + jQuery.ready(); + } + }, + // Clean-up method for dom ready events + detach = function() { + if ( document.addEventListener ) { + document.removeEventListener( "DOMContentLoaded", completed, false ); + window.removeEventListener( "load", completed, false ); + + } else { + document.detachEvent( "onreadystatechange", completed ); + window.detachEvent( "onload", completed ); + } + }; + +jQuery.fn = jQuery.prototype = { + // The current version of jQuery being used + jquery: core_version, + + constructor: jQuery, + init: function( selector, context, rootjQuery ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector.charAt(0) === "<" && selector.charAt( selector.length - 1 ) === ">" && selector.length >= 3 ) { + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && (match[1] || !context) ) { + + // HANDLE: $(html) -> $(array) + if ( match[1] ) { + context = context instanceof jQuery ? context[0] : context; + + // scripts is true for back-compat + jQuery.merge( this, jQuery.parseHTML( + match[1], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[1] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + // Properties of context are called as methods if possible + if ( jQuery.isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[2] ); + + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document #6963 + if ( elem && elem.parentNode ) { + // Handle the case where IE and Opera return items + // by name instead of ID + if ( elem.id !== match[2] ) { + return rootjQuery.find( selector ); + } + + // Otherwise, we inject the element directly into the jQuery object + this.length = 1; + this[0] = elem; + } + + this.context = document; + this.selector = selector; + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || rootjQuery ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this.context = this[0] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( jQuery.isFunction( selector ) ) { + return rootjQuery.ready( selector ); + } + + if ( selector.selector !== undefined ) { + this.selector = selector.selector; + this.context = selector.context; + } + + return jQuery.makeArray( selector, this ); + }, + + // Start with an empty selector + selector: "", + + // The default length of a jQuery object is 0 + length: 0, + + // The number of elements contained in the matched element set + size: function() { + return this.length; + }, + + toArray: function() { + return core_slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + return num == null ? + + // Return a 'clean' array + this.toArray() : + + // Return just the object + ( num < 0 ? this[ this.length + num ] : this[ num ] ); + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + ret.context = this.context; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + // (You can seed the arguments with an array of args, but this is + // only used internally.) + each: function( callback, args ) { + return jQuery.each( this, callback, args ); + }, + + ready: function( fn ) { + // Add the callback + jQuery.ready.promise().done( fn ); + + return this; + }, + + slice: function() { + return this.pushStack( core_slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[j] ] : [] ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map(this, function( elem, i ) { + return callback.call( elem, i, elem ); + })); + }, + + end: function() { + return this.prevObject || this.constructor(null); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: core_push, + sort: [].sort, + splice: [].splice +}; + +// Give the init function the jQuery prototype for later instantiation +jQuery.fn.init.prototype = jQuery.fn; + +jQuery.extend = jQuery.fn.extend = function() { + var src, copyIsArray, copy, name, options, clone, + target = arguments[0] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + target = arguments[1] || {}; + // skip the boolean and the target + i = 2; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !jQuery.isFunction(target) ) { + target = {}; + } + + // extend jQuery itself if only one argument is passed + if ( length === i ) { + target = this; + --i; + } + + for ( ; i < length; i++ ) { + // Only deal with non-null/undefined values + if ( (options = arguments[ i ]) != null ) { + // Extend the base object + for ( name in options ) { + src = target[ name ]; + copy = options[ name ]; + + // Prevent never-ending loop + if ( target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject(copy) || (copyIsArray = jQuery.isArray(copy)) ) ) { + if ( copyIsArray ) { + copyIsArray = false; + clone = src && jQuery.isArray(src) ? src : []; + + } else { + clone = src && jQuery.isPlainObject(src) ? src : {}; + } + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend({ + noConflict: function( deep ) { + if ( window.$ === jQuery ) { + window.$ = _$; + } + + if ( deep && window.jQuery === jQuery ) { + window.jQuery = _jQuery; + } + + return jQuery; + }, + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Hold (or release) the ready event + holdReady: function( hold ) { + if ( hold ) { + jQuery.readyWait++; + } else { + jQuery.ready( true ); + } + }, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Make sure body exists, at least, in case IE gets a little overzealous (ticket #5443). + if ( !document.body ) { + return setTimeout( jQuery.ready ); + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + + // Trigger any bound ready events + if ( jQuery.fn.trigger ) { + jQuery( document ).trigger("ready").off("ready"); + } + }, + + // See test/unit/core.js for details concerning isFunction. + // Since version 1.3, DOM methods and functions like alert + // aren't supported. They return false on IE (#2968). + isFunction: function( obj ) { + return jQuery.type(obj) === "function"; + }, + + isArray: Array.isArray || function( obj ) { + return jQuery.type(obj) === "array"; + }, + + isWindow: function( obj ) { + return obj != null && obj == obj.window; + }, + + isNumeric: function( obj ) { + return !isNaN( parseFloat(obj) ) && isFinite( obj ); + }, + + type: function( obj ) { + if ( obj == null ) { + return String( obj ); + } + return typeof obj === "object" || typeof obj === "function" ? + class2type[ core_toString.call(obj) ] || "object" : + typeof obj; + }, + + isPlainObject: function( obj ) { + // Must be an Object. + // Because of IE, we also have to check the presence of the constructor property. + // Make sure that DOM nodes and window objects don't pass through, as well + if ( !obj || jQuery.type(obj) !== "object" || obj.nodeType || jQuery.isWindow( obj ) ) { + return false; + } + + try { + // Not own constructor property must be Object + if ( obj.constructor && + !core_hasOwn.call(obj, "constructor") && + !core_hasOwn.call(obj.constructor.prototype, "isPrototypeOf") ) { + return false; + } + } catch ( e ) { + // IE8,9 Will throw exceptions on certain host objects #9897 + return false; + } + + // Own properties are enumerated firstly, so to speed up, + // if last one is own, then all properties are own. + + var key; + for ( key in obj ) {} + + return key === undefined || core_hasOwn.call( obj, key ); + }, + + isEmptyObject: function( obj ) { + var name; + for ( name in obj ) { + return false; + } + return true; + }, + + error: function( msg ) { + throw new Error( msg ); + }, + + // data: string of html + // context (optional): If specified, the fragment will be created in this context, defaults to document + // keepScripts (optional): If true, will include scripts passed in the html string + parseHTML: function( data, context, keepScripts ) { + if ( !data || typeof data !== "string" ) { + return null; + } + if ( typeof context === "boolean" ) { + keepScripts = context; + context = false; + } + context = context || document; + + var parsed = rsingleTag.exec( data ), + scripts = !keepScripts && []; + + // Single tag + if ( parsed ) { + return [ context.createElement( parsed[1] ) ]; + } + + parsed = jQuery.buildFragment( [ data ], context, scripts ); + if ( scripts ) { + jQuery( scripts ).remove(); + } + return jQuery.merge( [], parsed.childNodes ); + }, + + parseJSON: function( data ) { + // Attempt to parse using the native JSON parser first + if ( window.JSON && window.JSON.parse ) { + return window.JSON.parse( data ); + } + + if ( data === null ) { + return data; + } + + if ( typeof data === "string" ) { + + // Make sure leading/trailing whitespace is removed (IE can't handle it) + data = jQuery.trim( data ); + + if ( data ) { + // Make sure the incoming data is actual JSON + // Logic borrowed from http://json.org/json2.js + if ( rvalidchars.test( data.replace( rvalidescape, "@" ) + .replace( rvalidtokens, "]" ) + .replace( rvalidbraces, "")) ) { + + return ( new Function( "return " + data ) )(); + } + } + } + + jQuery.error( "Invalid JSON: " + data ); + }, + + // Cross-browser xml parsing + parseXML: function( data ) { + var xml, tmp; + if ( !data || typeof data !== "string" ) { + return null; + } + try { + if ( window.DOMParser ) { // Standard + tmp = new DOMParser(); + xml = tmp.parseFromString( data , "text/xml" ); + } else { // IE + xml = new ActiveXObject( "Microsoft.XMLDOM" ); + xml.async = "false"; + xml.loadXML( data ); + } + } catch( e ) { + xml = undefined; + } + if ( !xml || !xml.documentElement || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; + }, + + noop: function() {}, + + // Evaluates a script in a global context + // Workarounds based on findings by Jim Driscoll + // http://weblogs.java.net/blog/driscoll/archive/2009/09/08/eval-javascript-global-context + globalEval: function( data ) { + if ( data && jQuery.trim( data ) ) { + // We use execScript on Internet Explorer + // We use an anonymous function so that context is window + // rather than jQuery in Firefox + ( window.execScript || function( data ) { + window[ "eval" ].call( window, data ); + } )( data ); + } + }, + + // Convert dashed to camelCase; used by the css and data modules + // Microsoft forgot to hump their vendor prefix (#9572) + camelCase: function( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); + }, + + nodeName: function( elem, name ) { + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + }, + + // args is for internal usage only + each: function( obj, callback, args ) { + var value, + i = 0, + length = obj.length, + isArray = isArraylike( obj ); + + if ( args ) { + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback.apply( obj[ i ], args ); + + if ( value === false ) { + break; + } + } + } else { + for ( i in obj ) { + value = callback.apply( obj[ i ], args ); + + if ( value === false ) { + break; + } + } + } + + // A special, fast, case for the most common use of each + } else { + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback.call( obj[ i ], i, obj[ i ] ); + + if ( value === false ) { + break; + } + } + } else { + for ( i in obj ) { + value = callback.call( obj[ i ], i, obj[ i ] ); + + if ( value === false ) { + break; + } + } + } + } + + return obj; + }, + + // Use native String.trim function wherever possible + trim: core_trim && !core_trim.call("\uFEFF\xA0") ? + function( text ) { + return text == null ? + "" : + core_trim.call( text ); + } : + + // Otherwise use our own trimming functionality + function( text ) { + return text == null ? + "" : + ( text + "" ).replace( rtrim, "" ); + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArraylike( Object(arr) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + core_push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + var len; + + if ( arr ) { + if ( core_indexOf ) { + return core_indexOf.call( arr, elem, i ); + } + + len = arr.length; + i = i ? i < 0 ? Math.max( 0, len + i ) : i : 0; + + for ( ; i < len; i++ ) { + // Skip accessing in sparse arrays + if ( i in arr && arr[ i ] === elem ) { + return i; + } + } + } + + return -1; + }, + + merge: function( first, second ) { + var l = second.length, + i = first.length, + j = 0; + + if ( typeof l === "number" ) { + for ( ; j < l; j++ ) { + first[ i++ ] = second[ j ]; + } + } else { + while ( second[j] !== undefined ) { + first[ i++ ] = second[ j++ ]; + } + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, inv ) { + var retVal, + ret = [], + i = 0, + length = elems.length; + inv = !!inv; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + retVal = !!callback( elems[ i ], i ); + if ( inv !== retVal ) { + ret.push( elems[ i ] ); + } + } + + return ret; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var value, + i = 0, + length = elems.length, + isArray = isArraylike( elems ), + ret = []; + + // Go through the array, translating each of the items to their + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret[ ret.length ] = value; + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret[ ret.length ] = value; + } + } + } + + // Flatten any nested arrays + return core_concat.apply( [], ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // Bind a function to a context, optionally partially applying any + // arguments. + proxy: function( fn, context ) { + var args, proxy, tmp; + + if ( typeof context === "string" ) { + tmp = fn[ context ]; + context = fn; + fn = tmp; + } + + // Quick check to determine if target is callable, in the spec + // this throws a TypeError, but we will just return undefined. + if ( !jQuery.isFunction( fn ) ) { + return undefined; + } + + // Simulated bind + args = core_slice.call( arguments, 2 ); + proxy = function() { + return fn.apply( context || this, args.concat( core_slice.call( arguments ) ) ); + }; + + // Set the guid of unique handler to the same of original handler, so it can be removed + proxy.guid = fn.guid = fn.guid || jQuery.guid++; + + return proxy; + }, + + // Multifunctional method to get and set values of a collection + // The value/s can optionally be executed if it's a function + access: function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + length = elems.length, + bulk = key == null; + + // Sets many values + if ( jQuery.type( key ) === "object" ) { + chainable = true; + for ( i in key ) { + jQuery.access( elems, fn, i, key[i], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !jQuery.isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < length; i++ ) { + fn( elems[i], key, raw ? value : value.call( elems[i], i, fn( elems[i], key ) ) ); + } + } + } + + return chainable ? + elems : + + // Gets + bulk ? + fn.call( elems ) : + length ? fn( elems[0], key ) : emptyGet; + }, + + now: function() { + return ( new Date() ).getTime(); + } +}); + +jQuery.ready.promise = function( obj ) { + if ( !readyList ) { + + readyList = jQuery.Deferred(); + + // Catch cases where $(document).ready() is called after the browser event has already occurred. + // we once tried to use readyState "interactive" here, but it caused issues like the one + // discovered by ChrisS here: http://bugs.jquery.com/ticket/12282#comment:15 + if ( document.readyState === "complete" ) { + // Handle it asynchronously to allow scripts the opportunity to delay ready + setTimeout( jQuery.ready ); + + // Standards-based browsers support DOMContentLoaded + } else if ( document.addEventListener ) { + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed, false ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed, false ); + + // If IE event model is used + } else { + // Ensure firing before onload, maybe late but safe also for iframes + document.attachEvent( "onreadystatechange", completed ); + + // A fallback to window.onload, that will always work + window.attachEvent( "onload", completed ); + + // If IE and not a frame + // continually check to see if the document is ready + var top = false; + + try { + top = window.frameElement == null && document.documentElement; + } catch(e) {} + + if ( top && top.doScroll ) { + (function doScrollCheck() { + if ( !jQuery.isReady ) { + + try { + // Use the trick by Diego Perini + // http://javascript.nwbox.com/IEContentLoaded/ + top.doScroll("left"); + } catch(e) { + return setTimeout( doScrollCheck, 50 ); + } + + // detach all dom ready events + detach(); + + // and execute any waiting functions + jQuery.ready(); + } + })(); + } + } + } + return readyList.promise( obj ); +}; + +// Populate the class2type map +jQuery.each("Boolean Number String Function Array Date RegExp Object Error".split(" "), function(i, name) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +}); + +function isArraylike( obj ) { + var length = obj.length, + type = jQuery.type( obj ); + + if ( jQuery.isWindow( obj ) ) { + return false; + } + + if ( obj.nodeType === 1 && length ) { + return true; + } + + return type === "array" || type !== "function" && + ( length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj ); +} + +// All jQuery objects should point back to these +rootjQuery = jQuery(document); +// String to Object options format cache +var optionsCache = {}; + +// Convert String-formatted options into Object-formatted ones and store in cache +function createOptions( options ) { + var object = optionsCache[ options ] = {}; + jQuery.each( options.match( core_rnotwhite ) || [], function( _, flag ) { + object[ flag ] = true; + }); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + ( optionsCache[ options ] || createOptions( options ) ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + // Last fire value (for non-forgettable lists) + memory, + // Flag to know if list was already fired + fired, + // End of the loop when firing + firingLength, + // Index of currently firing callback (modified by remove if needed) + firingIndex, + // First callback to fire (used internally by add and fireWith) + firingStart, + // Actual callback list + list = [], + // Stack of fire calls for repeatable lists + stack = !options.once && [], + // Fire callbacks + fire = function( data ) { + memory = options.memory && data; + fired = true; + firingIndex = firingStart || 0; + firingStart = 0; + firingLength = list.length; + firing = true; + for ( ; list && firingIndex < firingLength; firingIndex++ ) { + if ( list[ firingIndex ].apply( data[ 0 ], data[ 1 ] ) === false && options.stopOnFalse ) { + memory = false; // To prevent further calls using add + break; + } + } + firing = false; + if ( list ) { + if ( stack ) { + if ( stack.length ) { + fire( stack.shift() ); + } + } else if ( memory ) { + list = []; + } else { + self.disable(); + } + } + }, + // Actual Callbacks object + self = { + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + // First, we save the current length + var start = list.length; + (function add( args ) { + jQuery.each( args, function( _, arg ) { + var type = jQuery.type( arg ); + if ( type === "function" ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && type !