From d5cbe10c0e2298b0e40161607a3da158249bdb82 Mon Sep 17 00:00:00 2001 From: "Matthias P. Braendli" Date: Tue, 4 Dec 2018 10:18:33 +0100 Subject: Move python stuff to folder --- python/dpd/README.md | 264 + python/dpd/apply_adapt_dumps.py | 75 + python/dpd/dpd.ini | 60 + python/dpd/img/setup_diagram.svg | 395 + python/dpd/img/setup_photo.svg | 184 + python/dpd/img/shoulder_measurement_after.png | Bin 0 -> 368619 bytes python/dpd/img/shoulder_measurement_before.png | Bin 0 -> 381174 bytes python/dpd/iq_file_server.py | 120 + python/dpd/lut.coef | 64 + python/dpd/main.py | 338 + python/dpd/poly.coef | 12 + python/dpd/show_spectrum.py | 276 + python/dpd/src/Adapt.py | 286 + python/dpd/src/Dab_Util.py | 246 + python/dpd/src/ExtractStatistic.py | 196 + python/dpd/src/GlobalConfig.py | 108 + python/dpd/src/Heuristics.py | 56 + python/dpd/src/MER.py | 132 + python/dpd/src/Measure.py | 136 + python/dpd/src/Measure_Shoulders.py | 158 + python/dpd/src/Model.py | 32 + python/dpd/src/Model_AM.py | 122 + python/dpd/src/Model_Lut.py | 60 + python/dpd/src/Model_PM.py | 124 + python/dpd/src/Model_Poly.py | 101 + python/dpd/src/RX_Agc.py | 166 + python/dpd/src/Symbol_align.py | 193 + python/dpd/src/TX_Agc.py | 131 + python/dpd/src/__init__.py | 0 python/dpd/src/phase_align.py | 98 + python/dpd/src/subsample_align.py | 111 + python/dpd/store_received.py | 85 + python/gui/README.md | 45 + python/gui/api/__init__.py | 132 + python/gui/configuration.py | 44 + python/gui/dpd/Align.py | 166 + python/gui/dpd/Capture.py | 253 + python/gui/dpd/__init__.py | 93 + python/gui/logs/.keep | 0 python/gui/run.py | 166 + python/gui/static/css/bootstrap.min.css | 5 + python/gui/static/css/jquery.gritter.css | 100 + python/gui/static/dpd/index.txt | 1 + python/gui/static/fonts/accept.png | Bin 0 -> 1202 bytes python/gui/static/fonts/favicon.ico | Bin 0 -> 318 bytes .../static/fonts/glyphicons-halflings-regular.eot | Bin 0 -> 20127 bytes .../static/fonts/glyphicons-halflings-regular.svg | 288 + .../static/fonts/glyphicons-halflings-regular.ttf | Bin 0 -> 45404 bytes 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python/gui/ui-config.json | 9 + python/gui/zmqrc.py | 84 + 70 files changed, 16078 insertions(+) create mode 100644 python/dpd/README.md create mode 100755 python/dpd/apply_adapt_dumps.py create mode 100644 python/dpd/dpd.ini create mode 100644 python/dpd/img/setup_diagram.svg create mode 100644 python/dpd/img/setup_photo.svg create mode 100644 python/dpd/img/shoulder_measurement_after.png create mode 100644 python/dpd/img/shoulder_measurement_before.png create mode 100755 python/dpd/iq_file_server.py create mode 100644 python/dpd/lut.coef create mode 100755 python/dpd/main.py create mode 100644 python/dpd/poly.coef create mode 100755 python/dpd/show_spectrum.py create mode 100644 python/dpd/src/Adapt.py create mode 100644 python/dpd/src/Dab_Util.py create mode 100644 python/dpd/src/ExtractStatistic.py create mode 100644 python/dpd/src/GlobalConfig.py create mode 100644 python/dpd/src/Heuristics.py create mode 100644 python/dpd/src/MER.py create mode 100644 python/dpd/src/Measure.py create mode 100644 python/dpd/src/Measure_Shoulders.py create mode 100644 python/dpd/src/Model.py create mode 100644 python/dpd/src/Model_AM.py create mode 100644 python/dpd/src/Model_Lut.py create mode 100644 python/dpd/src/Model_PM.py create mode 100644 python/dpd/src/Model_Poly.py create mode 100644 python/dpd/src/RX_Agc.py create mode 100644 python/dpd/src/Symbol_align.py create mode 100644 python/dpd/src/TX_Agc.py create mode 100644 python/dpd/src/__init__.py create mode 100644 python/dpd/src/phase_align.py create mode 100755 python/dpd/src/subsample_align.py create mode 100755 python/dpd/store_received.py create mode 100644 python/gui/README.md create mode 100755 python/gui/api/__init__.py create mode 100644 python/gui/configuration.py create mode 100644 python/gui/dpd/Align.py create mode 100644 python/gui/dpd/Capture.py create mode 100644 python/gui/dpd/__init__.py create mode 100644 python/gui/logs/.keep create mode 100755 python/gui/run.py create mode 100644 python/gui/static/css/bootstrap.min.css create mode 100755 python/gui/static/css/jquery.gritter.css create mode 100644 python/gui/static/dpd/index.txt create mode 100644 python/gui/static/fonts/accept.png create mode 100644 python/gui/static/fonts/favicon.ico create mode 100644 python/gui/static/fonts/glyphicons-halflings-regular.eot create mode 100644 python/gui/static/fonts/glyphicons-halflings-regular.svg create mode 100644 python/gui/static/fonts/glyphicons-halflings-regular.ttf create mode 100644 python/gui/static/fonts/glyphicons-halflings-regular.woff create mode 100644 python/gui/static/fonts/glyphicons-halflings-regular.woff2 create mode 100644 python/gui/static/fonts/gritter-light.png create mode 100644 python/gui/static/fonts/gritter.png create mode 100644 python/gui/static/fonts/ie-spacer.gif create mode 100644 python/gui/static/fonts/warning.png create mode 100644 python/gui/static/js/bootstrap.min.js