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Attackerスキル

+
    +
  • ENTRY_POINT
    • +
  • FORCED_PASS
    • +
  • CUT_THEIR_PASS
    • +
  • STEAL_BALL
    • +
  • REDIRECT_GOAL_KICK
    • +
  • GOAL_KICK
    • +
  • CLEARING_KICK
    • +
  • STANDARD_PASS
    • +
  • LOW_CHANCE_GOAL_KICK
    • +
  • MOVE_BALL_TO_OPPONENT_HALF
    • +
  • RECEIVE_BALL
    • +
+
graph TD
+    ENTRY_POINT(ENTRY_POINT) -.-> FORCED_PASS_C{味方セットプレー？}
+subgraph セットプレー
+    FORCED_PASS_C -- YES --> FORCED_PASS
+end
+
+%%subgraph 敵ボール対処
+%%    STEAL_BALL_C
+%%end
+
+subgraph シュートチャンスは逃さない
+
+end
+
+subgraph 敵ボール対処
+    FORCED_PASS_C -- NO --> CUT_THEIR_PASS_C{動いている敵ボール？}
+    CUT_THEIR_PASS_C -- NO --> STEAL_BALL_C{止まっている敵ボール & ボールに敵が近い？}
+    CUT_THEIR_PASS_C -- YES --> CUT_THEIR_PASS
+end
+
+subgraph シュートチャンスは逃さない
+    STEAL_BALL_C -- NO --> REDIRECT_GOAL_KICK_C{ボールが遠い＆ゴールが見えている}
+    REDIRECT_GOAL_KICK_C -- NO --> GOAL_KICK_C{ボールが近い＆ゴールが見えている}
+    REDIRECT_GOAL_KICK_C -- YES --> REDIRECT_GOAL_KICK
+    GOAL_KICK_C -- YES --> GOAL_KICK
+end
+
+subgraph 敵ボール対処
+    STEAL_BALL_C -- YES --> STEAL_BALL
+end
+
+subgraph 状況改善
+    GOAL_KICK_C -- NO --> CLEARING_KICK_C{やばい状況？（未実装）}
+    CLEARING_KICK_C -- NO --> STANDARD_PASS_C{パスできそうな相手がいる？}
+    CLEARING_KICK_C -- YES --> CLEARING_KICK
+    STANDARD_PASS_C -- YES --> STANDARD_PASS
+    STANDARD_PASS_C -- NO --> LOW_CHANCE_GOAL_KICK_C{低確率でもシュートできそう（相手コート限定）？}
+    LOW_CHANCE_GOAL_KICK_C -- NO --> MOVE_BALL_TO_OPPONENT_HALF_C{自コートでボールを持っている？}
+    LOW_CHANCE_GOAL_KICK_C -- YES --> LOW_CHANCE_GOAL_KICK
+    MOVE_BALL_TO_OPPONENT_HALF_C -- YES --> MOVE_BALL_TO_OPPONENT_HALF
+    MOVE_BALL_TO_OPPONENT_HALF_C -- NO --> RECEIVE_BALL
+end
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/ball_possession/index.html b/ai/ball_possession/index.html new file mode 100644 index 0000000..eaa5dfe --- /dev/null +++ b/ai/ball_possession/index.html @@ -0,0 +1,2009 @@ + + + + + + + + + + + + + + + + + + + + + + + ボールの所持判定アルゴリズム - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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ボールの所持判定アルゴリズム

+

https://github.com/ibis-ssl/crane/pull/303

+

1. イベント検出

+

ボールへの外力発生イベントを検出する。
+イベントは以下の評価値が閾値を超えたときに発生するものとする。

+
評価値 = abs((前フレームの速度ベクトル) - (現在フレームの速度ベクトル)) / (前フレームの速度) + 0.1)
+
+

これによって、ボールの速度ベクトルに変化があった場合にイベントが発生する。
+前フレームの速度で割っているのは、ボールの速度が速い場合には些細な地面の凹凸でボールの動きが変わりやすかったり、単純にVisionのブレが大きいのを吸収することを防ぐ正規化である。
+また、分母に0.1を足しているのは、ボール速度が0に近づくにつれて評価値が不当に大きくなるのを防ぐためである。

+

この評価値を用いて、ロボットによるボールへのキックや衝突、またボールの壁への衝突などのイベントを検出する。

+

2. ボール所持判定

+

ボールの状態を以下の3つに分類する。

+
    +
  • 敵所持
    • +
  • 味方所持
    • +
  • どちらでもない
    • +
+

この状態を計算するためにまず、「敵所持フラグ」「味方所持フラグ」の2つのフラグを計算する

+

2.1. 敵所持フラグ

+

以下の条件を満たすとき、「敵所持フラグ」は真となる。

+
    +
  1. ボールへの外力発生イベントが発生した
    2. +
  2. ボールに一番近い敵ロボットの距離がボールに十分近い（プルリクエストでは0.3mがしきい値）
    3. +
  3. ボールがキッカーに接触した（判定方法は2.1.1参照）
    4. +
+

3は単にロボットがボールにぶつかっただけで所有権が移るのを防ぐための条件である。

+

2.1.1. キッカーへの接触判定

+

ロボット中心から見たボールの方向と、ロボットのキッカーの方向の差が一定角度以下のとき、ボールはキッカーに接触したと判定する。
+プルリクエストでは0.4rad、つまりキッカーの左右に23度ずつの範囲を接触範囲としている。

+

2.2. 味方所持フラグ

+

「味方所持フラグ」は真となる条件は2通りある。

+

2.2.1. 条件1

+

敵所持フラグと同様の条件を味方ロボットが満たしたとき、「味方所持フラグ」は真となる。

+

2.2.2. 条件2

+

以下の条件を満たすとき、「味方所持フラグ」は真となる。

+
    +
  • ロボットのボールセンサが反応した
    • +
+

2.3. フラグとボール状態の遷移

+

遷移テーブルで「-」は遷移無しを表す。

+

2.3.1. 現在状態が「どちらでもない」のときの遷移テーブル

+ + + + + + + + + + + + + + + + + + + + +
敵所持フラグ（真）敵所持フラグ（偽）
味方所持フラグ（真）-味方所持
味方所持フラグ（偽）敵所持-
+

2.3.2. 現在状態が「敵所持」のとき

+ + + + + + + + + + + + + + + + + + + + +
敵所持フラグ（真）敵所持フラグ（偽）
味方所持フラグ（真）どちらでもない味方所持
味方所持フラグ（偽）-どちらでもない
+

2.3.3. 現在状態が「味方所持」のとき

+ + + + + + + + + + + + + + + + + + + + +
敵所持フラグ（真）敵所持フラグ（偽）
味方所持フラグ（真）どちらでもない-
味方所持フラグ（偽）敵所持どちらでもない
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/coordinates/index.html b/ai/coordinates/index.html new file mode 100644 index 0000000..1fab5aa --- /dev/null +++ b/ai/coordinates/index.html @@ -0,0 +1,1698 @@ + + + + + + + + + + + + + + + + + + + + + + + 座標系に関して - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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座標系に関して

+

フィールド座標系

+

Visionから来る座標系 +長辺方向X，短辺方向Y

+

ロボット座標系

+

前X，左Y，上Z

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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/diagram/index.html b/ai/diagram/index.html new file mode 100644 index 0000000..6d9855d --- /dev/null +++ b/ai/diagram/index.html @@ -0,0 +1,1841 @@ + + + + + + + + + + + + + + + + + + + + + + + ノードダイアグラム - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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ノードダイアグラム

+

シミュレータ環境

+
graph TD
+    LP[Local Planner]
+    PS[Play Switcher]
+    GA[Game Analyzer]
+
+    subgraph interface
+        VC[Vision Component]
+        GrC[GrSim Component]
+        GCC[Game Controller Component]
+        Receiver[Robot Receiver]
+    end
+
+    SC[Session Controller]
+    SS[Sim Sender]
+
+    VT[Vision Tracker]
+    WP[World Model Publisher]
+
+    subgraph software
+        GrSim[GrSim]
+        GC[Game Controller]
+    end
+
+    WP -- /world_model -->  SC
+    WP -- /world_model -->  GA
+    GA -- /game_analysis -->  SC
+
+
+    GrC -. UDP .->  GrSim
+
+    GrSim -. UDP .->  VC
+    VC -- /geometry -->  WP
+
+    GrSim -. UDP .->  VC
+
+
+    VC -- /detection -->  VT
+    VT -- /detection_tracked -->  WP
+
+    GC -. UDP .->  GCC
+    GCC -- /referee -->  PS
+    PS -- /play_situation --> SC
+    SC -- /control_targets --> LP
+    LP -- /robot_commands -->  SS
+    SS -- /commands -->  GrC
+
+    Receiver -- /feedback -->  WP
+

実機環境

+
graph TD
+
+    subgraph robot
+        Robots[Robots]
+    end
+
+    subgraph AI Computer
+        LP[Local Planner]
+        PS[Play Switcher]
+
+        VC[Vision Component]
+        GCC[Game Controller Component]
+        Receiver[Robot Receiver]
+
+        SC[Session Controller]
+        SS[Real Sender]
+
+        VT[Vision Tracker]
+        WP[World Model Publisher]
+    end
+
+    subgraph software
+        Vision[SSL Vision]
+        GC[Game Controller]
+    end
+
+    WP -- /world_model -->  SC
+    WP -- /world_model -->  PS
+    WP -- /world_model -->  LP
+
+
+
+    Robots -. UDP .-> Receiver
+    VC -- /geometry -->  WP
+
+    Vision -. UDP .->  VC
+
+
+    VC -- /detection -->  VT
+    VT -- /detection_tracked -->  WP
+
+    GC -. UDP .->  GCC
+    GCC -- /referee -->  PS
+    PS -- /play_situation --> SC
+    PS -- /play_situation --> WP
+    SC -- /control_targets --> LP
+    LP -- /robot_commands -->  SS
+    SS -. UDP .->  Robots
+
+    Receiver -- /feedback -->  WP
+

テスト用のノードダイアグラム

+
graph TD
+    subgraph interface
+        VisionNode[Vision Component]
+        Sender[Real Sender]
+        Receiver[Robot Receiver]
+    end
+
+    VT[Vision Tracker]
+    WP[World Model Publisher]
+    Main[Simple AI]
+    LP[Local Planner]
+
+    subgraph RealWorld
+        Robot[Actual Robot CM4]
+        SSLVision[SSL Vision]
+    end
+
+    SSLVision -. UDP .->  VisionNode
+    VisionNode -- /detection -->  VT
+    VT -- /detection_tracked -->  WP
+    VisionNode -- /geometry -->  WP
+
+    WP -- /world_model -->  Main
+    Main -- /control_targets --> LP
+    LP -- /robot_commands -->  Sender
+
+    Sender -. UDP .->  Robot
+
+    Robot -. UDP .->  Receiver
+    Receiver -- /feedback -->  WP
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/docker/index.html b/ai/docker/index.html new file mode 100644 index 0000000..45111cc --- /dev/null +++ b/ai/docker/index.html @@ -0,0 +1,1781 @@ + + + + + + + + + + + + + + + + + + + + + + + docker立ち上げ - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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docker立ち上げ

+

準備

+

docker compose v2のインストール

+
sudo mkdir -p /usr/local/lib/docker/cli-plugins
+sudo curl -SL https://github.com/docker/compose/releases/download/v2.5.0/docker-compose-linux-x86_64 -o /usr/local/lib/docker/cli-plugins/docker-compose
+sudo chmod a+x /usr/local/lib/docker/cli-plugins/docker-compose
+
+

※docker-compose v1系はv1.2.5以降だとエラーが出て起動できないはず

+

起動

+

ツール群

+
cd path/to/crane/docker
+docker compose up
+
+

grSim

+

起動

+

閲覧

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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/grSim/index.html b/ai/grSim/index.html new file mode 100644 index 0000000..9086206 --- /dev/null +++ b/ai/grSim/index.html @@ -0,0 +1,1628 @@ + + + + + + + + + + + + + + + + + + + + + + + grSim - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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grSim

+

https://github.com/ibis-ssl/grSim

+

オリジナルから以下の変更を加えた

+
    +
  • ドリブルするときにボールに一定の力がかかるとボールを離すようにした
    • +
  • ペナルティエリアの大きさに関するフィールド（オプショナル）を出力するようにした
      +
    • これは公式Visionでは出力されるが，grSimでは出力されていなかった
      • +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/index.html b/ai/index.html new file mode 100644 index 0000000..db33be1 --- /dev/null +++ b/ai/index.html @@ -0,0 +1,1620 @@ + + + + + + + + + + + + + + + + + + + + + + + crane Documentation - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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crane Documentation

+

AI components for RoboCup Small Size League.

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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-04-16/index.html b/ai/logs/2023-04-16/index.html new file mode 100644 index 0000000..5b3e9ba --- /dev/null +++ b/ai/logs/2023-04-16/index.html @@ -0,0 +1,1768 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-04-16 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-04-16

+

色と位置について

+

色と位置の関係についてはルールには明記されていない．
+しかし，grSimでは，xがマイナスの方が青，プラスの方が黄色となっている．

+

欲しい物とやるべきこと

+

「味方の〇〇 => 座標」を解決したい

+

ある情報は以下の通り

+
    +
  • 味方チームの色情報
    • +
  • 各色チームのランドマーク位置情報
    • +
+

やるべきこと：WorldModelクラスで解決済みの情報を提供するAPIを追加する

+

Defense Area

+

キーパーしか入ってはいけないあのエリア，GoalAreaと表記してしまっていた部分があったが実はDefenseAreaであった．

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_defense_area

+

修正した

+

更新周期について

+

前回調べたら，メインループが300Hzもの超高速で回っていることが判明したので修正していく +原因はおそらく，WorldModelの更新がVisionの一部でも更新されたらPublishされており， +それをトリガーにしてメインループが全て駆動していることが原因だと思われる

+

⇒ WorldModelの更新周期を60Hzに固定しよう！

+

⇒　そもそもWorldModelの更新周期は100Hzだった　まぁ早すぎるので60Hzにした

+

local_plannerは/control_targets駆動.
+それを出しているプランナー群はworld_model駆動...

+

あれ，world_model駆動だおかしいな...

+

もしかして，前回測定時にはworld_model_publisherが3つ同時起動していた可能性がある？！？！

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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-05-03/index.html b/ai/logs/2023-05-03/index.html new file mode 100644 index 0000000..289a8c4 --- /dev/null +++ b/ai/logs/2023-05-03/index.html @@ -0,0 +1,1876 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-05-03 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-05-03

+

インプレイ判定のチェック(ルール5.4)

+
    +
  • 以下のコマンド送信後にボールが少なくとも0.05m動く
      +
    • キックオフ
      • +
    • フリーキック
      • +
    • ペナルティーキック
      • +
    +
    • +
  • キックオフから10秒経過
    • +
  • FORCE_STARTコマンド送信後
    • +
+

開発環境整備

+
    +
  • pre-commit導入
    • +
  • include文の呼び分け
    • +
  • boostの警告文抑制
    • +
+

GUIへの現状の表示

+
    +
  • play_switcher.launchへのGUI追加
    • +
+

動作がおかしい？

+

ログ

+
[crane_play_switcher]: last 4, THEIR_KICKOFF_PREPARATION : 2.025060
+[crane_play_switcher]: last 4, THEIR_KICKOFF_PREPARATION : 2.049855
+[crane_play_switcher]: コマンド変化！
+[crane_play_switcher]: THEIR_KICKOFF_START
+[crane_play_switcher]: inplay cmd : 22
+[crane_play_switcher]: CMD : 2
+[crane_play_switcher]: last 2, THEIR_KICKOFF_START : 0.000022
+[crane_play_switcher]: コマンド変化！
+[crane_play_switcher]:
+[crane_play_switcher]: inplay cmd : 0
+[crane_play_switcher]: CMD : 2
+[crane_play_switcher]: last 2,  : 0.000019
+[crane_play_switcher]: last 2,  : 0.024619
+
+

COMMAND_PREPARE_KICKOFF_YELLOWが来て2秒後に NORMAL_STARTが来ている
+その後，

+

参考情報

+
    +
  • COMMAND_NORMAL_START = 2
    • +
  • COMMAND_PREPARE_KICKOFF_YELLOW = 4
    • +
  • inplay/halt = 0
    • +
  • inplay/their_kickoff_start = 22
    • +
+

RAWコマンドの移り変わりとその解釈

+
    +
  1. 2：NORMAL_START，前回のコマンドが残っている？
    2. +
  2. 0：HALT，試合開始
    3. +
  3. 1：STOP，RESUMEを押した
    4. +
  4. 4：PREPARE_KICKOFF_YELLOW，KICKOFFした
    5. +
  5. 2：NORMAL_START, 2秒経って勝手に始まる
    6. +
  6. 2：NORMAL_START, 10秒たってINPLAYに入った
    7. +
+

結局直った気がする

+

⇒色々あって結局デバッグしやすいLOGを整えたら直った気がする +こんな感じ

+
[crane_play_switcher]: ---
+[crane_play_switcher]: RAW_CMD      : COMMAND_STOP
+[crane_play_switcher]: INPLAY_CMD   : STOP
+[crane_play_switcher]: REASON       : RAWコマンド変化：コマンド転送
+[crane_play_switcher]: PREV_CMD_TIME: 12.505770
+[crane_play_switcher]: ---
+[crane_play_switcher]: RAW_CMD      : COMMAND_PREPARE_KICKOFF_YELLOW
+[crane_play_switcher]: INPLAY_CMD   : THEIR_KICKOFF_PREPARATION
+[crane_play_switcher]: REASON       : RAWコマンド変化：コマンド転送
+[crane_play_switcher]: PREV_CMD_TIME: 15.174960
+[crane_play_switcher]: ---
+[crane_play_switcher]: RAW_CMD      : COMMAND_NORMAL_START
+[crane_play_switcher]: INPLAY_CMD   :
+[crane_play_switcher]: REASON       : RAWコマンド変化＆NORMAL_START：KICKOFF/PENALTYはPREPARATIONからSTARTに移行
+[crane_play_switcher]: PREV_CMD_TIME: 19.425025
+[crane_play_switcher]: ---
+[crane_play_switcher]: RAW_CMD      : COMMAND_NORMAL_START
+[crane_play_switcher]: INPLAY_CMD   : INPLAY
+[crane_play_switcher]: REASON       : INPLAY判定：キックオフから10秒経過
+[crane_play_switcher]: PREV_CMD_TIME: 10.024822
+
+

コマンド更新通知

+

PlaySituation.msgにcommand_updatedを追加した．

+

INPLAYのコマンド更新時にcommand_updatedをtrueにする処理を実装した

+

次回

+

PlaySituationを受け取って行う処理の実装

+
    +
  • session_controllerの実装
      +
    • 主に，コマンドを受け取ってセッションを組む部分の実装（ここも泥臭そう...）
      • +
    +
    • +
  • session_controllerで使う上で足りないプランナのリストアップ
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2023-05-06

+

タスクリスト

+

PlaySituationを受け取って行う処理の実装

+
    +
  • session_controllerの実装
      +
    • 主に，コマンドを受け取ってセッションを組む部分の実装（ここも泥臭そう...）
      • +
    +
    • +
  • session_controllerで使う上で足りないプランナのリストアップ
    • +
+

session_controllerでの実装箇所確認

+

入力

+

topic : /play_situation
+from : play_switcher
+msg type : crane_msgs/PlaySituation.msg

+

msg content :

+
uint32 stage
+uint32 command
+string referee_text
+
+crane_msgs/InPlaySituation inplay_situation
+  bool ball_possession_ours
+  bool ball_possession_theirs
+  uint8 nearest_to_ball_robot_id_ours
+  uint8 nearest_to_ball_robot_id_theirs
+
+geometry_msgs/Point placement_position
+
+crane_msgs/WorldModel world_model
+
+bool command_updated
+
+

役割担当の見直し

+

Before

+
    +
  • play switcher
      +
    • referee コマンドの解釈
      • +
    • ボール保持判定など
      • +
    • world_modelの転送
      • +
    +
    • +
+

After

+
    +
  • play switcher
      +
    • referee コマンドの解釈
      • +
    +
    • +
  • game analyzer
      +
    • ボール保持判定など
      • +
    +
    • +
+

world_modelの受取は必要なものが各自行う

+

ボール保持判定のgame analyzerへの移行

+

msgの更新

+
    +
  • crane_msgs/PlaySituation.msgからボール保持判定の削除
    • +
  • game analyzerから出力するためのボール保持判定のメッセージ検討
    • +
  • crane_msgs/PlaySituation.msgからupdateフラグを削除
    • +
  • crane_msgs/PlaySituation.msgからworld{_modelを削除
    • +
+

すこしGameAnalyzer周りの整備

+
    +
  • game_analyzerの出力メッセージの定義に組み込む
    • +
  • game analyzerのノードドキュメントを追加
    • +
+

session_controllerの実装

+

イベント駆動

+
    +
  • topicの購読
      +
    • /game_analysis
      • +
    • /play_situation
      • +
    +
    • +
+

メンバ変数の命名規則の更新

+

メンバ変数の末尾にアンダースコアを付けるのはやめにした

+

次回のタスク

+
    +
  • session_controllerの実装
      +
    • timer駆動ではなく，イベント駆動にする
      • +
    • 各イベントについての設定を外部ファイルから読み込めるようにする
      • +
    • 代表的なイベントについてプリセットを用意
      • +
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2023-05-07

+

タスクリスト

+
    +
  • session_controllerの実装
      +
    • timer駆動ではなく，イベント駆動にする
      • +
    • 各イベントについての設定を外部ファイルから読み込めるようにする
      • +
    • 代表的なイベントについてプリセットを用意
      • +
    +
    • +
+

session_controllerをイベント駆動にする

+

timer駆動部を削除

+
    +
  • timer駆動部の処理の確認
      +
    • まさかの空だったので削除
      • +
    +
    • +
  • では今までは何駆動で動いてた？
      +
    • コンストラクタで初回だけ呼び出してデバッグしていたようだ
      • +
    +
    • +
  • とりあえずtimerを削除
    • +
+

イベント駆動で動くようにする

+
    +
  • イベントの整理
      +
    • Referee入力（ /play_situation）
      • +
    • 状況判断による切り替え申請（ /game_analysis ）
      • +
    • Plannerからの失敗報告による切り替え
      • +
    +
    • +
  • 実装の進め方
      +
    • まず，前2つについて実装
        +
      • 切り替えるときに共通で呼び出す関数を作っておく
        • +
      +
      • +
    • Plannerからの失敗報告は，その他の共通インタフェースを整備する良い機会なので別途時間をとって実装
      • +
    +
    • +
  • 切替時に呼び出す共通の関数
      +
    • 結局 request関数を呼び出すのでそれで代用しても良さそう？
        +
      • とりあえずこれで進めて必要あれば後から修正
        • +
      +
      • +
    +
    • +
+

Referee入力駆動の実装

+
    +
  • Referee入力とリアサイン申請のセットを定義する
      +
    • 文字列キーとの相性が悪いのでReferee入力と文字列の対応表が必要
        +
      • play_switcherで作ったやつ
        • +
      • 2箇所で同じものを作るのは微妙なので，PlaySituationのmsg_wrapperを作ってそこで定義する
          +
        • PlaySwitcherもこれを使って書き換え
          • +
        +
        • +
      +
      • +
    • PlaySituationイベントはプレフィックス play_situation/ をつける
      • +
    +
    • +
+

SessionController設定の外部ファイルでの定義

+

とりあえずこんな感じ

+
---
+name: HALT
+description: HALT
+sessions:
+  - name: waiter
+    capacity: 20
+
+

読み込みはyaml-cppを使う +今後の改良ポイントとしては，

+
    +
  • 実行前にエラーを検出するためにyamlのバリデーションをしたい +
    • +
  • 設定ファイルの書き方をyamlからtomlに変更したい
      +
    • yamlはインデントがめんどくさい
      • +
    • tomlはインデントがめんどくさい
      • +
    • どっちもめんどくさい
      • +
    +
    • +
+

InPlaySituation.msgの整理

+
    +
  • reasonを載せるようにした
    • +
  • rawコマンドを載せるようにした
    • +
+

CMakeファイルのクリーンアップ

+
    +
  • インデント幅が2だったり4だったり
      +
    • 2に統一
      • +
    +
    • +
  • C++バージョンが14だったり17だったり
      +
    • 17に統一
      • +
    +
    • +
  • コメントアウトでめっちゃ汚い
      +
    • 不必要なコメントアウトは削除
      • +
    +
    • +
  • 不要に長い空行は削除
    • +
+

Ri-oneの古いAI

+

https://github.com/Rione/ssl-RACOON-AI-beta/tree/competition

+

攻撃時はとりあえずシュートするプログラムシンプルなプログラムでびっくり（INDIRECTを除く）
+ファーストバージョンはこれくらいで良いのかも

+

詳細はこちらに書いた

+

シンプルなバージョンのAIの計画を立ててみる

+
---
+name: SIMPLE_ATTACK
+description: SIMPLE ATTACK
+sessions:
+  - name: "goalie"
+    capacity: 1
+  - name: "shooter"
+    capacity: 1
+  - name: defender
+    capacity: 4
+  - name: waiter
+    capacity: 20
+
+

よく考えれば，シュート出来そうになかったらパスするだけなのでこれがパスは後から組み込みで全然良いなぁ

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2023-05-13

+

タスクリスト

+
    +
  • 設定ファイルを読み込めるようにする
      +
    • yaml-cppを使って読み込む
      • +
    • 読み込んだ設定を使ってsession_controllerを初期化する
      • +
    +
    • +
+

設定ファイルを読み込めるようにする

+
    +
  • yaml-cppを使った読み込み
      +
    • YAMLファイル以外は弾く
      • +
    • サブディレクトリを検知して再帰読み込み
      • +
    +
    • +
  • 読み込んだ内容を内部構造体に落とし込み
    • +
  • ハードコードされた設定をファイルに落とし込み
    • +
+

シチュエーションと設定ファイルの対応付け

+

これもまた設定ファイルを作った方が良い

+
    +
  • ひとまず，シチュエーションごとのセッション設定ファイルは play_situation/ 以下にまとめる
      +
    • 設定ファイルの移動
      • +
    • 設定ファイルの読み込みのディレクトリの変更
      • +
    +
    • +
  • 対応ファイルの作成：event_config.yaml
    • +
  • PlaySituationイベントのコールバックを作成
    • +
+

まだまだ設定とそれに伴う実装が足りてないけど，枠組みとしてはいい感じ

+
[play_switcher_node-10] [INFO] [1683989045.103454434] [crane_play_switcher]: ---
+[play_switcher_node-10] [INFO] [1683989045.103487097] [crane_play_switcher]: RAW_CMD      : 1 (COMMAND_STOP)
+[play_switcher_node-10] [INFO] [1683989045.103501253] [crane_play_switcher]: INPLAY_CMD   : 1 (STOP)
+[play_switcher_node-10] [INFO] [1683989045.103513245] [crane_play_switcher]: REASON       : RAWコマンド変化：コマンド転送
+[play_switcher_node-10] [INFO] [1683989045.103526384] [crane_play_switcher]: PREV_CMD_TIME: 5.388861
+[crane_session_controller_node-5] [ERROR] [1683989045.103671870] [session_controller]: イベント「STOP」に対応するセッションの設定が見つかりませんでした
+[play_switcher_node-10] [INFO] [1683989048.678499392] [crane_play_switcher]: ---
+[play_switcher_node-10] [INFO] [1683989048.678535396] [crane_play_switcher]: RAW_CMD      : 0 (COMMAND_HALT)
+[play_switcher_node-10] [INFO] [1683989048.678548954] [crane_play_switcher]: INPLAY_CMD   : 0 (HALT)
+[play_switcher_node-10] [INFO] [1683989048.678557748] [crane_play_switcher]: REASON       : RAWコマンド変化：コマンド転送
+[play_switcher_node-10] [INFO] [1683989048.678567988] [crane_play_switcher]: PREV_CMD_TIME: 8.963902
+[crane_session_controller_node-5] [INFO] [1683989048.678675503] [session_controller]: イベント「HALT」に対応するセッション「HALT」の設定に従ってロボットを割り当てます
+[crane_session_controller_node-5] [INFO] [1683989048.678703304] [session_controller]: request : HALT
+[crane_session_controller_node-5] [INFO] [1683989048.678712896] [session_controller]: selectable_robot_ids : 0 1 2 3 4 5 6 7 8 9 10
+
+

次回タスク

+
    +
  • ある程度セッションの設定を作ってしまいたい
    • +
  • ”attacker”のプランナ実装に着手する
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2023-05-14

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雑務

+ +

AttackerPlanner

+

役割：ボールへ突撃する役

+

実装方針

+

インダイレクトのときは別のプランナで...と分けたくなるのを我慢していったんここへ押し込める

+

シチュエーションと動作

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
シチュエーション動作
STOPボールの一番近くで待機
INPLAYボールに突進してシュートする，ダメそうなら近くの味方にパスを出す
KICKOFF_PREPARATIONボールの一番近くで待機
KICKOFF_START近くの味方にパスする
INDIRECT_FREE近くの味方にパスを出す
DIRECT_FREE近くの味方にパスを出す
PENALTY_PREPARATIONボールの一番近くで待機
PENALTY_STARTシュートする
+

割当ポリシー

+

ボールに一番近いロボットを割り当て

+

代表的な割当ポリシーは名前付きでいくつかプリセット実装をしても置いて良いかも

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+
+ + + +
+
+
+ + + +
+
+ + + + + + + +

2023-05-27

+

タスク

+

動作確認＠ハンス宅のための作業

+
    +
  • Visionの設定
    • +
  • ミニコートのためのコード変更など
    • +
+

Visionの設定

+

docs/vision.mdを参照

+

Rootsのと雷さんの助けもあり，無事に動作確認できた +https://twitter.com/ShotaAk/status/1662225994735050752