== "string" ) { + // Inspect recursively + add( arg ); + } + }); + })( arguments ); + // Do we need to add the callbacks to the + // current firing batch? + if ( firing ) { + firingLength = list.length; + // With memory, if we're not firing then + // we should call right away + } else if ( memory ) { + firingStart = start; + fire( memory ); + } + } + return this; + }, + // Remove a callback from the list + remove: function() { + if ( list ) { + jQuery.each( arguments, function( _, arg ) { + var index; + while( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + // Handle firing indexes + if ( firing ) { + if ( index <= firingLength ) { + firingLength--; + } + if ( index <= firingIndex ) { + firingIndex--; + } + } + } + }); + } + return this; + }, + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? jQuery.inArray( fn, list ) > -1 : !!( list && list.length ); + }, + // Remove all callbacks from the list + empty: function() { + list = []; + return this; + }, + // Have the list do nothing anymore + disable: function() { + list = stack = memory = undefined; + return this; + }, + // Is it disabled? + disabled: function() { + return !list; + }, + // Lock the list in its current state + lock: function() { + stack = undefined; + if ( !memory ) { + self.disable(); + } + return this; + }, + // Is it locked? + locked: function() { + return !stack; + }, + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + if ( list && ( !fired || stack ) ) { + if ( firing ) { + stack.push( args ); + } else { + fire( args ); + } + } + return this; + }, + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; +jQuery.extend({ + + Deferred: function( func ) { + var tuples = [ + // action, add listener, listener list, final state + [ "resolve", "done", jQuery.Callbacks("once memory"), "resolved" ], + [ "reject", "fail", jQuery.Callbacks("once memory"), "rejected" ], + [ "notify", "progress", jQuery.Callbacks("memory") ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + then: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + return jQuery.Deferred(function( newDefer ) { + jQuery.each( tuples, function( i, tuple ) { + var action = tuple[ 0 ], + fn = jQuery.isFunction( fns[ i ] ) && fns[ i ]; + // deferred[ done | fail | progress ] for forwarding actions to newDefer + deferred[ tuple[1] ](function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && jQuery.isFunction( returned.promise ) ) { + returned.promise() + .done( newDefer.resolve ) + .fail( newDefer.reject ) + .progress( newDefer.notify ); + } else { + newDefer[ action + "With" ]( this === promise ? newDefer.promise() : this, fn ? [ returned ] : arguments ); + } + }); + }); + fns = null; + }).promise(); + }, + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Keep pipe for back-compat + promise.pipe = promise.then; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 3 ]; + + // promise[ done | fail | progress ] = list.add + promise[ tuple[1] ] = list.add; + + // Handle state + if ( stateString ) { + list.add(function() { + // state = [ resolved | rejected ] + state = stateString; + + // [ reject_list | resolve_list ].disable; progress_list.lock + }, tuples[ i ^ 1 ][ 2 ].disable, tuples[ 2 ][ 2 ].lock ); + } + + // deferred[ resolve | reject | notify ] + deferred[ tuple[0] ] = function() { + deferred[ tuple[0] + "With" ]( this === deferred ? promise : this, arguments ); + return this; + }; + deferred[ tuple[0] + "With" ] = list.fireWith; + }); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( subordinate /* , ..., subordinateN */ ) { + var i = 0, + resolveValues = core_slice.call( arguments ), + length = resolveValues.length, + + // the count of uncompleted subordinates + remaining = length !== 1 || ( subordinate && jQuery.isFunction( subordinate.promise ) ) ? length : 0, + + // the master Deferred. If resolveValues consist of only a single Deferred, just use that. + deferred = remaining === 1 ? subordinate : jQuery.Deferred(), + + // Update function for both resolve and progress values + updateFunc = function( i, contexts, values ) { + return function( value ) { + contexts[ i ] = this; + values[ i ] = arguments.length > 1 ? core_slice.call( arguments ) : value; + if( values === progressValues ) { + deferred.notifyWith( contexts, values ); + } else if ( !( --remaining ) ) { + deferred.resolveWith( contexts, values ); + } + }; + }, + + progressValues, progressContexts, resolveContexts; + + // add listeners to Deferred subordinates; treat others as resolved + if ( length > 1 ) { + progressValues = new Array( length ); + progressContexts = new Array( length ); + resolveContexts = new Array( length ); + for ( ; i < length; i++ ) { + if ( resolveValues[ i ] && jQuery.isFunction( resolveValues[ i ].promise ) ) { + resolveValues[ i ].promise() + .done( updateFunc( i, resolveContexts, resolveValues ) ) + .fail( deferred.reject ) + .progress( updateFunc( i, progressContexts, progressValues ) ); + } else { + --remaining; + } + } + } + + // if we're not waiting on anything, resolve the master + if ( !remaining ) { + deferred.resolveWith( resolveContexts, resolveValues ); + } + + return deferred.promise(); + } +}); +jQuery.support = (function() { + + var support, all, a, + input, select, fragment, + opt, eventName, isSupported, i, + div = document.createElement("div"); + + // Setup + div.setAttribute( "className", "t" ); + div.innerHTML = "
a"; + + // Support tests won't run in some limited or non-browser environments + all = div.getElementsByTagName("*"); + a = div.getElementsByTagName("a")[ 0 ]; + if ( !all || !a || !all.length ) { + return {}; + } + + // First batch of tests + select = document.createElement("select"); + opt = select.appendChild( document.createElement("option") ); + input = div.getElementsByTagName("input")[ 0 ]; + + a.style.cssText = "top:1px;float:left;opacity:.5"; + support = { + // Test setAttribute on camelCase class. If it works, we need attrFixes when doing get/setAttribute (ie6/7) + getSetAttribute: div.className !== "t", + + // IE strips leading whitespace when .innerHTML is used + leadingWhitespace: div.firstChild.nodeType === 3, + + // Make sure that tbody elements aren't automatically inserted + // IE will insert them into empty tables + tbody: !div.getElementsByTagName("tbody").length, + + // Make sure that link elements get serialized correctly by innerHTML + // This requires a wrapper element in IE + htmlSerialize: !!div.getElementsByTagName("link").length, + + // Get the style information from getAttribute + // (IE uses .cssText instead) + style: /top/.test( a.getAttribute("style") ), + + // Make sure that URLs aren't manipulated + // (IE normalizes it by default) + hrefNormalized: a.getAttribute("href") === "/a", + + // Make sure that element opacity exists + // (IE uses filter instead) + // Use a regex to work around a WebKit issue. See #5145 + opacity: /^0.5/.test( a.style.opacity ), + + // Verify style float existence + // (IE uses styleFloat instead of cssFloat) + cssFloat: !!a.style.cssFloat, + + // Check the default checkbox/radio value ("" on WebKit; "on" elsewhere) + checkOn: !!input.value, + + // Make sure that a selected-by-default option has a working selected property. + // (WebKit defaults to false instead of true, IE too, if it's in an optgroup) + optSelected: opt.selected, + + // Tests for enctype support on a form (#6743) + enctype: !!document.createElement("form").enctype, + + // Makes sure cloning an html5 element does not cause problems + // Where outerHTML is undefined, this still works + html5Clone: document.createElement("nav").cloneNode( true ).outerHTML !== "<:nav>", + + // jQuery.support.boxModel DEPRECATED in 1.8 since we don't support Quirks Mode + boxModel: document.compatMode === "CSS1Compat", + + // Will be defined later + deleteExpando: true, + noCloneEvent: true, + inlineBlockNeedsLayout: false, + shrinkWrapBlocks: false, + reliableMarginRight: true, + boxSizingReliable: true, + pixelPosition: false + }; + + // Make sure checked status is properly cloned + input.checked = true; + support.noCloneChecked = input.cloneNode( true ).checked; + + // Make sure that the options inside disabled selects aren't marked as disabled + // (WebKit marks them as disabled) + select.disabled = true; + support.optDisabled = !opt.disabled; + + // Support: IE<9 + try { + delete div.test; + } catch( e ) { + support.deleteExpando = false; + } + + // Check if we can trust getAttribute("value") + input = document.createElement("input"); + input.setAttribute( "value", "" ); + support.input = input.getAttribute( "value" ) === ""; + + // Check if an input maintains its value after becoming a radio + input.value = "t"; + input.setAttribute( "type", "radio" ); + support.radioValue = input.value === "t"; + + // #11217 - WebKit loses check when the name is after the checked attribute + input.setAttribute( "checked", "t" ); + input.setAttribute( "name", "t" ); + + fragment = document.createDocumentFragment(); + fragment.appendChild( input ); + + // Check if a disconnected checkbox will retain its checked + // value of true after appended to the DOM (IE6/7) + support.appendChecked = input.checked; + + // WebKit doesn't clone checked state correctly in fragments + support.checkClone = fragment.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE<9 + // Opera does not clone events (and typeof div.attachEvent === undefined). + // IE9-10 clones events bound via attachEvent, but they don't trigger with .click() + if ( div.attachEvent ) { + div.attachEvent( "onclick", function() { + support.noCloneEvent = false; + }); + + div.cloneNode( true ).click(); + } + + // Support: IE<9 (lack submit/change bubble), Firefox 17+ (lack focusin event) + // Beware of CSP restrictions (https://developer.mozilla.org/en/Security/CSP), test/csp.php + for ( i in { submit: true, change: true, focusin: true }) { + div.setAttribute( eventName = "on" + i, "t" ); + + support[ i + "Bubbles" ] = eventName in window || div.attributes[ eventName ].expando === false; + } + + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + // Run tests that need a body at doc ready + jQuery(function() { + var container, marginDiv, tds, + divReset = "padding:0;margin:0;border:0;display:block;box-sizing:content-box;-moz-box-sizing:content-box;-webkit-box-sizing:content-box;", + body = document.getElementsByTagName("body")[0]; + + if ( !body ) { + // Return for frameset docs that don't have a body + return; + } + + container = document.createElement("div"); + container.style.cssText = "border:0;width:0;height:0;position:absolute;top:0;left:-9999px;margin-top:1px"; + + body.appendChild( container ).appendChild( div ); + + // Support: IE8 + // Check if table cells still have offsetWidth/Height when they are set + // to display:none and there are still other visible table cells in a + // table row; if so, offsetWidth/Height are not reliable for use when + // determining if an element has been hidden directly using + // display:none (it is still safe to use offsets if a parent element is + // hidden; don safety goggles and see bug #4512 for more information). + div.innerHTML = "
t
"; + tds = div.getElementsByTagName("td"); + tds[ 0 ].style.cssText = "padding:0;margin:0;border:0;display:none"; + isSupported = ( tds[ 0 ].offsetHeight === 0 ); + + tds[ 0 ].style.display = ""; + tds[ 1 ].style.display = "none"; + + // Support: IE8 + // Check if empty table cells still have offsetWidth/Height + support.reliableHiddenOffsets = isSupported && ( tds[ 0 ].offsetHeight === 0 ); + + // Check box-sizing and margin behavior + div.innerHTML = ""; + div.style.cssText = "box-sizing:border-box;-moz-box-sizing:border-box;-webkit-box-sizing:border-box;padding:1px;border:1px;display:block;width:4px;margin-top:1%;position:absolute;top:1%;"; + support.boxSizing = ( div.offsetWidth === 4 ); + support.doesNotIncludeMarginInBodyOffset = ( body.offsetTop !== 1 ); + + // Use window.getComputedStyle because jsdom on node.js will break without it. + if ( window.getComputedStyle ) { + support.pixelPosition = ( window.getComputedStyle( div, null ) || {} ).top !== "1%"; + support.boxSizingReliable = ( window.getComputedStyle( div, null ) || { width: "4px" } ).width === "4px"; + + // Check if div with explicit width and no margin-right incorrectly + // gets computed margin-right based on width of container. (#3333) + // Fails in WebKit before Feb 2011 nightlies + // WebKit Bug 13343 - getComputedStyle returns wrong value for margin-right + marginDiv = div.appendChild( document.createElement("div") ); + marginDiv.style.cssText = div.style.cssText = divReset; + marginDiv.style.marginRight = marginDiv.style.width = "0"; + div.style.width = "1px"; + + support.reliableMarginRight = + !parseFloat( ( window.getComputedStyle( marginDiv, null ) || {} ).marginRight ); + } + + if ( typeof div.style.zoom !== core_strundefined ) { + // Support: IE<8 + // Check if natively block-level elements act like inline-block + // elements when setting their display to 'inline' and giving + // them layout + div.innerHTML = ""; + div.style.cssText = divReset + "width:1px;padding:1px;display:inline;zoom:1"; + support.inlineBlockNeedsLayout = ( div.offsetWidth === 3 ); + + // Support: IE6 + // Check if elements with layout shrink-wrap their children + div.style.display = "block"; + div.innerHTML = "
"; + div.firstChild.style.width = "5px"; + support.shrinkWrapBlocks = ( div.offsetWidth !== 3 ); + + if ( support.inlineBlockNeedsLayout ) { + // Prevent IE 6 from affecting layout for positioned elements #11048 + // Prevent IE from shrinking the body in IE 7 mode #12869 + // Support: IE<8 + body.style.zoom = 1; + } + } + + body.removeChild( container ); + + // Null elements to avoid leaks in IE + container = div = tds = marginDiv = null; + }); + + // Null elements to avoid leaks in IE + all = select = fragment = opt = a = input = null; + + return support; +})(); + +var rbrace = /(?:\{[\s\S]*\}|\[[\s\S]*\])$/, + rmultiDash = /([A-Z])/g; + +function internalData( elem, name, data, pvt /* Internal Use Only */ ){ + if ( !jQuery.acceptData( elem ) ) { + return; + } + + var thisCache, ret, + internalKey = jQuery.expando, + getByName = typeof name === "string", + + // We have to handle DOM nodes and JS objects differently because IE6-7 + // can't GC object references properly across the DOM-JS boundary + isNode = elem.nodeType, + + // Only DOM nodes need the global jQuery cache; JS object data is + // attached directly to the object so GC can occur automatically + cache = isNode ? jQuery.cache : elem, + + // Only defining an ID for JS objects if its cache already exists allows + // the code to shortcut on the same path as a DOM node with no cache + id = isNode ? elem[ internalKey ] : elem[ internalKey ] && internalKey; + + // Avoid doing any more work than we need to when trying to get data on an + // object that has no data at all + if ( (!id || !cache[id] || (!pvt && !cache[id].data)) && getByName && data === undefined ) { + return; + } + + if ( !id ) { + // Only DOM nodes need a new unique ID for each element since their data + // ends up in the global cache + if ( isNode ) { + elem[ internalKey ] = id = core_deletedIds.pop() || jQuery.guid++; + } else { + id = internalKey; + } + } + + if ( !cache[ id ] ) { + cache[ id ] = {}; + + // Avoids exposing jQuery metadata on plain JS objects when the object + // is serialized using JSON.stringify + if ( !isNode ) { + cache[ id ].toJSON = jQuery.noop; + } + } + + // An object can be passed to jQuery.data instead of a key/value pair; this gets + // shallow copied over onto the existing cache + if ( typeof name === "object" || typeof name === "function" ) { + if ( pvt ) { + cache[ id ] = jQuery.extend( cache[ id ], name ); + } else { + cache[ id ].data = jQuery.extend( cache[ id ].data, name ); + } + } + + thisCache = cache[ id ]; + + // jQuery data() is stored in a separate object inside the object's internal data + // cache in order to avoid key collisions between internal data and user-defined + // data. + if ( !pvt ) { + if ( !thisCache.data ) { + thisCache.data = {}; + } + + thisCache = thisCache.data; + } + + if ( data !== undefined ) { + thisCache[ jQuery.camelCase( name ) ] = data; + } + + // Check for both converted-to-camel and non-converted data property names + // If a data property was specified + if ( getByName ) { + + // First Try to find as-is property data + ret = thisCache[ name ]; + + // Test for null|undefined property data + if ( ret == null ) { + + // Try to find the camelCased property + ret = thisCache[ jQuery.camelCase( name ) ]; + } + } else { + ret = thisCache; + } + + return ret; +} + +function internalRemoveData( elem, name, pvt ) { + if ( !jQuery.acceptData( elem ) ) { + return; + } + + var i, l, thisCache, + isNode = elem.nodeType, + + // See jQuery.data for more information + cache = isNode ? jQuery.cache : elem, + id = isNode ? elem[ jQuery.expando ] : jQuery.expando; + + // If there is already no cache entry for this object, there is no + // purpose in continuing + if ( !cache[ id ] ) { + return; + } + + if ( name ) { + + thisCache = pvt ? cache[ id ] : cache[ id ].data; + + if ( thisCache ) { + + // Support array or space separated string names for data keys + if ( !jQuery.isArray( name ) ) { + + // try the string as a key before any manipulation + if ( name in thisCache ) { + name = [ name ]; + } else { + + // split the camel cased version by spaces unless a key with the spaces exists + name = jQuery.camelCase( name ); + if ( name in thisCache ) { + name = [ name ]; + } else { + name = name.split(" "); + } + } + } else { + // If "name" is an array of keys... + // When data is initially created, via ("key", "val") signature, + // keys will be converted to camelCase. + // Since there is no way to tell _how_ a key was added, remove + // both plain key and camelCase key. #12786 + // This will only penalize the array argument path. + name = name.concat( jQuery.map( name, jQuery.camelCase ) ); + } + + for ( i = 0, l = name.length; i < l; i++ ) { + delete thisCache[ name[i] ]; + } + + // If there is no data left in the cache, we want to continue + // and let the cache object itself get destroyed + if ( !