create mode 100644 python/gui/static/js/jquery.gritter.js create mode 100644 python/gui/static/js/jquery.js create mode 100644 python/gui/static/js/odr-modulator.js create mode 100644 python/gui/static/js/odr-predistortion.js create mode 100644 python/gui/static/js/odr-rcvalues.js create mode 100644 python/gui/static/js/odr.js create mode 100644 python/gui/templates/about.html create mode 100644 python/gui/templates/body-nav.html create mode 100644 python/gui/templates/head.html create mode 100644 python/gui/templates/home.html create mode 100644 python/gui/templates/modulator.html create mode 100644 python/gui/templates/predistortion.html create mode 100644 python/gui/templates/rcvalues.html create mode 100644 python/gui/ui-config.json create mode 100644 python/gui/zmqrc.py (limited to 'python') diff --git a/python/dpd/README.md b/python/dpd/README.md new file mode 100644 index 0000000..307a2f5 --- /dev/null +++ b/python/dpd/README.md @@ -0,0 +1,264 @@ +Digital Predistortion Computation Engine for ODR-DabMod +======================================================= + +This folder contains a digital predistortion prototype. +It was only tested in a laboratory system, and is not ready +for production usage. + +Concept +------- + +ODR-DabMod makes outgoing TX samples and feedback RX samples available to an +external tool. This external tool can request a buffer of samples for analysis, +can calculate coefficients for the predistorter in ODR-DabMod and load the new +coefficients using the remote control. + +The external tool is called the Digital Predistortion Computation Engine (DPDCE). +The DPDCE is written in python, and makes use of the numpy library for +efficient computation. Its sources reside in the *dpd* folder. + +The predistorter in ODR-DabMod supports two modes: polynomial and lookup table. +In the DPDCE, only the polynomial model is implemented at the moment. + +The *dpd/main.py* script is the entry point for the *DPD Computation Engine* +into which these features will be implemented. The tool uses modules from the +*dpd/src/* folder: + +- Sample transfer and time alignment with subsample accuracy is done by *Measure.py* +- Estimating the effects of the PA using some model and calculation of the updated + polynomial coefficients is done in *Model.py* and other specific *Model_XXX.py* files +- Finally, *Adapt.py* updates the ODR-DabMod predistortion setting and digital gain + +These modules themselves use additional helper scripts in the *dpd/src/* folder. + +Requirements +------------ + +- USRP B200. +- Power amplifier. +- A feedback connection from the power amplifier output, such that the average power level at + the USRP RX port is at -45dBm or lower. + Usually this is done with a directional coupler and additional attenuators. +- ODR-DabMod with enabled *dpd_port*, and with a samplerate of 8192000 samples per second. +- Synchronous=1 so that the USRP has the timestamping set properly, internal refclk and pps + are sufficient (not GPSDO necessary). +- A live mux source with TIST enabled. + +See dpd/dpd.ini for an example. + +The DPD server port can be tested with the *dpd/show_spectrum.py* helper tool, which can also display +a constellation diagram. + +Hardware Setup +-------------- + +![setup diagram](img/setup_diagram.svg) +![setup photo](img/setup_photo.svg) + +Our setup is depicted in the Figure above. We used components with the following properties: + 1. USRP TX (max +20dBm) + 2. Band III Filter (Mini-Circuits RBP-220W+, 190-250MHz, -3.5dB) + 3. Power amplifier (Mini-Circuits, max +15dBm output, +10 dB gain at 200MHz) + 4. Directional coupler (approx. -25dB @ 223MHz) + 5. Attenuator (-20 dB) + 6. Attenuator (-30 dB) + 7. USRP RX (max -15dBm input allowed, max -45dBm desired) + 8. Spectrum analyzer (max +30dBm allowed) + +It is important to make sure that the USRP RX port does not receive too much +power. Otherwise the USRP will break. Here is an example of how we calculated +the maximal USRP RX input power for our case. As this is only a rough +calculation to protect the port, the predistortion software will later +automatically apply a normalization for the RX input by adapting the USRP RX +gain. + + TX Power + PA Gain - Coupling Factor - Attenuation = 20dBm + 10dB -25dB -50dB = -45dBm + +Thus we have a margin of about 30dB for the input power of the USRP RX port. +Keep in mind we need to calculate using peak power, not average power, and it is +essential that there is no nonlinearity in the RX path! + +Software Setup +-------------- + +We assume that you already installed *ODR-DabMux* and *ODR-DabMod*. +You should install the required python dependencies for the DPDCE using +distribution packages. You will need at least scipy, matplotlib and +python-zeromq. + +Use the predistortion +---------------------- + +Make sure you have a ODR-DabMux running with a TCP output on port 9200. + +Then run the modulator, with the example dpd configuration file. + +``` +./odr-dabmod dpd/dpd.ini +``` + +This configuration file is different from usual defaults in several respects: + + * logging to /tmp/dabmod.log + * 4x oversampling: 8192000 sample rate + * a very small digital gain, which will be overridden by the DPDCE + * predistorter enabled + +The TX gain should be chosen so that you can drive your amplifier into +saturation with a digital gain of 0.1, so that there is margin for the DPD to +operate. + +You should *not modify txgain, rxgain, digital gain or coefficient settings manually!