+

ミニコートのためのコード変更など

+

実験のためのlaunchファイルを作成

+

通信まわりをチェック

+

JoyStickで遊べるようにする

+

ミニコートを考慮していない部分をあぶり出してひたすら修正していく

+

課題

+
    +
  • local_plannerが動かない
    • +
  • コントローラのコンフィグ
      +
    • 動かすと必ずドリブラがONになる
      • +
    +
    • +
  • ロボット座標系への変換がSimSenderにいる
      +
    • local_plannerに移動したい
      • +
    +
    • +
  • ゴールキーパーだけのモードを作る
    • +
  • ペナルティキックをできるようにする
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
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2023-05-28

+

タスク

+
    +
  • local_plannerが動かない
    • +
  • コントローラのコンフィグ
      +
    • 動かすと必ずドリブラがONになる + ~~- ロボット座標系への変換がSimSenderにいる
      • +
    • local_plannerに移動したい~~
      • +
    +
    • +
  • ゴールキーパーだけのモードを作る
    • +
  • ペナルティキックをできるようにする
    • +
+

ロボット座標系への変換をlocal_plannerに移動

+

移動先の決定

+

そもそも，local_plannerには色々な処理が混在しているので関数で分割する +やっぱり座標変換はsenderでやるべきかも +SimとRealの共通処理を設けるべきな気がしてきた

+

Senderに共通のロボット座標系への変換処理を実装

+
    +
  • SenderBaseクラスを設ける
    • +
  • 共通処理を移動
    • +
  • SimSender，RealSenderでこれを継承する
    • +
  • ロボット座標系の変換を実装
    • +
+

練習合宿で最低限やりたいこと

+

リソース：Crow 1台，Orin 1台

+
    +
  • ディフェンスの動作確認
      +
    • 2台ディフェンス
      • +
    • 1台ディフェンス1台キーパー
      • +
    +
    • +
  • PK戦
      +
    • 1台キッカー1台キーパー
      • +
    +
    • +
+

次回のタスク

+
    +
  • LocalPlanner通すとロボット動かない問題のデバッグ
    • +
  • crane_teleopのリファクタ
      +
    • コントローラのコンフィグを変える
      • +
    • 操作方法のドキュメント
      • +
    • DualShockで操作できるようにする
      • +
    +
    • +
  • 新しいlaunchファイル
      +
    • ゴールキーパーだけ
      • +
    • ディフェンダーだけ
      • +
    +
    • +
  • ペナルティキックの実装
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-05-30/index.html b/ai/logs/2023-05-30/index.html new file mode 100644 index 0000000..cc459bf --- /dev/null +++ b/ai/logs/2023-05-30/index.html @@ -0,0 +1,1939 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-05-30 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-05-30

+

タスク

+
    +
  • LocalPlanner通すとロボット動かない問題のデバッグ
    • +
+

初期イベント

+
    +
  • 初期イベントをパラメータから読み込めるように
    • +
  • セッションと同名のイベントを作成するようにした
      +
    • 新しいイベントに対するセッションを作る時，同名のセッションを作るだけで良くなった
      • +
    +
    • +
+

GUIの表示

+

RobotCommandの更新に追従できていなかったので修正

+

LocalPlannerのデバッグ

+
    +
  • RVOなしモードの実装
    • +
  • なんか動いた
    • +
+

チームカラー対応確認

+

sim_sender

+

ちゃんと色どおりのものが動いた

+

そもそも

+

そもそも，チームカラー情報はレフェリーからくる +なので，/refereeをWorldModelPublisherが受信してチーム情報を更新する +レフェリー関連を起動しないときもあるので初期値はros paramで設定できるようにする

+

WorldModelPublisher

+
    +
  • 初期チームカラーを設定できるように
    • +
  • /refereeを読んでチームカラーを設定できるように
    • +
+

Planners

+

Goalie

+

見事にその場で青チームのゴール位置をハードコートしていたので修正

+

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Defender
        +
      • DefenseArea周りのWorldModelWrapperのAPIを整備
        • +
      +
      • +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • 動かした時の動きがおかしい問題の修正
    • +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • 新しいlaunchファイル
      +
    • ゴールキーパーだけ
      • +
    • ディフェンダーだけ
      • +
    +
    • +
  • ペナルティキックの実装
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-06-06/index.html b/ai/logs/2023-06-06/index.html new file mode 100644 index 0000000..a2d7e91 --- /dev/null +++ b/ai/logs/2023-06-06/index.html @@ -0,0 +1,1811 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-06-06 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-06-06

+

タスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Defender
        +
      • DefenseArea周りのWorldModelWrapperのAPIを整備
        • +
      +
      • +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • 動かした時の動きがおかしい問題の修正
    • +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • 新しいlaunchファイル
      +
    • ゴールキーパーだけ
      • +
    • ディフェンダーだけ
      • +
    +
    • +
  • ペナルティキックの実装
    • +
+

Plannerが青チーム前提になっているのを修正(Defender)

+
    +
  • world_modelが色々おかしい
      +
    • penalty_area_width, penalty_area_heightにゼロが入っている
        +
      • そもそもVisionのパケットにゼロが入ってる
        • +
      • 取り敢えずworld_model_publisherで固定値を出すように
        • +
      +
      • +
    • サイズと位置がややこしい
        +
      • 取り違えていたりしたのでWorldModel.msgのフィールド名うぃ変更したりした
        • +
      +
      • +
    +
    • +
  • WorldModelWrapperにゴールの位置を取得できるAPIを追加
    • +
  • ↑を使って書き直し
    • +
  • 目標位置はうまく行ってそう
      +
    • コマンド送信先は変わらない
      • +
    +
    • +
+

コマンド送信先がおかしいのを直す

+
    +
  • おかしい部分の特定
      +
    • GameControllerからのデータはしっかり受け取れている
      • +
    • WorldModelにもしっかり流れている
      • +
    • RobotCommandsに設定できていない！！！
        +
      • した
        • +
      +
      • +
    +
    • +
+

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • 動かした時の動きがおかしい問題の修正
      +
    • local_planner?
      • +
    +
    • +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • 新しいlaunchファイル
      +
    • ゴールキーパーだけ
      • +
    • ディフェンダーだけ
      • +
    +
    • +
  • ペナルティキックの実装
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-06-07/index.html b/ai/logs/2023-06-07/index.html new file mode 100644 index 0000000..72b7e55 --- /dev/null +++ b/ai/logs/2023-06-07/index.html @@ -0,0 +1,1766 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-06-07 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + +

2023-06-07

+

タスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • 動かした時の動きがおかしい問題の修正
      +
    • local_planner?
      • +
    +
    • +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • 新しいlaunchファイル
      +
    • ゴールキーパーだけ
      • +
    • ディフェンダーだけ
      • +
    +
    • +
  • ペナルティキックの実装
    • +
+

動かした時の動きがおかしい問題の修正

+
    +
  • 原因追求
      +
    • current_poseが代入されていなかった
      • +
    • 座標変換が間違っていた
      • +
    • スピードの符号が逆だった
      • +
    • 周波数の設定が間違っていた
      • +
    +
    • +
+

色々修正したらようやく直った

+

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • 新しいlaunchファイル
      +
    • ゴールキーパーだけ
      • +
    • ディフェンダーだけ
      • +
    +
    • +
  • ペナルティキックの実装
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-06-12/index.html b/ai/logs/2023-06-12/index.html new file mode 100644 index 0000000..093392f --- /dev/null +++ b/ai/logs/2023-06-12/index.html @@ -0,0 +1,1755 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-06-12 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+
+ + + + + + + +

2023-06-12

+

タスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • 新しいlaunchファイル
      +
    • ゴールキーパーだけ
      • +
    • ディフェンダーだけ
      • +
    +
    • +
  • ペナルティキックの実装
    • +
+

crane_teleopのリファクタ

+

real_senderの表示するIDを変える

+

ros2 paramで対応 +parameterのコールバック初めて書いた

+

次のタスク

+ + + + + + + + + + + + + + + + + + + + +
+
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+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-06-17/index.html b/ai/logs/2023-06-17/index.html new file mode 100644 index 0000000..b0a9436 --- /dev/null +++ b/ai/logs/2023-06-17/index.html @@ -0,0 +1,1896 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-06-17 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+
+ + + + + + + +

2023-06-17

+

タスク

+
    +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • ペナルティキックの実装
    • +
+

crane_teleopのリファクタ

+
    +
  • DualSense前提に書き換え
    • +
  • 操作方法を変えた
    • +
  • ros2 paramでIDなどを変更できるように
    • +
+

キックオフの実現

+

PREPARATION

+
    +
  • kickoffプランナで布陣につく
    • +
+

START

+
    +
  • ATTACKERプランナを割り当て
    • +
+

Attackerプランナ実装

+

ボールの後ろに回り込んでひたすら相手ゴールにシュートするプランナを作った． +後ろへの回り込み判定はボールを中心に相手ゴールとの方向に対して後ろにいるかどうかを内積で判定した．

+

ControlTargetライブラリの充実

+

- 円弧に沿っての移動

+

RobotReceiverについて

+

蹴ったかどうかの判定が非常に難しいので，ロボットからのフィードバックがほしい． +オカダがUDPに既に投げてくれているので，あとはそれを拾ってROS 2に持ってくるだけではある

+ +

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • session_controllerでロボット割当するときの初期ロボット列をworld_modelから入れる
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
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+ +
+ + + +
+
+
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-06-18/index.html b/ai/logs/2023-06-18/index.html new file mode 100644 index 0000000..9bc05d6 --- /dev/null +++ b/ai/logs/2023-06-18/index.html @@ -0,0 +1,1903 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-06-17 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+
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+
+ + + + + + + +

2023-06-17

+

タスク

+
    +
  • Attackerの改良
      +
    • ボールが外に出ると中心に戻るように
      • +
    • デフォルトで敵ゴールを向くように
      • +
    +
    • +
+

crane_teleopのリファクタ

+
    +
  • DualSense前提に書き換え
    • +
  • 操作方法を変えた
    • +
  • ros2 paramでIDなどを変更できるように
    • +
+

キックオフの実現

+

PREPARATION

+
    +
  • kickoffプランナで布陣につく
    • +
+

START

+
    +
  • ATTACKERプランナを割り当て
    • +
+

Attackerプランナ実装

+

ボールの後ろに回り込んでひたすら相手ゴールにシュートするプランナを作った． +後ろへの回り込み判定はボールを中心に相手ゴールとの方向に対して後ろにいるかどうかを内積で判定した．

+

ControlTargetライブラリの充実

+

- 円弧に沿っての移動

+

RobotReceiverについて

+

蹴ったかどうかの判定が非常に難しいので，ロボットからのフィードバックがほしい． +オカダがUDPに既に投げてくれているので，あとはそれを拾ってROS 2に持ってくるだけではある

+ +

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    • Attacker
      • +
    +
    • +
  • session_controllerでロボット割当するときの初期ロボット列をworld_modelから入れる
    • +
+
    +
  • crane_teleopのリファクタ
    • +
  • コントローラのコンフィグを変える
    • +
  • 操作方法のドキュメント
    • +
  • DualShockで操作できるようにする
    • +
  • ペナルティキックの実装
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
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+ +
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2023-06-21

+

タスク

+
    +
  • プランナの実行失敗からの再割当てまでのフローを固める
    • +
  • フォーメーションの実装
    • +
+

プランナの実行失敗からの再割当てまでのフローを固める

+

ブレスト的なの

+
    +
  • 実行失敗？
      +
    • world_modelなどを入力にして判定関数を定義する
      • +
    • 役割の責任失敗とは違う
        +
      • ゴールキーパーがゴールされたからといってここでいう失敗に当たらない
        • +
      +
      • +
    • 再割当てしたほうが良い状況になったとき
        +
      • 毎フレーム他のロボットのスコアも確認する必要あり
          +
        • game_analyzerとかでやったほうが良くない？
          • +
        +
        • +
      +
      • +
    +
    • +
  • 失敗したときに考えられる次の行動
      +
    • 同じプランナに別のロボットを再割当てして該当プランナだけやり直し
      • +
    • 全ロボット再割当て(場合によってはセッション切り替え)
      • +
    +
    • +
  • 実行失敗の実際
      +
    • Receiverが
      • +
    +
    • +
+

構造変更？

+
    +
  • ロボット割り当てやその時のスコア計算はgame_analyzerでやるべき
      +
    • robot_assignerの名前の方がいい？
      • +
    • session_controllerでやればええやん
      • +
    +
    • +
  • スコアは毎フレーム計算して適宜再割当てする
      +
    • 再割当て後のコストが高いSessionについてはHysteresisコストを設ける
      • +
    +
    • +
+

構造変更｜実践編

+
    +
  • SessionModuleないを改造していく
      +
    • 計算はModule内でやって計算結果だけを渡す感じ
      • +
    • スコア計算関数は計算するだけの処理にする
      • +
    • 割当関数は実際に通信して割り当てる
      • +
    • いくつかの関数は実装をpluginから持ってきたい
        +
      • スコア計算関数
        • +
      +
      • +
    +
    • +
+

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    +
    • +
  • session_controllerでロボット割当するときの初期ロボット列をworld_modelから入れる
    • +
  • ペナルティキックの実装
    • +
+

RobotReceiver

+

蹴ったかどうかの判定が非常に難しいので，ロボットからのフィードバックがほしい． +オカダがUDPに既に投げてくれているので，あとはそれを拾ってROS 2に持ってくるだけではある

+ + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-06-22/index.html b/ai/logs/2023-06-22/index.html new file mode 100644 index 0000000..87e13b3 --- /dev/null +++ b/ai/logs/2023-06-22/index.html @@ -0,0 +1,1894 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-07-01 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-07-01

+

タスク

+
    +
  • プランナの実行失敗からの再割当てまでのフローを固める
    • +
  • フォーメーションの実装
    • +
+

プランナの実行失敗からの再割当てまでのフローを固める

+

構造変更？

+
    +
  • ロボット割り当てやその時のスコア計算はsession_controllerでやる
      +
    • 関数定義はそれぞれの
      • +
    +
    • +
  • スコアは毎フレーム計算して適宜再割当てする
      +
    • 再割当て後のコストが高いSessionについてはHysteresisコストを設ける
      • +
    +
    • +
+

構造変更｜実践編

+
    +
  • SessionModule内を改造していく
      +
    • 計算はModule内でやって計算結果だけを渡す感じ
      • +
    • スコア計算関数は計算するだけの処理にする
      • +
    • 割当関数は実際に通信して割り当てる
      • +
    • いくつかの関数は実装をpluginから持ってきたい
        +
      • スコア計算関数
        • +
      +
      • +
    +
    • +
+

構造変更｜プラグイン化

+
    +
  • SessionModuleの処理をPlannerBaseに移植
    • +
  • 各プランナのプラグイン登録
    • +
  • plugins.xml更新
    • +
  • 各プランナクラスの書き換え
      +
    • プラグインにする場合，コンストラクタの引数はなしにする必要がある
      • +
    +
    • +
+

構造変更｜受け入れ体制整備

+

骨組み

+
update
+  judgeSessionResult
+  updateRoleScore
+  judgeReassignSession
+
+
    +
  • 有効なセッションとそうじゃないセッションをどうやって管理する？
    • +
+

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    +
    • +
  • session_controllerでロボット割当するときの初期ロボット列をworld_modelから入れる
    • +
  • ペナルティキックの実装
    • +
+

RobotReceiver

+

蹴ったかどうかの判定が非常に難しいので，ロボットからのフィードバックがほしい． +オカダがUDPに既に投げてくれているので，あとはそれを拾ってROS 2に持ってくるだけではある

+ + + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-07-01/index.html b/ai/logs/2023-07-01/index.html new file mode 100644 index 0000000..d1357e5 --- /dev/null +++ b/ai/logs/2023-07-01/index.html @@ -0,0 +1,1894 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-07-01 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-07-01

+

タスク

+
    +
  • プランナの実行失敗からの再割当てまでのフローを固める
    • +
  • フォーメーションの実装
    • +
+

プランナの実行失敗からの再割当てまでのフローを固める

+

構造変更？

+
    +
  • ロボット割り当てやその時のスコア計算はsession_controllerでやる
      +
    • 関数定義はそれぞれの
      • +
    +
    • +
  • スコアは毎フレーム計算して適宜再割当てする
      +
    • 再割当て後のコストが高いSessionについてはHysteresisコストを設ける
      • +
    +
    • +
+

構造変更｜実践編

+
    +
  • SessionModule内を改造していく
      +
    • 計算はModule内でやって計算結果だけを渡す感じ
      • +
    • スコア計算関数は計算するだけの処理にする
      • +
    • 割当関数は実際に通信して割り当てる
      • +
    • いくつかの関数は実装をpluginから持ってきたい
        +
      • スコア計算関数
        • +
      +
      • +
    +
    • +
+

構造変更｜プラグイン化

+
    +
  • SessionModuleの処理をPlannerBaseに移植
    • +
  • 各プランナのプラグイン登録
    • +
  • plugins.xml更新
    • +
  • 各プランナクラスの書き換え
      +
    • プラグインにする場合，コンストラクタの引数はなしにする必要がある
      • +
    +
    • +
+

構造変更｜受け入れ体制整備

+

骨組み

+
update
+  judgeSessionResult
+  updateRoleScore
+  judgeReassignSession
+
+
    +
  • 有効なセッションとそうじゃないセッションをどうやって管理する？
    • +
+

次のタスク

+
    +
  • Plannerが青チーム前提になっているのを修正
      +
    • Receiver
      • +
    • Waiter
      • +
    +
    • +
  • session_controllerでロボット割当するときの初期ロボット列をworld_modelから入れる
    • +
  • ペナルティキックの実装
    • +
+

RobotReceiver

+

蹴ったかどうかの判定が非常に難しいので，ロボットからのフィードバックがほしい． +オカダがUDPに既に投げてくれているので，あとはそれを拾ってROS 2に持ってくるだけではある

+ + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-07-23/index.html b/ai/logs/2023-07-23/index.html new file mode 100644 index 0000000..d25f6dd --- /dev/null +++ b/ai/logs/2023-07-23/index.html @@ -0,0 +1,1828 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-07-23 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-07-23

+

タスク

+

通信内容の見直し

+

通信内容の見直し

+

内容

+
    +
  • Visionのxy
    • +
  • 遅れ時間
    • +
  • ボール相対座標，速度
    • +
+

msg更新

+
    +
  • Visionのxy
      +
    • current_poseをそのまま
      • +
    +
    • +
  • 遅れ時間
      +
    • latency_msを追加
      • +
    +
    • +
  • ボール相対座標，速度
      +
    • ball_relative_pose, velocity[x,y]を追加
      • +
    +
    • +
+

関連クラス更新

+
    +
  • wrapperクラス
    • +
  • TypeAdapter
    • +
+

sender更新

+

次のタスク

+ + + + + + + + + + + + + + + + + + + + +
+
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+ +
+ + + +
+
+
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-11-04/index.html b/ai/logs/2023-11-04/index.html new file mode 100644 index 0000000..dd36484 --- /dev/null +++ b/ai/logs/2023-11-04/index.html @@ -0,0 +1,1766 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-11-04 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+
+ + + + + + + +

2023-11-04

+

Skillを中心としたシステムを組む

+

Skillを中心としたシステムへの移行目処が立った，というかxx_plannerの中身は一部Skillで置き換えている． +これは，Skillの試用を目的とする暫定的な処置であるが，良さげであったので，このままSkillを中心としたシステムを組むことにした．

+

現状と今後

+
    +
  • 基礎の動き
      +
    • 現状：xx_plannerに直接実装
        +
      • 使い回しは基本的にできず，コードが冗長になる
        • +
      +
      • +
    • 今後：Skill
      • +
    +
    • +
  • 役割
      +
    • 現状：xx_plannerが該当
        +
      • 同一インスタンスが使い回されるため，しっかりリセットが必要
        • +
      +
      • +
    • 今後：Role
        +
      • ROS上のインスタンスは持たせず，上位層ノードで管理する
        • +
      • RoleはJITで生成・破棄する
        • +
      +
      • +
    +
    • +
  • 状況による割り振り
      +
    • 現状：session_controllerが該当
      • +
    • 今後：ベースは同じでOK
        +
      • Roleに対応した実装にする
        • +
      • 後から別の割当アルゴリズムの別実装も作れるように考えておく
        • +
      +
      • +
    +
    • +
+

今日の作業

+

-[x] plugin_baseをRole用に書き換え -[x] サービス通信をなくす -[x] session_planner側作業 -[x] SessionModuleをplugin_baseに置き換え

+
    +
  • 置き換え後の動作確認
    • +
  • local plannerの各種パラメータの外だし
    • +
+ + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2023-11-10/index.html b/ai/logs/2023-11-10/index.html new file mode 100644 index 0000000..36d4ff0 --- /dev/null +++ b/ai/logs/2023-11-10/index.html @@ -0,0 +1,1722 @@ + + + + + + + + + + + + + + + + + + + + + + + 2023-11-10 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2023-11-10

+

動かす会に向けたメモ

+

用意するデモの種類

+
    +
  • ボールプレイスメント(1台)
      +
    • ゆっくりやりたいので最高速度を個別に設定できるようにする
      • +
    • 急回転をどうにかする
      • +
    • 設定ファイルの用意
      • +
    +
    • +
  • パスシュート（2台(vs 1台)）
      +
    • 敵ロボットとして同時にうまく動かせる？
      • +
    • 設定ファイルの用意
      • +
    +
    • +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2024-01-28/index.html b/ai/logs/2024-01-28/index.html new file mode 100644 index 0000000..835278c --- /dev/null +++ b/ai/logs/2024-01-28/index.html @@ -0,0 +1,1736 @@ + + + + + + + + + + + + + + + + + + + + + + + 2024-01-28 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2024-01-28

+

直近でやることの整理

+
    +
  • SimpleAIのアップグレード
      +
    • Skillも使えるようにしたい
        +
      • Skillのパラチュンができるようにしたい
        • +
      +
      • +
    • RobotCommandWrapperネイティブにできたらいいな
      • +
    • +

      機体の状態を取得できるようにしたい

      +
      • +
    +
    • +
  • 回避のデバッグ
      +
    • 取り敢えずまずこれをやる
      • +
    +
    • +
+

回避の問題点

+

生成した回避点が、既に通り過ぎたものを含んでいる。 +こうなると、途中で戻ったり立ち往生したりしてしまう。

+

現在は、ロボット側から回避点をたどってゴールに到着できるか判断しているが、 +ゴール側からたどるとうまく行くかも？

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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2024-01-30/index.html b/ai/logs/2024-01-30/index.html new file mode 100644 index 0000000..d4d8e31 --- /dev/null +++ b/ai/logs/2024-01-30/index.html @@ -0,0 +1,1955 @@ + + + + + + + + + + + + + + + + + + + + + + + 2024-01-30 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2024-01-30

+

直近でやることの整理

+
    +
  • SimpleAIのアップグレード
      +
    • Skillも使えるようにしたい
        +
      • Skillのパラチュンができるようにしたい
        • +
      +
      • +
    • RobotCommandWrapperネイティブにできたらいいな
      • +
    • 機体の状態を取得できるようにしたい
      • +
    +
    • +
+

SimpleAIの拡張を見据えて

+

すべての機能をSkill化するのはあり。

+

Skillとは？

+
    +
  • 入力
      +
    • ID
      • +
    • WorldModel
      • +
    • パラメータ
      • +
    • 引き継ぎ情報（コンテキスト）
      • +
    +
    • +
  • 出力
      +
    • ロボットコマンド
      • +
    • Skillの終了判定
      • +
    • 引き継ぎ情報（コンテキスト）
      • +
    +
    • +
+

ひとまずRobotCommandをSkill化する

+

マクロを駆使して、RobotCommandをSkill化した。 +しかし、パラメータをうまく渡せないので、うまく噛み合わない。

+

そういえば

+

Skillのパラメータを共通インタフェースを渡せるようにすると型の問題などが面倒なので、 +各個スキルクラスでパラメータのセッターを独自定義することにしたんだった。 +このときは、Skillクラスをプログラム上で呼び出すことしか考えていなかったので、 +特に共通インタフェースを無理して作るインセンティブもなく、むしろ各々のスキルクラスで便利なように独自定義できることが強みだと思っていた。

+

とはいえ

+

SimpleAIなど、共通インタフェースを使ってパラメータを渡したい場合が出てきた今、そうも言っていられない。 +ということで、共通インタフェースを作ることにした。

+

パラメータ融通用共通インタフェース設計

+

現状

+

SimpleAIでは、vectorを使っている。 +既に存在するスキルを見ても、doubleで表現できるパラメータしかない。

+

今後を見据えて

+
    +
  • boolは、0.0と1.0で表現することで、doubleで表現できるが、double以外も扱うなら対応したい。
    • +
  • intは、doubleで表現できるが、double以外も扱うなら対応したい。
    • +
  • stringは、対応していると何かと便利そう。
    • +
+

ということで

+

将来を見据えると、複数の型を扱える共通インタフェースがほしい

+

std::vector>かな +そして、名前付きパラメータにしたいので、std::unordered_map>かな

+

実際の実装

+
    +
  • 共通インタフェースrun()の引数に、std::unordered_map>を追加
      +
    • std::optionalにして、nulloptのときは動作させないことで、引数なしのrun()も可能にする -　これで後方互換性が保たれる。-　これで、関数型っぽくも振る舞えるはず。
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+ + + + + + + +

2024-01-31

+

直近でやることの整理

+
    +
  • SimpleAIのアップグレード
      +
    • Skillも使えるようにしたい
        +
      • Skillのパラチュンができるようにしたい
        • +
      +
      • +
    • RobotCommandWrapperネイティブにできたらいいな
      • +
    • 機体の状態を取得できるようにしたい
      • +
    +
    • +
+

SimpleAIの拡張を見据えて

+

昨日は、インタフェースを設計して、SkillBaseクラスに対して設置するところまで行った。 +今日は、既存のSkillの対応と、SimpleAIでの対応を行う。

+

既存のSkillの対応

+
    +
  • GetBallContact
    • +
  • Idle
    • +
  • MoveToGeometry
    • +
  • MoveWithBall
    • +
  • TurnAroundPoint
    • +
  • RobotCommandベースのスキル
    • +
+

SimpleAIのパラメータスキル対応

+

既存のUIだと無理なので、パラメータテーブルを使ってたくさんのパラメータを設定できるようにする。

+ + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/2024-08-16/index.html b/ai/logs/2024-08-16/index.html new file mode 100644 index 0000000..ae71845 --- /dev/null +++ b/ai/logs/2024-08-16/index.html @@ -0,0 +1,2048 @@ + + + + + + + + + + + + + + + + + + + + + + + 2024-08-16 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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2024-08-16

+

パッケージ巡礼

+

3rdparty/closest_point_vendor

+

Boost.Geometryの拡張機能。最近傍点を求めるために使っている。 +ビルドにはインターネット接続が必要。

+

3rdparty/matplotlib_cpp_17_vendor

+

matplotlibのC++ラッパー。無印のmatplotlib-cppとは別物で高機能。 +今は使っていないが、軽いデバッグに便利

+

consai_ros2/robocup_ssl_msgs

+

https://github.com/SSL-Roots/consai_ros2

+

SSL公式のprotoメッセージをROS2で使えるようにしたもの。 +GameEvent関連は移植されていない。

+

consai_ros2/robocup_ssl_comm

+
    +
  • game_controller
    • +
  • grsim
      +
    • ロボットコマンドを送信したり、ボールやロボット位置の配置指示
      • +
    +
    • +
  • robot_status
      +
    • grsim上のロボット状態を受信
      • +
    +
    • +
  • vision
    • +
+

consai2_examples/consai_vision_tracker

+

EKFでVisionデータをフィルタリングして、使いやすいようにするパッケージ

+

crane_world_model_publisher

+

SSL関連のデータをすべて集めたトピックである/world_modelを配信するパッケージ +これをすることで、他のノードは/world_modelだけを購読すればよくなる

+

utility/crane_msg_wrappers

+

world_model_wrapperは、world_modelの情報を使って、よく使う幾何学計算をまとめたもの

+

utility/crane_basics

+

基礎的な幾何学計算などを集めたパッケージ

+
    +
  • ボールの接触時間を計算するための時系列計算を行う機能（ball_contact）
    • +
  • WorldModelWrapperのための構造体（robot_info, ball_info）
    • +
  • Boost.GeometryでEigenのPosition型をネイティブに扱えるようにするための設定（eigen_adapter） +
    • +
  • PID制御器（pid_controller）
    • +
  • 基礎的な幾何学計算（geometry_operations）
      +
    • 角度の正規化など角度の不連続性を無視して計算できる関数など
      • +
    +
    • +
  • 区間計算（interval）
      +
    • Boostに類似機能があるのでそっちに移行してもいいかも
      • +
    +
    • +
  • 最適割当問題のソルバー（position_assignments）
      +
    • ハンガリアン法を実装している
      • +
    • 複数ロボットの割当を行うときに使っている（defense_plannerなど）
      • +
    • 最適割当ではないような場面も見るのでバグがあるかも？ +
      • +
    +
    • +
  • 移動時間計算（travel_time）
      +
    • 台形加速を考慮したロボットの移動時間を計算する
      • +
    • テストも実装してある（test/test.cpp）
      • +
    +
    • +
  • ボールモデルの計算 +
    • +
+

スキル作るにあたってやること

+

スキルクラスを実装する

+
    +
  • update関数
    • +
  • print関数
    • +
+

SimpleAIに登録する

+
    +
  • crane_robot_skills/skills.hppに作ったスキルのヘッダファイルを追加
    • +
  • crane_simple_ai/crane_commander.cppでスキルを登録
      +
    • setUpSkillDictionary関数で登録
      • +
    +
    • +
+

対応するPlannerを作る

+

実際の動きに組み込むためには、Plannerを作る必要がある。

+
    +
  • crane_planner_pluginsに作る
    • +
  • Skill単体のPlannerはskill_planner.hppに実装することが多い
    • +
+

Plannerの登録

+

crane_planner_plugins/planners.hppに文字列とPlannerのペアを登録する

+

SimpleAIとgrSim

+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/logs/laytency/index.html b/ai/logs/laytency/index.html new file mode 100644 index 0000000..7f6a36c --- /dev/null +++ b/ai/logs/laytency/index.html @@ -0,0 +1,1754 @@ + + + + + + + + + + + + + + + + + + + + + + + 遅延のボトルネック解析 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + +

遅延のボトルネック解析

+

https://github.com/ibis-ssl/crane/issues/130

+

Timer/Callback駆動

+

まずは現状分析

+
graph TD
+    LP["`Callback
+    **Local Planner**
+    Immediately`"]
+    PS[Play Switcher]
+    GA[Game Analyzer]
+
+    subgraph interface
+        VC["`100Hz
+        **Vision Component**
+        Immediately`"]
+        GrC[GrSim Component]
+        GCC[Game Controller Component]
+        Receiver[Robot Receiver]
+    end
+
+    SC["`WorldModel Callback
+    **Session Controller**
+    Immediately`"]
+    SS[Sim Sender]
+
+    VT["`100Hz
+        **Vision Tracker**
+        Immediately`"]
+    WP["`Callback
+        **World Model Publisher**
+        30Hz`"]
+
+    subgraph software
+        GrSim[GrSim]
+        GC[Game Controller]
+    end
+
+    WP -- /world_model -->  SC
+    WP -- /world_model -->  GA
+    GA -- /game_analysis -->  SC
+
+
+    GrC -. UDP .->  GrSim
+
+    GrSim -. UDP .->  GrC
+    GrC -- /geometry -->  WP
+
+    GrSim -. UDP .->  VC
+
+
+    VC -- /detection -->  VT
+    VT -- /detection_tracked -->  WP
+
+    GC -. UDP .->  GCC
+    GCC -- /referee -->  PS
+    PS -- /play_situation --> SC
+    SC -- /control_targets --> LP
+    LP -- /robot_commands -->  SS
+    SS -- /commands -->  GrC
+
+    Receiver -- /feedback -->  WP
+
    +
  • 下流はほとんどコールバック駆動なので良し
    • +
  • Vision Component
      +
    • 非同期で受け取ってUDPコールバックにしても良いかも
      • +
    • これは絶対に受け取った時刻を一緒に情報として持っておくべき
      • +
    +
    • +
  • Vision Tracker
      +
    • フィルター処理はタイマー駆動必要かも
      • +
    • これ以降の処理はコールバックで一気通貫したい
        +
      • 柔軟性的にはフィルター処理コールバック周期と出力周期は変えたいかも
        • +
      • いい感じ補間処理入れたら出力周期変えてもpublish時の最新の情報を出せる？
        • +
      +
      • +
    +
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+ + + + + + + + + + + + + + + + + + + + +
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+ + + +
+ +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/match/index.html b/ai/match/index.html new file mode 100644 index 0000000..0784f97 --- /dev/null +++ b/ai/match/index.html @@ -0,0 +1,1714 @@ + + + + + + + + + + + + + + + + + + + + + + + 試合チェックリスト - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + +
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+ + + + + + + +

試合チェックリスト

+

Vision

+
    +
  • アドレスあってる？
    • +
  • 違うインタフェースでマルチキャストジョインしたりしない？
      +
    • netstat -g でマルチキャストグループとインタフェースの対応を確認
      • +
    • WiFiをONにしていると、WiFiのインタフェースでマルチキャストグループに参加してしまうことが多い
      • +
    +
    • +
+

GameController

+
    +
  • アドレスあってる？
      +
    • 調整用にポート変えたやつを使っていないか？
      • +
    +
    • +
  • マルチキャストジョインしている？
      +
    • netstat -g でマルチキャストグループとインタフェースの対応を確認
      • +
    • WiFiをONにしていると、WiFiのインタフェースでマルチキャストグループに参加してしまうことが多い
      • +
    +
    • +
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
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+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/network/index.html b/ai/network/index.html new file mode 100644 index 0000000..9af1e2e --- /dev/null +++ b/ai/network/index.html @@ -0,0 +1,1953 @@ + + + + + + + + + + + + + + + + + + + + + + + ネットワーク設定 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + +

ネットワーク設定

+

ROS関連

+

https://autowarefoundation.github.io/autoware-documentation/pr-347/installation/additional-settings-for-developers/#network-settings-for-ros-2

+

ローカルホストでマルチキャスト

+
sudo ip link set multicast on lo
+
+

マルチキャストアドレスとデバイスの対応の確認

+
netstat -g
+
+

マルチキャストアドレスへのルートの追加

+
sudo ip route add <address> dev <device>
+
+

インターネット接続とロボット接続の共存

+

ロボットのアドレスに対して静的ルーティングを設定する

+

/etc/netplan/01-network-manager-all.yaml

+
network:
+  version: 2
+  renderer: networkd
+  ethernets:
+    enp3s0:
+      addresses:
+        - 192.168.1.2/24
+      gateway4: 192.168.1.1
+      routes:
+        - to: 192.168.2.0/24
+          via: 192.168.1.1
+        - to: 192.168.3.0/24
+          via: 192.168.1.1
+
+
graph TD
+    subgraph official
+        GameController[Game Controller]
+        AutoRef[Auto Ref]
+        Vision[SSL Vision]
+    end
+
+    OfficialHub[大会用スイッチングハブ]
+
+    subgraph AIPC
+        OfficialInterface[大会サーバー用Interface]
+        ibisInterface[ロボット用Interface]
+        crane[crane]
+        sender[real_sender]
+        receiver[robot_receiver]
+    end
+
+    SwitchingHub[スイッチングハブ]
+    Router[ルーター]
+
+    Robots[ロボット]
+    PC[開発PC]
+
+    Net[インターネット]
+
+    GameController -- UDP Multicast --> OfficialHub
+    AutoRef -- UDP Multicast --> OfficialHub
+    Vision -- UDP Multicast --> OfficialHub
+
+    OfficialHub -- UDP Multicast --> SwitchingHub
+    SwitchingHub -- UDP Multicast --> OfficialInterface
+    OfficialInterface -- UDP Multicast --> crane
+    crane -- ROS --> sender
+    sender -- UPD to 192.168.20.1xx --> ibisInterface
+
+    ibisInterface -- UPD to 192.168.20.1xx --> SwitchingHub
+    SwitchingHub -- UPD to 192.168.20.1xx --> Router
+    Router -- AICommand --> Robots
+    Robots -- RobotFeedback --> Router
+    Router -- UPD to 192.168.20.1xx --> SwitchingHub
+    SwitchingHub -- RobotFeedback UPD Multicast --> ibisInterface
+    ibisInterface -- RobotFeedback UPD Multicast --> receiver
+    receiver -- ROS  --> crane
+
+

アドレス・ポートなど

+

公式ツールなど

+
    +
  • Vision
      +
    • アドレス：224.5.23.2
      • +
    • ポート
        +
      • 10006
          +
        • 本番で使われることが多い
          • +
        • ssl-visionのデフォルトポート
          • +
        +
        • +
      • 10020
          +
        • シミュレーションなどで使われることが多い
          • +
        • grSimのデフォルトポート
          • +
        +
        • +
      +
      • +
    +
    • +
  • Game Controller
      +
    • アドレス：224.5.23.1
      • +
    • ポート
        +
      • 10003
          +
        • デフォルト
          • +
        • 本番で使われる
          • +
        +
        • +
      • 11111
          +
        • ibisがポート被り防止に使うことが多い
          • +
        +
        • +
      +
      • +
    +
    • +
  • Tracker +
    • +
+

ibis

+
    +
  • ロボットのCM4
      +
    • アドレス：192.168.20.100+機体番号
      • +
    • コマンド用ポート：12345
      • +
    +
    • +
  • ロボットからのフィードバック
      +
    • アドレス：224.5.20.100
      • +
    • ポート：50100+機体番号
      • +
    +
    • +
+ + + + + + + + + + + + + + + + + + + + +
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+ + + +
+ +
+ + + +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/nodes/game_analyzer/index.html b/ai/nodes/game_analyzer/index.html new file mode 100644 index 0000000..b174538 --- /dev/null +++ b/ai/nodes/game_analyzer/index.html @@ -0,0 +1,1754 @@ + + + + + + + + + + + + + + + + + + + + + + + Game Analyzer - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Game Analyzer

+

Refereeなどから直接示されない，ゲームの状況を解析するノード．
+ゲームの状況を解析し，ゲームの状況を示すメッセージを毎フレームpublishする．
+重い処理を含む解析は数フレームに1度のみ行い，それ以外のフレームでは前回の結果をpublishする．

+

ボール所持判定

+

両チームのボールに最も近いロボットを抽出し，ボールとの距離がしきい値以下ならばボール所持と判定する．

+

TODO

+

味方チームの戦略から，パス中などもボール所持判定にできるようにする． +そのためには，パスの成否判定の実装が必要である

+

パスの成否判定

+

未実装

+

タスクリスト

+ + + + + + + + + + + + + + + + + + + + +
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Play Switcher

+

refereeからの信号を受け取って，解析した情報を流すノード
+refereeからは毎フレーム情報が流れてくるが，PlaySwitcherからの出力時は情報に更新があった時のみ

+

敵味方イベントの解釈

+

Blue / Yellowのイベントを解釈して，敵味方のイベントに変換する

+

NORMAL_STARTの解釈

+

前のイベントに応じてNORMAL_STARTの解釈を行う

+

参考：5.3.1 Normal Start | Official Rule

+

NORMAL_STARTの解釈

+ + + + + + + + + + + + + + + + + +
前のイベントNORMAL_STARTの解釈
KICKOFF_PREPARATIONKICKOFF_START
PENALTY_PREPARATIONPENALTY_START
+

INPLAYの判定

+

INPLAYのイベントはRefereeからは送信されてこないのでPlaySwitcherで判定する

+

参考：5.4. Ball In And Out Of Play | Official Rule

+

INPLAYの判定

+
    +
  • FORCE_START発動時
    • +
  • 以下のイベント後，ボールが少なくとも0.05m動いた時
      +
    • KICKOFF_START
      • +
    • PENALTY_START
      • +
    • DIRECT_FREE
      • +
    • INDIRECT_FREE
      • +
    +
    • +
  • フリーキックで以下の秒数が経過したとき
      +
    • 5秒（Division A）
      • +
    • 10秒（Division B）
      • +
    +
    • +
+

タスクリスト

+
    +
  • STOPの解釈
    • +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/offense/index.html b/ai/offense/index.html new file mode 100644 index 0000000..8e69b2f --- /dev/null +++ b/ai/offense/index.html @@ -0,0 +1,1991 @@ + + + + + + + + + + + + + + + + + + + + + + + オフェンス - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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オフェンス

+

アクション

+

ボールの所有権をもつロボットが、ボールを操作して行う行動をアクションとする。 +ボールは1つなので、複数台のロボットが同時にボールの所有権を持つことはなく、一連のオフェンスはアクションの列として表現される。

+

アクションの本体は、ロボットがボールを操作する瞬間の集合である。 +例えば、パスやシュートならば、ボールを蹴る瞬間であり、ドリブルならばドリブルしている間である。

+

ただし、これだけだとオフェンス中にどのアクションにも属さない状態が生じるので、前のアクションの本体が終了したとき、次のアクション +が始まるものとする。（これらの時間範囲はアクションに含まれるだけであって、アクションの本体であるわけではない） +例えば、パスの場合ではボールが前のロボットからキックされて自分の方に転がり始めた瞬間からパスアクションが始まり、次のロボットへボールを蹴り出した瞬間にパスアクションが終了する。 +ここで、キックに失敗したときは上位レイヤーで認知され、アクション列が作り直される。

+

また、アクションではアクション本体以外のステージも持つ。

+
    +
  • PRE_STAGE: アクション本体が始まる前に行うステージ
    • +
  • ON_STAGE: アクション本体が行われるステージ
    • +
  • POST_STAGE: アクション本体が終わった後に行うステージ
    • +
+

パスアクション

+

PRE_STAGE

+

パスを受ける地点から離れすぎない範囲で、マークを振り切るための動きを行う。

+

暫定実装

+

パスを受け取る地点へ移動する

+

ON_STAGE

+

パスを受け取る地点へ移動し、ボールを受け取って次のターゲットへキックする

+

POST_STAGE

+

特になし

+

シュートアクション

+

正直このアクションは必要かどうかは微妙 +パスアクションの特殊化として扱うべきかもしれない

+

PRE_STAGE

+

ON_STAGE

+

POST_STAGE

+

ドリブルアクション

+

PRE_STAGE

+

ON_STAGE

+

POST_STAGE

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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/other_team/Sumatra/index.html b/ai/other_team/Sumatra/index.html new file mode 100644 index 0000000..9e47243 --- /dev/null +++ b/ai/other_team/Sumatra/index.html @@ -0,0 +1,2196 @@ + + + + + + + + + + + + + + + + + + + + + + + TIGERs Sumatra - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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TIGERs Sumatra

+

Attackerの状態機械

+

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/pandora/roles/offense/attacker/AttackerRole.java

+
stateDiagram-v2
+    Protect --> ApproachBallLine: ballMoves
+    Protect --> Kick : switchToKick
+
+    Dribble --> DribbleKick: switchToDribbleKick
+    Dribble --> Kick: switchToKick
+    Dribble --> Protect: FAILURE
+
+    ApproachBallLine --> Receive: SUCCESS
+    ApproachBallLine --> approachAndStopBall: FAILURE
+    ApproachBallLine --> approachAndStopBall: closeToBall
+
+    approachAndStopBall --> Protect: SUCCESS
+    approachAndStopBall --> Protect: FAILURE
+
+    Kick --> Receive: SUCCESS
+    Kick --> Protect: FAILURE / INVALID
+    Kick --> FreeKick: waitForKick
+    Kick --> FreeKick: useSingleTouch
+
+    FreeKick --> ApproachBallLine: SUCCESS
+    FreeKick --> Protect: FAILURE
+
+    Receive --> Protect: SUCCESS
+    Receive --> Protect: FAILURE
+    Receive --> Redirect: SwitchToRedirect
+
+    Redirect --> ApproachBallLine: SUCCESS
+    Redirect --> Protect: FAILURE
+    Redirect --> Receive: switchToReceive
+
+    DribbleKick --> Protect: dribblingKickIsBlocked
+    DribbleKick --> Protect: FAILUR
+

Keeperの状態機械

+
stateDiagram-v2
+    Stop --> Defend: !stoped
+
+    PreparePenalty --> Defend: !isPreparePenalty
+
+    MoveToPenaltyArea --> Defend: SUCCESS
+    MoveToPenaltyArea --> Defend: isKeeperWellInsidePenaltyArea
+    MoveToPenaltyArea --> Stop: isStopped
+    MoveToPenaltyArea --> PreparePenalty: isPreparePenalty
+
+    Defend --> Pass: ballCanBePassedOutOfPenaltyArea
+    Defend --> Rambo: canGoOut
+    Defend --> GetBallContact: isBallBetweenGoalyAndGoal
+    Defend --> MoveToPenaltyArea: isOutsidePenaltyArea
+    Defend --> Stop: isStopped
+    Defend --> PreparePenalty: isPreparePenalty
+    Defend --> Intercept: canInterceptSafely
+
+    Pass --> Defend: isBallMoving
+    Pass --> MoveInFrontOfBall: ballPlacementRequired
+    Pass --> Stop: isStopped
+    Pass --> PreparePenalty: isPreparePenalty
+
+    Intercept --> Defend: hasInterceptionFailed
+    Intercept --> Pass: ballPlacementRequired
+    Intercept --> Stop: isStopped
+    Intercept --> PreparePenalty: isPreparePenalty
+
+    Rambo --> Defend: isBallInPenaltyArea(0) || isGoalKick()
+    Rambo --> Stop: isStopped
+    Rambo --> PreparePenalty: isPreparePenalty
+
+    MoveInFrontOfBall --> Defend: isBallMoving
+    MoveInFrontOfBall --> Defend: ballPlaced
+    MoveInFrontOfBall --> GetBallContact: SUCCESS
+    MoveInFrontOfBall --> Stop: isStopped
+    MoveInFrontOfBall --> PreparePenalty: isPreparePenalty
+
+    GetBallContact --> MoveWithBall: SUCCESS
+    GetBallContact --> MoveInFrontOfBall: FAILURE
+    GetBallContact --> Stop: isStopped
+    GetBallContact --> PreparePenalty: isPreparePenalty
+
+    MoveWithBall --> Defend: SUCCESS
+    MoveWithBall --> MoveInFrontOfBall: FAILURE
+    MoveWithBall --> Stop: isStopped
+    MoveWithBall --> PreparePenalty: isPreparePenalty
+
+

BallPlacementの状態機械

+
stateDiagram-v2
+    Receive --> Prepare: SUCCESS
+    Receive --> StopBall: FAILURE
+    Prepare --> DropBall: ballIsPlaced
+    Prepare --> GetBallContact: success
+    Prepare --> Receive: ballMoving
+    Prepare --> Pass: ballNeedsToBePassed
+    Prepare --> GetBallContact: skipPrepare
+    StopBall --> Prepare: SUCCESS
+    StopBall --> Prepare: FAILURE
+    GetBallContact --> MoveWithBall: SUCCESS
+    GetBallContact --> DropBall: FAILURE
+    MoveWithBall --> DropBall: SUCCESS
+    MoveWithBall --> Receive: FAILURE
+    Pass --> ClearBall: FAILURE
+    Pass --> ClearBall: SUCCESS
+    Pass --> ClearBall: pass mode is NONE
+    DropBall --> ClearBall: FAILURE
+    DropBall --> ClearBall: SUCCESS
+

AOffensiveActionMoves

+

TDP2018に解説されている。

+
    +
  • ForcedPass
    • +
  • DirectKick
      +
    • 敵ゴールへの直接シュート
      • +
    +
    • +
  • ClearingKick
      +
    • 味方の危ない状況からのクリア
      • +
    +
    • +
  • StandardPass
    • +
  • LowChanceKick
      +
    • 敵ゴールへの直接シュート
      • +
    +
    • +
  • GoToOtherHalf
      +
    • 自陣でボールをキープしているが適切なパスターゲットがない場合
      • +
    +
    • +
  • KickInsBlue
      +
    • 敵ロボットがいない場所にボールを蹴る
      • +
    +
    • +
  • RedirectGoalShot
    • +
  • RedirectPass
    • +
  • Receive
    • +
+

ベースクラス（2018年時点でのもの）

+

https://github.com/TIGERs-Mannheim/Sumatra/blob/e858a04f90d5f9d0c0d9df0e4fd913e66d386e6c/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/moves/AOffensiveActionMove.java

+

※viability: 実行可能性

+
    +
  • isActionViable
      +
    • そのアクションが実行可能かどうかを返す
      • +
    • 返り値
        +
      • TRUE
        • +
      • PARTIAL
        • +
      • FALSE
        • +
      +
      • +
    +
    • +
  • activateAction
    • +
  • calViabilityScore
    • +
+

ベースクラス(2021年時点でのもの)

+

calcAction

+

返り値：OffensiveAction

+
    +
  • move:EOffensiveActionMove(PROTECT_MOVE)
      +
    • FORCED_PASS
      • +
    • REDIRECT_GOAL_KICK
      • +
    • GOAL_KICK
      • +
    • CLEARING_KICK
      • +
    • STANDARD_PASS
      • +
    • LOW_CHANCE_GOAL_KICK
      • +
    • MOVE_BALL_TO_OPPONENT_HALF
      • +
    • KICK_INS_BLAUE
      • +
    • RECEIVE_BALL
      • +
    • PROTECT_MOVE
      • +
    +
    • +
  • action:EOffensiveAction(PASS)
      +
    • PASS
      • +
    • KICK_INS_BLAUE
      • +
    • CLEARING_KICK
      • +
    • GOAL_SHOT
      • +
    • PROTECT
      • +
    • REDIRECT
      • +
    • RECEIVE
      • +
    +
    • +
  • viability:OffensiveActionViability
      +
    • TRUE
      • +
    • PARTIAL
      • +
    • FALSE
      • +
    +
    • +
+

ベースクラス(2023年時点でのもの)

+

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/EOffensiveActionType.java

+
    +
  • type:OffensiveActionType
      +
    • PASS
      • +
    • REDIRECT_KICK
      • +
    • DRIBBLE_KICK
      • +
    • PROTECT
      • +
    • CHOP_TRICK
        +
      • Hackentrick: かかとで後方にけり、相手をかわす技
        • +
      +
      • +
    • RECEIVE
      • +
    +
    • +
+

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/moves/EOffensiveActionMove.java

+
    +
  • OffensiveActionMoveの種類
      +
    • REDIRECT_GOAL_KICK
      • +
    • CHOP_TRICK
      • +
    • FINISHER
      • +
    • GOAL_KICK
      • +
    • FORCED_PASS
      • +
    • CLEARING_KICK
      • +
    • STANDARD_PASS
      • +
    • LOW_CHANCE_GOAL_KICK
      • +
    • MOVE_BALL_TO_OPPONENT_HALF
      • +
    • RECEIVE_BALL
      • +
    • PROTECT_MOVE
      • +
    +
    • +
+

build関数はOffensiveActionTypeのラインナップをサポート

+

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/RatedOffensiveAction.java

+
    +
  • RatedOffensiveAction
      +
    • buildProtect
      • +
    • buildChopTrick
      • +
    • buildPass
      • +
    • buildKick
      • +
    • buildRedirectKick
      • +
    • buildDribbleKick
      • +
    • buildReceive
      • +
    +
    • +
+

ForcedPass

+

フリーキックのような、必ずパスしなければいけない状況で使われる。

+

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/moves/ForcedPassActionMove.java

+

FinisherActionMove

+

ドリブルしながらゴールを狙うアクション

+

ClearingKickActionMove

+

ボールをゴール中心から離れる方向にチップキックする

+
    +
  • TRUE
      +
    • ボールがゴールに近い＆壁デフェンスが間に合ってない＆ボールが相手に近い＆自コートにボールがある＆ボールが0.3m/s以下
      • +
    +
    • +
  • FALSE
      +
    • それ以外
      • +
    +
    • +
+

ProtectActionMove

+

PassGenerator

+

https://github.com/TIGERs-Mannheim/Sumatra/blob/5e99731884440591f633e65b01118f291f460d4e/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/pass/PassGenerator.java

+

KIckOriginという概念

+

https://github.com/TIGERs-Mannheim/Sumatra/blob/259774013fe5fef0c5eeff46db5f04c3f7d61f56/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/pass/KickOrigin.java

+

次にボールがキックされる点。

+

ボールが動いていないときは、ボールの場所であり、動いているときは以下のいずれかが発生したときである。

+
    +
  • (相手ボールのとき)ボールをカット
    • +
  • ボールをキャッチ
    • +
  • ボールをリダイレクト
    • +
+

impact time: ボールがKickOriginに到着するまでの時間

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ZJUNLict

+

Dynamic Passing Points Searching(DPPS)

+

v1ではボールを中心に円筒座標系でサンプリングしていたが，v2ではロボットを中心にサンプリングしている

+

TDP注目ポイント

+
    +
  • 2019
      +
    • 新ドリブラ
      • +
    • Implementation of Intercept Ball Skill
      • +
    • Implementation of Marking Skill
      • +
    +
    • +
  • 2014
      +
    • FSM-based Role Matching
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RACOON AI beta of Ri-one

+

https://github.com/Rione/ssl-RACOON-AI-beta

+

Role分け

+

https://github.com/Rione/ssl-RACOON-AI-beta/tree/competition/racoon_ai/strategy/role

+

Offense

+

決定戦略

+

https://github.com/Rione/ssl-RACOON-AI-beta/blob/competition/racoon_ai/strategy/role/role.py#L138

+
    +
  1. 有効でキーパーでもDefenseでもないロボットを抽出
    2. +
  2. 相手ゴールに近い順に規定台数を選択．それ以外は削除
    3. +
  3. なにかの角度に並べ替え？
    4. +
+

SubRole

+

https://github.com/Rione/ssl-RACOON-AI-beta/blob/competition/racoon_ai/strategy/role/subrole.py#L53

+
    +
  • our_attacker
      +
    • ボールに一番近いロボットが1台選ばれる
      • +
    +
    • +
  • receiver
      +
    • our_attackerに近いロボットが1台選ばれる
      • +
    +
    • +
+

※enemy_attackerは敵チームのボールに一番近いロボット

+

Scheme

+

defense

+
    +
  • デフォルトポジションがある
    • +
  • ボールがゴールに向かっていたら阻止する？
    • +
+

goal_keeper

+

offense

+
    +
  • indirectならreceiver(一番近い味方)にパス
    • +
  • そうでなければゴールにシュート
    • +
+
    +
  • 関数名
      +
    • block_their_attacker
      • +
    • default_position
      • +
    • penalty_kick
      • +
    • stop_attacker
      • +
    • stop_offense
      • +
    • pass_to_receiver
      • +
    • shoot_to_goal
      • +
    • direct_their
        +
      • ボールに一番近い味方がblock_their_attacker
        • +
      +
      • +
    +
    • +
+

out_of_play

+

Defense

+

その他

+
    +
  • キーパー
    • +
+

コマンド周り

+
    +
  • avoid_penalty_area
    • +
  • avoid_ball
    • +
  • avoid_enemy
    • +
  • speed_limiter
    • +
  • pid(目標位置, ロボット)
    • +
  • to_front_ball
    • +
  • ball_around
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Robodragons

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TDP2019

+

到着時間の予測

+
    +
  • 従来は目的地への直線を使って時間予測をしていた
      +
    • 障害物があると正確でなくなる
      • +
    +
    • +
  • 中間点を一つ使って予測する
      +
    • 中間点では停止する前提で予測する
      • +
    • 予測精度が51%向上した
      • +
    +
    • +
+

五芒星パス

+
    +
  • イベントでの魅力的なデモが必要
    • +
  • 5台のロボットが円を描きながら移動する
    • +
  • それらのロボットが五芒星を描くようなパスをする
    • +
  • Rootsによる実装 +
    • +
+ + + + + + + + + + + + + + + + + + + + +
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+ +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/other_team/tigers/index.html b/ai/other_team/tigers/index.html new file mode 100644 index 0000000..ddcebb7 --- /dev/null +++ b/ai/other_team/tigers/index.html @@ -0,0 +1,2528 @@ + + + + + + + + + + + + + + + + + + + + + Tigers - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Tigers

+ +

TDP2023

+

https://tdp.roboteamtwente.nl/tdps/144?ref=year

+

軌道生成

+

ゴールキーパーのような、ゴール地点で速度ゼロにならなくても場所と時間さえあっていればOKというケースに対応して有効守備範囲を広げている。

+

TDP2022

+

https://tdp.roboteamtwente.nl/tdps/241?ref=year

+

ハードウェアアップデート

+
    +
  • ドリブラのダンパ
    • +
  • 自分のマーカーを読み取るシステム
    • +
+

ビルトインなシミュレータについて

+
    +
  • grSimは低レイヤー制御も含むので、AIの検証用に理想的な動作をするシミュレータを作った（2013~）
    • +
  • 基本的に2Dだが、チップキックだけは3D対応
    • +
  • デバッグが簡単
      +
    • ステップ実行可能
      • +
    • 状況を巻き戻して再実行も可能
      • +
    +
    • +
  • シミュレータの比較
      +
    • grSim
      • +
    • ER-Forceのもの
      • +
    +
    • +
  • シミュレータを使ったテストも簡単に作れる
    • +
+

攻撃用ドリブル

+
    +
  • 2021年大会の優勝で大きな役割を果たした
    • +
  • ペナルティエリアの平行線上でサンプリングして評価
    • +
  • サンプリングする点はドリブル最大距離まで
    • +
  • ゴール可能な最近傍点を選んでそこまでドリブルする
    • +
+

視覚化

+ +

データの記録

+
    +
  • 1試合のログは数GB
      +
    • 圧縮したら数百MB
      • +
    +
    • +
  • ログ再生機でコピーしたらロボット・フィールド状態がjson形式でクリップボードに
    • +
  • シミュレータ上でペーストすると状態が再現される
    • +
+

テスト

+

シミュレータを組み込んでのテスト

+
    +
  • パスカット
    • +
  • リダイレクトシュート
    • +
+

ルールのテスト

+
    +
  • 対戦相手なしでFORCE_START：10s以内にゴールできるか
    • +
  • KICKOFF: 11s以内にロボットが動き出すか？
    • +
  • PENALTY: ロボットが動き出し、30s以内にゴールしてHALTになるか外してBallPlacementになっているか？
    • +
  • FORCESTART: ボールが蹴られて動き出すか？
    • +
  • Pass: ロボットが時間内に目的地に到着するか？
    • +
  • STOP: STOP中にロボットが最大速度を超えて移動していないか？禁止エリアに入らないか？
    • +
  • BallPlacement: 時間以内に成功するか？
    • +
  • KICKOFF: 相手無しで11s以内にゴールできるか？
    • +
  • INDIRECT FREE: 6s以内にロボットが移動するか？
    • +
+

TDP2020

+

https://tdp.roboteamtwente.nl/tdps/89?ref=year

+

ハードウェア v2020(Gen5)

+
    +
  • 前のバージョンはv2019
    • +
  • メカ中心のアップデートで回路はほぼ同じ
    • +
+

車輪のアップデート

+

img.png

+
    +
  • v2019の車輪
      +
    • 3Dプリント PLA製
      • +
    • 直径33mm
        +
      • かなり小さいが、車輪が90°間隔で配置できる
        • +
      +
      • +
    • チームフィールドでは問題なかった
      • +
    • シドニー大会で壊れまくった
        +
      • 毛深いカーペットと塗装されたラインが原因
        • +
      • ホイールカバーが壊れてサブホイールが定期的に欠落する
          +
        • サブホイールが欠落するとホイールベースがカーペットに接触して摩擦で溶け始める
            +
          • PLAは60℃で溶ける
            • +
          +
          • +
        +
        • +
      +
      • +
    +
    • +
  • v2020の車輪
      +
    • アルミ製ホイール
      • +
    • 直径62mm
        +
      • 安価に製造するように変更した結果、大きくなった
        • +
      • v2019をアルミで削り出すと高価
        • +
      • 90°間隔で配置できない
        • +
      +
      • +
    • ダイレクトドライブで駆動
      • +
    • サブホイール
        +
      • サブホイールは20個
        • +
      • Xリング
          +
        • 設置点が2箇所でスムーズな動きにつながる
          • +
        • 摩擦もOリングより優れる
          • +
        • v2016の車輪にも使っていたが、ベアリング部分も摩耗でガタがでて結果的に振動が大きくなった
            +
          • 今回はしっかりベアリングを使って対策した
            • +
          +
          • +
        +
        • +
      +
      • +
    +
    • +
+