( pvt ? isEmptyDataObject : jQuery.isEmptyObject )( thisCache ) ) { + return; + } + } + } + + // See jQuery.data for more information + if ( !pvt ) { + delete cache[ id ].data; + + // Don't destroy the parent cache unless the internal data object + // had been the only thing left in it + if ( !isEmptyDataObject( cache[ id ] ) ) { + return; + } + } + + // Destroy the cache + if ( isNode ) { + jQuery.cleanData( [ elem ], true ); + + // Use delete when supported for expandos or `cache` is not a window per isWindow (#10080) + } else if ( jQuery.support.deleteExpando || cache != cache.window ) { + delete cache[ id ]; + + // When all else fails, null + } else { + cache[ id ] = null; + } +} + +jQuery.extend({ + cache: {}, + + // Unique for each copy of jQuery on the page + // Non-digits removed to match rinlinejQuery + expando: "jQuery" + ( core_version + Math.random() ).replace( /\D/g, "" ), + + // The following elements throw uncatchable exceptions if you + // attempt to add expando properties to them. + noData: { + "embed": true, + // Ban all objects except for Flash (which handle expandos) + "object": "clsid:D27CDB6E-AE6D-11cf-96B8-444553540000", + "applet": true + }, + + hasData: function( elem ) { + elem = elem.nodeType ? jQuery.cache[ elem[jQuery.expando] ] : elem[ jQuery.expando ]; + return !!elem && !isEmptyDataObject( elem ); + }, + + data: function( elem, name, data ) { + return internalData( elem, name, data ); + }, + + removeData: function( elem, name ) { + return internalRemoveData( elem, name ); + }, + + // For internal use only. + _data: function( elem, name, data ) { + return internalData( elem, name, data, true ); + }, + + _removeData: function( elem, name ) { + return internalRemoveData( elem, name, true ); + }, + + // A method for determining if a DOM node can handle the data expando + acceptData: function( elem ) { + // Do not set data on non-element because it will not be cleared (#8335). + if ( elem.nodeType && elem.nodeType !== 1 && elem.nodeType !== 9 ) { + return false; + } + + var noData = elem.nodeName && jQuery.noData[ elem.nodeName.toLowerCase() ]; + + // nodes accept data unless otherwise specified; rejection can be conditional + return !noData || noData !== true && elem.getAttribute("classid") === noData; + } +}); + +jQuery.fn.extend({ + data: function( key, value ) { + var attrs, name, + elem = this[0], + i = 0, + data = null; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = jQuery.data( elem ); + + if ( elem.nodeType === 1 && !jQuery._data( elem, "parsedAttrs" ) ) { + attrs = elem.attributes; + for ( ; i < attrs.length; i++ ) { + name = attrs[i].name; + + if ( !name.indexOf( "data-" ) ) { + name = jQuery.camelCase( name.slice(5) ); + + dataAttr( elem, name, data[ name ] ); + } + } + jQuery._data( elem, "parsedAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each(function() { + jQuery.data( this, key ); + }); + } + + return jQuery.access( this, function( value ) { + + if ( value === undefined ) { + // Try to fetch any internally stored data first + return elem ? dataAttr( elem, key, jQuery.data( elem, key ) ) : null; + } + + this.each(function() { + jQuery.data( this, key, value ); + }); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each(function() { + jQuery.removeData( this, key ); + }); + } +}); + +function dataAttr( elem, key, data ) { + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + + var name = "data-" + key.replace( rmultiDash, "-$1" ).toLowerCase(); + + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = data === "true" ? true : + data === "false" ? false : + data === "null" ? null : + // Only convert to a number if it doesn't change the string + +data + "" === data ? +data : + rbrace.test( data ) ? jQuery.parseJSON( data ) : + data; + } catch( e ) {} + + // Make sure we set the data so it isn't changed later + jQuery.data( elem, key, data ); + + } else { + data = undefined; + } + } + + return data; +} + +// checks a cache object for emptiness +function isEmptyDataObject( obj ) { + var name; + for ( name in obj ) { + + // if the public data object is empty, the private is still empty + if ( name === "data" && jQuery.isEmptyObject( obj[name] ) ) { + continue; + } + if ( name !== "toJSON" ) { + return false; + } + } + + return true; +} +jQuery.extend({ + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = jQuery._data( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || jQuery.isArray(data) ) { + queue = jQuery._data( elem, type, jQuery.makeArray(data) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + hooks.cur = fn; + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // not intended for public consumption - generates a queueHooks object, or returns the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return jQuery._data( elem, key ) || jQuery._data( elem, key, { + empty: jQuery.Callbacks("once memory").add(function() { + jQuery._removeData( elem, type + "queue" ); + jQuery._removeData( elem, key ); + }) + }); + } +}); + +jQuery.fn.extend({ + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[0], type ); + } + + return data === undefined ? + this : + this.each(function() { + var queue = jQuery.queue( this, type, data ); + + // ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[0] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + }); + }, + dequeue: function( type ) { + return this.each(function() { + jQuery.dequeue( this, type ); + }); + }, + // Based off of the plugin by Clint Helfers, with permission. + // http://blindsignals.com/index.php/2009/07/jquery-delay/ + delay: function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = setTimeout( next, time ); + hooks.stop = function() { + clearTimeout( timeout ); + }; + }); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while( i-- ) { + tmp = jQuery._data( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +}); +var nodeHook, boolHook, + rclass = /[\t\r\n]/g, + rreturn = /\r/g, + rfocusable = /^(?:input|select|textarea|button|object)$/i, + rclickable = /^(?:a|area)$/i, + rboolean = /^(?:checked|selected|autofocus|autoplay|async|controls|defer|disabled|hidden|loop|multiple|open|readonly|required|scoped)$/i, + ruseDefault = /^(?:checked|selected)$/i, + getSetAttribute = jQuery.support.getSetAttribute, + getSetInput = jQuery.support.input; + +jQuery.fn.extend({ + attr: function( name, value ) { + return jQuery.access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each(function() { + jQuery.removeAttr( this, name ); + }); + }, + + prop: function( name, value ) { + return jQuery.access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + name = jQuery.propFix[ name ] || name; + return this.each(function() { + // try/catch handles cases where IE balks (such as removing a property on window) + try { + this[ name ] = undefined; + delete this[ name ]; + } catch( e ) {} + }); + }, + + addClass: function( value ) { + var classes, elem, cur, clazz, j, + i = 0, + len = this.length, + proceed = typeof value === "string" && value; + + if ( jQuery.isFunction( value ) ) { + return this.each(function( j ) { + jQuery( this ).addClass( value.call( this, j, this.className ) ); + }); + } + + if ( proceed ) { + // The disjunction here is for better compressibility (see removeClass) + classes = ( value || "" ).match( core_rnotwhite ) || []; + + for ( ; i < len; i++ ) { + elem = this[ i ]; + cur = elem.nodeType === 1 && ( elem.className ? + ( " " + elem.className + " " ).replace( rclass, " " ) : + " " + ); + + if ( cur ) { + j = 0; + while ( (clazz = classes[j++]) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + elem.className = jQuery.trim( cur ); + + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, clazz, j, + i = 0, + len = this.length, + proceed = arguments.length === 0 || typeof value === "string" && value; + + if ( jQuery.isFunction( value ) ) { + return this.each(function( j ) { + jQuery( this ).removeClass( value.call( this, j, this.className ) ); + }); + } + if ( proceed ) { + classes = ( value || "" ).match( core_rnotwhite ) || []; + + for ( ; i < len; i++ ) { + elem = this[ i ]; + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( elem.className ? + ( " " + elem.className + " " ).replace( rclass, " " ) : + "" + ); + + if ( cur ) { + j = 0; + while ( (clazz = classes[j++]) ) { + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) >= 0 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + elem.className = value ? jQuery.trim( cur ) : ""; + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isBool = typeof stateVal === "boolean"; + + if ( jQuery.isFunction( value ) ) { + return this.each(function( i ) { + jQuery( this ).toggleClass( value.call(this, i, this.className, stateVal), stateVal ); + }); + } + + return this.each(function() { + if ( type === "string" ) { + // toggle individual class names + var className, + i = 0, + self = jQuery( this ), + state = stateVal, + classNames = value.match( core_rnotwhite ) || []; + + while ( (className = classNames[ i++ ]) ) { + // check each className given, space separated list + state = isBool ? state : !self.hasClass( className ); + self[ state ? "addClass" : "removeClass" ]( className ); + } + + // Toggle whole class name + } else if ( type === core_strundefined || type === "boolean" ) { + if ( this.className ) { + // store className if set + jQuery._data( this, "__className__", this.className ); + } + + // If the element has a class name or if we're passed "false", + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + this.className = this.className || value === false ? "" : jQuery._data( this, "__className__" ) || ""; + } + }); + }, + + hasClass: function( selector ) { + var className = " " + selector + " ", + i = 0, + l = this.length; + for ( ; i < l; i++ ) { + if ( this[i].nodeType === 1 && (" " + this[i].className + " ").replace(rclass, " ").indexOf( className ) >= 0 ) { + return true; + } + } + + return false; + }, + + val: function( value ) { + var ret, hooks, isFunction, + elem = this[0]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && "get" in hooks && (ret = hooks.get( elem, "value" )) !== undefined ) { + return ret; + } + + ret = elem.value; + + return typeof ret === "string" ? + // handle most common string cases + ret.replace(rreturn, "") : + // handle cases where value is null/undef or number + ret == null ? "" : ret; + } + + return; + } + + isFunction = jQuery.isFunction( value ); + + return this.each(function( i ) { + var val, + self = jQuery(this); + + if ( this.nodeType !== 1 ) { + return; + } + + if ( isFunction ) { + val = value.call( this, i, self.val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + } else if ( typeof val === "number" ) { + val += ""; + } else if ( jQuery.isArray( val ) ) { + val = jQuery.map(val, function ( value ) { + return value == null ? "" : value + ""; + }); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !("set" in hooks) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + }); + } +}); + +jQuery.extend({ + valHooks: { + option: { + get: function( elem ) { + // attributes.value is undefined in Blackberry 4.7 but + // uses .value. See #6932 + var val = elem.attributes.value; + return !val || val.specified ? elem.value : elem.text; + } + }, + select: { + get: function( elem ) { + var value, option, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one" || index < 0, + values = one ? null : [], + max = one ? index + 1 : options.length, + i = index < 0 ? + max : + one ? index : 0; + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // oldIE doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + // Don't return options that are disabled or in a disabled optgroup + ( jQuery.support.optDisabled ? !option.disabled : option.getAttribute("disabled") === null ) && + ( !option.parentNode.disabled || !jQuery.nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var values = jQuery.makeArray( value ); + + jQuery(elem).find("option").each(function() { + this.selected = jQuery.inArray( jQuery(this).val(), values ) >= 0; + }); + + if ( !values.length ) { + elem.selectedIndex = -1; + } + return values; + } + } + }, + + attr: function( elem, name, value ) { + var hooks, notxml, ret, + nType = elem.nodeType; + + // don't get/set attributes on text, comment and attribute nodes + if ( !elem || nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === core_strundefined ) { + return jQuery.prop( elem, name, value ); + } + + notxml = nType !== 1 || !jQuery.isXMLDoc( elem ); + + // All attributes are lowercase + // Grab necessary hook if one is defined + if ( notxml ) { + name = name.toLowerCase(); + hooks = jQuery.attrHooks[ name ] || ( rboolean.test( name ) ? boolHook : nodeHook ); + } + + if ( value !== undefined ) { + + if ( value === null ) { + jQuery.removeAttr( elem, name ); + + } else if ( hooks && notxml && "set" in hooks && (ret = hooks.set( elem, value, name )) !== undefined ) { + return ret; + + } else { + elem.setAttribute( name, value + "" ); + return value; + } + + } else if ( hooks && notxml && "get" in hooks && (ret = hooks.get( elem, name )) !== null ) { + return ret; + + } else { + + // In IE9+, Flash objects don't have .getAttribute (#12945) + // Support: IE9+ + if ( typeof elem.getAttribute !== core_strundefined ) { + ret = elem.getAttribute( name ); + } + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? + undefined : + ret; + } + }, + + removeAttr: function( elem, value ) { + var name, propName, + i = 0, + attrNames = value && value.match( core_rnotwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( (name = attrNames[i++]) ) { + propName = jQuery.propFix[ name ] || name; + + // Boolean attributes get special treatment (#10870) + if ( rboolean.test( name ) ) { + // Set corresponding property to false for boolean attributes + // Also clear defaultChecked/defaultSelected (if appropriate) for IE<8 + if ( !getSetAttribute && ruseDefault.test( name ) ) { + elem[ jQuery.camelCase( "default-" + name ) ] = + elem[ propName ] = false; + } else { + elem[ propName ] = false; + } + + // See #9699 for explanation of this approach (setting first, then removal) + } else { + jQuery.attr( elem, name, "" ); + } + + elem.removeAttribute( getSetAttribute ? name : propName ); + } + } + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !jQuery.support.radioValue && value === "radio" && jQuery.nodeName(elem, "input") ) { + // Setting the type on a radio button after the value resets the value in IE6-9 + // Reset value to default in case type is set after value during creation + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + propFix: { + tabindex: "tabIndex", + readonly: "readOnly", + "for": "htmlFor", + "class": "className", + maxlength: "maxLength", + cellspacing: "cellSpacing", + cellpadding: "cellPadding", + rowspan: "rowSpan", + colspan: "colSpan", + usemap: "useMap", + frameborder: "frameBorder", + contenteditable: "contentEditable" + }, + + prop: function( elem, name, value ) { + var ret, hooks, notxml, + nType = elem.nodeType; + + // don't get/set properties on text, comment and attribute nodes + if ( !elem || nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + notxml = nType !== 1 || !jQuery.isXMLDoc( elem ); + + if ( notxml ) { + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && (ret = hooks.set( elem, value, name )) !== undefined ) { + return ret; + + } else { + return ( elem[ name ] = value ); + } + + } else { + if ( hooks && "get" in hooks && (ret = hooks.get( elem, name )) !== null ) { + return ret; + + } else { + return elem[ name ]; + } + } + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + // elem.tabIndex doesn't always return the correct value when it hasn't been explicitly set + // http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + var attributeNode = elem.getAttributeNode("tabindex"); + + return attributeNode && attributeNode.specified ? + parseInt( attributeNode.value, 10 ) : + rfocusable.test( elem.nodeName ) || rclickable.test( elem.nodeName ) && elem.href ? + 0 : + undefined; + } + } + } +}); + +// Hook for boolean attributes +boolHook = { + get: function( elem, name ) { + var + // Use .prop to determine if this attribute is understood as boolean + prop = jQuery.prop( elem, name ), + + // Fetch it accordingly + attr = typeof prop === "boolean" && elem.getAttribute( name ), + detail = typeof prop === "boolean" ? + + getSetInput && getSetAttribute ? + attr != null : + // oldIE fabricates an empty string for missing boolean attributes + // and conflates checked/selected into attroperties + ruseDefault.test( name ) ? + elem[ jQuery.camelCase( "default-" + name ) ] : + !!attr : + + // fetch an attribute node for properties not recognized as boolean + elem.getAttributeNode( name ); + + return detail && detail.value !== false ? + name.toLowerCase() : + undefined; + }, + set: function( elem, value, name ) { + if ( value === false ) { + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else if ( getSetInput && getSetAttribute || !ruseDefault.test( name ) ) { + // IE<8 needs the *property* name + elem.setAttribute( !getSetAttribute && jQuery.propFix[ name ] || name, name ); + + // Use defaultChecked and defaultSelected for oldIE + } else { + elem[ jQuery.camelCase( "default-" + name ) ] = elem[ name ] = true; + } + + return name; + } +}; + +// fix oldIE value attroperty +if ( !getSetInput || !getSetAttribute ) { + jQuery.attrHooks.value = { + get: function( elem, name ) { + var ret = elem.getAttributeNode( name ); + return jQuery.nodeName( elem, "input" ) ? + + // Ignore the value *property* by using defaultValue + elem.defaultValue : + + ret && ret.specified ? ret.value : undefined; + }, + set: function( elem, value, name ) { + if ( jQuery.nodeName( elem, "input" ) ) { + // Does not return so that setAttribute is also used + elem.defaultValue = value; + } else { + // Use nodeHook if defined (#1954); otherwise setAttribute is fine + return nodeHook && nodeHook.set( elem, value, name ); + } + } + }; +} + +// IE6/7 do not support getting/setting some attributes with get/setAttribute +if ( !getSetAttribute ) { + + // Use this for any attribute in IE6/7 + // This fixes almost every IE6/7 issue + nodeHook = jQuery.valHooks.button = { + get: function( elem, name ) { + var ret = elem.getAttributeNode( name ); + return ret && ( name === "id" || name === "name" || name === "coords" ? ret.value !== "" : ret.specified ) ? + ret.value : + undefined; + }, + set: function( elem, value, name ) { + // Set the existing or create a new attribute node + var ret = elem.getAttributeNode( name ); + if ( !ret ) { + elem.setAttributeNode( + (ret = elem.ownerDocument.createAttribute( name )) + ); + } + + ret.value = value += ""; + + // Break association with cloned elements by also using setAttribute (#9646) + return name === "value" || value === elem.getAttribute( name ) ? + value : + undefined; + } + }; + + // Set contenteditable to false on removals(#10429) + // Setting to empty string throws an error as an invalid value + jQuery.attrHooks.contenteditable = { + get: nodeHook.get, + set: function( elem, value, name ) { + nodeHook.set( elem, value === "" ? false : value, name ); + } + }; + + // Set width and height to auto instead of 0 on empty string( Bug #8150 ) + // This is for removals + jQuery.each([ "width", "height" ], function( i, name ) { + jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], { + set: function( elem, value ) { + if ( value === "" ) { + elem.setAttribute( name, "auto" ); + return value; + } + } + }); + }); +} + + +// Some attributes require a special call on IE +// http://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !jQuery.support.hrefNormalized ) { + jQuery.each([ "href", "src", "width", "height" ], function( i, name ) { + jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], { + get: function( elem ) { + var ret = elem.getAttribute( name, 2 ); + return ret == null ? undefined : ret; + } + }); + }); + + // href/src property should get the full normalized URL (#10299/#12915) + jQuery.each([ "href", "src" ], function( i, name ) { + jQuery.propHooks[ name ] = { + get: function( elem ) { + return elem.getAttribute( name, 4 ); + } + }; + }); +} + +if ( !jQuery.support.style ) { + jQuery.attrHooks.style = { + get: function( elem ) { + // Return undefined in the case of empty string + // Note: IE uppercases css property names, but if we were to .toLowerCase() + // .cssText, that would destroy case senstitivity in URL's, like in "background" + return elem.style.cssText || undefined; + }, + set: function( elem, value ) { + return ( elem.style.cssText = value + "" ); + } + }; +} + +// Safari mis-reports the default selected property of an option +// Accessing the parent's selectedIndex property fixes it +if ( !jQuery.support.optSelected ) { + jQuery.propHooks.selected = jQuery.extend( jQuery.propHooks.selected, { + get: function( elem ) { + var parent = elem.parentNode; + + if ( parent ) { + parent.selectedIndex; + + // Make sure that it also works with optgroups, see #5701 + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + return null; + } + }); +} + +// IE6/7 call enctype encoding +if ( !jQuery.support.enctype ) { + jQuery.propFix.enctype = "encoding"; +} + +// Radios and checkboxes getter/setter +if ( !jQuery.support.checkOn ) { + jQuery.each([ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + get: function( elem ) { + // Handle the case where in Webkit "" is returned instead of "on" if a value isn't specified + return elem.getAttribute("value") === null ? "on" : elem.value; + } + }; + }); +} +jQuery.each([ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = jQuery.extend( jQuery.valHooks[ this ], { + set: function( elem, value ) { + if ( jQuery.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery(elem).val(), value ) >= 0 ); + } + } + }); +}); +var rformElems = /^(?:input|select|textarea)$/i, + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|contextmenu)|click/, + rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)$/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + var tmp, events, t, handleObjIn, + special, eventHandle, handleObj, + handlers, type, namespaces, origType, + elemData = jQuery._data( elem ); + + // Don't attach events to noData or text/comment nodes (but allow plain objects) + if ( !elemData ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !(events = elemData.events) ) { + events = elemData.events = {}; + } + if ( !(eventHandle = elemData.handle) ) { + eventHandle = elemData.handle = function( e ) { + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== core_strundefined && (!e || jQuery.event.triggered !== e.type) ? + jQuery.event.dispatch.apply( eventHandle.elem, arguments ) : + undefined; + }; + // Add elem as a property of the handle fn to prevent a memory leak with IE non-native events + eventHandle.elem = elem; + } + + // Handle multiple events separated by a space + // jQuery(...).bind("mouseover mouseout", fn); + types = ( types || "" ).match( core_rnotwhite ) || [""]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[t] ) || []; + type = origType = tmp[1]; + namespaces = ( tmp[2] || "" ).split( "." ).sort(); + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend({ + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join(".") + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !(handlers = events[ type ]) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener/attachEvent if the special events handler returns false + if ( !special.setup || special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + // Bind the global event handler to the element + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle, false ); + + } else if ( elem.attachEvent ) { + elem.attachEvent( "on" + type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + // Nullify elem to prevent memory leaks in IE + elem = null; + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + var j, handleObj, tmp, + origCount, t, events, + special, handlers, type, + namespaces, origType, + elemData = jQuery.hasData( elem ) && jQuery._data( elem ); + + if ( !elemData || !(events = elemData.events) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( core_rnotwhite ) || [""]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[t] ) || []; + type = origType = tmp[1]; + namespaces = ( tmp[2] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[2] && new RegExp( "(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + delete elemData.handle; + + // removeData also checks for emptiness and clears the expando if empty + // so use it instead of delete + jQuery._removeData( elem, "events" ); + } + }, + + trigger: function( event, data, elem, onlyHandlers ) { + var handle, ontype, cur, + bubbleType, special, tmp, i, + eventPath = [ elem || document ], + type = core_hasOwn.call( event, "type" ) ? event.type : event, + namespaces = core_hasOwn.call( event, "namespace" ) ? event.namespace.split(".") : []; + + cur = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf(".") >= 0 ) { + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split("."); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf(":") < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + event.isTrigger = true; + event.namespace = namespaces.join("."); + event.namespace_re = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !jQuery.isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === (elem.ownerDocument || document) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( (cur = eventPath[i++]) && !event.isPropagationStopped() ) { + + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( jQuery._data( cur, "events" ) || {} )[ event.type ] && jQuery._data( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && jQuery.acceptData( cur ) && handle.apply && handle.apply( cur, data ) === false ) { + event.preventDefault(); + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( (!special._default || special._default.apply( elem.ownerDocument, data ) === false) && + !(type === "click" && jQuery.nodeName( elem, "a" )) && jQuery.acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name name as the event. + // Can't use an .isFunction() check here because IE6/7 fails that test. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && elem[ type ] && !jQuery.isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + try { + elem[ type ](); + } catch ( e ) { + // IE<9 dies on focus/blur to hidden element (#1486,#12518) + // only reproducible on winXP IE8 native, not IE9 in IE8 mode + } + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + dispatch: function( event ) { + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( event ); + + var i, ret, handleObj, matched, j, + handlerQueue = [], + args = core_slice.call( arguments ), + handlers = ( jQuery._data( this, "events" ) || {} )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[0] = event; + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( (matched = handlerQueue[ i++ ]) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( (handleObj = matched.handlers[ j++ ]) && !event.isImmediatePropagationStopped() ) { + + // Triggered event must either 1) have no namespace, or + // 2) have namespace(s) a subset or equal to those in the bound event (both can have no namespace). + if ( !event.namespace_re || event.namespace_re.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( (jQuery.event.special[ handleObj.origType ] || {}).handle || handleObj.handler ) + .apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( (event.result = ret) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var sel, handleObj, matches, i, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + // Black-hole SVG instance trees (#13180) + // Avoid non-left-click bubbling in Firefox (#3861) + if ( delegateCount && cur.nodeType && (!event.button || event.type !== "click") ) { + + for ( ; cur != this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && (cur.disabled !== true || event.type !== "click") ) { + matches = []; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matches[ sel ] === undefined ) { + matches[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) >= 0 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matches[ sel ] ) { + matches.push( handleObj ); + } + } + if ( matches.length ) { + handlerQueue.push({ elem: cur, handlers: matches }); + } + } + } + } + + // Add the remaining (directly-bound) handlers + if ( delegateCount < handlers.length ) { + handlerQueue.push({ elem: this, handlers: handlers.slice( delegateCount ) }); + } + + return handlerQueue; + }, + + fix: function( event ) { + if ( event[ jQuery.expando ] ) { + return event; + } + + // Create a writable copy of the event object and normalize some properties + var i, prop, copy, + type = event.type, + originalEvent = event, + fixHook = this.fixHooks[ type ]; + + if ( !fixHook ) { + this.fixHooks[ type ] = fixHook = + rmouseEvent.test( type ) ? this.mouseHooks : + rkeyEvent.test( type ) ? this.keyHooks : + {}; + } + copy = fixHook.props ? this.props.concat( fixHook.props ) : this.props; + + event = new jQuery.Event( originalEvent ); + + i = copy.length; + while ( i-- ) { + prop = copy[ i ]; + event[ prop ] = originalEvent[ prop ]; + } + + // Support: IE<9 + // Fix target property (#1925) + if ( !event.target ) { + event.target = originalEvent.srcElement || document; + } + + // Support: Chrome 23+, Safari? + // Target should not be a text node (#504, #13143) + if ( event.target.nodeType === 3 ) { + event.target = event.target.parentNode; + } + + // Support: IE<9 + // For mouse/key events, metaKey==false if it's undefined (#3368, #11328) + event.metaKey = !!event.metaKey; + + return fixHook.filter ? fixHook.filter( event, originalEvent ) : event; + }, + + // Includes some event props shared by KeyEvent and MouseEvent + props: "altKey bubbles cancelable ctrlKey currentTarget eventPhase metaKey relatedTarget shiftKey target timeStamp view which".split(" "), + + fixHooks: {}, + + keyHooks: { + props: "char charCode key keyCode".split(" "), + filter: function( event, original ) { + + // Add which for key events + if ( event.which == null ) { + event.which = original.charCode != null ? original.charCode : original.keyCode; + } + + return event; + } + }, + + mouseHooks: { + props: "button buttons clientX clientY fromElement offsetX offsetY pageX pageY screenX screenY toElement".split(" "), + filter: function( event, original ) { + var body, eventDoc, doc, + button = original.button, + fromElement = original.fromElement; + + // Calculate pageX/Y if missing and clientX/Y available + if ( event.pageX == null && original.clientX != null ) { + eventDoc = event.target.ownerDocument || document; + doc = eventDoc.documentElement; + body = eventDoc.body; + + event.pageX = original.clientX + ( doc && doc.scrollLeft || body && body.scrollLeft || 0 ) - ( doc && doc.clientLeft || body && body.clientLeft || 0 ); + event.pageY = original.clientY + ( doc && doc.scrollTop || body && body.scrollTop || 0 ) - ( doc && doc.clientTop || body && body.clientTop || 0 ); + } + + // Add relatedTarget, if necessary + if ( !event.relatedTarget && fromElement ) { + event.relatedTarget = fromElement === event.target ? original.toElement : fromElement; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + // Note: button is not normalized, so don't use it + if ( !event.which && button !== undefined ) { + event.which = ( button & 1 ? 1 : ( button & 2 ? 3 : ( button & 4 ? 2 : 0 ) ) ); + } + + return event; + } + }, + + special: { + load: { + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + // For checkbox, fire native event so checked state will be right + trigger: function() { + if ( jQuery.nodeName( this, "input" ) && this.type === "checkbox" && this.click ) { + this.click(); + return false; + } + } + }, + focus: { + // Fire native event if possible so blur/focus sequence is correct + trigger: function() { + if ( this !== document.activeElement && this.focus ) { + try { + this.focus(); + return false; + } catch ( e ) { + // Support: IE<9 + // If we error on focus to hidden element (#1486, #12518), + // let .trigger() run the handlers + } + } + }, + delegateType: "focusin" + }, + blur: { + trigger: function() { + if ( this === document.activeElement && this.blur ) { + this.blur(); + return false; + } + }, + delegateType: "focusout" + }, + + beforeunload: { + postDispatch: function( event ) { + + // Even when returnValue equals to undefined Firefox will still show alert + if ( event.result !== undefined ) { + event.originalEvent.returnValue = event.result; + } + } + } + }, + + simulate: function( type, elem, event, bubble ) { + // Piggyback on a donor event to simulate a different one. + // Fake originalEvent to avoid donor's stopPropagation, but if the + // simulated event prevents default then we do the same on the donor. + var e = jQuery.extend( + new jQuery.Event(), + event, + { type: type, + isSimulated: true, + originalEvent: {} + } + ); + if ( bubble ) { + jQuery.event.trigger( e, null, elem ); + } else { + jQuery.event.dispatch.call( elem, e ); + } + if ( e.isDefaultPrevented() ) { + event.preventDefault(); + } + } +}; + +jQuery.removeEvent = document.removeEventListener ? + function( elem, type, handle ) { + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle, false ); + } + } : + function( elem, type, handle ) { + var name = "on" + type; + + if ( elem.detachEvent ) { + + // #8545, #7054, preventing memory leaks for custom events in IE6-8 + // detachEvent needed property on element, by name of that event, to properly expose it to GC + if ( typeof elem[ name ] === core_strundefined ) { + elem[ name ] = null; + } + + elem.detachEvent( name, handle ); + } + }; + +jQuery.Event = function( src, props ) { + // Allow instantiation without the 'new' keyword + if ( !(this instanceof jQuery.Event) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = ( src.defaultPrevented || src.returnValue === false || + src.getPreventDefault && src.getPreventDefault() ) ? returnTrue : returnFalse; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || jQuery.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// http://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + if ( !e ) { + return; + } + + // If preventDefault exists, run it on the original event + if ( e.preventDefault ) { + e.preventDefault(); + + // Support: IE + // Otherwise set the returnValue property of the original event to false + } else { + e.returnValue = false; + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + if ( !e ) { + return; + } + // If stopPropagation exists, run it on the original event + if ( e.stopPropagation ) { + e.stopPropagation(); + } + + // Support: IE + // Set the cancelBubble property of the original event to true + e.cancelBubble = true; + }, + stopImmediatePropagation: function() { + this.isImmediatePropagationStopped = returnTrue; + this.stopPropagation(); + } +}; + +// Create mouseenter/leave events using mouseover/out and event-time checks +jQuery.each({ + mouseenter: "mouseover", + mouseleave: "mouseout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mousenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || (related !