キッカーのアップデート

+
    +
  • ダンパはTPUの3Dプリンタ製
    • +
  • プランジャはスチールとアルミの組み合わせ
    • +
+

ドリブラのアップデート

+
    +
  • IRセンサアレイ搭載
    • +
  • モーターの変更
      +
    • v2019: 高速で小型なモーターを減速
        +
      • すごいうるさかった
        • +
      +
      • +
    • v2020: 減速なしで55W定格17000rpmのモーターを短期過負荷モードで使用
      • +
    +
    • +
+

カバー

+
    +
  • PETG製 1.2mm厚
      +
    • 色々な素材を試したが、PETGが最もよかった
      • +
    • 適度に柔軟性を持ち、衝撃吸収できる
      • +
    +
    • +
  • 接着剤を塗布している
      +
    • カバーが破損しても接着剤で保持される（ガラスフィルムみたいな感じ？）
      • +
    +
    • +
+

TDP2019

+

ロボットのアップデート

+

v2016からv2019までのアップデート

+
    +
  • モーターが50Wから70Wに
    • +
  • エンコーダが光学式から磁気式に
    • +
  • ホイールを32%小型化
      +
    • これにより、ホイールを90°間隔で配置できるようになった
      • +
    +
    • +
  • カメラ3台
      +
    • 視覚オドメトリ用上方カメラ2台
      • +
    • ドリブル用下方カメラ1台
      • +
    +
    • +
  • SBCはJetson TX2かラズパイ3を切り替えられる
    • +
+

経路計画

+

前提

+

ここに書いてあることはTDP2016が詳しい

+
    +
  • 速度ではなく、目標位置を送信している
    • +
  • Vision情報はロボットに転送されている
    • +
  • 回避は、最終目的地よりも優先度の高い、中間目的地を設定することで実現している
    • +
  • ロボット内でスキルを実行している？（100Hzで更新）
    • +
+

アルゴリズムの概要

+
    +
  1. 目的地までの暫定経路を生成
    2. +
  2. 衝突チェック（なければ終了）
    3. +
  3. 適当な経路を複数生成
    4. +
  4. 生成した経路を評価して、ペナルティが最も小さい経路を選択
    5. +
  5. 中間目的地を使った経路も生成して評価
    6. +
  6. 基本敵には中間目的地を使った経路を選択。ペナルティが大幅に小さくなる場合は、4.で選択した経路を選択
    7. +
+

中間目的地の生成方法

+

TBD

+

ペナルティの計算方法

+

TBD

+

パスターゲットの評価の改良

+

従来、パスターゲットの評価値は一つしかなかったが、いかに分割した。

+
    +
  • リダイレクトシュートできる確率（Redirect Goal Shot Score）
    • +
  • パスをが通る確率(Pass Score)
    • +
+

リダイレクトシュートできる確率

+

リダイレクト角度スコア

+
    +
  • リダイレクト角度が最重要視される
    • +
  • 45°以下ではでスコアが飽和
    • +
  • 最大角度(設定値)を超えるとスコアが0になる
    • +
  • 45°~最大角度の範囲で線形にスコアが減少
    • +
+

距離スコア

+
    +
  • 遠いほどスコアが低くなる
    • +
  • 一定距離を超えるとスコアが0になる
    • +
+

TBD

+

TDP2018

+

ドリブラのアップデート

+

ドリブラの自由度を増やして、ボールの衝撃吸収とボールのドリブル性能の両立を図った。

+

AOffensiveActionMoves

+
    +
  • ForcedPass
    • +
  • DirectKick
    • +
  • ClearingKick
    • +
  • StandardPass
    • +
  • LowChanceKickGoToOtherHalf
    • +
  • KickInsBlue
    • +
  • RedirectGoalShot
    • +
  • RedirectPass
    • +
  • Receive
    • +
+ + + + + + + + + + + + + + + + + + + + +
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+ + + +
+ +
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+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/progress/index.html b/ai/progress/index.html new file mode 100644 index 0000000..c3977d8 --- /dev/null +++ b/ai/progress/index.html @@ -0,0 +1,2034 @@ + + + + + + + + + + + + + + + + + + + + + + + 現状でできること - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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現状でできること

+

CONSAI由来のパッケージ郡

+

robocup_ssl_comm

+
    +
  • GameControllerの通信内容をROSのメッセージに変換する

    - HALTなどのRefBoxコマンド

    +
    • +
  • GrSimの通信内容をROSのメッセージに変換する
      +
    • Visionとは別の以下のようなコマンド
        +
      • ロボット・ボールの移動（神の手）
        • +
      • ロボットの移動（AIからの司令送信）
        • +
      +
      • +
    +
    • +
  • Visionの通信内容をROSのメッセージに変換する
    • +
+

consai_vision_tracker

+

Visionの情報からボール・ロボットの位置を推定する

+

consai_visualizer

+

特に手を加えていない

+

crane |

+

crane_sender

+

crane_world_model_publisher

+

crane | session

+

craneでは、セッションという単位でロボットの動作を管理する +セッションでは，複数のロボットがそれぞれの役割・目的が与えられる +このとき，ロボットには役割に応じて用意してある専用のプランナが割り当てられる +※このプランナ郡は crane_planner_plugins にある +例えば，ある攻撃状態でパス中のセッションは以下のようになる

+
    +
  • ロボットA：goalie planner
    • +
  • ロボットB：defender planner
    • +
  • ロボットC：receiver planner
      +
    • パスを受けるロボット
      • +
    +
    • +
  • ロボットD：waiter planner
      +
    • 次のパスを受ける地点へ移動するロボット
      • +
    +
    • +
  • ロボットE：marker planner
      +
    • パスカットを邪魔するロボット
      • +
    +
    • +
+

これらはファールなどでロボットの数が可変になる中でもうまく割り当てを行う必要があるため，割当プランナが存在する

+

セッションには，優先順位・最大ロボット使用台数と共にプランナが登録される． +session_controllerは今使えるロボットをこの優先順位に従ってロボットを配置する． +session_controllerは，優先順位が高いプランナから順に，今空いているロボットの情報を送信し，プランナにとって最も都合の良いロボットを選択してもらう． +これを使えるロボットがなくなるまで繰り返してロボットの割当を行う．

+

crane_planner_base

+

crane_planner_plugins

+
    +
  • ball_placement
      +
    • 現状
        +
      • ドリブルによるボールの配置
        • +
      • 配置によってはうまく行かない
        • +
      +
      • +
    • 今後
        +
      • いくつかの方法を実装して切り替えられるようにする
          +
        • パスによるボールの配置
          • +
        • Immortals式サンドイッチ方式
          • +
        +
        • +
      • ボールが壁によりすぎてしまった場合に壁の反発を利用して取得する
        • +
      +
      • +
    +
    • +
  • defender
      +
    • 現状
        +
      • ゴールエリア沿いに壁を作る
        • +
      • 3台目以降は敵ロボットをマーク
        • +
      +
      • +
    • 今後
        +
      • ゴールキーパーと連携？
        • +
      +
      • +
    +
    • +
  • goalie
      +
    • 現状
        +
      • シュートのブロッキングポイントに移動する
        • +
      • シュートがないときは，ボールとゴールの間に位置する
        • +
      • ゴール前パスを検知してパス先ロボットのパスコースをブロックする
        • +
      +
      • +
    • 今後
        +
      • defenderとの連携を行う
        • +
      • ゴールエリアにボールが来た場合の処理
        • +
      +
      • +
    +
    • +
  • receive
    • +
  • waiter
      +
    • 現状
        +
      • ただ待つだけ
        • +
      +
      • +
    • 今後
        +
      • 指定された位置・エリアに移動する
          +
        • game analyzerと連携して目的に応じて有利な位置へのポジショニングをやりたい
          • +
        +
        • +
      +
      • +
    +
    • +
  • player
    • +
+

crane_session_controller

+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
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+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/rule/index.html b/ai/rule/index.html new file mode 100644 index 0000000..7f91622 --- /dev/null +++ b/ai/rule/index.html @@ -0,0 +1,2907 @@ + + + + + + + + + + + + + + + + + + + + + + + ルール違反対応状況 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
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ルール違反対応状況

+

特にここではファールカウンターを増やすものについて

+

KEEPER_HELD_BALL

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_keeper_held_ball

+

概要

+

ボールをデフェンスエリアで保持しすぎるとだめ。
+divAは5秒、divBは10まで
+STOPのちフリーキック

+

対応状況

+

ゴールキーパーはボールが止まり次第、ボールを排出するプログラムになっている

+

非対応可能性

+

デフェンスエリアギリギリにボールがあり、近くにロボットが迫っている場合には排出できないかも。
+また、このような状況ではそもそもボールに触れなくなるような挙動もあったかも知れないので要対応。

+

BOUNDARY_CROSSING

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_boundary_crossing

+

概要

+

フィールドの外にボールを蹴っちゃだめ。
+ここで言うフィールドの外とは、ラインの外ではなく木枠の外のこと。
+STOPのちフリーキック

+

対応状況

+

特に対応はしていないが、基本的にチップキックは味方の方向にパスするとき、かつそのパスライン上に敵ロボットが存在する場合に限るので基本的には問題ないと考えている。

+

非対応可能性

+

コート端にいる味方にむけてチップキックパスをしたら発生するかも。
+ただ、かなり可能性は低いので対応は現時点で考えていない。

+

BOT_DRIBBLED_BALL_TOO_FAR

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_excessive_dribbling

+

概要

+

いわゆるオーバードリブルと呼ばれるもの。
+1m以上ドリブルすると発生するが、一度でもボールがロボットから離れるとリセットされる。
+インプレイ時のみの違反なので、ボールプレイスメントで行う分には問題ない。
+STOPのちフリーキック

+

対応状況

+

JapanOpen2024ではボールプレイスメント以外でドリブルを使う予定はないため問題ないはず。
+もしかすると、ペナルティキックのときに相手ゴール近くまでボールを運ぶときに使うかも知れない。
+参考：https://github.com/ibis-ssl/crane/issues/246

+

非対応可能性

+

そもそもドリブルしなければ問題なし。

+

ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_attacker_touched_ball_in_opponent_defense_area

+

概要

+

相手ディフェンスエリアでボールに触れると発生する。
+（逆に言えば、侵入だけなら大きくは咎められない？）
+ロボットの一部でもエリアに侵入していれば適用されるため、注意が必要。

+

対応状況

+

コストマップ上で立入禁止エリアに設定してあるので、基本的には発生しないはずである。

+

非対応可能性

+

高速でデフェンスエリア付近のボールに接近した場合、勢い余ってディフェンスエリアに侵入してしまうことが考えられる。
+実際に発生した場合、速度上限を下げたり立入禁止エリアにマージンを設けることで対処予定。
+デフェンスエリアの立ち入り禁止は敵味方を区別していないため、デフェンスエリアに立ち入り許可のあるゴールキーパーが相手ゴールまでキーパーダッシュすれば立ち入る可能性があるが、今の所は味方ディフェンスエリアから出るようなプログラムはない。

+

BOT_KICKED_BALL_TOO_FAST

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball_speed

+

概要

+

ボールが速すぎると発生する。
+具体的には6.5m/sになると発生する。

+

ただし、そもそも6m/s程度になるとVisionロストするとの情報もある。

+

対応状況

+

ストレートキックは50%程度、チップキックは80%程度のパワーを上限に蹴っている。
+これで特に問題はないはず。

+

非対応可能性

+

ミスって設定していたら発生する。
+よりローカルプランなやセンダーなどの下流で制限するようにしてもいいかも？

+

BOT_CRASH_UNIQUE/BOT_CRASH_DRAWN

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_crashing

+

概要

+

ロボットの衝突時に相対速度が1.5m/sを超えるとより早いロボット側のチームに発生する。
+相対速度のより詳しい計算はルールブック参照。
+速度差が0.3m/s未満だと両成敗になる。

+

対応状況

+

一応、デフォルトでロボットとその周辺のマージンを取って立ち入り禁止エリアを設定しているので基本発生しないはず。 +ロボットとの距離と相対速度で速度を制限することで追加対応予定。
+https://github.com/ibis-ssl/crane/issues/296

+

非対応可能性

+

マージンが薄いので速度がでると容易に衝突してしまうかも。
+また、お互いが移動している場合には立入禁止エリアがあまり役に立たない。
+また、ディフェンダーやアタッカーなど敵ロボットに忖度していては仕事にならないロボットは立ち入り禁止設定を解除しているので、ぶつかりやすい。

+

ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_robot_too_close_to_opponent_defense_area

+

概要

+

STOP中やフリーキック中に相手ディフェンスエリア＋マージン0.2mの中に侵入すると発生する。
+脱出時間として、判定には2秒の猶予があるらしい。

+

対応状況

+

現状これに特化したプログラムはないが、基本的にはディフェンスエリアに入るようなプログラムはないはず。

+

非対応可能性

+

特に対策しているわけではないので、特定の状況で発生するかも。
+例えば、マークしている敵ロボットがディフェンスエリアに逃げ込んだ場合など

+

BOT_TOO_FAST_IN_STOP

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_robot_stop_speed

+

概要

+

STOP中に1.5m/sを超える速度で移動すると発生する。
+STOPになってから2秒間は猶予時間がある。

+

対応状況

+

現状、STOP中には最大速1.0m/sのフォーメーションが割り当てられている。 +ただし、今後はSTOP中により意味ある動きをするプログラムに書き換えるため、
+それに伴ってローカルプランナなどで一括速度制限をかける予定である。 (#297)

+

非対応可能性

+

#297で完全対応予定

+

DEFENDER_TOO_CLOSE_TO_KICK_POINT

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_defender_too_close_to_ball

+

概要

+

敵キックオフやフリーキックの間、ボールから0.5m以上離れていないと発生する。

+

対応状況

+

特に対応できていない。
+#283で対応予定。

+

非対応可能性

+

#283で完全対応予定。

+

BOT_INTERFERED_PLACEMENT

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball_placement_interference

+

概要

+

ボールプレイスメント中にボールとターゲットで構成される線分への距離が0.5m以内にロボットがいると発生する。

+

対応状況

+

立入禁止エリアを設定しているので基本的には発生しないはず。
+これに侵入するように設定しているのは、自チームのボールプレイスメント時のボールハンドラのみである。

+

非対応可能性

+

ロボットの目標地点が禁止エリア内にある場合、ロボットは多少ゆらゆらすることがある。
+もう少しマージンを取るようにしてもいいかもしれない。
+また、ボールプレイスメントエリアの配置によってはうまく機能しないかもしれない。
+（壁際でエリアに追い詰められた場合など）

+

BOT_PUSHED_BOT

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_pushing

+

概要

+

ロボットが押し合って、相手のロボットを動かすと発生する。
+押し勝っていると思われるチームに発生する。
+STOPのちフリーキック、AutoRefによる判定はない。

+

対応状況

+

特に対応できていない。

+

非対応可能性

+

ボールの中心に移動し続けるようなプログラムが何箇所かあり、それが原因で発生する可能性がある。

+

BOT_HELD_BALL_DELIBERATELY

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball_holding

+

概要

+

ホールディングと呼ばれるもの。
+ボールをロボットで囲み、敵のアプローチを防ぐような行為を行うことで発生する。
+STOPのちフリーキック、AutoRefによる判定はない。

+

対応状況

+

特に対応はしていない。

+

非対応可能性

+

故意に固まるようなプログラムはないが、特にデフェンス時に似た状況に陥りやすいかもしれない。

+

BOT_TIPPED_OVER

+

https://robocup-ssl.github.io/ssl-rules/sslrules.html#_tipping_over_or_dropping_parts

+

概要

+

ロボットが部品を落としたり、倒れたりすると発生する。
+違反ロボットは交代する必要がある。

+

対応状況

+

ネジ締めなどをしっかりする。
+また、かなり低重心なので転倒はするほうが難しい。

+

非対応可能性

+

ネジの緩みなどで発生する可能性がある。

+ + + + + + + + + + + + + + + + + + + + +
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+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/rvo2_local_planner/index.html b/ai/rvo2_local_planner/index.html new file mode 100644 index 0000000..94ec466 --- /dev/null +++ b/ai/rvo2_local_planner/index.html @@ -0,0 +1,1826 @@ + + + + + + + + + + + + + + + + + + + + + + + RVO2 Local Planner - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
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RVO2 Local Planner

+

概要

+

Velocity Obstacle(VO)という考え方をベースに速度空間で計算を行って障害物回避を行うローカルプランナー。

+

SSLのローカルプランナとしての実装

+

SSLでは単に障害物を回避するだけではなく、ルールによる禁止エリアへの侵入を防ぐ必要がある。 +アルゴリズムに則った実装を行うならば、禁止エリアへ向かう速度を選択しないような速度空間における線形制約を追加する必要がある。

+

しかし、RVO2ライブラリの中に手を加える必要があったり、この操作をわざわざ速度空間で行う必要性もない。 +そこで、ここではRVO2に受け渡す前に禁止エリア内に目標位置がある場合は、禁止エリア外に設定し直すなどの前処理を行うことで対応する。 +この処理の便利なところは、目標位置が必ず禁止エリア外になるため、ロボットが既に禁止エリア内にいる場合でも、目標位置を設定するだけで自動的に禁止エリアから退避できるところである。

+

ボールプレイスメントエリアの退避

+

ボールプレイスメントエリアの退避は以下のような特殊性をもつ。

+
    +
  • ボールプレイスメントは一つのシーンである。
      +
    • したがって、session_controllerで独自のPlannerを割り当てることができる。
      • +
    +
    • +
  • ボールプレイスメントは特定の条件下でのみ発生する。
      +
    • コマンドのフラグで管理しづらい
      • +
    +
    • +
+

よって、ボールプレイスメントエリアの回避は専用のPlanner作成するのが良い。 +幸い、ボールプレイスメント中はエリアを避けることしか考えなくて良いので、非常にシンプルなPlannerを書くことができる。 +（厳密には、ボールプレイスメント後の敵のフリーキックのことを考える必要はあるが...）

+

ペナルティエリアの回避

+

点の回避

+

目標位置、現在位置がペナルティエリアにはいったときに適用する。

+
    +
  1. 位置Aをゴール中心から遠ざかる方向に0.1m移動する
    2. +
  2. 位置Aがペナルティエリア内にある場合、1に戻る
    3. +
  3. 位置Aを最終目標位置として設定する
    4. +
+

経路の回避

+

目標位置・現在位置共にペナルティエリアに入っていない場合でも、経路がペナルティエリアを通過する場合がある。

+
    +
  1. 経路とペナルティエリアが衝突するか調べる。衝突しない場合、なにもしない
    2. +
  2. ま
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/setup/index.html b/ai/setup/index.html new file mode 100644 index 0000000..952da03 --- /dev/null +++ b/ai/setup/index.html @@ -0,0 +1,1826 @@ + + + + + + + + + + + + + + + + + + + + + + + 環境構築 - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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環境構築

+

Ubuntu 22.04での環境構築手順を記載します。

+

事前準備など

+ +

ROS 2 Jazzyのインストール

+
sudo apt install curl gnupg lsb-release
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=x86_64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+sudo apt update
+sudo apt install ros-jazzy-desktop-full
+
+

craneのセットアップ

+
mkdir -p ibis_ws/src
+cd ibis_ws/src
+git clone git@github.com:ibis-ssl/crane.git
+cd ibis_ws
+source /opt/ros/jazzy/setup.bash
+vcs import src < src/crane/dependency.repos
+rosdep install -riy --from-paths src
+colcon build --symlink-install
+source install/local_setup.bash
+
+

関連ソフトウェアのインストール

+

GrSim

+

公式のGrSimの出力はSSL-Visionと一部異なるため、修正済みのibis-sslバージョンを使用してください。

+
git clone https://github.com/ibis-ssl/grSim
+cd grSim
+mkdir build
+cd build
+cmake ..
+make -j
+
+

試合進行ソフトウェア

+

docker-composeコマンドで以下が立ち上がります

+
    +
  • Game Controller
    • +
  • Team Client
    • +
  • Status Board
    • +
  • Vision Client
    • +
+
cd <path/to/crane>
+cd docker
+docker-compose up -d
+
+

詳しくはこちら

+ + + + + + + + + + + + + + + + + + + + +
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+ + + +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/simple_ai/index.html b/ai/simple_ai/index.html new file mode 100644 index 0000000..d46d9d8 --- /dev/null +++ b/ai/simple_ai/index.html @@ -0,0 +1,1772 @@ + + + + + + + + + + + + + + + + + + + + + + + Simple AI - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Simple AI

+

立ち上げ

+
ros2 launch crane_bringup crane.launch.py simple_ai:=true sim:=false
+
+

GUI使い方

+
    +
  • ロボットの設定
      +
    • IDを指定
      • +
    +
    • +
  • コマンドの追加
      +
    • プルダウンでコマンドの種類を選ぶ
      • +
    • 引数を設定する
      • +
    • 追加ボタンを押す
      • +
    +
    • +
  • コマンドキューの編集
      +
    • コマンドキューの中身を選択する
      • +
    • 編集できる
      • +
    • 実行中は編集できなくなる
      • +
    +
    • +
  • コマンドキューの実行
      +
    • 実行ボタンを押す
        +
      • 実行中は停止ボタンになる
        • +
      +
      • +
    • コマンドは上から順に実行される
      • +
    +
    • +
+

ノードダイアグラム

+
graph TD
+    subgraph interface
+        VisionNode[Vision Component]
+        Sender[Real Sender]
+        Receiver[Robot Receiver]
+    end
+
+    VT[Vision Tracker]
+    WP[World Model Publisher]
+    Main[Simple AI]
+    LP[Local Planner]
+
+    subgraph RealWorld
+        Robot[Actual Robot CM4]
+        SSLVision[SSL Vision]
+    end
+
+    SSLVision -. UDP .->  VisionNode
+    VisionNode -- /detection -->  VT
+    VT -- /detection_tracked -->  WP
+    VisionNode -- /geometry -->  WP
+
+    WP -- /world_model -->  Main
+    Main -- /control_targets --> LP
+    LP -- /robot_commands -->  Sender
+
+    Sender -. UDP .->  Robot
+
+    Robot -. UDP .->  Receiver
+    Receiver -- /feedback -->  WP
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
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+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/skill/index.html b/ai/skill/index.html new file mode 100644 index 0000000..c5c8728 --- /dev/null +++ b/ai/skill/index.html @@ -0,0 +1,2275 @@ + + + + + + + + + + + + + + + + + + + + + + + Skill - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
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Skill

+

Skillとは、単一のロボットの動作を表す単位である。

+

スキルクラスの実装

+

スキルクラスは、crane_robot_skillsパッケージに実装する。 +crane_robot_skillsパッケージは多くの被依存パッケージを持つため、ヘッダファイルを変更するとコンパイル時間が増大してしまう。 +そのため、実装はなるべくcppファイルに書くようにすると良い。

+

スキルの入出力

+

world_modelなどの情報を受けとり、ロボットコマンドを出力することで、ロボットの動きを制御する。 +また、consai_visualizer向けに可視化情報を出力することもできる。

+

ベースクラス

+

スキルクラスは、ベースクラスを継承して実装するが、用途に合わせてベースクラスは2種類存在する。

+
    +
  • crane::skills::SkillBase
    • +
  • crane::skills::SkillBaseWithState
    • +
+

使用するロボットコマンドの制御モードは複数あるため、ベースクラスのテンプレート引数で使用する制御モードのロボットコマンドを指定する必要がある。

+
class Kick : public SkillBase<RobotCommandWrapperPosition>
+
+

現状、以下のロボットコマンドが存在する。

+
    +
  • RobotCommandWrapperPosition
    • +
  • RobotCommandWrapperSimpleVelocity
    • +
+

crane::skills::SkillBase

+

標準のベースクラス。 +最低限update関数の実装が必要である。
+オプションとしてprint関数を実装することもできる。

+
Status update() override
+{
+    // メンバーのcommandを使ってロボットを動かす
+    Point pos{0,0};
+    command.setTargetPosition(pos);
+    // visualizerを使って可視化情報を出力する
+    visualizer->addCircle(pos, 0.1, 1, "white", "");
+    // スキルの状態を返す（SUCCESS/FAILUREになると終了）
+    return Status::RUNNING;
+}
+
+

crane::skills::SkillBaseWithState

+

状態遷移を行う動きを作りたい場合に使える、ステートマシンを組み込んだベースクラス。
+update関数の実装の代わりに、コンストラクタでステートごとのupdate関数と状態遷移条件の設定を行う。

+
// enum classでステートを定義する
+enum class TestState
+{
+    STATE_1,
+    STATE_2,
+};
+
+// テンプレートでロボットコマンドの型とステートの型を指定する
+class TestSkill : public SkillBaseWithState<TestState, RobotCommandWrapperPosition>
+{
+public:
+    TestSkill(RobotCommandWrapperBase::SharedPtr & base)
+    // スキルの名前、初期ステートを指定する
+    : SkillBaseWithState<TestState, RobotCommandWrapperPosition>("Test", base, TestState::STATE_1)
+    {
+        // ステートごとのupdate関数を登録する
+        addStateFunction(TestState::STATE_1,
+            [this]() -> Status {
+              // STATE_1の処理
+              return Status::RUNNING;
+        });
+
+        addStateFunction(TestState::STATE_2,
+            [this]() -> Status {
+              // STATE_2の処理
+              return Status::RUNNING;
+        });
+
+        // ステート遷移条件を登録する
+        // 遷移条件は毎フレーム評価され、条件がTRUEになると遷移する。
+        // 登録順に評価されるので、最初にTRUEになった条件で遷移することに注意。
+        // （優先度が高い遷移条件から順番に設定すると良い）
+        addTransition(TestState::STATE_1, TestState::STATE_2, [this]() -> bool {
+            // STATE_1からSTATE_2への遷移条件
+            return true;  // この場合、必ず遷移する
+        });
+    }
+};
+
+

スキルのパラメータ

+

SimpleAIやスキルを使用するクラスなどで、スキルのパラメータを自由に設定できる。 +SimpleAIの画面で自由に設定できるので、デバッグや調整が容易になる。

+

パラメータの型

+

現在、以下の型が使用可能である。

+
    +
  • int
    • +
  • double
    • +
  • std::string
    • +
  • bool
    • +
  • Point
    • +
+

パラメータの宣言とデフォルト値設定

+

スキルクラスのコンストラクタで、パラメータを受け取る変数を宣言し、デフォルト値を設定する。

+
{
+  // パラメータの名前とデフォルト値を設定する
+  // パラメータの名前は重複不可（重複した場合、上書きされる）
+  // パラメータの型は自動で判別される
+  setParameter("test_int_param", 0);
+  // C++のバグで、stdL::stringの設定をする場合は明示的に型を指定する必要がある。
+  // （指定しないとboolになってしまう）
+  setParameter("test_string_param", std::string("test"));
+  // 日本語の文字列も設定可能
+  setParameter("テスト", std::string("テスト"));
+}
+
+

パラメータの上書き

+

setParameter関数を使って、パラメータを上書きできる。 +宣言したときの型と異なる型で上書きすると、エラーが発生する（はず）。

+
setParameter("test_int_param", 1);
+
+

パラメータの取得

+

getParameter関数を使って、パラメータを取得することができる。

+
// テンプレートで型を指定する
+// パラメータが存在しなかったり、型が異なる場合は、例外が発生する
+int test_int_param = getParameter<int>("test_int_param");
+
+

スキルのコンテキスト

+

スキルの内部変数をコンテキストとして登録することで、SimpleAIで内部変数の値を表示できるようになるので、 +デバッグが容易になる。

+

SimpleAI上では、コンテキストの値を表示できるが、コンテキストの値を変更することはできない。

+

コンテキストの型

+

現在、以下の型が使用可能である。

+
    +
  • int
    • +
  • double
    • +
  • std::string
    • +
  • bool
    • +
  • Point
    • +
  • std::optional
    • +
+

コンテキストの設定

+
class TestSkill{
+private:
+    // コンテキスト用のメンバ変数を宣言する
+    // 参照型である必要がある
+    int & context_int;
+public:
+    TestSkill(RobotCommandWrapperBase::SharedPtr & base)
+    // コンテキスト用のメンバ変数を初期化する
+    // SimpleAI上で表示する名前を指定する
+    : context_int(getContextReference<Point>("context_int"))
+    {}
+
+    Status update() override
+    {
+        // コンテキストの値を変更する（普通の変数同様に読み書きしてOK）
+        context_int = 1;
+        return Status::RUNNING;
+    }
+};
+
+

スキルをSimpleAIで使えるようにする

+

実装したスキルをSimpleAIで使えるようにするには、いくつかの手順が必要である。

+

スキルのヘッダファイルを追加

+

SimpleAIでスキルを一括インクルードするためのヘッダファイルに作成したスキルのヘッダファイルを追加する。 +https://github.com/ibis-ssl/crane/blob/develop/crane_robot_skills/include/crane_robot_skills/skills.hpp

+

スキルを登録する

+

https://github.com/ibis-ssl/crane/blob/develop/crane_simple_ai/src/crane_commander.cpp#L38

+

setUpSkillDictionary関数でスキルを登録する。

+
setUpSkillDictionary<skills::TestSkill>();
+
+

作ったスキルすべてを登録すると、SimpleAIのスキル選択プルダウンの表示が大変なことになるので、あまり使わないスキルはコメントアウトしてある。

+

スキルをセッションに組み込む

+

対応するPlannerを作る

+

スキルは直接セッションで動かせないため、スキル用のPlannerを作る必要がある。 +Skill単体のPlannerはskill_planner.hppに実装することが多い。

+

https://github.com/ibis-ssl/crane/blob/develop/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp

+

Plannerの登録

+

crane_planner_plugins/planners.hppに文字列とPlannerのペアを登録する

+

https://github.com/ibis-ssl/crane/blob/develop/session/crane_planner_plugins/include/crane_planner_plugins/planners.hpp