== target && !jQuery.contains( target, related )) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +}); + +// IE submit delegation +if ( !jQuery.support.submitBubbles ) { + + jQuery.event.special.submit = { + setup: function() { + // Only need this for delegated form submit events + if ( jQuery.nodeName( this, "form" ) ) { + return false; + } + + // Lazy-add a submit handler when a descendant form may potentially be submitted + jQuery.event.add( this, "click._submit keypress._submit", function( e ) { + // Node name check avoids a VML-related crash in IE (#9807) + var elem = e.target, + form = jQuery.nodeName( elem, "input" ) || jQuery.nodeName( elem, "button" ) ? elem.form : undefined; + if ( form && !jQuery._data( form, "submitBubbles" ) ) { + jQuery.event.add( form, "submit._submit", function( event ) { + event._submit_bubble = true; + }); + jQuery._data( form, "submitBubbles", true ); + } + }); + // return undefined since we don't need an event listener + }, + + postDispatch: function( event ) { + // If form was submitted by the user, bubble the event up the tree + if ( event._submit_bubble ) { + delete event._submit_bubble; + if ( this.parentNode && !event.isTrigger ) { + jQuery.event.simulate( "submit", this.parentNode, event, true ); + } + } + }, + + teardown: function() { + // Only need this for delegated form submit events + if ( jQuery.nodeName( this, "form" ) ) { + return false; + } + + // Remove delegated handlers; cleanData eventually reaps submit handlers attached above + jQuery.event.remove( this, "._submit" ); + } + }; +} + +// IE change delegation and checkbox/radio fix +if ( !jQuery.support.changeBubbles ) { + + jQuery.event.special.change = { + + setup: function() { + + if ( rformElems.test( this.nodeName ) ) { + // IE doesn't fire change on a check/radio until blur; trigger it on click + // after a propertychange. Eat the blur-change in special.change.handle. + // This still fires onchange a second time for check/radio after blur. + if ( this.type === "checkbox" || this.type === "radio" ) { + jQuery.event.add( this, "propertychange._change", function( event ) { + if ( event.originalEvent.propertyName === "checked" ) { + this._just_changed = true; + } + }); + jQuery.event.add( this, "click._change", function( event ) { + if ( this._just_changed && !event.isTrigger ) { + this._just_changed = false; + } + // Allow triggered, simulated change events (#11500) + jQuery.event.simulate( "change", this, event, true ); + }); + } + return false; + } + // Delegated event; lazy-add a change handler on descendant inputs + jQuery.event.add( this, "beforeactivate._change", function( e ) { + var elem = e.target; + + if ( rformElems.test( elem.nodeName ) && !jQuery._data( elem, "changeBubbles" ) ) { + jQuery.event.add( elem, "change._change", function( event ) { + if ( this.parentNode && !event.isSimulated && !event.isTrigger ) { + jQuery.event.simulate( "change", this.parentNode, event, true ); + } + }); + jQuery._data( elem, "changeBubbles", true ); + } + }); + }, + + handle: function( event ) { + var elem = event.target; + + // Swallow native change events from checkbox/radio, we already triggered them above + if ( this !== elem || event.isSimulated || event.isTrigger || (elem.type !== "radio" && elem.type !== "checkbox") ) { + return event.handleObj.handler.apply( this, arguments ); + } + }, + + teardown: function() { + jQuery.event.remove( this, "._change" ); + + return !rformElems.test( this.nodeName ); + } + }; +} + +// Create "bubbling" focus and blur events +if ( !jQuery.support.focusinBubbles ) { + jQuery.each({ focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler while someone wants focusin/focusout + var attaches = 0, + handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ), true ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + if ( attaches++ === 0 ) { + document.addEventListener( orig, handler, true ); + } + }, + teardown: function() { + if ( --attaches === 0 ) { + document.removeEventListener( orig, handler, true ); + } + } + }; + }); +} + +jQuery.fn.extend({ + + on: function( types, selector, data, fn, /*INTERNAL*/ one ) { + var type, origFn; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + this.on( type, selector, data, types[ type ], one ); + } + return this; + } + + if ( data == null && fn == null ) { + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return this; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return this.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + }); + }, + one: function( types, selector, data, fn ) { + return this.on( types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? handleObj.origType + "." + handleObj.namespace : handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each(function() { + jQuery.event.remove( this, types, fn, selector ); + }); + }, + + bind: function( types, data, fn ) { + return this.on( types, null, data, fn ); + }, + unbind: function( types, fn ) { + return this.off( types, null, fn ); + }, + + delegate: function( selector, types, data, fn ) { + return this.on( types, selector, data, fn ); + }, + undelegate: function( selector, types, fn ) { + // ( namespace ) or ( selector, types [, fn] ) + return arguments.length === 1 ? this.off( selector, "**" ) : this.off( types, selector || "**", fn ); + }, + + trigger: function( type, data ) { + return this.each(function() { + jQuery.event.trigger( type, data, this ); + }); + }, + triggerHandler: function( type, data ) { + var elem = this[0]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +}); +/*! + * Sizzle CSS Selector Engine + * Copyright 2012 jQuery Foundation and other contributors + * Released under the MIT license + * http://sizzlejs.com/ + */ +(function( window, undefined ) { + +var i, + cachedruns, + Expr, + getText, + isXML, + compile, + hasDuplicate, + outermostContext, + + // Local document vars + setDocument, + document, + docElem, + documentIsXML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + sortOrder, + + // Instance-specific data + expando = "sizzle" + -(new Date()), + preferredDoc = window.document, + support = {}, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + + // General-purpose constants + strundefined = typeof undefined, + MAX_NEGATIVE = 1 << 31, + + // Array methods + arr = [], + pop = arr.pop, + push = arr.push, + slice = arr.slice, + // Use a stripped-down indexOf if we can't use a native one + indexOf = arr.indexOf || function( elem ) { + var i = 0, + len = this.length; + for ( ; i < len; i++ ) { + if ( this[i] === elem ) { + return i; + } + } + return -1; + }, + + + // Regular expressions + + // Whitespace characters http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + // http://www.w3.org/TR/css3-syntax/#characters + characterEncoding = "(?:\\\\.|[\\w-]|[^\\x00-\\xa0])+", + + // Loosely modeled on CSS identifier characters + // An unquoted value should be a CSS identifier http://www.w3.org/TR/css3-selectors/#attribute-selectors + // Proper syntax: http://www.w3.org/TR/CSS21/syndata.html#value-def-identifier + identifier = characterEncoding.replace( "w", "w#" ), + + // Acceptable operators http://www.w3.org/TR/selectors/#attribute-selectors + operators = "([*^$|!~]?=)", + attributes = "\\[" + whitespace + "*(" + characterEncoding + ")" + whitespace + + "*(?:" + operators + whitespace + "*(?:(['\"])((?:\\\\.|[^\\\\])*?)\\3|(" + identifier + ")|)|)" + whitespace + "*\\]", + + // Prefer arguments quoted, + // then not containing pseudos/brackets, + // then attribute selectors/non-parenthetical expressions, + // then anything else + // These preferences are here to reduce the number of selectors + // needing tokenize in the PSEUDO preFilter + pseudos = ":(" + characterEncoding + ")(?:\\(((['\"])((?:\\\\.|[^\\\\])*?)\\3|((?:\\\\.|[^\\\\()[\\]]|" + attributes.replace( 3, 8 ) + ")*)|.*)\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([\\x20\\t\\r\\n\\f>+~])" + whitespace + "*" ), + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + characterEncoding + ")" ), + "CLASS": new RegExp( "^\\.(" + characterEncoding + ")" ), + "NAME": new RegExp( "^\\[name=['\"]?(" + characterEncoding + ")['\"]?\\]" ), + "TAG": new RegExp( "^(" + characterEncoding.replace( "w", "w*" ) + ")" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + whitespace + + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + whitespace + + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + + whitespace + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rsibling = /[\x20\t\r\n\f]*[+~]/, + + rnative = /^[^{]+\{\s*\[native code/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rescape = /'|\\/g, + rattributeQuotes = /\=[\x20\t\r\n\f]*([^'"\]]*)[\x20\t\r\n\f]*\]/g, + + // CSS escapes http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = /\\([\da-fA-F]{1,6}[\x20\t\r\n\f]?|.)/g, + funescape = function( _, escaped ) { + var high = "0x" + escaped - 0x10000; + // NaN means non-codepoint + return high !== high ? + escaped : + // BMP codepoint + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + // Supplemental Plane codepoint (surrogate pair) + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }; + +// Use a stripped-down slice if we can't use a native one +try { + slice.call( preferredDoc.documentElement.childNodes, 0 )[0].nodeType; +} catch ( e ) { + slice = function( i ) { + var elem, + results = []; + while ( (elem = this[i++]) ) { + results.push( elem ); + } + return results; + }; +} + +/** + * For feature detection + * @param {Function} fn The function to test for native support + */ +function isNative( fn ) { + return rnative.test( fn + "" ); +} + +/** + * Create key-value caches of limited size + * @returns {Function(string, Object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var cache, + keys = []; + + return (cache = function( key, value ) { + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key += " " ) > Expr.cacheLength ) { + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return (cache[ key ] = value); + }); +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created div and expects a boolean result + */ +function assert( fn ) { + var div = document.createElement("div"); + + try { + return fn( div ); + } catch (e) { + return false; + } finally { + // release memory in IE + div = null; + } +} + +function Sizzle( selector, context, results, seed ) { + var match, elem, m, nodeType, + // QSA vars + i, groups, old, nid, newContext, newSelector; + + if ( ( context ? context.ownerDocument || context : preferredDoc ) !== document ) { + setDocument( context ); + } + + context = context || document; + results = results || []; + + if ( !selector || typeof selector !== "string" ) { + return results; + } + + if ( (nodeType = context.nodeType) !== 1 && nodeType !== 9 ) { + return []; + } + + if ( !documentIsXML && !seed ) { + + // Shortcuts + if ( (match = rquickExpr.exec( selector )) ) { + // Speed-up: Sizzle("#ID") + if ( (m = match[1]) ) { + if ( nodeType === 9 ) { + elem = context.getElementById( m ); + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document #6963 + if ( elem && elem.parentNode ) { + // Handle the case where IE, Opera, and Webkit return items + // by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + } else { + // Context is not a document + if ( context.ownerDocument && (elem = context.ownerDocument.getElementById( m )) && + contains( context, elem ) && elem.id === m ) { + results.push( elem ); + return results; + } + } + + // Speed-up: Sizzle("TAG") + } else if ( match[2] ) { + push.apply( results, slice.call(context.getElementsByTagName( selector ), 0) ); + return results; + + // Speed-up: Sizzle(".CLASS") + } else if ( (m = match[3]) && support.getByClassName && context.getElementsByClassName ) { + push.apply( results, slice.call(context.getElementsByClassName( m ), 0) ); + return results; + } + } + + // QSA path + if ( support.qsa && !rbuggyQSA.test(selector) ) { + old = true; + nid = expando; + newContext = context; + newSelector = nodeType === 9 && selector; + + // qSA works strangely on Element-rooted queries + // We can work around this by specifying an extra ID on the root + // and working up from there (Thanks to Andrew Dupont for the technique) + // IE 8 doesn't work on object elements + if ( nodeType === 1 && context.nodeName.toLowerCase() !== "object" ) { + groups = tokenize( selector ); + + if ( (old = context.getAttribute("id")) ) { + nid = old.replace( rescape, "\\$&" ); + } else { + context.setAttribute( "id", nid ); + } + nid = "[id='" + nid + "'] "; + + i = groups.length; + while ( i-- ) { + groups[i] = nid + toSelector( groups[i] ); + } + newContext = rsibling.test( selector ) && context.parentNode || context; + newSelector = groups.join(","); + } + + if ( newSelector ) { + try { + push.apply( results, slice.call( newContext.querySelectorAll( + newSelector + ), 0 ) ); + return results; + } catch(qsaError) { + } finally { + if ( !old ) { + context.removeAttribute("id"); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Detect xml + * @param {Element|Object} elem An element or a document + */ +isXML = Sizzle.isXML = function( elem ) { + // documentElement is verified for cases where it doesn't yet exist + // (such as loading iframes in IE - #4833) + var documentElement = elem && (elem.ownerDocument || elem).documentElement; + return documentElement ? documentElement.nodeName !== "HTML" : false; +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var doc = node ? node.ownerDocument || node : preferredDoc; + + // If no document and documentElement is available, return + if ( doc === document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Set our document + document = doc; + docElem = doc.documentElement; + + // Support tests + documentIsXML = isXML( doc ); + + // Check if getElementsByTagName("*") returns only elements + support.tagNameNoComments = assert(function( div ) { + div.appendChild( doc.createComment("") ); + return !div.getElementsByTagName("*").length; + }); + + // Check if attributes should be retrieved by attribute nodes + support.attributes = assert(function( div ) { + div.innerHTML = ""; + var type = typeof div.lastChild.getAttribute("multiple"); + // IE8 returns a string for some attributes even when not present + return type !== "boolean" && type !== "string"; + }); + + // Check if getElementsByClassName can be trusted + support.getByClassName = assert(function( div ) { + // Opera can't find a second classname (in 9.6) + div.innerHTML = ""; + if ( !div.getElementsByClassName || !div.getElementsByClassName("e").length ) { + return false; + } + + // Safari 3.2 caches class attributes and doesn't catch changes + div.lastChild.className = "e"; + return div.getElementsByClassName("e").length === 2; + }); + + // Check if getElementById returns elements by name + // Check if getElementsByName privileges form controls or returns elements by ID + support.getByName = assert(function( div ) { + // Inject content + div.id = expando + 0; + div.innerHTML = "
"; + docElem.insertBefore( div, docElem.firstChild ); + + // Test + var pass = doc.getElementsByName && + // buggy browsers will return fewer than the correct 2 + doc.getElementsByName( expando ).length === 2 + + // buggy browsers will return more than the correct 0 + doc.getElementsByName( expando + 0 ).length; + support.getIdNotName = !doc.getElementById( expando ); + + // Cleanup + docElem.removeChild( div ); + + return pass; + }); + + // IE6/7 return modified attributes + Expr.attrHandle = assert(function( div ) { + div.innerHTML = ""; + return div.firstChild && typeof div.firstChild.getAttribute !== strundefined && + div.firstChild.getAttribute("href") === "#"; + }) ? + {} : + { + "href": function( elem ) { + return elem.getAttribute( "href", 2 ); + }, + "type": function( elem ) { + return elem.getAttribute("type"); + } + }; + + // ID find and filter + if ( support.getIdNotName ) { + Expr.find["ID"] = function( id, context ) { + if ( typeof context.getElementById !== strundefined && !documentIsXML ) { + var m = context.getElementById( id ); + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document #6963 + return m && m.parentNode ? [m] : []; + } + }; + Expr.filter["ID"] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute("id") === attrId; + }; + }; + } else { + Expr.find["ID"] = function( id, context ) { + if ( typeof context.getElementById !== strundefined && !documentIsXML ) { + var m = context.getElementById( id ); + + return m ? + m.id === id || typeof m.getAttributeNode !== strundefined && m.getAttributeNode("id").value === id ? + [m] : + undefined : + []; + } + }; + Expr.filter["ID"] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== strundefined && elem.getAttributeNode("id"); + return node && node.value === attrId; + }; + }; + } + + // Tag + Expr.find["TAG"] = support.tagNameNoComments ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== strundefined ) { + return context.getElementsByTagName( tag ); + } + } : + function( tag, context ) { + var elem, + tmp = [], + i = 0, + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( (elem = results[i++]) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Name + Expr.find["NAME"] = support.getByName && function( tag, context ) { + if ( typeof context.getElementsByName !== strundefined ) { + return context.getElementsByName( name ); + } + }; + + // Class + Expr.find["CLASS"] = support.getByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== strundefined && !documentIsXML ) { + return context.getElementsByClassName( className ); + } + }; + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21), + // no need to also add to buggyMatches since matches checks buggyQSA + // A support test would require too much code (would include document ready) + rbuggyQSA = [ ":focus" ]; + + if ( (support.qsa = isNative(doc.querySelectorAll)) ) { + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert(function( div ) { + // Select is set to empty string on purpose + // This is to test IE's treatment of not explictly + // setting a boolean content attribute, + // since its presence should be enough + // http://bugs.jquery.com/ticket/12359 + div.innerHTML = ""; + + // IE8 - Some boolean attributes are not treated correctly + if ( !div.querySelectorAll("[selected]").length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:checked|disabled|ismap|multiple|readonly|selected|value)" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !div.querySelectorAll(":checked").length ) { + rbuggyQSA.push(":checked"); + } + }); + + assert(function( div ) { + + // Opera 10-12/IE8 - ^= $= *= and empty values + // Should not select anything + div.innerHTML = ""; + if ( div.querySelectorAll("[i^='']").length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:\"\"|'')" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( !div.querySelectorAll(":enabled").length ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Opera 10-11 does not throw on post-comma invalid pseudos + div.querySelectorAll("*,:x"); + rbuggyQSA.push(",.*:"); + }); + } + + if ( (support.matchesSelector = isNative( (matches = docElem.matchesSelector || + docElem.mozMatchesSelector || + docElem.webkitMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector) )) ) { + + assert(function( div ) { + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( div, "div" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( div, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + }); + } + + rbuggyQSA = new RegExp( rbuggyQSA.join("|") ); + rbuggyMatches = new RegExp( rbuggyMatches.join("|") ); + + // Element contains another + // Purposefully does not implement inclusive descendent + // As in, an element does not contain itself + contains = isNative(docElem.contains) || docElem.compareDocumentPosition ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + )); + } : + function( a, b ) { + if ( b ) { + while ( (b = b.parentNode) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + // Document order sorting + sortOrder = docElem.compareDocumentPosition ? + function( a, b ) { + var compare; + + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + if ( (compare = b.compareDocumentPosition && a.compareDocumentPosition && a.compareDocumentPosition( b )) ) { + if ( compare & 1 || a.parentNode && a.parentNode.nodeType === 11 ) { + if ( a === doc || contains( preferredDoc, a ) ) { + return -1; + } + if ( b === doc || contains( preferredDoc, b ) ) { + return 1; + } + return 0; + } + return compare & 4 ? -1 : 1; + } + + return a.compareDocumentPosition ? -1 : 1; + } : + function( a, b ) { + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + + // Parentless nodes are either documents or disconnected + } else if ( !aup || !bup ) { + return a === doc ? -1 : + b === doc ? 1 : + aup ? -1 : + bup ? 1 : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( (cur = cur.parentNode) ) { + ap.unshift( cur ); + } + cur = b; + while ( (cur = cur.parentNode) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[i] === bp[i] ) { + i++; + } + + return i ? + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[i], bp[i] ) : + + // Otherwise nodes in our document sort first + ap[i] === preferredDoc ? -1 : + bp[i] === preferredDoc ? 1 : + 0; + }; + + // Always assume the presence of duplicates if sort doesn't + // pass them to our comparison function (as in Google Chrome). + hasDuplicate = false; + [0, 0].sort( sortOrder ); + support.detectDuplicates = hasDuplicate; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + // Make sure that attribute selectors are quoted + expr = expr.replace( rattributeQuotes, "='$1']" ); + + // rbuggyQSA always contains :focus, so no need for an existence check + if ( support.matchesSelector && !documentIsXML && (!rbuggyMatches || !rbuggyMatches.test(expr)) && !rbuggyQSA.test(expr) ) { + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch(e) {} + } + + return Sizzle( expr, document, null, [elem] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + // Set document vars if needed + if ( ( context.ownerDocument || context ) !== document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + var val; + + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + if ( !documentIsXML ) { + name = name.toLowerCase(); + } + if ( (val = Expr.attrHandle[ name ]) ) { + return val( elem ); + } + if ( documentIsXML || support.attributes ) { + return elem.getAttribute( name ); + } + return ( (val = elem.getAttributeNode( name )) || elem.getAttribute( name ) ) && elem[ name ] === true ? + name : + val && val.specified ? val.value : null; +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +// Document sorting and removing duplicates +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + i = 1, + j = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + results.sort( sortOrder ); + + if ( hasDuplicate ) { + for ( ; (elem = results[i]); i++ ) { + if ( elem === results[ i - 1 ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + return results; +}; + +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && ( ~b.sourceIndex || MAX_NEGATIVE ) - ( ~a.sourceIndex || MAX_NEGATIVE ); + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( (cur = cur.nextSibling) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +// Returns a function to use in pseudos for input types +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +// Returns a function to use in pseudos for buttons +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return (name === "input" || name === "button") && elem.type === type; + }; +} + +// Returns a function to use in pseudos for positionals +function createPositionalPseudo( fn ) { + return markFunction(function( argument ) { + argument = +argument; + return markFunction(function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ (j = matchIndexes[i]) ] ) { + seed[j] = !(matches[j] = seed[j]); + } + } + }); + }); +} + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + // If no nodeType, this is expected to be an array + for ( ; (node = elem[i]); i++ ) { + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + // Use textContent for elements + // innerText usage removed for consistency of new lines (see #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[1] = match[1].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[3] = ( match[4] || match[5] || "" ).replace( runescape, funescape ); + + if ( match[2] === "~=" ) { + match[3] = " " + match[3] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[1] = match[1].toLowerCase(); + + if ( match[1].slice( 0, 3 ) === "nth" ) { + // nth-* requires argument + if ( !match[3] ) { + Sizzle.error( match[0] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[4] = +( match[4] ? match[5] + (match[6] || 1) : 2 * ( match[3] === "even" || match[3] === "odd" ) ); + match[5] = +( ( match[7] + match[8] ) || match[3] === "odd" ); + + // other types prohibit arguments + } else if ( match[3] ) { + Sizzle.error( match[0] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[5] && match[2]; + + if ( matchExpr["CHILD"].test( match[0] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[4] ) { + match[2] = match[4]; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + // Get excess from tokenize (recursively) + (excess = tokenize( unquoted, true )) && + // advance to the next closing parenthesis + (excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length) ) { + + // excess is a negative index + match[0] = match[0].slice( 0, excess ); + match[2] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeName ) { + if ( nodeName === "*" ) { + return function() { return true; }; + } + + nodeName = nodeName.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + (pattern = new RegExp( "(^|" + whitespace + ")" + className + "(" + whitespace + "|$)" )) && + classCache( className, function( elem ) { + return pattern.test( elem.className || (typeof elem.getAttribute !== strundefined && elem.getAttribute("class")) || "" ); + }); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + }; + }, + + "CHILD": function( type, what, argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, context, xml ) { + var cache, outerCache, node, diff, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( (node = node[ dir ]) ) { + if ( ofType ? node.nodeName.toLowerCase() === name : node.nodeType === 1 ) { + return false; + } + } + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + // Seek `elem` from a previously-cached index + outerCache = parent[ expando ] || (parent[ expando ] = {}); + cache = outerCache[ type ] || []; + nodeIndex = cache[0] === dirruns && cache[1]; + diff = cache[0] === dirruns && cache[2]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( (node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + (diff = nodeIndex = 0) || start.pop()) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + outerCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + // Use previously-cached element index if available + } else if ( useCache && (cache = (elem[ expando ] || (elem[ expando ] = {}))[ type ]) && cache[0] === dirruns ) { + diff = cache[1]; + + // xml :nth-child(...) or :nth-last-child(...) or :nth(-last)?-of-type(...) + } else { + // Use the same loop as above to seek `elem` from the start + while ( (node = ++nodeIndex && node && node[ dir ] || + (diff = nodeIndex = 0) || start.pop()) ) { + + if ( ( ofType ? node.nodeName.toLowerCase() === name : node.nodeType === 1 ) && ++diff ) { + // Cache the index of each encountered element + if ( useCache ) { + (node[ expando ] || (node[ expando ] = {}))[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction(function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf.call( seed, matched[i] ); + seed[ idx ] = !( matches[ idx ] = matched[i] ); + } + }) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + // Potentially complex pseudos + "not": markFunction(function( selector ) { + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction(function( seed, matches, context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( (elem = unmatched[i]) ) { + seed[i] = !(matches[i] = elem); + } + } + }) : + function( elem, context, xml ) { + input[0] = elem; + matcher( input, null, xml, results ); + return !results.pop(); + }; + }), + + "has": markFunction(function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + }), + + "contains": markFunction(function( text ) { + return function( elem ) { + return ( elem.textContent || elem.innerText || getText( elem ) ).indexOf( text ) > -1; + }; + }), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + // lang value must be a valid identifider + if ( !ridentifier.test(lang || "") ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( (elemLang = documentIsXML ? + elem.getAttribute("xml:lang") || elem.getAttribute("lang") : + elem.lang) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( (elem = elem.parentNode) && elem.nodeType === 1 ); + return false; + }; + }), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && (!document.hasFocus || document.hasFocus()) && !!(elem.type || elem.href || ~elem.tabIndex); + }, + + // Boolean properties + "enabled": function( elem ) { + return elem.disabled === false; + }, + + "disabled": function( elem ) { + return elem.disabled === true; + }, + + "checked": function( elem ) { + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return (nodeName === "input" && !!elem.checked) || (nodeName === "option" && !!elem.selected); + }, + + "selected": function( elem ) { + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is only affected by element nodes and content nodes(including text(3), cdata(4)), + // not comment, processing instructions, or others + // Thanks to Diego Perini for the nodeName shortcut + // Greater than "@" means alpha characters (specifically not starting with "#" or "?") + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeName > "@" || elem.nodeType === 3 || elem.nodeType === 4 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos["empty"]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + // IE6 and 7 will map elem.type to 'text' for new HTML5 types (search, etc) + // use getAttribute instead to test this case + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + ( (attr = elem.getAttribute("type")) == null || attr.toLowerCase() === elem.type ); + }, + + // Position-in-collection + "first": createPositionalPseudo(function() { + return [ 0 ]; + }), + + "last": createPositionalPseudo(function( matchIndexes, length ) { + return [ length - 1 ]; + }), + + "eq": createPositionalPseudo(function( matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + }), + + "even": createPositionalPseudo(function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "odd": createPositionalPseudo(function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "lt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "gt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }) + } +}; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +function tokenize( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || (match = rcomma.exec( soFar )) ) { + if ( match ) { + // Don't consume trailing commas as valid + soFar = soFar.slice( match[0].length ) || soFar; + } + groups.push( tokens = [] ); + } + + matched = false; + + // Combinators + if ( (match = rcombinators.exec( soFar )) ) { + matched = match.shift(); + tokens.push( { + value: matched, + // Cast descendant combinators to space + type: match[0].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( (match = matchExpr[ type ].exec( soFar )) && (!preFilters[ type ] || + (match = preFilters[ type ]( match ))) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +} + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[i].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + checkNonElements = base && dir === "parentNode", + doneName = done++; + + return combinator.first ? + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var data, cache, outerCache, + dirkey = dirruns + " " + doneName; + + // We can't set arbitrary data on XML nodes, so they don't benefit from dir caching + if ( xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || (elem[ expando ] = {}); + if ( (cache = outerCache[ dir ]) && cache[0] === dirkey ) { + if ( (data = cache[1]) === true || data === cachedruns ) { + return data === true; + } + } else { + cache = outerCache[ dir ] = [ dirkey ]; + cache[1] = matcher( elem, context, xml ) || cachedruns; + if ( cache[1] === true ) { + return true; + } + } + } + } + } + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[i]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[0]; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( (elem = unmatched[i]) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction(function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( selector || "*", context.nodeType ? [ context ] : context, [] ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( (elem = temp[i]) ) { + matcherOut[ postMap[i] ] = !(matcherIn[ postMap[i] ] = elem); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) ) { + // Restore matcherIn since elem is not yet a final match + temp.push( (matcherIn[i] = elem) ); + } + } + postFinder( null, (matcherOut = []), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) && + (temp = postFinder ? indexOf.call( seed, elem ) : preMap[i]) > -1 ) { + + seed[temp] = !(results[temp] = elem); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + }); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[0].type ], + implicitRelative = leadingRelative || Expr.relative[" "], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf.call( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + return ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + (checkContext = context).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + } ]; + + for ( ; i < len; i++ ) { + if ( (matcher = Expr.relative[ tokens[i].type ]) ) { + matchers = [ addCombinator(elementMatcher( matchers ), matcher) ]; + } else { + matcher = Expr.filter[ tokens[i].type ].apply( null, tokens[i].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[j].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( tokens.slice( 0, i - 1 ) ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( (tokens = tokens.slice( j )) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + // A counter to specify which element is currently being matched + var matcherCachedRuns = 0, + bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, expandContext ) { + var elem, j, matcher, + setMatched = [], + matchedCount = 0, + i = "0", + unmatched = seed && [], + outermost = expandContext != null, + contextBackup = outermostContext, + // We must always have either seed elements or context + elems = seed || byElement && Expr.find["TAG"]( "*", expandContext && context.parentNode || context ), + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = (dirruns += contextBackup == null ? 1 : Math.random() || 0.1); + + if ( outermost ) { + outermostContext = context !== document && context; + cachedruns = matcherCachedRuns; + } + + // Add elements passing elementMatchers directly to results + // Keep `i` a string if there are no elements so `matchedCount` will be "00" below + for ( ; (elem = elems[i]) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + while ( (matcher = elementMatchers[j++]) ) { + if ( matcher( elem, context, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + cachedruns = ++matcherCachedRuns; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + // They will have gone through all possible matchers + if ( (elem = !matcher && elem) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // Apply set filters to unmatched elements + matchedCount += i; + if ( bySet && i !== matchedCount ) { + j = 0; + while ( (matcher = setMatchers[j++]) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !(unmatched[i] || setMatched[i]) ) { + setMatched[i] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, group /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + // Generate a function of recursive functions that can be used to check each element + if ( !group ) { + group = tokenize( selector ); + } + i = group.length; + while ( i-- ) { + cached = matcherFromTokens( group[i] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( selector, matcherFromGroupMatchers( elementMatchers, setMatchers ) ); + } + return cached; +}; + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[i], results ); + } + return results; +} + +function select( selector, context, results, seed ) { + var i, tokens, token, type, find, + match = tokenize( selector ); + + if ( !seed ) { + // Try to minimize operations if there is only one group + if ( match.length === 1 ) { + + // Take a shortcut and set the context if the root selector is an ID + tokens = match[0] = match[0].slice( 0 ); + if ( tokens.length > 2 && (token = tokens[0]).type === "ID" && + context.nodeType === 9 && !documentIsXML && + Expr.relative[ tokens[1].type ] ) { + + context = Expr.find["ID"]( token.matches[0].replace( runescape, funescape ), context )[0]; + if ( !context ) { + return results; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr["needsContext"].