+
  } else if (planner_name == "test_skill") {
+    return std::make_shared<TestSkillPlanner>(ts...);
+  }
+
+

セッションでの呼び出し

+

セッションファイルで登録した文字列を使ってPlannerを呼び出す。

+
name: test
+description: TestSkillのためのセッション
+sessions:
+  - name: test_skill
+    capacity: 1
+  - name: waiter
+    capacity: 20
+
+

セッションファイルは以下のディレクトリにある +https://github.com/ibis-ssl/crane/tree/develop/session/crane_session_controller/config/play_situation

+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/tools/index.html b/ai/tools/index.html new file mode 100644 index 0000000..4a75470 --- /dev/null +++ b/ai/tools/index.html @@ -0,0 +1,1793 @@ + + + + + + + + + + + + + + + + + + + + + + + ツールなど - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
+
+ +
+ + + + + + +
+ + +
+ +
+ + + + + + +
+
+ + + +
+
+
+ + + + + +
+
+
+ + + +
+
+
+ + + +
+
+
+ + + +
+
+ + + + + + + +

ツールなど

+

ament_clang_format

+

ROS 2インストールしたら自動的に使えるようになるフォーマッタ。 +各階層に配置している.clang-formatもほぼ同じ設定になっているので適宜開発時に使うと良い。

+
ament_clang_format --reformat <フォーマットしたいファイルかフォルダ>
+
+

pre-commit

+

コミット前に自動でフォーマットをかけるツール。

+
pip install pre-commit
+
+
cd <craneのルート>
+pre-commit install
+pre-commit run -a
+
+

設定ファイルはこれ
+https://github.com/ibis-ssl/crane/blob/develop/.pre-commit-config.yaml

+

ssl-go-tools

+

https://github.com/RoboCup-SSL/ssl-go-tools

+
sudo apt  install -y golang-go
+git clone https://github.com/RoboCup-SSL/ssl-go-tools.git
+cd ssl-go-tools
+make all
+sudo make install
+echo "export PATH="$(go env GOPATH)/bin:$PATH" >> ~/.bashrc
+
+

ssl-auto-recorder

+

Referee信号を読み取って自動で試合ログを記録するツール。

+
ssl-auto-recorder -referee-address "224.5.23.1:11003"
+
+
Usage of ssl-auto-recorder:
+  -http-port string
+     HTTP port for serving log files (default "8084")
+  -http-serve
+     Serve log files via HTTP (default true)
+  -output-folder string
+     Output folder where completed logs are copied to (default "logs")
+  -referee-address string
+     Multicast address for referee 2013 (default "224.5.23.1:10003")
+  -referee-enabled
+     Record referee packages (default true)
+  -vision-address string
+     Multicast address for vision 2014 (default "224.5.23.2:10006")
+  -vision-enabled
+     Record vision packages (default true)
+  -vision-legacy-address string
+     Multicast address for vision 2010 (legacy) (default "224.5.23.2:10005")
+  -vision-legacy-enabled
+     Record legacy vision packages (default true)
+  -vision-tracker-address string
+     Multicast address for vision tracker 2020 (default "224.5.23.2:10010")
+  -vision-tracker-enabled
+     Record vision tracker packages (default true)
+
+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/ai/vision/index.html b/ai/vision/index.html new file mode 100644 index 0000000..abd310f --- /dev/null +++ b/ai/vision/index.html @@ -0,0 +1,2098 @@ + + + + + + + + + + + + + + + + + + + + + + + SSL-Vision - ibis Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
+
+ +
+ + + + + + +
+ + +
+ +
+ + + + + + +
+
+ + + +
+
+
+ + + + + +
+
+
+ + + +
+
+
+ + + +
+
+
+ + + +
+
+ + + + + + + +

SSL-Vision

+

環境構築

+
git clone git@github.com:RoboCup-SSL/ssl-vision.git
+cd ssl-vision
+mkdir build
+cd build
+cmake .. -DUSE_V4L=true
+make -j
+cd ..
+./bin/vision
+
+

設定の流れ

+
    +
  1. 起動
    2. +
  2. カメラの設定
    3. +
  3. フィールドの設定
    4. +
  4. 色の設定
    5. +
  5. カメラキャリブレーション
    6. +
  6. マスクの設定
    7. +
  7. Blobの設定
    8. +
  8. ボール・ロボット認識の設定
    9. +
  9. ネットワークの設定
    10. +
+

起動

+

リポジトリのルートディレクトリで以下のコマンドを実行する．

+
./bin/vision
+
+

カメラの設定

+

前設定

+

Thread0の「ImageCapture/Video 4 Linux/CaptureSettings」で以下を設定

+
    +
  • cam_idx
      +
    • カメラが映らなかったらここのIDを変えてみる
      • +
    +
    • +
  • width
    • +
  • height
    • +
+

映す

+

Thread0の「ImageCapture/CaptureControl」の「start capture」

+

フィールドの設定

+

「Global/FieldConfiguration」を設定する +特に以下を設定

+
    +
  • Field Length(こっちが長辺)
    • +
  • Field Width
    • +
  • Total Number of Cameras
    • +
  • Local Number of Cameras
    • +
  • Number of Line Segments
    • +
  • Number of Arcs
    • +
+

※ロボットがオフセットしているように感じたら...

+
    +
  • 「Global/Robot Detection/BlueTeam」などからチームを確認
    • +
  • 「Global/Robot Detection/Teams/ER-Force」などからロボットの高さを調整 + ロボットの高さをゼロにするとオフセットがなくなることがある
    • +
+

色の設定

+

右側の「Auto Color Calibration」タブを使って設定する

+
    +
  1. 色を選択する（その色でサンプルを取得するモードになる）
    2. +
  2. 画像上で選択した色のピクセルをいくつかクリックする（サンプルされる）
    3. +
  3. 「Update LUT」ボタンを押す
    4. +
+

調整・確認方法など

+
    +
  • 色の識別結果の可視化
      +
    • 「Thread0/Visualization/threshold」をTrueに設定する
      • +
    +
    • +
  • 取得したサンプルを削除する
      +
    • 1 「Remove all samples」ボタンを押す
        +
      • 少し不安定でこれを押すとVisionが落ちることも
        • +
      +
      • +
    • 2 「Thread0/Auto Color Calibration/Calibration Points」
        +
      • ここにサンプルが全て列挙されているのでクリックして中にある「remove」ボタンで削除できる
        • +
      +
      • +
    +
    • +
+

カメラキャリブレーション

+

「Thread0/Visualization/camera calibration」をTrueにする

+

コントロールポイントの設定

+

各スレッドの「Camera Calibrator/Calibration Parameters(list)」以下でコントロールポイントの設定ができる。
+それぞれのコントロールポイントのフィールドのxyの座標をmm単位で設定した後、カメラ画像上の点と対応付ける。 +座標を直に設定してもよいが、右の「Camera Calibration」タブを開いた状態にすると、コントロールポイントをドラッグして移動することができる。

+

キャリブレーションの実行

+

コントロールポイントを設定したら、キャリブレーションを実行する。 +まず、右の「Camera Calibration」タブを開いて一番下の「Initial Camera Parameters」にある「Camera Height(in mm)」にカメラの高さを設定する。 +次に、「Do initial calibration」「Do full calibration」の順にボタンを押してキャリブレーションを実行する。

+

パターン認識の設定

+

色が設定できると、「blob」と呼ばれる画像上の同色の塊が認識されるようになる。 +認識されている様子は各スレッドの「Visualization/blobs」にチェックを入れることで確認できる。 +SSL-Visionでは、このblobに対してパターン認識を行い、ロボットやボールを認識する。

+

blobのフィルタリング

+

各スレッドの「Blob Finding」にて認識するblobの最小面積(単位：ピクセル)「min_blob_area」や最大認識数「max regions」などを設定できる。

+

「min_blob_area」は認識物体の中で一番小さいボールが消えない程度に設定するとよいだろう。

+

各マーカーの認識設定

+

「Global/Robot Detection/Pattern」の「Center Marker」や「Other Markers」でマーカーの認識調整が行える。 +ここでは認識されるマーカーの（画像上の）最小・最大の幅・高さ・面積のフィルターを設定できる。

+

パターンマッチングの設定

+

「Global/Robot Detection/Pattern/Pattern Fitting」でパターンマッチングの設定が行える。 +マッチングスコアの重みを調整することができる。 +blobが認識できているのに、ロボットが認識されない場合は、「Max Error」を大きくしてみて見るのも良いだろう。

+ + + + + + + + + + + + + + + + + + + + +
+
+ + + +
+ +
+ + + +
+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/assets/images/favicon.png b/assets/images/favicon.png new file mode 100644 index 0000000..1cf13b9 Binary files /dev/null and b/assets/images/favicon.png differ diff --git a/assets/javascripts/bundle.83f73b43.min.js b/assets/javascripts/bundle.83f73b43.min.js new file mode 100644 index 0000000..43d8b70 --- /dev/null +++ b/assets/javascripts/bundle.83f73b43.min.js @@ -0,0 +1,16 @@ +"use strict";(()=>{var Wi=Object.create;var gr=Object.defineProperty;var Di=Object.getOwnPropertyDescriptor;var Vi=Object.getOwnPropertyNames,Vt=Object.getOwnPropertySymbols,Ni=Object.getPrototypeOf,yr=Object.prototype.hasOwnProperty,ao=Object.prototype.propertyIsEnumerable;var io=(e,t,r)=>t in e?gr(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r,$=(e,t)=>{for(var r in t||(t={}))yr.call(t,r)&&io(e,r,t[r]);if(Vt)for(var r of Vt(t))ao.call(t,r)&&io(e,r,t[r]);return e};var so=(e,t)=>{var r={};for(var o in e)yr.call(e,o)&&t.indexOf(o)<0&&(r[o]=e[o]);if(e!=null&&Vt)for(var o of Vt(e))t.indexOf(o)<0&&ao.call(e,o)&&(r[o]=e[o]);return r};var xr=(e,t)=>()=>(t||e((t={exports:{}}).exports,t),t.exports);var zi=(e,t,r,o)=>{if(t&&typeof t=="object"||typeof t=="function")for(let n of Vi(t))!yr.call(e,n)&&n!==r&&gr(e,n,{get:()=>t[n],enumerable:!(o=Di(t,n))||o.enumerable});return e};var Mt=(e,t,r)=>(r=e!=null?Wi(Ni(e)):{},zi(t||!e||!e.__esModule?gr(r,"default",{value:e,enumerable:!0}):r,e));var co=(e,t,r)=>new Promise((o,n)=>{var i=p=>{try{s(r.next(p))}catch(c){n(c)}},a=p=>{try{s(r.throw(p))}catch(c){n(c)}},s=p=>p.done?o(p.value):Promise.resolve(p.value).then(i,a);s((r=r.apply(e,t)).next())});var lo=xr((Er,po)=>{(function(e,t){typeof Er=="object"&&typeof po!="undefined"?t():typeof define=="function"&&define.amd?define(t):t()})(Er,function(){"use strict";function e(r){var o=!0,n=!1,i=null,a={text:!0,search:!0,url:!0,tel:!0,email:!0,password:!0,number:!0,date:!0,month:!0,week:!0,time:!0,datetime:!0,"datetime-local":!0};function s(k){return!!(k&&k!==document&&k.nodeName!=="HTML"&&k.nodeName!=="BODY"&&"classList"in k&&"contains"in k.classList)}function p(k){var ft=k.type,qe=k.tagName;return!!(qe==="INPUT"&&a[ft]&&!k.readOnly||qe==="TEXTAREA"&&!k.readOnly||k.isContentEditable)}function c(k){k.classList.contains("focus-visible")||(k.classList.add("focus-visible"),k.setAttribute("data-focus-visible-added",""))}function l(k){k.hasAttribute("data-focus-visible-added")&&(k.classList.remove("focus-visible"),k.removeAttribute("data-focus-visible-added"))}function f(k){k.metaKey||k.altKey||k.ctrlKey||(s(r.activeElement)&&c(r.activeElement),o=!0)}function u(k){o=!1}function d(k){s(k.target)&&(o||p(k.target))&&c(k.target)}function y(k){s(k.target)&&(k.target.classList.contains("focus-visible")||k.target.hasAttribute("data-focus-visible-added"))&&(n=!0,window.clearTimeout(i),i=window.setTimeout(function(){n=!1},100),l(k.target))}function L(k){document.visibilityState==="hidden"&&(n&&(o=!0),X())}function X(){document.addEventListener("mousemove",J),document.addEventListener("mousedown",J),document.addEventListener("mouseup",J),document.addEventListener("pointermove",J),document.addEventListener("pointerdown",J),document.addEventListener("pointerup",J),document.addEventListener("touchmove",J),document.addEventListener("touchstart",J),document.addEventListener("touchend",J)}function te(){document.removeEventListener("mousemove",J),document.removeEventListener("mousedown",J),document.removeEventListener("mouseup",J),document.removeEventListener("pointermove",J),document.removeEventListener("pointerdown",J),document.removeEventListener("pointerup",J),document.removeEventListener("touchmove",J),document.removeEventListener("touchstart",J),document.removeEventListener("touchend",J)}function J(k){k.target.nodeName&&k.target.nodeName.toLowerCase()==="html"||(o=!1,te())}document.addEventListener("keydown",f,!0),document.addEventListener("mousedown",u,!0),document.addEventListener("pointerdown",u,!0),document.addEventListener("touchstart",u,!0),document.addEventListener("visibilitychange",L,!0),X(),r.addEventListener("focus",d,!0),r.addEventListener("blur",y,!0),r.nodeType===Node.DOCUMENT_FRAGMENT_NODE&&r.host?r.host.setAttribute("data-js-focus-visible",""):r.nodeType===Node.DOCUMENT_NODE&&(document.documentElement.classList.add("js-focus-visible"),document.documentElement.setAttribute("data-js-focus-visible",""))}if(typeof window!="undefined"&&typeof document!="undefined"){window.applyFocusVisiblePolyfill=e;var t;try{t=new CustomEvent("focus-visible-polyfill-ready")}catch(r){t=document.createEvent("CustomEvent"),t.initCustomEvent("focus-visible-polyfill-ready",!1,!1,{})}window.dispatchEvent(t)}typeof document!="undefined"&&e(document)})});var qr=xr((hy,On)=>{"use strict";/*! 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rect.divider{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}defs #statediagram-barbEnd{stroke:var(--md-mermaid-edge-color)}.attributeBoxEven,.attributeBoxOdd{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityBox{fill:var(--md-mermaid-label-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityLabel{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.relationshipLabelBox{fill:var(--md-mermaid-label-bg-color);fill-opacity:1;background-color:var(--md-mermaid-label-bg-color);opacity:1}.relationshipLabel{fill:var(--md-mermaid-label-fg-color)}.relationshipLine{stroke:var(--md-mermaid-edge-color)}defs #ONE_OR_MORE_END *,defs #ONE_OR_MORE_START *,defs #ONLY_ONE_END *,defs #ONLY_ONE_START *,defs #ZERO_OR_MORE_END *,defs #ZERO_OR_MORE_START *,defs #ZERO_OR_ONE_END *,defs #ZERO_OR_ONE_START *{stroke:var(--md-mermaid-edge-color)!important}defs #ZERO_OR_MORE_END circle,defs #ZERO_OR_MORE_START circle{fill:var(--md-mermaid-label-bg-color)}.actor{fill:var(--md-mermaid-sequence-actor-bg-color);stroke:var(--md-mermaid-sequence-actor-border-color)}text.actor>tspan{fill:var(--md-mermaid-sequence-actor-fg-color);font-family:var(--md-mermaid-font-family)}line{stroke:var(--md-mermaid-sequence-actor-line-color)}.actor-man circle,.actor-man line{fill:var(--md-mermaid-sequence-actorman-bg-color);stroke:var(--md-mermaid-sequence-actorman-line-color)}.messageLine0,.messageLine1{stroke:var(--md-mermaid-sequence-message-line-color)}.note{fill:var(--md-mermaid-sequence-note-bg-color);stroke:var(--md-mermaid-sequence-note-border-color)}.loopText,.loopText>tspan,.messageText,.noteText>tspan{stroke:none;font-family:var(--md-mermaid-font-family)!important}.messageText{fill:var(--md-mermaid-sequence-message-fg-color)}.loopText,.loopText>tspan{fill:var(--md-mermaid-sequence-loop-fg-color)}.noteText>tspan{fill:var(--md-mermaid-sequence-note-fg-color)}#arrowhead path{fill:var(--md-mermaid-sequence-message-line-color);stroke:none}.loopLine{fill:var(--md-mermaid-sequence-loop-bg-color);stroke:var(--md-mermaid-sequence-loop-border-color)}.labelBox{fill:var(--md-mermaid-sequence-label-bg-color);stroke:none}.labelText,.labelText>span{fill:var(--md-mermaid-sequence-label-fg-color);font-family:var(--md-mermaid-font-family)}.sequenceNumber{fill:var(--md-mermaid-sequence-number-fg-color)}rect.rect{fill:var(--md-mermaid-sequence-box-bg-color);stroke:none}rect.rect+text.text{fill:var(--md-mermaid-sequence-box-fg-color)}defs #sequencenumber{fill:var(--md-mermaid-sequence-number-bg-color)!important}";var Gr,Qa=0;function Ka(){return typeof mermaid=="undefined"||mermaid instanceof Element?Tt("https://unpkg.com/mermaid@11/dist/mermaid.min.js"):I(void 0)}function Wn(e){return e.classList.remove("mermaid"),Gr||(Gr=Ka().pipe(w(()=>mermaid.initialize({startOnLoad:!1,themeCSS:Un,sequence:{actorFontSize:"16px",messageFontSize:"16px",noteFontSize:"16px"}})),m(()=>{}),G(1))),Gr.subscribe(()=>co(this,null,function*(){e.classList.add("mermaid");let t=`__mermaid_${Qa++}`,r=x("div",{class:"mermaid"}),o=e.textContent,{svg:n,fn:i}=yield mermaid.render(t,o),a=r.attachShadow({mode:"closed"});a.innerHTML=n,e.replaceWith(r),i==null||i(a)})),Gr.pipe(m(()=>({ref:e})))}var Dn=x("table");function Vn(e){return e.replaceWith(Dn),Dn.replaceWith(An(e)),I({ref:e})}function Ya(e){let t=e.find(r=>r.checked)||e[0];return O(...e.map(r=>h(r,"change").pipe(m(()=>R(`label[for="${r.id}"]`))))).pipe(Q(R(`label[for="${t.id}"]`)),m(r=>({active:r})))}function Nn(e,{viewport$:t,target$:r}){let o=R(".tabbed-labels",e),n=P(":scope > input",e),i=Kr("prev");e.append(i);let a=Kr("next");return e.append(a),C(()=>{let s=new g,p=s.pipe(Z(),ie(!0));z([s,ge(e),tt(e)]).pipe(W(p),Me(1,me)).subscribe({next([{active:c},l]){let f=Ve(c),{width:u}=ce(c);e.style.setProperty("--md-indicator-x",`${f.x}px`),e.style.setProperty("--md-indicator-width",`${u}px`);let d=pr(o);(f.xd.x+l.width)&&o.scrollTo({left:Math.max(0,f.x-16),behavior:"smooth"})},complete(){e.style.removeProperty("--md-indicator-x"),e.style.removeProperty("--md-indicator-width")}}),z([Ne(o),ge(o)]).pipe(W(p)).subscribe(([c,l])=>{let f=St(o);i.hidden=c.x<16,a.hidden=c.x>f.width-l.width-16}),O(h(i,"click").pipe(m(()=>-1)),h(a,"click").pipe(m(()=>1))).pipe(W(p)).subscribe(c=>{let{width:l}=ce(o);o.scrollBy({left:l*c,behavior:"smooth"})}),r.pipe(W(p),b(c=>n.includes(c))).subscribe(c=>c.click()),o.classList.add("tabbed-labels--linked");for(let c of n){let l=R(`label[for="${c.id}"]`);l.replaceChildren(x("a",{href:`#${l.htmlFor}`,tabIndex:-1},...Array.from(l.childNodes))),h(l.firstElementChild,"click").pipe(W(p),b(f=>!(f.metaKey||f.ctrlKey)),w(f=>{f.preventDefault(),f.stopPropagation()})).subscribe(()=>{history.replaceState({},"",`#${l.htmlFor}`),l.click()})}return B("content.tabs.link")&&s.pipe(Ce(1),re(t)).subscribe(([{active:c},{offset:l}])=>{let f=c.innerText.trim();if(c.hasAttribute("data-md-switching"))c.removeAttribute("data-md-switching");else{let u=e.offsetTop-l.y;for(let y of P("[data-tabs]"))for(let L of P(":scope > input",y)){let X=R(`label[for="${L.id}"]`);if(X!==c&&X.innerText.trim()===f){X.setAttribute("data-md-switching",""),L.click();break}}window.scrollTo({top:e.offsetTop-u});let d=__md_get("__tabs")||[];__md_set("__tabs",[...new Set([f,...d])])}}),s.pipe(W(p)).subscribe(()=>{for(let c of P("audio, video",e))c.pause()}),Ya(n).pipe(w(c=>s.next(c)),_(()=>s.complete()),m(c=>$({ref:e},c)))}).pipe(Ke(se))}function zn(e,{viewport$:t,target$:r,print$:o}){return O(...P(".annotate:not(.highlight)",e).map(n=>Pn(n,{target$:r,print$:o})),...P("pre:not(.mermaid) > code",e).map(n=>jn(n,{target$:r,print$:o})),...P("pre.mermaid",e).map(n=>Wn(n)),...P("table:not([class])",e).map(n=>Vn(n)),...P("details",e).map(n=>Fn(n,{target$:r,print$:o})),...P("[data-tabs]",e).map(n=>Nn(n,{viewport$:t,target$:r})),...P("[title]",e).filter(()=>B("content.tooltips")).map(n=>mt(n,{viewport$:t})))}function Ba(e,{alert$:t}){return t.pipe(v(r=>O(I(!0),I(!1).pipe(Ge(2e3))).pipe(m(o=>({message:r,active:o})))))}function qn(e,t){let r=R(".md-typeset",e);return C(()=>{let o=new g;return o.subscribe(({message:n,active:i})=>{e.classList.toggle("md-dialog--active",i),r.textContent=n}),Ba(e,t).pipe(w(n=>o.next(n)),_(()=>o.complete()),m(n=>$({ref:e},n)))})}var Ga=0;function Ja(e,t){document.body.append(e);let{width:r}=ce(e);e.style.setProperty("--md-tooltip-width",`${r}px`),e.remove();let o=cr(t),n=typeof o!="undefined"?Ne(o):I({x:0,y:0}),i=O(et(t),$t(t)).pipe(K());return z([i,n]).pipe(m(([a,s])=>{let{x:p,y:c}=Ve(t),l=ce(t),f=t.closest("table");return f&&t.parentElement&&(p+=f.offsetLeft+t.parentElement.offsetLeft,c+=f.offsetTop+t.parentElement.offsetTop),{active:a,offset:{x:p-s.x+l.width/2-r/2,y:c-s.y+l.height+8}}}))}function Qn(e){let t=e.title;if(!t.length)return S;let r=`__tooltip_${Ga++}`,o=Rt(r,"inline"),n=R(".md-typeset",o);return n.innerHTML=t,C(()=>{let i=new g;return i.subscribe({next({offset:a}){o.style.setProperty("--md-tooltip-x",`${a.x}px`),o.style.setProperty("--md-tooltip-y",`${a.y}px`)},complete(){o.style.removeProperty("--md-tooltip-x"),o.style.removeProperty("--md-tooltip-y")}}),O(i.pipe(b(({active:a})=>a)),i.pipe(_e(250),b(({active:a})=>!a))).subscribe({next({active:a}){a?(e.insertAdjacentElement("afterend",o),e.setAttribute("aria-describedby",r),e.removeAttribute("title")):(o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t))},complete(){o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t)}}),i.pipe(Me(16,me)).subscribe(({active:a})=>{o.classList.toggle("md-tooltip--active",a)}),i.pipe(pt(125,me),b(()=>!!e.offsetParent),m(()=>e.offsetParent.getBoundingClientRect()),m(({x:a})=>a)).subscribe({next(a){a?o.style.setProperty("--md-tooltip-0",`${-a}px`):o.style.removeProperty("--md-tooltip-0")},complete(){o.style.removeProperty("--md-tooltip-0")}}),Ja(o,e).pipe(w(a=>i.next(a)),_(()=>i.complete()),m(a=>$({ref:e},a)))}).pipe(Ke(se))}function Xa({viewport$:e}){if(!B("header.autohide"))return I(!1);let t=e.pipe(m(({offset:{y:n}})=>n),Be(2,1),m(([n,i])=>[nMath.abs(i-n.y)>100),m(([,[n]])=>n),K()),o=ze("search");return z([e,o]).pipe(m(([{offset:n},i])=>n.y>400&&!i),K(),v(n=>n?r:I(!1)),Q(!1))}function Kn(e,t){return C(()=>z([ge(e),Xa(t)])).pipe(m(([{height:r},o])=>({height:r,hidden:o})),K((r,o)=>r.height===o.height&&r.hidden===o.hidden),G(1))}function Yn(e,{header$:t,main$:r}){return C(()=>{let o=new g,n=o.pipe(Z(),ie(!0));o.pipe(ee("active"),He(t)).subscribe(([{active:a},{hidden:s}])=>{e.classList.toggle("md-header--shadow",a&&!s),e.hidden=s});let i=ue(P("[title]",e)).pipe(b(()=>B("content.tooltips")),ne(a=>Qn(a)));return r.subscribe(o),t.pipe(W(n),m(a=>$({ref:e},a)),Re(i.pipe(W(n))))})}function Za(e,{viewport$:t,header$:r}){return mr(e,{viewport$:t,header$:r}).pipe(m(({offset:{y:o}})=>{let{height:n}=ce(e);return{active:o>=n}}),ee("active"))}function Bn(e,t){return C(()=>{let r=new g;r.subscribe({next({active:n}){e.classList.toggle("md-header__title--active",n)},complete(){e.classList.remove("md-header__title--active")}});let o=fe(".md-content h1");return typeof o=="undefined"?S:Za(o,t).pipe(w(n=>r.next(n)),_(()=>r.complete()),m(n=>$({ref:e},n)))})}function Gn(e,{viewport$:t,header$:r}){let o=r.pipe(m(({height:i})=>i),K()),n=o.pipe(v(()=>ge(e).pipe(m(({height:i})=>({top:e.offsetTop,bottom:e.offsetTop+i})),ee("bottom"))));return z([o,n,t]).pipe(m(([i,{top:a,bottom:s},{offset:{y:p},size:{height:c}}])=>(c=Math.max(0,c-Math.max(0,a-p,i)-Math.max(0,c+p-s)),{offset:a-i,height:c,active:a-i<=p})),K((i,a)=>i.offset===a.offset&&i.height===a.height&&i.active===a.active))}function es(e){let t=__md_get("__palette")||{index:e.findIndex(o=>matchMedia(o.getAttribute("data-md-color-media")).matches)},r=Math.max(0,Math.min(t.index,e.length-1));return I(...e).pipe(ne(o=>h(o,"change").pipe(m(()=>o))),Q(e[r]),m(o=>({index:e.indexOf(o),color:{media:o.getAttribute("data-md-color-media"),scheme:o.getAttribute("data-md-color-scheme"),primary:o.getAttribute("data-md-color-primary"),accent:o.getAttribute("data-md-color-accent")}})),G(1))}function Jn(e){let t=P("input",e),r=x("meta",{name:"theme-color"});document.head.appendChild(r);let o=x("meta",{name:"color-scheme"});document.head.appendChild(o);let n=Pt("(prefers-color-scheme: light)");return C(()=>{let i=new g;return i.subscribe(a=>{if(document.body.setAttribute("data-md-color-switching",""),a.color.media==="(prefers-color-scheme)"){let s=matchMedia("(prefers-color-scheme: light)"),p=document.querySelector(s.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: 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Jr=Mt(Br());function ts(e){e.setAttribute("data-md-copying","");let t=e.closest("[data-copy]"),r=t?t.getAttribute("data-copy"):e.innerText;return e.removeAttribute("data-md-copying"),r.trimEnd()}function Zn({alert$:e}){Jr.default.isSupported()&&new j(t=>{new Jr.default("[data-clipboard-target], [data-clipboard-text]",{text:r=>r.getAttribute("data-clipboard-text")||ts(R(r.getAttribute("data-clipboard-target")))}).on("success",r=>t.next(r))}).pipe(w(t=>{t.trigger.focus()}),m(()=>Ee("clipboard.copied"))).subscribe(e)}function ei(e,t){return e.protocol=t.protocol,e.hostname=t.hostname,e}function rs(e,t){let r=new Map;for(let o of P("url",e)){let n=R("loc",o),i=[ei(new URL(n.textContent),t)];r.set(`${i[0]}`,i);for(let a of P("[rel=alternate]",o)){let s=a.getAttribute("href");s!=null&&i.push(ei(new URL(s),t))}}return r}function ur(e){return un(new URL("sitemap.xml",e)).pipe(m(t=>rs(t,new URL(e))),de(()=>I(new Map)))}function os(e,t){if(!(e.target instanceof Element))return S;let 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rt=Kn(Se("header"),{viewport$:Oe}),Ft=ot.pipe(m(()=>Se("main")),v(e=>Gn(e,{viewport$:Oe,header$:rt})),G(1)),xs=O(...ae("consent").map(e=>En(e,{target$:Lt})),...ae("dialog").map(e=>qn(e,{alert$:ro})),...ae("palette").map(e=>Jn(e)),...ae("progress").map(e=>Xn(e,{progress$:oo})),...ae("search").map(e=>ui(e,{index$:Ai,keyboard$:to})),...ae("source").map(e=>gi(e))),Es=C(()=>O(...ae("announce").map(e=>xn(e)),...ae("content").map(e=>zn(e,{viewport$:Oe,target$:Lt,print$:_i})),...ae("content").map(e=>B("search.highlight")?di(e,{index$:Ai,location$:Ut}):S),...ae("header").map(e=>Yn(e,{viewport$:Oe,header$:rt,main$:Ft})),...ae("header-title").map(e=>Bn(e,{viewport$:Oe,header$:rt})),...ae("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?Nr(Mi,()=>Zr(e,{viewport$:Oe,header$:rt,main$:Ft})):Nr(hr,()=>Zr(e,{viewport$:Oe,header$:rt,main$:Ft}))),...ae("tabs").map(e=>yi(e,{viewport$:Oe,header$:rt})),...ae("toc").map(e=>xi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Lt})),...ae("top").map(e=>Ei(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Lt})))),Ci=ot.pipe(v(()=>Es),Re(xs),G(1));Ci.subscribe();window.document$=ot;window.location$=Ut;window.target$=Lt;window.keyboard$=to;window.viewport$=Oe;window.tablet$=hr;window.screen$=Mi;window.print$=_i;window.alert$=ro;window.progress$=oo;window.component$=Ci;})(); +//# sourceMappingURL=bundle.83f73b43.min.js.map + diff --git a/assets/javascripts/bundle.83f73b43.min.js.map b/assets/javascripts/bundle.83f73b43.min.js.map new file mode 100644 index 0000000..fe920b7 --- /dev/null +++ b/assets/javascripts/bundle.83f73b43.min.js.map @@ -0,0 +1,7 @@ +{ + "version": 3, + "sources": ["node_modules/focus-visible/dist/focus-visible.js", "node_modules/escape-html/index.js", "node_modules/clipboard/dist/clipboard.js", "src/templates/assets/javascripts/bundle.ts", "node_modules/tslib/tslib.es6.mjs", "node_modules/rxjs/src/internal/util/isFunction.ts", "node_modules/rxjs/src/internal/util/createErrorClass.ts", "node_modules/rxjs/src/internal/util/UnsubscriptionError.ts", "node_modules/rxjs/src/internal/util/arrRemove.ts", "node_modules/rxjs/src/internal/Subscription.ts", "node_modules/rxjs/src/internal/config.ts", "node_modules/rxjs/src/internal/scheduler/timeoutProvider.ts", "node_modules/rxjs/src/internal/util/reportUnhandledError.ts", "node_modules/rxjs/src/internal/util/noop.ts", "node_modules/rxjs/src/internal/NotificationFactories.ts", "node_modules/rxjs/src/internal/util/errorContext.ts", "node_modules/rxjs/src/internal/Subscriber.ts", "node_modules/rxjs/src/internal/symbol/observable.ts", "node_modules/rxjs/src/internal/util/identity.ts", "node_modules/rxjs/src/internal/util/pipe.ts", "node_modules/rxjs/src/internal/Observable.ts", "node_modules/rxjs/src/internal/util/lift.ts", "node_modules/rxjs/src/internal/operators/OperatorSubscriber.ts", "node_modules/rxjs/src/internal/scheduler/animationFrameProvider.ts", "node_modules/rxjs/src/internal/util/ObjectUnsubscribedError.ts", "node_modules/rxjs/src/internal/Subject.ts", "node_modules/rxjs/src/internal/BehaviorSubject.ts", "node_modules/rxjs/src/internal/scheduler/dateTimestampProvider.ts", "node_modules/rxjs/src/internal/ReplaySubject.ts", "node_modules/rxjs/src/internal/scheduler/Action.ts", "node_modules/rxjs/src/internal/scheduler/intervalProvider.ts", "node_modules/rxjs/src/internal/scheduler/AsyncAction.ts", "node_modules/rxjs/src/internal/Scheduler.ts", "node_modules/rxjs/src/internal/scheduler/AsyncScheduler.ts", "node_modules/rxjs/src/internal/scheduler/async.ts", "node_modules/rxjs/src/internal/scheduler/QueueAction.ts", "node_modules/rxjs/src/internal/scheduler/QueueScheduler.ts", "node_modules/rxjs/src/internal/scheduler/queue.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameAction.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameScheduler.ts", "node_modules/rxjs/src/internal/scheduler/animationFrame.ts", "node_modules/rxjs/src/internal/observable/empty.ts", "node_modules/rxjs/src/internal/util/isScheduler.ts", "node_modules/rxjs/src/internal/util/args.ts", "node_modules/rxjs/src/internal/util/isArrayLike.ts", "node_modules/rxjs/src/internal/util/isPromise.ts", "node_modules/rxjs/src/internal/util/isInteropObservable.ts", "node_modules/rxjs/src/internal/util/isAsyncIterable.ts", "node_modules/rxjs/src/internal/util/throwUnobservableError.ts", "node_modules/rxjs/src/internal/symbol/iterator.ts", "node_modules/rxjs/src/internal/util/isIterable.ts", "node_modules/rxjs/src/internal/util/isReadableStreamLike.ts", "node_modules/rxjs/src/internal/observable/innerFrom.ts", "node_modules/rxjs/src/internal/util/executeSchedule.ts", "node_modules/rxjs/src/internal/operators/observeOn.ts", "node_modules/rxjs/src/internal/operators/subscribeOn.ts", "node_modules/rxjs/src/internal/scheduled/scheduleObservable.ts", "node_modules/rxjs/src/internal/scheduled/schedulePromise.ts", "node_modules/rxjs/src/internal/scheduled/scheduleArray.ts", "node_modules/rxjs/src/internal/scheduled/scheduleIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleAsyncIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleReadableStreamLike.ts", "node_modules/rxjs/src/internal/scheduled/scheduled.ts", "node_modules/rxjs/src/internal/observable/from.ts", "node_modules/rxjs/src/internal/observable/of.ts", "node_modules/rxjs/src/internal/observable/throwError.ts", "node_modules/rxjs/src/internal/util/EmptyError.ts", "node_modules/rxjs/src/internal/util/isDate.ts", "node_modules/rxjs/src/internal/operators/map.ts", "node_modules/rxjs/src/internal/util/mapOneOrManyArgs.ts", "node_modules/rxjs/src/internal/util/argsArgArrayOrObject.ts", "node_modules/rxjs/src/internal/util/createObject.ts", "node_modules/rxjs/src/internal/observable/combineLatest.ts", "node_modules/rxjs/src/internal/operators/mergeInternals.ts", "node_modules/rxjs/src/internal/operators/mergeMap.ts", "node_modules/rxjs/src/internal/operators/mergeAll.ts", "node_modules/rxjs/src/internal/operators/concatAll.ts", "node_modules/rxjs/src/internal/observable/concat.ts", "node_modules/rxjs/src/internal/observable/defer.ts", "node_modules/rxjs/src/internal/observable/fromEvent.ts", "node_modules/rxjs/src/internal/observable/fromEventPattern.ts", "node_modules/rxjs/src/internal/observable/timer.ts", "node_modules/rxjs/src/internal/observable/merge.ts", "node_modules/rxjs/src/internal/observable/never.ts", "node_modules/rxjs/src/internal/util/argsOrArgArray.ts", "node_modules/rxjs/src/internal/operators/filter.ts", "node_modules/rxjs/src/internal/observable/zip.ts", "node_modules/rxjs/src/internal/operators/audit.ts", "node_modules/rxjs/src/internal/operators/auditTime.ts", "node_modules/rxjs/src/internal/operators/bufferCount.ts", "node_modules/rxjs/src/internal/operators/catchError.ts", "node_modules/rxjs/src/internal/operators/scanInternals.ts", "node_modules/rxjs/src/internal/operators/combineLatest.ts", "node_modules/rxjs/src/internal/operators/combineLatestWith.ts", "node_modules/rxjs/src/internal/operators/debounce.ts", "node_modules/rxjs/src/internal/operators/debounceTime.ts", "node_modules/rxjs/src/internal/operators/defaultIfEmpty.ts", "node_modules/rxjs/src/internal/operators/take.ts", "node_modules/rxjs/src/internal/operators/ignoreElements.ts", "node_modules/rxjs/src/internal/operators/mapTo.ts", "node_modules/rxjs/src/internal/operators/delayWhen.ts", "node_modules/rxjs/src/internal/operators/delay.ts", "node_modules/rxjs/src/internal/operators/distinctUntilChanged.ts", "node_modules/rxjs/src/internal/operators/distinctUntilKeyChanged.ts", "node_modules/rxjs/src/internal/operators/throwIfEmpty.ts", "node_modules/rxjs/src/internal/operators/endWith.ts", "node_modules/rxjs/src/internal/operators/finalize.ts", "node_modules/rxjs/src/internal/operators/first.ts", "node_modules/rxjs/src/internal/operators/takeLast.ts", "node_modules/rxjs/src/internal/operators/merge.ts", "node_modules/rxjs/src/internal/operators/mergeWith.ts", "node_modules/rxjs/src/internal/operators/repeat.ts", "node_modules/rxjs/src/internal/operators/scan.ts", "node_modules/rxjs/src/internal/operators/share.ts", "node_modules/rxjs/src/internal/operators/shareReplay.ts", 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"src/templates/assets/javascripts/utilities/round/index.ts", "src/templates/assets/javascripts/browser/script/index.ts", "src/templates/assets/javascripts/browser/element/size/_/index.ts", "src/templates/assets/javascripts/browser/element/size/content/index.ts", "src/templates/assets/javascripts/browser/element/offset/_/index.ts", "src/templates/assets/javascripts/browser/element/offset/content/index.ts", "src/templates/assets/javascripts/browser/element/visibility/index.ts", "src/templates/assets/javascripts/browser/toggle/index.ts", "src/templates/assets/javascripts/browser/keyboard/index.ts", "src/templates/assets/javascripts/browser/location/_/index.ts", "src/templates/assets/javascripts/browser/location/hash/index.ts", "src/templates/assets/javascripts/browser/media/index.ts", "src/templates/assets/javascripts/browser/request/index.ts", "src/templates/assets/javascripts/browser/viewport/offset/index.ts", "src/templates/assets/javascripts/browser/viewport/size/index.ts", "src/templates/assets/javascripts/browser/viewport/_/index.ts", "src/templates/assets/javascripts/browser/viewport/at/index.ts", "src/templates/assets/javascripts/browser/worker/index.ts", "src/templates/assets/javascripts/_/index.ts", "src/templates/assets/javascripts/components/_/index.ts", "src/templates/assets/javascripts/components/announce/index.ts", "src/templates/assets/javascripts/components/consent/index.ts", "src/templates/assets/javascripts/templates/tooltip/index.tsx", "src/templates/assets/javascripts/templates/annotation/index.tsx", "src/templates/assets/javascripts/templates/clipboard/index.tsx", "src/templates/assets/javascripts/templates/search/index.tsx", "src/templates/assets/javascripts/templates/source/index.tsx", "src/templates/assets/javascripts/templates/tabbed/index.tsx", "src/templates/assets/javascripts/templates/table/index.tsx", "src/templates/assets/javascripts/templates/version/index.tsx", "src/templates/assets/javascripts/components/tooltip2/index.ts", "src/templates/assets/javascripts/components/content/annotation/_/index.ts", "src/templates/assets/javascripts/components/content/annotation/list/index.ts", "src/templates/assets/javascripts/components/content/annotation/block/index.ts", "src/templates/assets/javascripts/components/content/code/_/index.ts", "src/templates/assets/javascripts/components/content/details/index.ts", "src/templates/assets/javascripts/components/content/mermaid/index.css", "src/templates/assets/javascripts/components/content/mermaid/index.ts", "src/templates/assets/javascripts/components/content/table/index.ts", "src/templates/assets/javascripts/components/content/tabs/index.ts", "src/templates/assets/javascripts/components/content/_/index.ts", "src/templates/assets/javascripts/components/dialog/index.ts", "src/templates/assets/javascripts/components/tooltip/index.ts", "src/templates/assets/javascripts/components/header/_/index.ts", "src/templates/assets/javascripts/components/header/title/index.ts", "src/templates/assets/javascripts/components/main/index.ts", "src/templates/assets/javascripts/components/palette/index.ts", "src/templates/assets/javascripts/components/progress/index.ts", "src/templates/assets/javascripts/integrations/clipboard/index.ts", "src/templates/assets/javascripts/integrations/sitemap/index.ts", "src/templates/assets/javascripts/integrations/instant/index.ts", "src/templates/assets/javascripts/integrations/search/highlighter/index.ts", "src/templates/assets/javascripts/integrations/search/worker/message/index.ts", "src/templates/assets/javascripts/integrations/search/worker/_/index.ts", "src/templates/assets/javascripts/integrations/version/findurl/index.ts", "src/templates/assets/javascripts/integrations/version/index.ts", "src/templates/assets/javascripts/components/search/query/index.ts", "src/templates/assets/javascripts/components/search/result/index.ts", "src/templates/assets/javascripts/components/search/share/index.ts", "src/templates/assets/javascripts/components/search/suggest/index.ts", "src/templates/assets/javascripts/components/search/_/index.ts", "src/templates/assets/javascripts/components/search/highlight/index.ts", "src/templates/assets/javascripts/components/sidebar/index.ts", "src/templates/assets/javascripts/components/source/facts/github/index.ts", "src/templates/assets/javascripts/components/source/facts/gitlab/index.ts", "src/templates/assets/javascripts/components/source/facts/_/index.ts", "src/templates/assets/javascripts/components/source/_/index.ts", "src/templates/assets/javascripts/components/tabs/index.ts", "src/templates/assets/javascripts/components/toc/index.ts", "src/templates/assets/javascripts/components/top/index.ts", "src/templates/assets/javascripts/patches/ellipsis/index.ts", "src/templates/assets/javascripts/patches/indeterminate/index.ts", "src/templates/assets/javascripts/patches/scrollfix/index.ts", "src/templates/assets/javascripts/patches/scrolllock/index.ts", "src/templates/assets/javascripts/polyfills/index.ts"], + "sourcesContent": ["(function (global, factory) {\n typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n typeof define === 'function' && define.amd ? define(factory) :\n (factory());\n}(this, (function () { 'use strict';\n\n /**\n * Applies the :focus-visible polyfill at the given scope.\n * A scope in this case is either the top-level Document or a Shadow Root.\n *\n * @param {(Document|ShadowRoot)} scope\n * @see https://github.com/WICG/focus-visible\n */\n function applyFocusVisiblePolyfill(scope) {\n var hadKeyboardEvent = true;\n var hadFocusVisibleRecently = false;\n var hadFocusVisibleRecentlyTimeout = null;\n\n var inputTypesAllowlist = {\n text: true,\n search: true,\n url: true,\n tel: true,\n email: true,\n password: true,\n number: true,\n date: true,\n month: true,\n week: true,\n time: true,\n datetime: true,\n 'datetime-local': true\n };\n\n /**\n * Helper function for legacy browsers and iframes which sometimes focus\n * elements like document, body, and non-interactive SVG.\n * @param {Element} el\n */\n function isValidFocusTarget(el) {\n if (\n el &&\n el !== document &&\n el.nodeName !== 'HTML' &&\n el.nodeName !== 'BODY' &&\n 'classList' in el &&\n 'contains' in el.classList\n ) {\n return true;\n }\n return false;\n }\n\n /**\n * Computes whether the given element should automatically trigger the\n * `focus-visible` class being added, i.e. whether it should always match\n * `:focus-visible` when focused.\n * @param {Element} el\n * @return {boolean}\n */\n function focusTriggersKeyboardModality(el) {\n var type = el.type;\n var tagName = el.tagName;\n\n if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n return true;\n }\n\n if (tagName === 'TEXTAREA' && !el.readOnly) {\n return true;\n }\n\n if (el.isContentEditable) {\n return true;\n }\n\n return false;\n }\n\n /**\n * Add the `focus-visible` class to the given element if it was not added by\n * the author.\n * @param {Element} el\n */\n function addFocusVisibleClass(el) {\n if (el.classList.contains('focus-visible')) {\n return;\n }\n el.classList.add('focus-visible');\n el.setAttribute('data-focus-visible-added', '');\n }\n\n /**\n * Remove the `focus-visible` class from the given element if it was not\n * originally added by the author.\n * @param {Element} el\n */\n function removeFocusVisibleClass(el) {\n if (!el.hasAttribute('data-focus-visible-added')) {\n return;\n }\n el.classList.remove('focus-visible');\n el.removeAttribute('data-focus-visible-added');\n }\n\n /**\n * If the most recent user interaction was via the keyboard;\n * and the key press did not include a meta, alt/option, or control key;\n * then the modality is keyboard. Otherwise, the modality is not keyboard.\n * Apply `focus-visible` to any current active element and keep track\n * of our keyboard modality state with `hadKeyboardEvent`.\n * @param {KeyboardEvent} e\n */\n function onKeyDown(e) {\n if (e.metaKey || e.altKey || e.ctrlKey) {\n return;\n }\n\n if (isValidFocusTarget(scope.activeElement)) {\n addFocusVisibleClass(scope.activeElement);\n }\n\n hadKeyboardEvent = true;\n }\n\n /**\n * If at any point a user clicks with a pointing device, ensure that we change\n * the modality away from keyboard.\n * This avoids the situation where a user presses a key on an already focused\n * element, and then clicks on a different element, focusing it with a\n * pointing device, while we still think we're in keyboard modality.\n * @param {Event} e\n */\n function onPointerDown(e) {\n hadKeyboardEvent = false;\n }\n\n /**\n * On `focus`, add the `focus-visible` class to the target if:\n * - the target received focus as a result of keyboard navigation, or\n * - the event target is an element that will likely require interaction\n * via the keyboard (e.g. a text box)\n * @param {Event} e\n */\n function onFocus(e) {\n // Prevent IE from focusing the document or HTML element.\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n addFocusVisibleClass(e.target);\n }\n }\n\n /**\n * On `blur`, remove the `focus-visible` class from the target.\n * @param {Event} e\n */\n function onBlur(e) {\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (\n e.target.classList.contains('focus-visible') ||\n e.target.hasAttribute('data-focus-visible-added')\n ) {\n // To detect a tab/window switch, we look for a blur event followed\n // rapidly by a visibility change.\n // If we don't see a visibility change within 100ms, it's probably a\n // regular focus change.\n hadFocusVisibleRecently = true;\n window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n hadFocusVisibleRecently = false;\n }, 100);\n removeFocusVisibleClass(e.target);\n }\n }\n\n /**\n * If the user changes tabs, keep track of whether or not the previously\n * focused element had .focus-visible.\n * @param {Event} e\n */\n function onVisibilityChange(e) {\n if (document.visibilityState === 'hidden') {\n // If the tab becomes active again, the browser will handle calling focus\n // on the element (Safari actually calls it twice).\n // If this tab change caused a blur on an element with focus-visible,\n // re-apply the class when the user switches back to the tab.\n if (hadFocusVisibleRecently) {\n hadKeyboardEvent = true;\n }\n addInitialPointerMoveListeners();\n }\n }\n\n /**\n * Add a group of listeners to detect usage of any pointing devices.\n * These listeners will be added when the polyfill first loads, and anytime\n * the window is blurred, so that they are active when the window regains\n * focus.\n */\n function addInitialPointerMoveListeners() {\n document.addEventListener('mousemove', onInitialPointerMove);\n document.addEventListener('mousedown', onInitialPointerMove);\n document.addEventListener('mouseup', onInitialPointerMove);\n document.addEventListener('pointermove', onInitialPointerMove);\n document.addEventListener('pointerdown', onInitialPointerMove);\n document.addEventListener('pointerup', onInitialPointerMove);\n document.addEventListener('touchmove', onInitialPointerMove);\n document.addEventListener('touchstart', onInitialPointerMove);\n document.addEventListener('touchend', onInitialPointerMove);\n }\n\n function removeInitialPointerMoveListeners() {\n document.removeEventListener('mousemove', onInitialPointerMove);\n document.removeEventListener('mousedown', onInitialPointerMove);\n document.removeEventListener('mouseup', onInitialPointerMove);\n document.removeEventListener('pointermove', onInitialPointerMove);\n document.removeEventListener('pointerdown', onInitialPointerMove);\n document.removeEventListener('pointerup', onInitialPointerMove);\n document.removeEventListener('touchmove', onInitialPointerMove);\n document.removeEventListener('touchstart', onInitialPointerMove);\n document.removeEventListener('touchend', onInitialPointerMove);\n }\n\n /**\n * When the polfyill first loads, assume the user is in keyboard modality.\n * If any event is received from a pointing device (e.g. mouse, pointer,\n * touch), turn off keyboard modality.\n * This accounts for situations where focus enters the page from the URL bar.\n * @param {Event} e\n */\n function onInitialPointerMove(e) {\n // Work around a Safari quirk that fires a mousemove on whenever the\n // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n return;\n }\n\n hadKeyboardEvent = false;\n removeInitialPointerMoveListeners();\n }\n\n // For some kinds of state, we are interested in changes at the global scope\n // only. For example, global pointer input, global key presses and global\n // visibility change should affect the state at every scope:\n document.addEventListener('keydown', onKeyDown, true);\n document.addEventListener('mousedown', onPointerDown, true);\n document.addEventListener('pointerdown', onPointerDown, true);\n document.addEventListener('touchstart', onPointerDown, true);\n document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n addInitialPointerMoveListeners();\n\n // For focus and blur, we specifically care about state changes in the local\n // scope. This is because focus / blur events that originate from within a\n // shadow root are not re-dispatched from the host element if it was already\n // the active element in its own scope:\n scope.addEventListener('focus', onFocus, true);\n scope.addEventListener('blur', onBlur, true);\n\n // We detect that a node is a ShadowRoot by ensuring that it is a\n // DocumentFragment and also has a host property. This check covers native\n // implementation and polyfill implementation transparently. If we only cared\n // about the native implementation, we could just check if the scope was\n // an instance of a ShadowRoot.\n if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n // have a root element to add a class to. So, we add this attribute to the\n // host element instead:\n scope.host.setAttribute('data-js-focus-visible', '');\n } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n document.documentElement.classList.add('js-focus-visible');\n document.documentElement.setAttribute('data-js-focus-visible', '');\n }\n }\n\n // It is important to wrap all references to global window and document in\n // these checks to support server-side rendering use cases\n // @see https://github.com/WICG/focus-visible/issues/199\n if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n // Make the polyfill helper globally available. This can be used as a signal\n // to interested libraries that wish to coordinate with the polyfill for e.g.,\n // applying the polyfill to a shadow root:\n window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n // Notify interested libraries of the polyfill's presence, in case the\n // polyfill was loaded lazily:\n var event;\n\n try {\n event = new CustomEvent('focus-visible-polyfill-ready');\n } catch (error) {\n // IE11 does not support using CustomEvent as a constructor directly:\n event = document.createEvent('CustomEvent');\n event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n }\n\n window.dispatchEvent(event);\n }\n\n if (typeof document !== 'undefined') {\n // Apply the polyfill to the global document, so that no JavaScript\n // coordination is required to use the polyfill in the top-level document:\n applyFocusVisiblePolyfill(document);\n }\n\n})));\n", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n var str = '' + string;\n var match = matchHtmlRegExp.exec(str);\n\n if (!match) {\n return str;\n }\n\n var escape;\n var html = '';\n var index = 0;\n var lastIndex = 0;\n\n for (index = match.index; index < str.length; index++) {\n switch (str.charCodeAt(index)) {\n case 34: // \"\n escape = '"';\n break;\n case 38: // &\n escape = '&';\n break;\n case 39: // '\n escape = ''';\n break;\n case 60: // <\n escape = '<';\n break;\n case 62: // >\n escape = '>';\n break;\n default:\n continue;\n }\n\n if (lastIndex !== index) {\n html += str.substring(lastIndex, index);\n }\n\n lastIndex = index + 1;\n html += escape;\n }\n\n return lastIndex !