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[i]; + + // Abort if we hit a combinator + if ( Expr.relative[ (type = token.type) ] ) { + break; + } + if ( (find = Expr.find[ type ]) ) { + // Search, expanding context for leading sibling combinators + if ( (seed = find( + token.matches[0].replace( runescape, funescape ), + rsibling.test( tokens[0].type ) && context.parentNode || context + )) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, slice.call( seed, 0 ) ); + return results; + } + + break; + } + } + } + } + } + + // Compile and execute a filtering function + // Provide `match` to avoid retokenization if we modified the selector above + compile( selector, match )( + seed, + context, + documentIsXML, + results, + rsibling.test( selector ) + ); + return results; +} + +// Deprecated +Expr.pseudos["nth"] = Expr.pseudos["eq"]; + +// Easy API for creating new setFilters +function setFilters() {} +Expr.filters = setFilters.prototype = Expr.pseudos; +Expr.setFilters = new setFilters(); + +// Initialize with the default document +setDocument(); + +// Override sizzle attribute retrieval +Sizzle.attr = jQuery.attr; +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; +jQuery.expr[":"] = jQuery.expr.pseudos; +jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; + + +})( window ); +var runtil = /Until$/, + rparentsprev = /^(?:parents|prev(?:Until|All))/, + isSimple = /^.[^:#\[\.,]*$/, + rneedsContext = jQuery.expr.match.needsContext, + // methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend({ + find: function( selector ) { + var i, ret, self, + len = this.length; + + if ( typeof selector !== "string" ) { + self = this; + return this.pushStack( jQuery( selector ).filter(function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + }) ); + } + + ret = []; + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, this[ i ], ret ); + } + + // Needed because $( selector, context ) becomes $( context ).find( selector ) + ret = this.pushStack( len > 1 ? jQuery.unique( ret ) : ret ); + ret.selector = ( this.selector ? this.selector + " " : "" ) + selector; + return ret; + }, + + has: function( target ) { + var i, + targets = jQuery( target, this ), + len = targets.length; + + return this.filter(function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( this, targets[i] ) ) { + return true; + } + } + }); + }, + + not: function( selector ) { + return this.pushStack( winnow(this, selector, false) ); + }, + + filter: function( selector ) { + return this.pushStack( winnow(this, selector, true) ); + }, + + is: function( selector ) { + return !!selector && ( + typeof selector === "string" ? + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + rneedsContext.test( selector ) ? + jQuery( selector, this.context ).index( this[0] ) >= 0 : + jQuery.filter( selector, this ).length > 0 : + this.filter( selector ).length > 0 ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + ret = [], + pos = rneedsContext.test( selectors ) || typeof selectors !== "string" ? + jQuery( selectors, context || this.context ) : + 0; + + for ( ; i < l; i++ ) { + cur = this[i]; + + while ( cur && cur.ownerDocument && cur !== context && cur.nodeType !== 11 ) { + if ( pos ? pos.index(cur) > -1 : jQuery.find.matchesSelector(cur, selectors) ) { + ret.push( cur ); + break; + } + cur = cur.parentNode; + } + } + + return this.pushStack( ret.length > 1 ? jQuery.unique( ret ) : ret ); + }, + + // Determine the position of an element within + // the matched set of elements + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[0] && this[0].parentNode ) ? this.first().prevAll().length : -1; + } + + // index in selector + if ( typeof elem === "string" ) { + return jQuery.inArray( this[0], jQuery( elem ) ); + } + + // Locate the position of the desired element + return jQuery.inArray( + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[0] : elem, this ); + }, + + add: function( selector, context ) { + var set = typeof selector === "string" ? + jQuery( selector, context ) : + jQuery.makeArray( selector && selector.nodeType ? [ selector ] : selector ), + all = jQuery.merge( this.get(), set ); + + return this.pushStack( jQuery.unique(all) ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter(selector) + ); + } +}); + +jQuery.fn.andSelf = jQuery.fn.addBack; + +function sibling( cur, dir ) { + do { + cur = cur[ dir ]; + } while ( cur && cur.nodeType !== 1 ); + + return cur; +} + +jQuery.each({ + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return jQuery.dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, i, until ) { + return jQuery.dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return jQuery.dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return jQuery.dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, i, until ) { + return jQuery.dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, i, until ) { + return jQuery.dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return jQuery.sibling( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return jQuery.sibling( elem.firstChild ); + }, + contents: function( elem ) { + return jQuery.nodeName( elem, "iframe" ) ? + elem.contentDocument || elem.contentWindow.document : + jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var ret = jQuery.map( this, fn, until ); + + if ( !runtil.test( name ) ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + ret = jQuery.filter( selector, ret ); + } + + ret = this.length > 1 && !guaranteedUnique[ name ] ? jQuery.unique( ret ) : ret; + + if ( this.length > 1 && rparentsprev.test( name ) ) { + ret = ret.reverse(); + } + + return this.pushStack( ret ); + }; +}); + +jQuery.extend({ + filter: function( expr, elems, not ) { + if ( not ) { + expr = ":not(" + expr + ")"; + } + + return elems.length === 1 ? + jQuery.find.matchesSelector(elems[0], expr) ? [ elems[0] ] : [] : + jQuery.find.matches(expr, elems); + }, + + dir: function( elem, dir, until ) { + var matched = [], + cur = elem[ dir ]; + + while ( cur && cur.nodeType !== 9 && (until === undefined || cur.nodeType !== 1 || !jQuery( cur ).is( until )) ) { + if ( cur.nodeType === 1 ) { + matched.push( cur ); + } + cur = cur[dir]; + } + return matched; + }, + + sibling: function( n, elem ) { + var r = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + r.push( n ); + } + } + + return r; + } +}); + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, keep ) { + + // Can't pass null or undefined to indexOf in Firefox 4 + // Set to 0 to skip string check + qualifier = qualifier || 0; + + if ( jQuery.isFunction( qualifier ) ) { + return jQuery.grep(elements, function( elem, i ) { + var retVal = !!qualifier.call( elem, i, elem ); + return retVal === keep; + }); + + } else if ( qualifier.nodeType ) { + return jQuery.grep(elements, function( elem ) { + return ( elem === qualifier ) === keep; + }); + + } else if ( typeof qualifier === "string" ) { + var filtered = jQuery.grep(elements, function( elem ) { + return elem.nodeType === 1; + }); + + if ( isSimple.test( qualifier ) ) { + return jQuery.filter(qualifier, filtered, !keep); + } else { + qualifier = jQuery.filter( qualifier, filtered ); + } + } + + return jQuery.grep(elements, function( elem ) { + return ( jQuery.inArray( elem, qualifier ) >= 0 ) === keep; + }); +} +function createSafeFragment( document ) { + var list = nodeNames.split( "|" ), + safeFrag = document.createDocumentFragment(); + + if ( safeFrag.createElement ) { + while ( list.length ) { + safeFrag.createElement( + list.pop() + ); + } + } + return safeFrag; +} + +var nodeNames = "abbr|article|aside|audio|bdi|canvas|data|datalist|details|figcaption|figure|footer|" + + "header|hgroup|mark|meter|nav|output|progress|section|summary|time|video", + rinlinejQuery = / jQuery\d+="(?:null|\d+)"/g, + rnoshimcache = new RegExp("<(?:" + nodeNames + ")[\\s/>]", "i"), + rleadingWhitespace = /^\s+/, + rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/gi, + rtagName = /<([\w:]+)/, + rtbody = /\s*$/g, + + // We have to close these tags to support XHTML (#13200) + wrapMap = { + option: [ 1, "" ], + legend: [ 1, "
", "
" ], + area: [ 1, "", "" ], + param: [ 1, "", "" ], + thead: [ 1, "", "
" ], + tr: [ 2, "", "
" ], + col: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + // IE6-8 can't serialize link, script, style, or any html5 (NoScope) tags, + // unless wrapped in a div with non-breaking characters in front of it. + _default: jQuery.support.htmlSerialize ? [ 0, "", "" ] : [ 1, "X
", "
" ] + }, + safeFragment = createSafeFragment( document ), + fragmentDiv = safeFragment.appendChild( document.createElement("div") ); + +wrapMap.optgroup = wrapMap.option; +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +jQuery.fn.extend({ + text: function( value ) { + return jQuery.access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().append( ( this[0] && this[0].ownerDocument || document ).createTextNode( value ) ); + }, null, value, arguments.length ); + }, + + wrapAll: function( html ) { + if ( jQuery.isFunction( html ) ) { + return this.each(function(i) { + jQuery(this).wrapAll( html.call(this, i) ); + }); + } + + if ( this[0] ) { + // The elements to wrap the target around + var wrap = jQuery( html, this[0].ownerDocument ).eq(0).clone(true); + + if ( this[0].parentNode ) { + wrap.insertBefore( this[0] ); + } + + wrap.map(function() { + var elem = this; + + while ( elem.firstChild && elem.firstChild.nodeType === 1 ) { + elem = elem.firstChild; + } + + return elem; + }).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( jQuery.isFunction( html ) ) { + return this.each(function(i) { + jQuery(this).wrapInner( html.call(this, i) ); + }); + } + + return this.each(function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + }); + }, + + wrap: function( html ) { + var isFunction = jQuery.isFunction( html ); + + return this.each(function(i) { + jQuery( this ).wrapAll( isFunction ? html.call(this, i) : html ); + }); + }, + + unwrap: function() { + return this.parent().each(function() { + if ( !jQuery.nodeName( this, "body" ) ) { + jQuery( this ).replaceWith( this.childNodes ); + } + }).end(); + }, + + append: function() { + return this.domManip(arguments, true, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.appendChild( elem ); + } + }); + }, + + prepend: function() { + return this.domManip(arguments, true, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.insertBefore( elem, this.firstChild ); + } + }); + }, + + before: function() { + return this.domManip( arguments, false, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + }); + }, + + after: function() { + return this.domManip( arguments, false, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + }); + }, + + // keepData is for internal use only--do not document + remove: function( selector, keepData ) { + var elem, + i = 0; + + for ( ; (elem = this[i]) != null; i++ ) { + if ( !selector || jQuery.filter( selector, [ elem ] ).length > 0 ) { + if ( !keepData && elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem ) ); + } + + if ( elem.parentNode ) { + if ( keepData && jQuery.contains( elem.ownerDocument, elem ) ) { + setGlobalEval( getAll( elem, "script" ) ); + } + elem.parentNode.removeChild( elem ); + } + } + } + + return this; + }, + + empty: function() { + var elem, + i = 0; + + for ( ; (elem = this[i]) != null; i++ ) { + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + } + + // Remove any remaining nodes + while ( elem.firstChild ) { + elem.removeChild( elem.firstChild ); + } + + // If this is a select, ensure that it displays empty (#12336) + // Support: IE<9 + if ( elem.options && jQuery.nodeName( elem, "select" ) ) { + elem.options.length = 0; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function () { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + }); + }, + + html: function( value ) { + return jQuery.access( this, function( value ) { + var elem = this[0] || {}, + i = 0, + l = this.length; + + if ( value === undefined ) { + return elem.nodeType === 1 ? + elem.innerHTML.replace( rinlinejQuery, "" ) : + undefined; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + ( jQuery.support.htmlSerialize || !rnoshimcache.test( value ) ) && + ( jQuery.support.leadingWhitespace || !rleadingWhitespace.test( value ) ) && + !wrapMap[ ( rtagName.exec( value ) || ["", ""] )[1].toLowerCase() ] ) { + + value = value.replace( rxhtmlTag, "<$1>" ); + + try { + for (; i < l; i++ ) { + // Remove element nodes and prevent memory leaks + elem = this[i] || {}; + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch(e) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function( value ) { + var isFunc = jQuery.isFunction( value ); + + // Make sure that the elements are removed from the DOM before they are inserted + // this can help fix replacing a parent with child elements + if ( !isFunc && typeof value !== "string" ) { + value = jQuery( value ).not( this ).detach(); + } + + return this.domManip( [ value ], true, function( elem ) { + var next = this.nextSibling, + parent = this.parentNode; + + if ( parent ) { + jQuery( this ).remove(); + parent.insertBefore( elem, next ); + } + }); + }, + + detach: function( selector ) { + return this.remove( selector, true ); + }, + + domManip: function( args, table, callback ) { + + // Flatten any nested arrays + args = core_concat.apply( [], args ); + + var first, node, hasScripts, + scripts, doc, fragment, + i = 0, + l = this.length, + set = this, + iNoClone = l - 1, + value = args[0], + isFunction = jQuery.isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( isFunction || !( l <= 1 || typeof value !== "string" || jQuery.support.checkClone || !rchecked.test( value ) ) ) { + return this.each(function( index ) { + var self = set.eq( index ); + if ( isFunction ) { + args[0] = value.call( this, index, table ? self.html() : undefined ); + } + self.domManip( args, table, callback ); + }); + } + + if ( l ) { + fragment = jQuery.buildFragment( args, this[ 0 ].ownerDocument, false, this ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + if ( first ) { + table = table && jQuery.nodeName( first, "tr" ); + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( + table && jQuery.nodeName( this[i], "table" ) ? + findOrAppend( this[i], "tbody" ) : + this[i], + node, + i + ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !jQuery._data( node, "globalEval" ) && jQuery.contains( doc, node ) ) { + + if ( node.src ) { + // Hope ajax is available... + jQuery.ajax({ + url: node.src, + type: "GET", + dataType: "script", + async: false, + global: false, + "throws": true + }); + } else { + jQuery.globalEval( ( node.text || node.textContent || node.innerHTML || "" ).replace( rcleanScript, "" ) ); + } + } + } + } + + // Fix #11809: Avoid leaking memory + fragment = first = null; + } + } + + return this; + } +}); + +function findOrAppend( elem, tag ) { + return elem.getElementsByTagName( tag )[0] || elem.appendChild( elem.ownerDocument.createElement( tag ) ); +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + var attr = elem.getAttributeNode("type"); + elem.type = ( attr && attr.specified ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + var match = rscriptTypeMasked.exec( elem.type ); + if ( match ) { + elem.type = match[1]; + } else { + elem.removeAttribute("type"); + } + return elem; +} + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var elem, + i = 0; + for ( ; (elem = elems[i]) != null; i++ ) { + jQuery._data( elem, "globalEval", !refElements || jQuery._data( refElements[i], "globalEval" ) ); + } +} + +function cloneCopyEvent( src, dest ) { + + if ( dest.nodeType !== 1 || !jQuery.hasData( src ) ) { + return; + } + + var type, i, l, + oldData = jQuery._data( src ), + curData = jQuery._data( dest, oldData ), + events = oldData.events; + + if ( events ) { + delete curData.handle; + curData.events = {}; + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + + // make the cloned public data object a copy from the original + if ( curData.data ) { + curData.data = jQuery.extend( {}, curData.data ); + } +} + +function fixCloneNodeIssues( src, dest ) { + var nodeName, e, data; + + // We do not need to do anything for non-Elements + if ( dest.nodeType !== 1 ) { + return; + } + + nodeName = dest.nodeName.toLowerCase(); + + // IE6-8 copies events bound via attachEvent when using cloneNode. + if ( !jQuery.support.noCloneEvent && dest[ jQuery.expando ] ) { + data = jQuery._data( dest ); + + for ( e in data.events ) { + jQuery.removeEvent( dest, e, data.handle ); + } + + // Event data gets referenced instead of copied if the expando gets copied too + dest.removeAttribute( jQuery.expando ); + } + + // IE blanks contents when cloning scripts, and tries to evaluate newly-set text + if ( nodeName === "script" && dest.text !== src.text ) { + disableScript( dest ).text = src.text; + restoreScript( dest ); + + // IE6-10 improperly clones children of object elements using classid. + // IE10 throws NoModificationAllowedError if parent is null, #12132. + } else if ( nodeName === "object" ) { + if ( dest.parentNode ) { + dest.outerHTML = src.outerHTML; + } + + // This path appears unavoidable for IE9. When cloning an object + // element in IE9, the outerHTML strategy above is not sufficient. + // If the src has innerHTML and the destination does not, + // copy the src.innerHTML into the dest.innerHTML. #10324 + if ( jQuery.support.html5Clone && ( src.innerHTML && !jQuery.trim(dest.innerHTML) ) ) { + dest.innerHTML = src.innerHTML; + } + + } else if ( nodeName === "input" && manipulation_rcheckableType.test( src.type ) ) { + // IE6-8 fails to persist the checked state of a cloned checkbox + // or radio button. Worse, IE6-7 fail to give the cloned element + // a checked appearance if the defaultChecked value isn't also set + + dest.defaultChecked = dest.checked = src.checked; + + // IE6-7 get confused and end up setting the value of a cloned + // checkbox/radio button to an empty string instead of "on" + if ( dest.value !