== index\n ? html + str.substring(lastIndex, index)\n : html;\n}\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n try {\n return document.execCommand(type);\n } catch (err) {\n return false;\n }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n var selectedText = select_default()(target);\n command('cut');\n return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n fakeElement.style.fontSize = '12pt'; // Reset box model\n\n fakeElement.style.border = '0';\n fakeElement.style.padding = '0';\n fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n fakeElement.style.position = 'absolute';\n fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n fakeElement.style.top = \"\".concat(yPosition, \"px\");\n fakeElement.setAttribute('readonly', '');\n fakeElement.value = value;\n return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n var fakeElement = createFakeElement(value);\n options.container.appendChild(fakeElement);\n var selectedText = select_default()(fakeElement);\n command('copy');\n fakeElement.remove();\n return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n var selectedText = '';\n\n if (typeof target === 'string') {\n selectedText = fakeCopyAction(target, options);\n } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n selectedText = fakeCopyAction(target.value, options);\n } else {\n selectedText = select_default()(target);\n command('copy');\n }\n\n return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n // Defines base properties passed from constructor.\n var _options$action = options.action,\n action = _options$action === void 0 ? 'copy' : _options$action,\n container = options.container,\n target = options.target,\n text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n if (action !== 'copy' && action !== 'cut') {\n throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n } // Sets the `target` property using an element that will be have its content copied.\n\n\n if (target !== undefined) {\n if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n if (action === 'copy' && target.hasAttribute('disabled')) {\n throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n }\n\n if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n }\n } else {\n throw new Error('Invalid \"target\" value, use a valid Element');\n }\n } // Define selection strategy based on `text` property.\n\n\n if (text) {\n return actions_copy(text, {\n container: container\n });\n } // Defines which selection strategy based on `target` property.\n\n\n if (target) {\n return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n container: container\n });\n }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n var attribute = \"data-clipboard-\".concat(suffix);\n\n if (!element.hasAttribute(attribute)) {\n return;\n }\n\n return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n _inherits(Clipboard, _Emitter);\n\n var _super = _createSuper(Clipboard);\n\n /**\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n * @param {Object} options\n */\n function Clipboard(trigger, options) {\n var _this;\n\n _classCallCheck(this, Clipboard);\n\n _this = _super.call(this);\n\n _this.resolveOptions(options);\n\n _this.listenClick(trigger);\n\n return _this;\n }\n /**\n * Defines if attributes would be resolved using internal setter functions\n * or custom functions that were passed in the constructor.\n * @param {Object} options\n */\n\n\n _createClass(Clipboard, [{\n key: \"resolveOptions\",\n value: function resolveOptions() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n }\n /**\n * Adds a click event listener to the passed trigger.\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n */\n\n }, {\n key: \"listenClick\",\n value: function listenClick(trigger) {\n var _this2 = this;\n\n this.listener = listen_default()(trigger, 'click', function (e) {\n return _this2.onClick(e);\n });\n }\n /**\n * Defines a new `ClipboardAction` on each click event.\n * @param {Event} e\n */\n\n }, {\n key: \"onClick\",\n value: function onClick(e) {\n var trigger = e.delegateTarget || e.currentTarget;\n var action = this.action(trigger) || 'copy';\n var text = actions_default({\n action: action,\n container: this.container,\n target: this.target(trigger),\n text: this.text(trigger)\n }); // Fires an event based on the copy operation result.\n\n this.emit(text ? 'success' : 'error', {\n action: action,\n text: text,\n trigger: trigger,\n clearSelection: function clearSelection() {\n if (trigger) {\n trigger.focus();\n }\n\n window.getSelection().removeAllRanges();\n }\n });\n }\n /**\n * Default `action` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultAction\",\n value: function defaultAction(trigger) {\n return getAttributeValue('action', trigger);\n }\n /**\n * Default `target` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultTarget\",\n value: function defaultTarget(trigger) {\n var selector = getAttributeValue('target', trigger);\n\n if (selector) {\n return document.querySelector(selector);\n }\n }\n /**\n * Allow fire programmatically a copy action\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @returns Text copied.\n */\n\n }, {\n key: \"defaultText\",\n\n /**\n * Default `text` lookup function.\n * @param {Element} trigger\n */\n value: function defaultText(trigger) {\n return getAttributeValue('text', trigger);\n }\n /**\n * Destroy lifecycle.\n */\n\n }, {\n key: \"destroy\",\n value: function destroy() {\n this.listener.destroy();\n }\n }], [{\n key: \"copy\",\n value: function copy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n return actions_copy(target, options);\n }\n /**\n * Allow fire programmatically a cut action\n * @param {String|HTMLElement} target\n * @returns Text cutted.\n */\n\n }, {\n key: \"cut\",\n value: function cut(target) {\n return actions_cut(target);\n }\n /**\n * Returns the support of the given action, or all actions if no action is\n * given.\n * @param {String} [action]\n */\n\n }, {\n key: \"isSupported\",\n value: function isSupported() {\n var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n var actions = typeof action === 'string' ? [action] : action;\n var support = !!document.queryCommandSupported;\n actions.forEach(function (action) {\n support = support && !!document.queryCommandSupported(action);\n });\n return support;\n }\n }]);\n\n return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n var proto = Element.prototype;\n\n proto.matches = proto.matchesSelector ||\n proto.mozMatchesSelector ||\n proto.msMatchesSelector ||\n proto.oMatchesSelector ||\n proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n if (typeof element.matches === 'function' &&\n element.matches(selector)) {\n return element;\n }\n element = element.parentNode;\n }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n var listenerFn = listener.apply(this, arguments);\n\n element.addEventListener(type, listenerFn, useCapture);\n\n return {\n destroy: function() {\n element.removeEventListener(type, listenerFn, useCapture);\n }\n }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n // Handle the regular Element usage\n if (typeof elements.addEventListener === 'function') {\n return _delegate.apply(null, arguments);\n }\n\n // Handle Element-less usage, it defaults to global delegation\n if (typeof type === 'function') {\n // Use `document` as the first parameter, then apply arguments\n // This is a short way to .unshift `arguments` without running into deoptimizations\n return _delegate.bind(null, document).apply(null, arguments);\n }\n\n // Handle Selector-based usage\n if (typeof elements === 'string') {\n elements = document.querySelectorAll(elements);\n }\n\n // Handle Array-like based usage\n return Array.prototype.map.call(elements, function (element) {\n return _delegate(element, selector, type, callback, useCapture);\n });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n return function(e) {\n e.delegateTarget = closest(e.target, selector);\n\n if (e.delegateTarget) {\n callback.call(element, e);\n }\n }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n return value !== undefined\n && value instanceof HTMLElement\n && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return value !== undefined\n && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n && ('length' in value)\n && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n return typeof value === 'string'\n || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n if (!target && !type && !callback) {\n throw new Error('Missing required arguments');\n }\n\n if (!is.string(type)) {\n throw new TypeError('Second argument must be a String');\n }\n\n if (!is.fn(callback)) {\n throw new TypeError('Third argument must be a Function');\n }\n\n if (is.node(target)) {\n return listenNode(target, type, callback);\n }\n else if (is.nodeList(target)) {\n return listenNodeList(target, type, callback);\n }\n else if (is.string(target)) {\n return listenSelector(target, type, callback);\n }\n else {\n throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n node.addEventListener(type, callback);\n\n return {\n destroy: function() {\n node.removeEventListener(type, callback);\n }\n }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.addEventListener(type, callback);\n });\n\n return {\n destroy: function() {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.removeEventListener(type, callback);\n });\n }\n }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n var selectedText;\n\n if (element.nodeName === 'SELECT') {\n element.focus();\n\n selectedText = element.value;\n }\n else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n var isReadOnly = element.hasAttribute('readonly');\n\n if (!isReadOnly) {\n element.setAttribute('readonly', '');\n }\n\n element.select();\n element.setSelectionRange(0, element.value.length);\n\n if (!isReadOnly) {\n element.removeAttribute('readonly');\n }\n\n selectedText = element.value;\n }\n else {\n if (element.hasAttribute('contenteditable')) {\n element.focus();\n }\n\n var selection = window.getSelection();\n var range = document.createRange();\n\n range.selectNodeContents(element);\n selection.removeAllRanges();\n selection.addRange(range);\n\n selectedText = selection.toString();\n }\n\n return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n // Keep this empty so it's easier to inherit from\n // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n on: function (name, callback, ctx) {\n var e = this.e || (this.e = {});\n\n (e[name] || (e[name] = [])).push({\n fn: callback,\n ctx: ctx\n });\n\n return this;\n },\n\n once: function (name, callback, ctx) {\n var self = this;\n function listener () {\n self.off(name, listener);\n callback.apply(ctx, arguments);\n };\n\n listener._ = callback\n return this.on(name, listener, ctx);\n },\n\n emit: function (name) {\n var data = [].slice.call(arguments, 1);\n var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n var i = 0;\n var len = evtArr.length;\n\n for (i; i < len; i++) {\n evtArr[i].fn.apply(evtArr[i].ctx, data);\n }\n\n return this;\n },\n\n off: function (name, callback) {\n var e = this.e || (this.e = {});\n var evts = e[name];\n var liveEvents = [];\n\n if (evts && callback) {\n for (var i = 0, len = evts.length; i < len; i++) {\n if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n liveEvents.push(evts[i]);\n }\n }\n\n // Remove event from queue to prevent memory leak\n // Suggested by https://github.com/lazd\n // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n (liveEvents.length)\n ? e[name] = liveEvents\n : delete e[name];\n\n return this;\n }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*\n * Copyright (c) 2016-2024 Martin Donath \n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n EMPTY,\n NEVER,\n Observable,\n Subject,\n defer,\n delay,\n filter,\n map,\n merge,\n mergeWith,\n shareReplay,\n switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n at,\n getActiveElement,\n getOptionalElement,\n requestJSON,\n setLocation,\n setToggle,\n watchDocument,\n watchKeyboard,\n watchLocation,\n watchLocationTarget,\n watchMedia,\n watchPrint,\n watchScript,\n watchViewport\n} from \"./browser\"\nimport {\n getComponentElement,\n getComponentElements,\n mountAnnounce,\n mountBackToTop,\n mountConsent,\n mountContent,\n mountDialog,\n mountHeader,\n mountHeaderTitle,\n mountPalette,\n mountProgress,\n mountSearch,\n mountSearchHiglight,\n mountSidebar,\n mountSource,\n mountTableOfContents,\n mountTabs,\n watchHeader,\n watchMain\n} from \"./components\"\nimport {\n SearchIndex,\n setupClipboardJS,\n setupInstantNavigation,\n setupVersionSelector\n} from \"./integrations\"\nimport {\n patchEllipsis,\n patchIndeterminate,\n patchScrollfix,\n patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable {\n if (location.protocol === \"file:\") {\n return watchScript(\n `${new URL(\"search/search_index.js\", config.base)}`\n )\n .pipe(\n // @ts-ignore - @todo fix typings\n map(() => __index),\n shareReplay(1)\n )\n } else {\n return requestJSON(\n new URL(\"search/search_index.json\", config.base)\n )\n }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$ = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$ = watchMedia(\"(min-width: 960px)\")\nconst screen$ = watchMedia(\"(min-width: 1220px)\")\nconst print$ = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n ? fetchSearchIndex()\n : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject()\nsetupClipboardJS({ alert$ })\n\n/* Set up progress indicator */\nconst progress$ = new Subject()\n\n/* Set up instant navigation, if enabled */\nif (feature(\"navigation.instant\"))\n setupInstantNavigation({ location$, viewport$, progress$ })\n .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n .pipe(\n delay(125)\n )\n .subscribe(() => {\n setToggle(\"drawer\", false)\n setToggle(\"search\", false)\n })\n\n/* Set up global keyboard handlers */\nkeyboard$\n .pipe(\n filter(({ mode }) => mode === \"global\")\n )\n .subscribe(key => {\n switch (key.type) {\n\n /* Go to previous page */\n case \"p\":\n case \",\":\n const prev = getOptionalElement(\"link[rel=prev]\")\n if (typeof prev !== \"undefined\")\n setLocation(prev)\n break\n\n /* Go to next page */\n case \"n\":\n case \".\":\n const next = getOptionalElement(\"link[rel=next]\")\n if (typeof next !== \"undefined\")\n setLocation(next)\n break\n\n /* Expand navigation, see https://bit.ly/3ZjG5io */\n case \"Enter\":\n const active = getActiveElement()\n if (active instanceof HTMLLabelElement)\n active.click()\n }\n })\n\n/* Set up patches */\npatchEllipsis({ viewport$, document$ })\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n .pipe(\n map(() => getComponentElement(\"main\")),\n switchMap(el => watchMain(el, { viewport$, header$ })),\n shareReplay(1)\n )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n /* Consent */\n ...getComponentElements(\"consent\")\n .map(el => mountConsent(el, { target$ })),\n\n /* Dialog */\n ...getComponentElements(\"dialog\")\n .map(el => mountDialog(el, { alert$ })),\n\n /* Color palette */\n ...getComponentElements(\"palette\")\n .map(el => mountPalette(el)),\n\n /* Progress bar */\n ...getComponentElements(\"progress\")\n .map(el => mountProgress(el, { progress$ })),\n\n /* Search */\n ...getComponentElements(\"search\")\n .map(el => mountSearch(el, { index$, keyboard$ })),\n\n /* Repository information */\n ...getComponentElements(\"source\")\n .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n /* Announcement bar */\n ...getComponentElements(\"announce\")\n .map(el => mountAnnounce(el)),\n\n /* Content */\n ...getComponentElements(\"content\")\n .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n /* Search highlighting */\n ...getComponentElements(\"content\")\n .map(el => feature(\"search.highlight\")\n ? mountSearchHiglight(el, { index$, location$ })\n : EMPTY\n ),\n\n /* Header */\n ...getComponentElements(\"header\")\n .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n /* Header title */\n ...getComponentElements(\"header-title\")\n .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n /* Sidebar */\n ...getComponentElements(\"sidebar\")\n .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n ),\n\n /* Navigation tabs */\n ...getComponentElements(\"tabs\")\n .map(el => mountTabs(el, { viewport$, header$ })),\n\n /* Table of contents */\n ...getComponentElements(\"toc\")\n .map(el => mountTableOfContents(el, {\n viewport$, header$, main$, target$\n })),\n\n /* Back-to-top button */\n ...getComponentElements(\"top\")\n .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n .pipe(\n switchMap(() => content$),\n mergeWith(control$),\n shareReplay(1)\n )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$ = document$ /* Document observable */\nwindow.location$ = location$ /* Location subject */\nwindow.target$ = target$ /* Location target observable */\nwindow.keyboard$ = keyboard$ /* Keyboard observable */\nwindow.viewport$ = viewport$ /* Viewport observable */\nwindow.tablet$ = tablet$ /* Media tablet observable */\nwindow.screen$ = screen$ /* Media screen observable */\nwindow.print$ = print$ /* Media print observable */\nwindow.alert$ = alert$ /* Alert subject */\nwindow.progress$ = progress$ /* Progress indicator subject */\nwindow.component$ = component$ /* Component observable */\n", "/******************************************************************************\nCopyright (c) Microsoft Corporation.\n\nPermission to use, copy, modify, and/or distribute this software for any\npurpose with or without fee is hereby granted.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\nPERFORMANCE OF THIS SOFTWARE.\n***************************************************************************** */\n/* global Reflect, Promise, SuppressedError, Symbol, Iterator */\n\nvar extendStatics = function(d, b) {\n extendStatics = Object.setPrototypeOf ||\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\n function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\n return extendStatics(d, b);\n};\n\nexport function __extends(d, b) {\n if (typeof b !== \"function\" && b !== null)\n throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\n extendStatics(d, b);\n function __() { this.constructor = d; }\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\n}\n\nexport var __assign = function() {\n __assign = Object.assign || function __assign(t) {\n for (var s, i = 1, n = arguments.length; i < n; i++) {\n s = arguments[i];\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\n }\n return t;\n }\n return __assign.apply(this, arguments);\n}\n\nexport function __rest(s, e) {\n var t = {};\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\n t[p] = s[p];\n if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\n for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\n if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\n t[p[i]] = s[p[i]];\n }\n return t;\n}\n\nexport function __decorate(decorators, target, key, desc) {\n var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\n if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\n else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\n return c > 3 && r && Object.defineProperty(target, key, r), r;\n}\n\nexport function __param(paramIndex, decorator) {\n return function (target, key) { decorator(target, key, paramIndex); }\n}\n\nexport function __esDecorate(ctor, descriptorIn, decorators, contextIn, initializers, extraInitializers) {\n function accept(f) { if (f !== void 0 && typeof f !== \"function\") throw new TypeError(\"Function expected\"); return f; }\n var kind = contextIn.kind, key = kind === \"getter\" ? \"get\" : kind === \"setter\" ? \"set\" : \"value\";\n var target = !descriptorIn && ctor ? contextIn[\"static\"] ? ctor : ctor.prototype : null;\n var descriptor = descriptorIn || (target ? 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(function(o, m, k, k2) {\n if (k2 === undefined) k2 = k;\n var desc = Object.getOwnPropertyDescriptor(m, k);\n if (!desc || (\"get\" in desc ? !m.__esModule : desc.writable || desc.configurable)) {\n desc = { enumerable: true, get: function() { return m[k]; } };\n }\n Object.defineProperty(o, k2, desc);\n}) : (function(o, m, k, k2) {\n if (k2 === undefined) k2 = k;\n o[k2] = m[k];\n});\n\nexport function __exportStar(m, o) {\n for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\n}\n\nexport function __values(o) {\n var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\n if (m) return m.call(o);\n if (o && typeof o.length === \"number\") return {\n next: function () {\n if (o && i >= o.length) o = void 0;\n return { value: o && o[i++], done: !o };\n }\n };\n throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\n}\n\nexport function __read(o, n) {\n var m = typeof Symbol === \"function\" && o[Symbol.iterator];\n if (!m) return o;\n var i = m.call(o), r, ar = [], e;\n try {\n while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\n }\n catch (error) { e = { error: error }; }\n finally {\n try {\n if (r && !r.done && (m = i[\"return\"])) m.call(i);\n }\n finally { if (e) throw e.error; }\n }\n return ar;\n}\n\n/** @deprecated */\nexport function __spread() {\n for (var ar = [], i = 0; i < arguments.length; i++)\n ar = ar.concat(__read(arguments[i]));\n return ar;\n}\n\n/** @deprecated */\nexport function __spreadArrays() {\n for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\n for (var r = Array(s), k = 0, i = 0; i < il; i++)\n for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\n r[k] = a[j];\n return r;\n}\n\nexport function __spreadArray(to, from, pack) {\n if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\n if (ar || !(i in from)) {\n if (!ar) ar = Array.prototype.slice.call(from, 0, i);\n ar[i] = from[i];\n }\n }\n return to.concat(ar || Array.prototype.slice.call(from));\n}\n\nexport function __await(v) {\n return this instanceof __await ? (this.v = v, this) : new __await(v);\n}\n\nexport function __asyncGenerator(thisArg, _arguments, generator) {\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\n var g = generator.apply(thisArg, _arguments || []), i, q = [];\n return i = Object.create((typeof AsyncIterator === \"function\" ? AsyncIterator : Object).prototype), verb(\"next\"), verb(\"throw\"), verb(\"return\", awaitReturn), i[Symbol.asyncIterator] = function () { return this; }, i;\n function awaitReturn(f) { return function (v) { return Promise.resolve(v).then(f, reject); }; }\n function verb(n, f) { if (g[n]) { i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; if (f) i[n] = f(i[n]); } }\n function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\n function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\n function fulfill(value) { resume(\"next\", value); }\n function reject(value) { resume(\"throw\", value); }\n function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\n}\n\nexport function __asyncDelegator(o) {\n var i, p;\n return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\n function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: false } : f ? f(v) : v; } : f; }\n}\n\nexport function __asyncValues(o) {\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\n var m = o[Symbol.asyncIterator], i;\n return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\n function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\n function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\n}\n\nexport function __makeTemplateObject(cooked, raw) {\n if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\n return cooked;\n};\n\nvar __setModuleDefault = Object.create ? (function(o, v) {\n Object.defineProperty(o, \"default\", { enumerable: true, value: v });\n}) : function(o, v) {\n o[\"default\"] = v;\n};\n\nexport function __importStar(mod) {\n if (mod && mod.__esModule) return mod;\n var result = {};\n if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\n __setModuleDefault(result, mod);\n return result;\n}\n\nexport function __importDefault(mod) {\n return (mod && mod.__esModule) ? mod : { default: mod };\n}\n\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\n return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\n}\n\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\n if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\n return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\n}\n\nexport function __classPrivateFieldIn(state, receiver) {\n if (receiver === null || (typeof receiver !== \"object\" && typeof receiver !== \"function\")) throw new TypeError(\"Cannot use 'in' operator on non-object\");\n return typeof state === \"function\" ? receiver === state : state.has(receiver);\n}\n\nexport function __addDisposableResource(env, value, async) {\n if (value !== null && value !== void 0) {\n if (typeof value !== \"object\" && typeof value !== \"function\") throw new TypeError(\"Object expected.\");\n var dispose, inner;\n if (async) {\n if (!Symbol.asyncDispose) throw new TypeError(\"Symbol.asyncDispose is not defined.\");\n dispose = value[Symbol.asyncDispose];\n }\n if (dispose === void 0) {\n if (!Symbol.dispose) throw new TypeError(\"Symbol.dispose is not defined.\");\n dispose = value[Symbol.dispose];\n if (async) inner = dispose;\n }\n if (typeof dispose !== \"function\") throw new TypeError(\"Object not disposable.\");\n if (inner) dispose = function() { try { inner.call(this); } catch (e) { return Promise.reject(e); } };\n env.stack.push({ value: value, dispose: dispose, async: async });\n }\n else if (async) {\n env.stack.push({ async: true });\n }\n return value;\n}\n\nvar _SuppressedError = typeof SuppressedError === \"function\" ? SuppressedError : function (error, suppressed, message) {\n var e = new Error(message);\n return e.name = \"SuppressedError\", e.error = error, e.suppressed = suppressed, e;\n};\n\nexport function __disposeResources(env) {\n function fail(e) {\n env.error = env.hasError ? new _SuppressedError(e, env.error, \"An error was suppressed during disposal.\") : e;\n env.hasError = true;\n }\n var r, s = 0;\n function next() {\n while (r = env.stack.pop()) {\n try {\n if (!r.async && s === 1) return s = 0, env.stack.push(r), Promise.resolve().then(next);\n if (r.dispose) {\n var result = r.dispose.call(r.value);\n if (r.async) return s |= 2, Promise.resolve(result).then(next, function(e) { fail(e); return next(); });\n }\n else s |= 1;\n }\n catch (e) {\n fail(e);\n }\n }\n if (s === 1) return env.hasError ? Promise.reject(env.error) : Promise.resolve();\n if (env.hasError) throw env.error;\n }\n return next();\n}\n\nexport default {\n __extends,\n __assign,\n __rest,\n __decorate,\n __param,\n __metadata,\n __awaiter,\n __generator,\n __createBinding,\n __exportStar,\n __values,\n __read,\n __spread,\n __spreadArrays,\n __spreadArray,\n __await,\n __asyncGenerator,\n __asyncDelegator,\n __asyncValues,\n __makeTemplateObject,\n __importStar,\n __importDefault,\n __classPrivateFieldGet,\n __classPrivateFieldSet,\n __classPrivateFieldIn,\n __addDisposableResource,\n __disposeResources,\n};\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass(createImpl: (_super: any) => any): T {\n const _super = (instance: any) => {\n Error.call(instance);\n instance.stack = new Error().stack;\n };\n\n const ctorFunc = createImpl(_super);\n ctorFunc.prototype = Object.create(Error.prototype);\n ctorFunc.prototype.constructor = ctorFunc;\n return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n (_super) =>\n function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n _super(this);\n this.message = errors\n ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n ')}`\n : '';\n this.name = 'UnsubscriptionError';\n this.errors = errors;\n }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove(arr: T[] | undefined | null, item: T) {\n if (arr) {\n const index = arr.indexOf(item);\n 0 <= index && arr.splice(index, 1);\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n /** @nocollapse */\n public static EMPTY = (() => {\n const empty = new Subscription();\n empty.closed = true;\n return empty;\n })();\n\n /**\n * A flag to indicate whether this Subscription has already been unsubscribed.\n */\n public closed = false;\n\n private _parentage: Subscription[] | Subscription | null = null;\n\n /**\n * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n * list occurs in the {@link #add} and {@link #remove} methods.\n */\n private _finalizers: Exclude[] | null = null;\n\n /**\n * @param initialTeardown A function executed first as part of the finalization\n * process that is kicked off when {@link #unsubscribe} is called.\n */\n constructor(private initialTeardown?: () => void) {}\n\n /**\n * Disposes the resources held by the subscription. May, for instance, cancel\n * an ongoing Observable execution or cancel any other type of work that\n * started when the Subscription was created.\n * @return {void}\n */\n unsubscribe(): void {\n let errors: any[] | undefined;\n\n if (!this.closed) {\n this.closed = true;\n\n // Remove this from it's parents.\n const { _parentage } = this;\n if (_parentage) {\n this._parentage = null;\n if (Array.isArray(_parentage)) {\n for (const parent of _parentage) {\n parent.remove(this);\n }\n } else {\n _parentage.remove(this);\n }\n }\n\n const { initialTeardown: initialFinalizer } = this;\n if (isFunction(initialFinalizer)) {\n try {\n initialFinalizer();\n } catch (e) {\n errors = e instanceof UnsubscriptionError ? e.errors : [e];\n }\n }\n\n const { _finalizers } = this;\n if (_finalizers) {\n this._finalizers = null;\n for (const finalizer of _finalizers) {\n try {\n execFinalizer(finalizer);\n } catch (err) {\n errors = errors ?? [];\n if (err instanceof UnsubscriptionError) {\n errors = [...errors, ...err.errors];\n } else {\n errors.push(err);\n }\n }\n }\n }\n\n if (errors) {\n throw new UnsubscriptionError(errors);\n }\n }\n }\n\n /**\n * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n * because it has already been unsubscribed, then whatever finalizer is passed to it\n * will automatically be executed (unless the finalizer itself is also a closed subscription).\n *\n * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n * subscription to a any subscription will result in no operation. (A noop).\n *\n * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n * operation at all. (A noop).\n *\n * `Subscription` instances that are added to this instance will automatically remove themselves\n * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n * will need to be removed manually with {@link #remove}\n *\n * @param teardown The finalization logic to add to this subscription.\n */\n add(teardown: TeardownLogic): void {\n // Only add the finalizer if it's not undefined\n // and don't add a subscription to itself.\n if (teardown && teardown !== this) {\n if (this.closed) {\n // If this subscription is already closed,\n // execute whatever finalizer is handed to it automatically.\n execFinalizer(teardown);\n } else {\n if (teardown instanceof Subscription) {\n // We don't add closed subscriptions, and we don't add the same subscription\n // twice. Subscription unsubscribe is idempotent.\n if (teardown.closed || teardown._hasParent(this)) {\n return;\n }\n teardown._addParent(this);\n }\n (this._finalizers = this._finalizers ?? []).push(teardown);\n }\n }\n }\n\n /**\n * Checks to see if a this subscription already has a particular parent.\n * This will signal that this subscription has already been added to the parent in question.\n * @param parent the parent to check for\n */\n private _hasParent(parent: Subscription) {\n const { _parentage } = this;\n return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n }\n\n /**\n * Adds a parent to this subscription so it can be removed from the parent if it\n * unsubscribes on it's own.\n *\n * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n * @param parent The parent subscription to add\n */\n private _addParent(parent: Subscription) {\n const { _parentage } = this;\n this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n }\n\n /**\n * Called on a child when it is removed via {@link #remove}.\n * @param parent The parent to remove\n */\n private _removeParent(parent: Subscription) {\n const { _parentage } = this;\n if (_parentage === parent) {\n this._parentage = null;\n } else if (Array.isArray(_parentage)) {\n arrRemove(_parentage, parent);\n }\n }\n\n /**\n * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n *\n * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n * from every other `Subscription` they have been added to. This means that using the `remove` method\n * is not a common thing and should be used thoughtfully.\n *\n * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n * more than once, you will need to call `remove` the same number of times to remove all instances.\n *\n * All finalizer instances are removed to free up memory upon unsubscription.\n *\n * @param teardown The finalizer to remove from this subscription\n */\n remove(teardown: Exclude): void {\n const { _finalizers } = this;\n _finalizers && arrRemove(_finalizers, teardown);\n\n if (teardown instanceof Subscription) {\n teardown._removeParent(this);\n }\n }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n return (\n value instanceof Subscription ||\n (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n if (isFunction(finalizer)) {\n finalizer();\n } else {\n finalizer.unsubscribe();\n }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n onUnhandledError: null,\n onStoppedNotification: null,\n Promise: undefined,\n useDeprecatedSynchronousErrorHandling: false,\n useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n /**\n * A registration point for unhandled errors from RxJS. These are errors that\n * cannot were not handled by consuming code in the usual subscription path. For\n * example, if you have this configured, and you subscribe to an observable without\n * providing an error handler, errors from that subscription will end up here. This\n * will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onUnhandledError: ((err: any) => void) | null;\n\n /**\n * A registration point for notifications that cannot be sent to subscribers because they\n * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n * might want a different behavior. For example, with sources that attempt to report errors\n * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n * This will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onStoppedNotification: ((notification: ObservableNotification, subscriber: Subscriber) => void) | null;\n\n /**\n * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n * methods.\n *\n * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n * Promise constructor. If you need a Promise implementation other than native promises,\n * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n */\n Promise?: PromiseConstructorLike;\n\n /**\n * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n * call in a try/catch block. It also enables producer interference, a nasty bug\n * where a multicast can be broken for all observers by a downstream consumer with\n * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n * FOR MIGRATION REASONS.\n *\n * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n * behaviors described above. Will be removed in v8.\n */\n useDeprecatedSynchronousErrorHandling: boolean;\n\n /**\n * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n * `unsubscribe()` via `this` context in `next` functions created in observers passed\n * to `subscribe`.\n *\n * This is being removed because the performance was severely problematic, and it could also cause\n * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n * their `this` context overwritten.\n *\n * @deprecated As of version 8, RxJS will no longer support altering the\n * context of next functions provided as part of an observer to Subscribe. Instead,\n * you will have access to a subscription or a signal or token that will allow you to do things like\n * unsubscribe and test closed status. Will be removed in v8.\n */\n useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n delegate:\n | {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n }\n | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setTimeout(handler: () => void, timeout?: number, ...args) {\n const { delegate } = timeoutProvider;\n if (delegate?.setTimeout) {\n return delegate.setTimeout(handler, timeout, ...args);\n }\n return setTimeout(handler, timeout, ...args);\n },\n clearTimeout(handle) {\n const { delegate } = timeoutProvider;\n return (delegate?.clearTimeout || clearTimeout)(handle as any);\n },\n delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n timeoutProvider.setTimeout(() => {\n const { onUnhandledError } = config;\n if (onUnhandledError) {\n // Execute the user-configured error handler.\n onUnhandledError(err);\n } else {\n // Throw so it is picked up by the runtime's uncaught error mechanism.\n throw err;\n }\n });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification(value: T) {\n return createNotification('N', value, undefined) as NextNotification;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n return {\n kind,\n value,\n error,\n };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n const isRoot = !context;\n if (isRoot) {\n context = { errorThrown: false, error: null };\n }\n cb();\n if (isRoot) {\n const { errorThrown, error } = context!;\n context = null;\n if (errorThrown) {\n throw error;\n }\n }\n } else {\n // This is the general non-deprecated path for everyone that\n // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n cb();\n }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n if (config.useDeprecatedSynchronousErrorHandling && context) {\n context.errorThrown = true;\n context.error = err;\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber\n */\nexport class Subscriber extends Subscription implements Observer {\n /**\n * A static factory for a Subscriber, given a (potentially partial) definition\n * of an Observer.\n * @param next The `next` callback of an Observer.\n * @param error The `error` callback of an\n * Observer.\n * @param complete The `complete` callback of an\n * Observer.\n * @return A Subscriber wrapping the (partially defined)\n * Observer represented by the given arguments.\n * @nocollapse\n * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n * method, and there is no reason to be creating instances of `Subscriber` directly.\n * If you have a specific use case, please file an issue.\n */\n static create(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber {\n return new SafeSubscriber(next, error, complete);\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected isStopped: boolean = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected destination: Subscriber | Observer; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n */\n constructor(destination?: Subscriber | Observer) {\n super();\n if (destination) {\n this.destination = destination;\n // Automatically chain subscriptions together here.\n // if destination is a Subscription, then it is a Subscriber.\n if (isSubscription(destination)) {\n destination.add(this);\n }\n } else {\n this.destination = EMPTY_OBSERVER;\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `next` from\n * the Observable, with a value. The Observable may call this method 0 or more\n * times.\n * @param {T} [value] The `next` value.\n * @return {void}\n */\n next(value?: T): void {\n if (this.isStopped) {\n handleStoppedNotification(nextNotification(value), this);\n } else {\n this._next(value!);\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `error` from\n * the Observable, with an attached `Error`. Notifies the Observer that\n * the Observable has experienced an error condition.\n * @param {any} [err] The `error` exception.\n * @return {void}\n */\n error(err?: any): void {\n if (this.isStopped) {\n handleStoppedNotification(errorNotification(err), this);\n } else {\n this.isStopped = true;\n this._error(err);\n }\n }\n\n /**\n * The {@link Observer} callback to receive a valueless notification of type\n * `complete` from the Observable. Notifies the Observer that the Observable\n * has finished sending push-based notifications.\n * @return {void}\n */\n complete(): void {\n if (this.isStopped) {\n handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n } else {\n this.isStopped = true;\n this._complete();\n }\n }\n\n unsubscribe(): void {\n if (!this.closed) {\n this.isStopped = true;\n super.unsubscribe();\n this.destination = null!;\n }\n }\n\n protected _next(value: T): void {\n this.destination.next(value);\n }\n\n protected _error(err: any): void {\n try {\n this.destination.error(err);\n } finally {\n this.unsubscribe();\n }\n }\n\n protected _complete(): void {\n try {\n this.destination.complete();\n } finally {\n this.unsubscribe();\n }\n }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind any>(fn: Fn, thisArg: any): Fn {\n return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver implements Observer {\n constructor(private partialObserver: Partial>) {}\n\n next(value: T): void {\n const { partialObserver } = this;\n if (partialObserver.next) {\n try {\n partialObserver.next(value);\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n\n error(err: any): void {\n const { partialObserver } = this;\n if (partialObserver.error) {\n try {\n partialObserver.error(err);\n } catch (error) {\n handleUnhandledError(error);\n }\n } else {\n handleUnhandledError(err);\n }\n }\n\n complete(): void {\n const { partialObserver } = this;\n if (partialObserver.complete) {\n try {\n partialObserver.complete();\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n}\n\nexport class SafeSubscriber extends Subscriber {\n constructor(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((e?: any) => void) | null,\n complete?: (() => void) | null\n ) {\n super();\n\n let partialObserver: Partial>;\n if (isFunction(observerOrNext) || !observerOrNext) {\n // The first argument is a function, not an observer. The next\n // two arguments *could* be observers, or they could be empty.\n partialObserver = {\n next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n error: error ?? undefined,\n complete: complete ?? undefined,\n };\n } else {\n // The first argument is a partial observer.\n let context: any;\n if (this && config.useDeprecatedNextContext) {\n // This is a deprecated path that made `this.unsubscribe()` available in\n // next handler functions passed to subscribe. This only exists behind a flag\n // now, as it is *very* slow.\n context = Object.create(observerOrNext);\n context.unsubscribe = () => this.unsubscribe();\n partialObserver = {\n next: observerOrNext.next && bind(observerOrNext.next, context),\n error: observerOrNext.error && bind(observerOrNext.error, context),\n complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n };\n } else {\n // The \"normal\" path. Just use the partial observer directly.\n partialObserver = observerOrNext;\n }\n }\n\n // Wrap the partial observer to ensure it's a full observer, and\n // make sure proper error handling is accounted for.\n this.destination = new ConsumerObserver(partialObserver);\n }\n}\n\nfunction handleUnhandledError(error: any) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n captureError(error);\n } else {\n // Ideal path, we report this as an unhandled error,\n // which is thrown on a new call stack.\n reportUnhandledError(error);\n }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification, subscriber: Subscriber) {\n const { onStoppedNotification } = config;\n onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly> & { closed: true } = {\n closed: true,\n next: noop,\n error: defaultErrorHandler,\n complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n * map(i => range(i)),\n * mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity(x: T): T {\n return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe(fn1: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction, fn3: UnaryFunction): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction,\n ...fns: UnaryFunction[]\n): UnaryFunction;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on. \n */\nexport function pipe(...fns: Array>): UnaryFunction {\n return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray(fns: Array>): UnaryFunction {\n if (fns.length === 0) {\n return identity as UnaryFunction;\n }\n\n if (fns.length === 1) {\n return fns[0];\n }\n\n return function piped(input: T): R {\n return fns.reduce((prev: any, fn: UnaryFunction) => fn(prev), input as any);\n };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable\n */\nexport class Observable implements Subscribable {\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n source: Observable | undefined;\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n operator: Operator | undefined;\n\n /**\n * @constructor\n * @param {Function} subscribe the function that is called when the Observable is\n * initially subscribed to. This function is given a Subscriber, to which new values\n * can be `next`ed, or an `error` method can be called to raise an error, or\n * `complete` can be called to notify of a successful completion.\n */\n constructor(subscribe?: (this: Observable, subscriber: Subscriber) => TeardownLogic) {\n if (subscribe) {\n this._subscribe = subscribe;\n }\n }\n\n // HACK: Since TypeScript inherits static properties too, we have to\n // fight against TypeScript here so Subject can have a different static create signature\n /**\n * Creates a new Observable by calling the Observable constructor\n * @owner Observable\n * @method create\n * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n * @return {Observable} a new observable\n * @nocollapse\n * @deprecated Use `new Observable()` instead. Will be removed in v8.\n */\n static create: (...args: any[]) => any = (subscribe?: (subscriber: Subscriber) => TeardownLogic) => {\n return new Observable(subscribe);\n };\n\n /**\n * Creates a new Observable, with this Observable instance as the source, and the passed\n * operator defined as the new observable's operator.\n * @method lift\n * @param operator the operator defining the operation to take on the observable\n * @return a new observable with the Operator applied\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * If you have implemented an operator using `lift`, it is recommended that you create an\n * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n * scratch\" section here: https://rxjs.dev/guide/operators\n */\n lift(operator?: Operator): Observable {\n const observable = new Observable();\n observable.source = this;\n observable.operator = operator;\n return observable;\n }\n\n subscribe(observerOrNext?: Partial> | ((value: T) => void)): Subscription;\n /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n /**\n * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n *\n * Use it when you have all these Observables, but still nothing is happening.\n *\n * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n * might be for example a function that you passed to Observable's constructor, but most of the time it is\n * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n * the thought.\n *\n * Apart from starting the execution of an Observable, this method allows you to listen for values\n * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n * of the following ways.\n *\n * The first way is creating an object that implements {@link Observer} interface. It should have methods\n * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n * an `error` method to avoid missing thrown errors.\n *\n * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n *\n * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n * and you also handled emissions internally by using operators (e.g. using `tap`).\n *\n * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n *\n * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n * It is an Observable itself that decides when these functions will be called. For example {@link of}\n * by default emits all its values synchronously. Always check documentation for how given Observable\n * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n *\n * #### Examples\n *\n * Subscribe with an {@link guide/observer Observer}\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * const sumObserver = {\n * sum: 0,\n * next(value) {\n * console.log('Adding: ' + value);\n * this.sum = this.sum + value;\n * },\n * error() {\n * // We actually could just remove this method,\n * // since we do not really care about errors right now.\n * },\n * complete() {\n * console.log('Sum equals: ' + this.sum);\n * }\n * };\n *\n * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n * .subscribe(sumObserver);\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n *\n * ```ts\n * import { of } from 'rxjs'\n *\n * let sum = 0;\n *\n * of(1, 2, 3).subscribe(\n * value => {\n * console.log('Adding: ' + value);\n * sum = sum + value;\n * },\n * undefined,\n * () => console.log('Sum equals: ' + sum)\n * );\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Cancel a subscription\n *\n * ```ts\n * import { interval } from 'rxjs';\n *\n * const subscription = interval(1000).subscribe({\n * next(num) {\n * console.log(num)\n * },\n * complete() {\n * // Will not be called, even when cancelling subscription.\n * console.log('completed!');\n * }\n * });\n *\n * setTimeout(() => {\n * subscription.unsubscribe();\n * console.log('unsubscribed!');\n * }, 2500);\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 'unsubscribed!' after 2.5s\n * ```\n *\n * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n * Observable.\n * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n * the error will be thrown asynchronously as unhandled.\n * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n * @return {Subscription} a subscription reference to the registered handlers\n * @method subscribe\n */\n subscribe(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((error: any) => void) | null,\n complete?: (() => void) | null\n ): Subscription {\n const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n errorContext(() => {\n const { operator, source } = this;\n subscriber.add(\n operator\n ? // We're dealing with a subscription in the\n // operator chain to one of our lifted operators.\n operator.call(subscriber, source)\n : source\n ? // If `source` has a value, but `operator` does not, something that\n // had intimate knowledge of our API, like our `Subject`, must have\n // set it. We're going to just call `_subscribe` directly.\n this._subscribe(subscriber)\n : // In all other cases, we're likely wrapping a user-provided initializer\n // function, so we need to catch errors and handle them appropriately.\n this._trySubscribe(subscriber)\n );\n });\n\n return subscriber;\n }\n\n /** @internal */\n protected _trySubscribe(sink: Subscriber): TeardownLogic {\n try {\n return this._subscribe(sink);\n } catch (err) {\n // We don't need to return anything in this case,\n // because it's just going to try to `add()` to a subscription\n // above.\n sink.error(err);\n }\n }\n\n /**\n * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * #### Example\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(4));\n *\n * async function getTotal() {\n * let total = 0;\n *\n * await source$.forEach(value => {\n * total += value;\n * console.log('observable -> ' + value);\n * });\n *\n * return total;\n * }\n *\n * getTotal().then(\n * total => console.log('Total: ' + total)\n * );\n *\n * // Expected:\n * // 'observable -> 0'\n * // 'observable -> 1'\n * // 'observable -> 2'\n * // 'observable -> 3'\n * // 'Total: 6'\n * ```\n *\n * @param next a handler for each value emitted by the observable\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n */\n forEach(next: (value: T) => void): Promise;\n\n /**\n * @param next a handler for each value emitted by the observable\n * @param promiseCtor a constructor function used to instantiate the Promise\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n * @deprecated Passing a Promise constructor will no longer be available\n * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n * little benefit. If you need this functionality, it is recommended that you either\n * polyfill Promise, or you create an adapter to convert the returned native promise\n * to whatever promise implementation you wanted. Will be removed in v8.\n */\n forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise;\n\n forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n const subscriber = new SafeSubscriber({\n next: (value) => {\n try {\n next(value);\n } catch (err) {\n reject(err);\n subscriber.unsubscribe();\n }\n },\n error: reject,\n complete: resolve,\n });\n this.subscribe(subscriber);\n }) as Promise;\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): TeardownLogic {\n return this.source?.subscribe(subscriber);\n }\n\n /**\n * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n * @method Symbol.observable\n * @return {Observable} this instance of the observable\n */\n [Symbol_observable]() {\n return this;\n }\n\n /* tslint:disable:max-line-length */\n pipe(): Observable;\n pipe(op1: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction, op3: OperatorFunction): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction,\n ...operations: OperatorFunction[]\n ): Observable;\n /* tslint:enable:max-line-length */\n\n /**\n * Used to stitch together functional operators into a chain.\n * @method pipe\n * @return {Observable} the Observable result of all of the operators having\n * been called in the order they were passed in.\n *\n * ## Example\n *\n * ```ts\n * import { interval, filter, map, scan } from 'rxjs';\n *\n * interval(1000)\n * .pipe(\n * filter(x => x % 2 === 0),\n * map(x => x + x),\n * scan((acc, x) => acc + x)\n * )\n * .subscribe(x => console.log(x));\n * ```\n */\n pipe(...operations: OperatorFunction[]): Observable {\n return pipeFromArray(operations)(this);\n }\n\n /* tslint:disable:max-line-length */\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: typeof Promise): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: PromiseConstructorLike): Promise;\n /* tslint:enable:max-line-length */\n\n /**\n * Subscribe to this Observable and get a Promise resolving on\n * `complete` with the last emission (if any).\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * @method toPromise\n * @param [promiseCtor] a constructor function used to instantiate\n * the Promise\n * @return A Promise that resolves with the last value emit, or\n * rejects on an error. If there were no emissions, Promise\n * resolves with undefined.\n * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n */\n toPromise(promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n let value: T | undefined;\n this.subscribe(\n (x: T) => (value = x),\n (err: any) => reject(err),\n () => resolve(value)\n );\n }) as Promise;\n }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver(value: any): value is Observer {\n return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber(value: any): value is Subscriber {\n return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType['lift'] } {\n return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate(\n init: (liftedSource: Observable, subscriber: Subscriber) => (() => void) | void\n): OperatorFunction {\n return (source: Observable) => {\n if (hasLift(source)) {\n return source.lift(function (this: Subscriber, liftedSource: Observable) {\n try {\n return init(liftedSource, this);\n } catch (err) {\n this.error(err);\n }\n });\n }\n throw new TypeError('Unable to lift unknown Observable type');\n };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n onFinalize?: () => void\n): Subscriber {\n return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber extends Subscriber {\n /**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n */\n constructor(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n private onFinalize?: () => void,\n private shouldUnsubscribe?: () => boolean\n ) {\n // It's important - for performance reasons - that all of this class's\n // members are initialized and that they are always initialized in the same\n // order. This will ensure that all OperatorSubscriber instances have the\n // same hidden class in V8. This, in turn, will help keep the number of\n // hidden classes involved in property accesses within the base class as\n // low as possible. If the number of hidden classes involved exceeds four,\n // the property accesses will become megamorphic and performance penalties\n // will be incurred - i.e. inline caches won't be used.\n //\n // The reasons for ensuring all instances have the same hidden class are\n // further discussed in this blog post from Benedikt Meurer:\n // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n super(destination);\n this._next = onNext\n ? function (this: OperatorSubscriber, value: T) {\n try {\n onNext(value);\n } catch (err) {\n destination.error(err);\n }\n }\n : super._next;\n this._error = onError\n ? function (this: OperatorSubscriber, err: any) {\n try {\n onError(err);\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._error;\n this._complete = onComplete\n ? function (this: OperatorSubscriber) {\n try {\n onComplete();\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._complete;\n }\n\n unsubscribe() {\n if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n const { closed } = this;\n super.unsubscribe();\n // Execute additional teardown if we have any and we didn't already do so.\n !closed && this.onFinalize?.();\n }\n }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n schedule(callback: FrameRequestCallback): Subscription;\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n delegate:\n | {\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n }\n | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n schedule(callback) {\n let request = requestAnimationFrame;\n let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n const { delegate } = animationFrameProvider;\n if (delegate) {\n request = delegate.requestAnimationFrame;\n cancel = delegate.cancelAnimationFrame;\n }\n const handle = request((timestamp) => {\n // Clear the cancel function. The request has been fulfilled, so\n // attempting to cancel the request upon unsubscription would be\n // pointless.\n cancel = undefined;\n callback(timestamp);\n });\n return new Subscription(() => cancel?.(handle));\n },\n requestAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n },\n cancelAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n },\n delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n (_super) =>\n function ObjectUnsubscribedErrorImpl(this: any) {\n _super(this);\n this.name = 'ObjectUnsubscribedError';\n this.message = 'object unsubscribed';\n }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject extends Observable implements SubscriptionLike {\n closed = false;\n\n private currentObservers: Observer[] | null = null;\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n observers: Observer[] = [];\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n isStopped = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n hasError = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n thrownError: any = null;\n\n /**\n * Creates a \"subject\" by basically gluing an observer to an observable.\n *\n * @nocollapse\n * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n */\n static create: (...args: any[]) => any = (destination: Observer, source: Observable): AnonymousSubject => {\n return new AnonymousSubject(destination, source);\n };\n\n constructor() {\n // NOTE: This must be here to obscure Observable's constructor.\n super();\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n lift(operator: Operator): Observable {\n const subject = new AnonymousSubject(this, this);\n subject.operator = operator as any;\n return subject as any;\n }\n\n /** @internal */\n protected _throwIfClosed() {\n if (this.closed) {\n throw new ObjectUnsubscribedError();\n }\n }\n\n next(value: T) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n if (!this.currentObservers) {\n this.currentObservers = Array.from(this.observers);\n }\n for (const observer of this.currentObservers) {\n observer.next(value);\n }\n }\n });\n }\n\n error(err: any) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.hasError = this.isStopped = true;\n this.thrownError = err;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.error(err);\n }\n }\n });\n }\n\n complete() {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.isStopped = true;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.complete();\n }\n }\n });\n }\n\n unsubscribe() {\n this.isStopped = this.closed = true;\n this.observers = this.currentObservers = null!;\n }\n\n get observed() {\n return this.observers?.length > 0;\n }\n\n /** @internal */\n protected _trySubscribe(subscriber: Subscriber): TeardownLogic {\n this._throwIfClosed();\n return super._trySubscribe(subscriber);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._checkFinalizedStatuses(subscriber);\n return this._innerSubscribe(subscriber);\n }\n\n /** @internal */\n protected _innerSubscribe(subscriber: Subscriber) {\n const { hasError, isStopped, observers } = this;\n if (hasError || isStopped) {\n return EMPTY_SUBSCRIPTION;\n }\n this.currentObservers = null;\n observers.push(subscriber);\n return new Subscription(() => {\n this.currentObservers = null;\n arrRemove(observers, subscriber);\n });\n }\n\n /** @internal */\n protected _checkFinalizedStatuses(subscriber: Subscriber) {\n const { hasError, thrownError, isStopped } = this;\n if (hasError) {\n subscriber.error(thrownError);\n } else if (isStopped) {\n subscriber.complete();\n }\n }\n\n /**\n * Creates a new Observable with this Subject as the source. You can do this\n * to create custom Observer-side logic of the Subject and conceal it from\n * code that uses the Observable.\n * @return {Observable} Observable that the Subject casts to\n */\n asObservable(): Observable {\n const observable: any = new Observable();\n observable.source = this;\n return observable;\n }\n}\n\n/**\n * @class AnonymousSubject\n */\nexport class AnonymousSubject extends Subject {\n constructor(\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n public destination?: Observer,\n source?: Observable\n ) {\n super();\n this.source = source;\n }\n\n next(value: T) {\n this.destination?.next?.(value);\n }\n\n error(err: any) {\n this.destination?.error?.(err);\n }\n\n complete() {\n this.destination?.complete?.();\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n }\n}\n", "import { Subject } from './Subject';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\n\n/**\n * A variant of Subject that requires an initial value and emits its current\n * value whenever it is subscribed to.\n *\n * @class BehaviorSubject\n */\nexport class BehaviorSubject extends Subject {\n constructor(private _value: T) {\n super();\n }\n\n get value(): T {\n return this.getValue();\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n const subscription = super._subscribe(subscriber);\n !subscription.closed && subscriber.next(this._value);\n return subscription;\n }\n\n getValue(): T {\n const { hasError, thrownError, _value } = this;\n if (hasError) {\n throw thrownError;\n }\n this._throwIfClosed();\n return _value;\n }\n\n next(value: T): void {\n super.next((this._value = value));\n }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n now() {\n // Use the variable rather than `this` so that the function can be called\n // without being bound to the provider.\n return (dateTimestampProvider.delegate || Date).now();\n },\n delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject extends Subject {\n private _buffer: (T | number)[] = [];\n private _infiniteTimeWindow = true;\n\n /**\n * @param bufferSize The size of the buffer to replay on subscription\n * @param windowTime The amount of time the buffered items will stay buffered\n * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n * calculate the amount of time something has been buffered.\n */\n constructor(\n private _bufferSize = Infinity,\n private _windowTime = Infinity,\n private _timestampProvider: TimestampProvider = dateTimestampProvider\n ) {\n super();\n this._infiniteTimeWindow = _windowTime === Infinity;\n this._bufferSize = Math.max(1, _bufferSize);\n this._windowTime = Math.max(1, _windowTime);\n }\n\n next(value: T): void {\n const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n if (!isStopped) {\n _buffer.push(value);\n !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n }\n this._trimBuffer();\n super.next(value);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._trimBuffer();\n\n const subscription = this._innerSubscribe(subscriber);\n\n const { _infiniteTimeWindow, _buffer } = this;\n // We use a copy here, so reentrant code does not mutate our array while we're\n // emitting it to a new subscriber.\n const copy = _buffer.slice();\n for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n subscriber.next(copy[i] as T);\n }\n\n this._checkFinalizedStatuses(subscriber);\n\n return subscription;\n }\n\n private _trimBuffer() {\n const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n // If we don't have an infinite buffer size, and we're over the length,\n // use splice to truncate the old buffer values off. Note that we have to\n // double the size for instances where we're not using an infinite time window\n // because we're storing the values and the timestamps in the same array.\n const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n // Now, if we're not in an infinite time window, remove all values where the time is\n // older than what is allowed.\n if (!_infiniteTimeWindow) {\n const now = _timestampProvider.now();\n let last = 0;\n // Search the array for the first timestamp that isn't expired and\n // truncate the buffer up to that point.\n for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n last = i;\n }\n last && _buffer.splice(0, last + 1);\n }\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action extends Subscription {\n * new (scheduler: Scheduler, work: (state?: T) => void);\n * schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action\n */\nexport class Action extends Subscription {\n constructor(scheduler: Scheduler, work: (this: SchedulerAction, state?: T) => void) {\n super();\n }\n /**\n * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n * some context object, `state`. May happen at some point in the future,\n * according to the `delay` parameter, if specified.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler.\n * @return {void}\n */\n public schedule(state?: T, delay: number = 0): Subscription {\n return this;\n }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n delegate:\n | {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n }\n | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setInterval(handler: () => void, timeout?: number, ...args) {\n const { delegate } = intervalProvider;\n if (delegate?.setInterval) {\n return delegate.setInterval(handler, timeout, ...args);\n }\n return setInterval(handler, timeout, ...args);\n },\n clearInterval(handle) {\n const { delegate } = intervalProvider;\n return (delegate?.clearInterval || clearInterval)(handle as any);\n },\n delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction extends Action {\n public id: TimerHandle | undefined;\n public state?: T;\n // @ts-ignore: Property has no initializer and is not definitely assigned\n public delay: number;\n protected pending: boolean = false;\n\n constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n public schedule(state?: T, delay: number = 0): Subscription {\n if (this.closed) {\n return this;\n }\n\n // Always replace the current state with the new state.\n this.state = state;\n\n const id = this.id;\n const scheduler = this.scheduler;\n\n //\n // Important implementation note:\n //\n // Actions only execute once by default, unless rescheduled from within the\n // scheduled callback. This allows us to implement single and repeat\n // actions via the same code path, without adding API surface area, as well\n // as mimic traditional recursion but across asynchronous boundaries.\n //\n // However, JS runtimes and timers distinguish between intervals achieved by\n // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n // serial `setTimeout` calls can be individually delayed, which delays\n // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n // guarantee the interval callback will be invoked more precisely to the\n // interval period, regardless of load.\n //\n // Therefore, we use `setInterval` to schedule single and repeat actions.\n // If the action reschedules itself with the same delay, the interval is not\n // canceled. If the action doesn't reschedule, or reschedules with a\n // different delay, the interval will be canceled after scheduled callback\n // execution.\n //\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, delay);\n }\n\n // Set the pending flag indicating that this action has been scheduled, or\n // has recursively rescheduled itself.\n this.pending = true;\n\n this.delay = delay;\n // If this action has already an async Id, don't request a new one.\n this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n return this;\n }\n\n protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n }\n\n protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n // If this action is rescheduled with the same delay time, don't clear the interval id.\n if (delay != null && this.delay === delay && this.pending === false) {\n return id;\n }\n // Otherwise, if the action's delay time is different from the current delay,\n // or the action has been rescheduled before it's executed, clear the interval id\n if (id != null) {\n intervalProvider.clearInterval(id);\n }\n\n return undefined;\n }\n\n /**\n * Immediately executes this action and the `work` it contains.\n * @return {any}\n */\n public execute(state: T, delay: number): any {\n if (this.closed) {\n return new Error('executing a cancelled action');\n }\n\n this.pending = false;\n const error = this._execute(state, delay);\n if (error) {\n return error;\n } else if (this.pending === false && this.id != null) {\n // Dequeue if the action didn't reschedule itself. Don't call\n // unsubscribe(), because the action could reschedule later.\n // For example:\n // ```\n // scheduler.schedule(function doWork(counter) {\n // /* ... I'm a busy worker bee ... */\n // var originalAction = this;\n // /* wait 100ms before rescheduling the action */\n // setTimeout(function () {\n // originalAction.schedule(counter + 1);\n // }, 100);\n // }, 1000);\n // ```\n this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n }\n }\n\n protected _execute(state: T, _delay: number): any {\n let errored: boolean = false;\n let errorValue: any;\n try {\n this.work(state);\n } catch (e) {\n errored = true;\n // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n // return here, we can't have it return \"\" or 0 or false.\n // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n errorValue = e ? e : new Error('Scheduled action threw falsy error');\n }\n if (errored) {\n this.unsubscribe();\n return errorValue;\n }\n }\n\n unsubscribe() {\n if (!this.closed) {\n const { id, scheduler } = this;\n const { actions } = scheduler;\n\n this.work = this.state = this.scheduler = null!;\n this.pending = false;\n\n arrRemove(actions, this);\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, null);\n }\n\n this.delay = null!;\n super.unsubscribe();\n }\n }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n * now(): number;\n * schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n public static now: () => number = dateTimestampProvider.now;\n\n constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n this.now = now;\n }\n\n /**\n * A getter method that returns a number representing the current time\n * (at the time this function was called) according to the scheduler's own\n * internal clock.\n * @return {number} A number that represents the current time. May or may not\n * have a relation to wall-clock time. May or may not refer to a time unit\n * (e.g. milliseconds).\n */\n public now: () => number;\n\n /**\n * Schedules a function, `work`, for execution. May happen at some point in\n * the future, according to the `delay` parameter, if specified. May be passed\n * some context object, `state`, which will be passed to the `work` function.\n *\n * The given arguments will be processed an stored as an Action object in a\n * queue of actions.\n *\n * @param {function(state: ?T): ?Subscription} work A function representing a\n * task, or some unit of work to be executed by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler itself.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @return {Subscription} A subscription in order to be able to unsubscribe\n * the scheduled work.\n */\n public schedule(work: (this: SchedulerAction, state?: T) => void, delay: number = 0, state?: T): Subscription {\n return new this.schedulerActionCtor(this, work).schedule(state, delay);\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n public actions: Array> = [];\n /**\n * A flag to indicate whether the Scheduler is currently executing a batch of\n * queued actions.\n * @type {boolean}\n * @internal\n */\n public _active: boolean = false;\n /**\n * An internal ID used to track the latest asynchronous task such as those\n * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n * others.\n * @type {any}\n * @internal\n */\n public _scheduled: TimerHandle | undefined;\n\n constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n super(SchedulerAction, now);\n }\n\n public flush(action: AsyncAction): void {\n const { actions } = this;\n\n if (this._active) {\n actions.push(action);\n return;\n }\n\n let error: any;\n this._active = true;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n this._active = false;\n\n if (error) {\n while ((action = actions.shift()!)) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * Schedule task as if you used setTimeout(task, duration)\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n * console.log(state);\n * this.schedule(state + 1, 1000); // `this` references currently executing Action,\n * // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { Subscription } from '../Subscription';\nimport { QueueScheduler } from './QueueScheduler';\nimport { SchedulerAction } from '../types';\nimport { TimerHandle } from './timerHandle';\n\nexport class QueueAction extends AsyncAction {\n constructor(protected scheduler: QueueScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n public schedule(state?: T, delay: number = 0): Subscription {\n if (delay > 0) {\n return super.schedule(state, delay);\n }\n this.delay = delay;\n this.state = state;\n this.scheduler.flush(this);\n return this;\n }\n\n public execute(state: T, delay: number): any {\n return delay > 0 || this.closed ? super.execute(state, delay) : this._execute(state, delay);\n }\n\n protected requestAsyncId(scheduler: QueueScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n // If delay exists and is greater than 0, or if the delay is null (the\n // action wasn't rescheduled) but was originally scheduled as an async\n // action, then recycle as an async action.\n\n if ((delay != null && delay > 0) || (delay == null && this.delay > 0)) {\n return super.requestAsyncId(scheduler, id, delay);\n }\n\n // Otherwise flush the scheduler starting with this action.\n scheduler.flush(this);\n\n // HACK: In the past, this was returning `void`. However, `void` isn't a valid\n // `TimerHandle`, and generally the return value here isn't really used. So the\n // compromise is to return `0` which is both \"falsy\" and a valid `TimerHandle`,\n // as opposed to refactoring every other instanceo of `requestAsyncId`.\n return 0;\n }\n}\n", "import { AsyncScheduler } from './AsyncScheduler';\n\nexport class QueueScheduler extends AsyncScheduler {\n}\n", "import { QueueAction } from './QueueAction';\nimport { QueueScheduler } from './QueueScheduler';\n\n/**\n *\n * Queue Scheduler\n *\n * Put every next task on a queue, instead of executing it immediately\n *\n * `queue` scheduler, when used with delay, behaves the same as {@link asyncScheduler} scheduler.\n *\n * When used without delay, it schedules given task synchronously - executes it right when\n * it is scheduled. However when called recursively, that is when inside the scheduled task,\n * another task is scheduled with queue scheduler, instead of executing immediately as well,\n * that task will be put on a queue and wait for current one to finish.\n *\n * This means that when you execute task with `queue` scheduler, you are sure it will end\n * before any other task scheduled with that scheduler will start.\n *\n * ## Examples\n * Schedule recursively first, then do something\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(() => {\n * queueScheduler.schedule(() => console.log('second')); // will not happen now, but will be put on a queue\n *\n * console.log('first');\n * });\n *\n * // Logs:\n * // \"first\"\n * // \"second\"\n * ```\n *\n * Reschedule itself recursively\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(function(state) {\n * if (state !== 0) {\n * console.log('before', state);\n * this.schedule(state - 1); // `this` references currently executing Action,\n * // which we reschedule with new state\n * console.log('after', state);\n * }\n * }, 0, 3);\n *\n * // In scheduler that runs recursively, you would expect:\n * // \"before\", 3\n * // \"before\", 2\n * // \"before\", 1\n * // \"after\", 1\n * // \"after\", 2\n * // \"after\", 3\n *\n * // But with queue it logs:\n * // \"before\", 3\n * // \"after\", 3\n * // \"before\", 2\n * // \"after\", 2\n * // \"before\", 1\n * // \"after\", 1\n * ```\n */\n\nexport const queueScheduler = new QueueScheduler(QueueAction);\n\n/**\n * @deprecated Renamed to {@link queueScheduler}. Will be removed in v8.\n */\nexport const queue = queueScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction extends AsyncAction {\n constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n // If delay is greater than 0, request as an async action.\n if (delay !== null && delay > 0) {\n return super.requestAsyncId(scheduler, id, delay);\n }\n // Push the action to the end of the scheduler queue.\n scheduler.actions.push(this);\n // If an animation frame has already been requested, don't request another\n // one. If an animation frame hasn't been requested yet, request one. Return\n // the current animation frame request id.\n return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n }\n\n protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n // If delay exists and is greater than 0, or if the delay is null (the\n // action wasn't rescheduled) but was originally scheduled as an async\n // action, then recycle as an async action.\n if (delay != null ? delay > 0 : this.delay > 0) {\n return super.recycleAsyncId(scheduler, id, delay);\n }\n // If the scheduler queue has no remaining actions with the same async id,\n // cancel the requested animation frame and set the scheduled flag to\n // undefined so the next AnimationFrameAction will request its own.\n const { actions } = scheduler;\n if (id != null && actions[actions.length - 1]?.id !== id) {\n animationFrameProvider.cancelAnimationFrame(id as number);\n scheduler._scheduled = undefined;\n }\n // Return undefined so the action knows to request a new async id if it's rescheduled.\n return undefined;\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n public flush(action?: AsyncAction): void {\n this._active = true;\n // The async id that effects a call to flush is stored in _scheduled.\n // Before executing an action, it's necessary to check the action's async\n // id to determine whether it's supposed to be executed in the current\n // flush.\n // Previous implementations of this method used a count to determine this,\n // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n // are removed from the actions array and that can shift actions that are\n // scheduled to be executed in a subsequent flush into positions at which\n // they are executed within the current flush.\n const flushId = this._scheduled;\n this._scheduled = undefined;\n\n const { actions } = this;\n let error: any;\n action = action || actions.shift()!;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n this._active = false;\n\n if (error) {\n while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * Perform task when `window.requestAnimationFrame` would fire\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html:
\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n * div.style.height = height + \"px\";\n *\n * this.schedule(height + 1); // `this` references currently executing Action,\n * // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * Just emits 'complete', and nothing else.\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n * next: () => console.log('Next'),\n * complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n * mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n return new Observable((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last(arr: T[]): T | undefined {\n return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = ((x: any): x is ArrayLike => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike {\n return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable {\n return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable(obj: any): obj is AsyncIterable {\n return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n // TODO: We should create error codes that can be looked up, so this can be less verbose.\n return new TypeError(\n `You provided ${\n input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n );\n}\n", "export function getSymbolIterator(): symbol {\n if (typeof Symbol !== 'function' || !Symbol.iterator) {\n return '@@iterator' as any;\n }\n\n return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable {\n return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator(readableStream: ReadableStreamLike): AsyncGenerator {\n const reader = readableStream.getReader();\n try {\n while (true) {\n const { value, done } = await reader.read();\n if (done) {\n return;\n }\n yield value!;\n }\n } finally {\n reader.releaseLock();\n }\n}\n\nexport function isReadableStreamLike(obj: any): obj is ReadableStreamLike {\n // We don't want to use instanceof checks because they would return\n // false for instances from another Realm, like an