== src.value ) { + dest.value = src.value; + } + + // IE6-8 fails to return the selected option to the default selected + // state when cloning options + } else if ( nodeName === "option" ) { + dest.defaultSelected = dest.selected = src.defaultSelected; + + // IE6-8 fails to set the defaultValue to the correct value when + // cloning other types of input fields + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +jQuery.each({ + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + i = 0, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone(true); + jQuery( insert[i] )[ original ]( elems ); + + // Modern browsers can apply jQuery collections as arrays, but oldIE needs a .get() + core_push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +}); + +function getAll( context, tag ) { + var elems, elem, + i = 0, + found = typeof context.getElementsByTagName !== core_strundefined ? context.getElementsByTagName( tag || "*" ) : + typeof context.querySelectorAll !== core_strundefined ? context.querySelectorAll( tag || "*" ) : + undefined; + + if ( !found ) { + for ( found = [], elems = context.childNodes || context; (elem = elems[i]) != null; i++ ) { + if ( !tag || jQuery.nodeName( elem, tag ) ) { + found.push( elem ); + } else { + jQuery.merge( found, getAll( elem, tag ) ); + } + } + } + + return tag === undefined || tag && jQuery.nodeName( context, tag ) ? + jQuery.merge( [ context ], found ) : + found; +} + +// Used in buildFragment, fixes the defaultChecked property +function fixDefaultChecked( elem ) { + if ( manipulation_rcheckableType.test( elem.type ) ) { + elem.defaultChecked = elem.checked; + } +} + +jQuery.extend({ + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var destElements, node, clone, i, srcElements, + inPage = jQuery.contains( elem.ownerDocument, elem ); + + if ( jQuery.support.html5Clone || jQuery.isXMLDoc(elem) || !rnoshimcache.test( "<" + elem.nodeName + ">" ) ) { + clone = elem.cloneNode( true ); + + // IE<=8 does not properly clone detached, unknown element nodes + } else { + fragmentDiv.innerHTML = elem.outerHTML; + fragmentDiv.removeChild( clone = fragmentDiv.firstChild ); + } + + if ( (!jQuery.support.noCloneEvent || !jQuery.support.noCloneChecked) && + (elem.nodeType === 1 || elem.nodeType === 11) && !jQuery.isXMLDoc(elem) ) { + + // We eschew Sizzle here for performance reasons: http://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + // Fix all IE cloning issues + for ( i = 0; (node = srcElements[i]) != null; ++i ) { + // Ensure that the destination node is not null; Fixes #9587 + if ( destElements[i] ) { + fixCloneNodeIssues( node, destElements[i] ); + } + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0; (node = srcElements[i]) != null; i++ ) { + cloneCopyEvent( node, destElements[i] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + destElements = srcElements = node = null; + + // Return the cloned set + return clone; + }, + + buildFragment: function( elems, context, scripts, selection ) { + var j, elem, contains, + tmp, tag, tbody, wrap, + l = elems.length, + + // Ensure a safe fragment + safe = createSafeFragment( context ), + + nodes = [], + i = 0; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( jQuery.type( elem ) === "object" ) { + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || safe.appendChild( context.createElement("div") ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || ["", ""] )[1].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + + tmp.innerHTML = wrap[1] + elem.replace( rxhtmlTag, "<$1>" ) + wrap[2]; + + // Descend through wrappers to the right content + j = wrap[0]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Manually add leading whitespace removed by IE + if ( !jQuery.support.leadingWhitespace && rleadingWhitespace.test( elem ) ) { + nodes.push( context.createTextNode( rleadingWhitespace.exec( elem )[0] ) ); + } + + // Remove IE's autoinserted from table fragments + if ( !jQuery.support.tbody ) { + + // String was a , *may* have spurious + elem = tag === "table" && !rtbody.test( elem ) ? + tmp.firstChild : + + // String was a bare or + wrap[1] === "
" && !rtbody.test( elem ) ? + tmp : + 0; + + j = elem && elem.childNodes.length; + while ( j-- ) { + if ( jQuery.nodeName( (tbody = elem.childNodes[j]), "tbody" ) && !tbody.childNodes.length ) { + elem.removeChild( tbody ); + } + } + } + + jQuery.merge( nodes, tmp.childNodes ); + + // Fix #12392 for WebKit and IE > 9 + tmp.textContent = ""; + + // Fix #12392 for oldIE + while ( tmp.firstChild ) { + tmp.removeChild( tmp.firstChild ); + } + + // Remember the top-level container for proper cleanup + tmp = safe.lastChild; + } + } + } + + // Fix #11356: Clear elements from fragment + if ( tmp ) { + safe.removeChild( tmp ); + } + + // Reset defaultChecked for any radios and checkboxes + // about to be appended to the DOM in IE 6/7 (#8060) + if ( !jQuery.support.appendChecked ) { + jQuery.grep( getAll( nodes, "input" ), fixDefaultChecked ); + } + + i = 0; + while ( (elem = nodes[ i++ ]) ) { + + // #4087 - If origin and destination elements are the same, and this is + // that element, do not do anything + if ( selection && jQuery.inArray( elem, selection ) !== -1 ) { + continue; + } + + contains = jQuery.contains( elem.ownerDocument, elem ); + + // Append to fragment + tmp = getAll( safe.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( contains ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( (elem = tmp[ j++ ]) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + tmp = null; + + return safe; + }, + + cleanData: function( elems, /* internal */ acceptData ) { + var elem, type, id, data, + i = 0, + internalKey = jQuery.expando, + cache = jQuery.cache, + deleteExpando = jQuery.support.deleteExpando, + special = jQuery.event.special; + + for ( ; (elem = elems[i]) != null; i++ ) { + + if ( acceptData || jQuery.acceptData( elem ) ) { + + id = elem[ internalKey ]; + data = id && cache[ id ]; + + if ( data ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Remove cache only if it was not already removed by jQuery.event.remove + if ( cache[ id ] ) { + + delete cache[ id ]; + + // IE does not allow us to delete expando properties from nodes, + // nor does it have a removeAttribute function on Document nodes; + // we must handle all of these cases + if ( deleteExpando ) { + delete elem[ internalKey ]; + + } else if ( typeof elem.removeAttribute !== core_strundefined ) { + elem.removeAttribute( internalKey ); + + } else { + elem[ internalKey ] = null; + } + + core_deletedIds.push( id ); + } + } + } + } + } +}); +var iframe, getStyles, curCSS, + ralpha = /alpha\([^)]*\)/i, + ropacity = /opacity\s*=\s*([^)]*)/, + rposition = /^(top|right|bottom|left)$/, + // swappable if display is none or starts with table except "table", "table-cell", or "table-caption" + // see here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rmargin = /^margin/, + rnumsplit = new RegExp( "^(" + core_pnum + ")(.*)$", "i" ), + rnumnonpx = new RegExp( "^(" + core_pnum + ")(?!px)[a-z%]+$", "i" ), + rrelNum = new RegExp( "^([+-])=(" + core_pnum + ")", "i" ), + elemdisplay = { BODY: "block" }, + + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: 0, + fontWeight: 400 + }, + + cssExpand = [ "Top", "Right", "Bottom", "Left" ], + cssPrefixes = [ "Webkit", "O", "Moz", "ms" ]; + +// return a css property mapped to a potentially vendor prefixed property +function vendorPropName( style, name ) { + + // shortcut for names that are not vendor prefixed + if ( name in style ) { + return name; + } + + // check for vendor prefixed names + var capName = name.charAt(0).toUpperCase() + name.slice(1), + origName = name, + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in style ) { + return name; + } + } + + return origName; +} + +function isHidden( elem, el ) { + // isHidden might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + return jQuery.css( elem, "display" ) === "none" || !jQuery.contains( elem.ownerDocument, elem ); +} + +function showHide( elements, show ) { + var display, elem, hidden, + values = [], + index = 0, + length = elements.length; + + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + values[ index ] = jQuery._data( elem, "olddisplay" ); + display = elem.style.display; + if ( show ) { + // Reset the inline display of this element to learn if it is + // being hidden by cascaded rules or not + if ( !values[ index ] && display === "none" ) { + elem.style.display = ""; + } + + // Set elements which have been overridden with display: none + // in a stylesheet to whatever the default browser style is + // for such an element + if ( elem.style.display === "" && isHidden( elem ) ) { + values[ index ] = jQuery._data( elem, "olddisplay", css_defaultDisplay(elem.nodeName) ); + } + } else { + + if ( !values[ index ] ) { + hidden = isHidden( elem ); + + if ( display && display !== "none" || !hidden ) { + jQuery._data( elem, "olddisplay", hidden ? display : jQuery.css( elem, "display" ) ); + } + } + } + } + + // Set the display of most of the elements in a second loop + // to avoid the constant reflow + for ( index = 0; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + if ( !show || elem.style.display === "none" || elem.style.display === "" ) { + elem.style.display = show ? values[ index ] || "" : "none"; + } + } + + return elements; +} + +jQuery.fn.extend({ + css: function( name, value ) { + return jQuery.access( this, function( elem, name, value ) { + var len, styles, + map = {}, + i = 0; + + if ( jQuery.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + }, + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + var bool = typeof state === "boolean"; + + return this.each(function() { + if ( bool ? state : isHidden( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + }); + } +}); + +jQuery.extend({ + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Exclude the following css properties to add px + cssNumber: { + "columnCount": true, + "fillOpacity": true, + "fontWeight": true, + "lineHeight": true, + "opacity": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: { + // normalize float css property + "float": jQuery.support.cssFloat ? "cssFloat" : "styleFloat" + }, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = jQuery.camelCase( name ), + style = elem.style; + + name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( style, origName ) ); + + // gets hook for the prefixed version + // followed by the unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // convert relative number strings (+= or -=) to relative numbers. #7345 + if ( type === "string" && (ret = rrelNum.exec( value )) ) { + value = ( ret[1] + 1 ) * ret[2] + parseFloat( jQuery.css( elem, name ) ); + // Fixes bug #9237 + type = "number"; + } + + // Make sure that NaN and null values aren't set. See: #7116 + if ( value == null || type === "number" && isNaN( value ) ) { + return; + } + + // If a number was passed in, add 'px' to the (except for certain CSS properties) + if ( type === "number" && !jQuery.cssNumber[ origName ] ) { + value += "px"; + } + + // Fixes #8908, it can be done more correctly by specifing setters in cssHooks, + // but it would mean to define eight (for every problematic property) identical functions + if ( !jQuery.support.clearCloneStyle && value === "" && name.indexOf("background") === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !("set" in hooks) || (value = hooks.set( elem, value, extra )) !== undefined ) { + + // Wrapped to prevent IE from throwing errors when 'invalid' values are provided + // Fixes bug #5509 + try { + style[ name ] = value; + } catch(e) {} + } + + } else { + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && (ret = hooks.get( elem, false, extra )) !== undefined ) { + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var num, val, hooks, + origName = jQuery.camelCase( name ); + + // Make sure that we're working with the right name + name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( elem.style, origName ) ); + + // gets hook for the prefixed version + // followed by the unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + //convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Return, converting to number if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || jQuery.isNumeric( num ) ? num || 0 : val; + } + return val; + }, + + // A method for quickly swapping in/out CSS properties to get correct calculations + swap: function( elem, options, callback, args ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.apply( elem, args || [] ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; + } +}); + +// NOTE: we've included the "window" in window.getComputedStyle +// because jsdom on node.js will break without it. +if ( window.getComputedStyle ) { + getStyles = function( elem ) { + return window.getComputedStyle( elem, null ); + }; + + curCSS = function( elem, name, _computed ) { + var width, minWidth, maxWidth, + computed = _computed || getStyles( elem ), + + // getPropertyValue is only needed for .css('filter') in IE9, see #12537 + ret = computed ? computed.getPropertyValue( name ) || computed[ name ] : undefined, + style = elem.style; + + if ( computed ) { + + if ( ret === "" && !jQuery.contains( elem.ownerDocument, elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Chrome < 17 and Safari 5.0 uses "computed value" instead of "used value" for margin-right + // Safari 5.1.7 (at least) returns percentage for a larger set of values, but width seems to be reliably pixels + // this is against the CSSOM draft spec: http://dev.w3.org/csswg/cssom/#resolved-values + if ( rnumnonpx.test( ret ) && rmargin.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret; + }; +} else if ( document.documentElement.currentStyle ) { + getStyles = function( elem ) { + return elem.currentStyle; + }; + + curCSS = function( elem, name, _computed ) { + var left, rs, rsLeft, + computed = _computed || getStyles( elem ), + ret = computed ? computed[ name ] : undefined, + style = elem.style; + + // Avoid setting ret to empty string here + // so we don't default to auto + if ( ret == null && style && style[ name ] ) { + ret = style[ name ]; + } + + // From the awesome hack by Dean Edwards + // http://erik.eae.net/archives/2007/07/27/18.54.15/#comment-102291 + + // If we're not dealing with a regular pixel number + // but a number that has a weird ending, we need to convert it to pixels + // but not position css attributes, as those are proportional to the parent element instead + // and we can't measure the parent instead because it might trigger a "stacking dolls" problem + if ( rnumnonpx.test( ret ) && !rposition.test( name ) ) { + + // Remember the original values + left = style.left; + rs = elem.runtimeStyle; + rsLeft = rs && rs.left; + + // Put in the new values to get a computed value out + if ( rsLeft ) { + rs.left = elem.currentStyle.left; + } + style.left = name === "fontSize" ? "1em" : ret; + ret = style.pixelLeft + "px"; + + // Revert the changed values + style.left = left; + if ( rsLeft ) { + rs.left = rsLeft; + } + } + + return ret === "" ? "auto" : ret; + }; +} + +function setPositiveNumber( elem, value, subtract ) { + var matches = rnumsplit.exec( value ); + return matches ? + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 1 ] - ( subtract || 0 ) ) + ( matches[ 2 ] || "px" ) : + value; +} + +function augmentWidthOrHeight( elem, name, extra, isBorderBox, styles ) { + var i = extra === ( isBorderBox ? "border" : "content" ) ? + // If we already have the right measurement, avoid augmentation + 4 : + // Otherwise initialize for horizontal or vertical properties + name === "width" ? 1 : 0, + + val = 0; + + for ( ; i < 4; i += 2 ) { + // both box models exclude margin, so add it if we want it + if ( extra === "margin" ) { + val += jQuery.css( elem, extra + cssExpand[ i ], true, styles ); + } + + if ( isBorderBox ) { + // border-box includes padding, so remove it if we want content + if ( extra === "content" ) { + val -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // at this point, extra isn't border nor margin, so remove border + if ( extra !== "margin" ) { + val -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } else { + // at this point, extra isn't content, so add padding + val += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // at this point, extra isn't content nor padding, so add border + if ( extra !== "padding" ) { + val += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + return val; +} + +function getWidthOrHeight( elem, name, extra ) { + + // Start with offset property, which is equivalent to the border-box value + var valueIsBorderBox = true, + val = name === "width" ? elem.offsetWidth : elem.offsetHeight, + styles = getStyles( elem ), + isBorderBox = jQuery.support.boxSizing && jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // some non-html elements return undefined for offsetWidth, so check for null/undefined + // svg - https://bugzilla.mozilla.org/show_bug.cgi?id=649285 + // MathML - https://bugzilla.mozilla.org/show_bug.cgi?id=491668 + if ( val <= 0 || val == null ) { + // Fall back to computed then uncomputed css if necessary + val = curCSS( elem, name, styles ); + if ( val < 0 || val == null ) { + val = elem.style[ name ]; + } + + // Computed unit is not pixels. Stop here and return. + if ( rnumnonpx.test(val) ) { + return val; + } + + // we need the check for style in case a browser which returns unreliable values + // for getComputedStyle silently falls back to the reliable elem.style + valueIsBorderBox = isBorderBox && ( jQuery.support.boxSizingReliable || val === elem.style[ name ] ); + + // Normalize "", auto, and prepare for extra + val = parseFloat( val ) || 0; + } + + // use the active box-sizing model to add/subtract irrelevant styles + return ( val + + augmentWidthOrHeight( + elem, + name, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles + ) + ) + "px"; +} + +// Try to determine the default display value of an element +function css_defaultDisplay( nodeName ) { + var doc = document, + display = elemdisplay[ nodeName ]; + + if ( !display ) { + display = actualDisplay( nodeName, doc ); + + // If the simple way fails, read from inside an iframe + if ( display === "none" || !display ) { + // Use the already-created iframe if possible + iframe = ( iframe || + jQuery("