* +When the DPDCE is used, it controls these settings, and there are command line +options for you to define initial values. + +To verify that the communication between the DPDCE and ODR-DabMod is ok, +you can use the status and reset options: + +``` +cd dpd +python main.py --status +python main.py --reset +``` + +The reset option sets all DPD-related settings to the defaults (as shown in the +`--help` usage screen) and stops. + +When neither `--status` nor `--reset` is given, the DPDCE will run the predistortion +algorithm. As a first test you should run the DPDCE with the `--plot` +parameter. It preserves the output power and generates all available +visualisation plots in the newly created logging directory +`/tmp/dpd_`. As the predistortion should increase the peak to +shoulder ratio, you should select a *txgain* in the ODR-DabMod configuration +file such that the initial peak-to-soulder ratio visible on your spectrum +analyser. This way, you will be able to see a the +change. + +``` +cd dpd +python main.py --plot +``` + +The DPDCE now does 10 iterations, and tries to improve the predistortion effectiveness. +In each step the learning rate is decreased. The learning rate is the factor +with which new coefficients are weighted in a weighted mean with the old +coefficients. Moreover the nuber of measurements increases in each iteration. +You find more information about that in *Heuristic.py*. + +Each plot is stored to the logging directory under a filename containing its +time stamp and its label. Following plots are generated chronologically: + + - ExtractStatistic: Extracted information from one or multiple measurements. + - Model\_AM: Fitted function for the amplitudes of the power amplifier against the TX amplitude. + - Model\_PM: Fitted function for the phase difference of the power amplifier against the TX amplitude. + - adapt.pkl: Contains all settings for the predistortion. + You can load them again without doing measurements with the `apply_adapt_dumps.py` script. + - MER: Constellation diagram used to calculate the modulation error rate. + +After the run you should be able to observe that the peak-to-shoulder +difference has increased on your spectrum analyzer, similar to the figure below. + +Without digital predistortion: + +![shoulder_measurement_before](img/shoulder_measurement_before.png) + +With digital predistortion, computed by the DPDCE: + +![shoulder_measurement_after](img/shoulder_measurement_after.png) + +Now see what happens if you apply the predistortions for different TX gains. +You can either set the TX gain before you start the predistortion or using the +command line option `--txgain gain`. You can also try to adjust other +parameters. To see their documentation run `python main.py --help`. + +File format for coefficients +---------------------------- +The coef file contains the polynomial coefficients used in the predistorter. +The file format is very similar to the filtertaps file used in the FIR filter. +It is a text-based format that can easily be inspected and edited in a text +editor. + +The first line contains an integer that defines the predistorter to be used: +1 for polynomial, 2 for lookup table. + +For the polynomial, the subsequent line contains the number of coefficients +as an integer. The second and third lines contain the real, respectively the +imaginary parts of the first coefficient. Fourth and fifth lines give the +second coefficient, and so on. The file therefore contains 1 + 1 + 2xN lines if +it contains N coefficients. + +For the lookup table, the subsequent line contains a float scalefactor that is +applied to the samples in order to bring them into the range of 32-bit unsigned +integer. Then, the next pair of lines contains real and imaginary part of the first +lookup-table entry, which is multiplied to samples in first range. Then it's +followed by 31 other pairs. The entries are complex values close to 1 + 0j. +The file therefore contains 1 + 1 + 2xN lines if it contains N coefficients. + +TODO +---- + + - Understand and fix occasional ODR-DabMod crashes when using DPDCE. + - Make the predistortion more robust. At the moment the shoulders sometimes + increase instead of decrease after applying newly calculated predistortion + parameters. Can this behaviour be predicted from the measurement? This would + make it possible to filter out bad predistortion settings. + - Find a better measurement for the quality of the predistortion. The USRP + might not be good enough to measure large peak-to-shoulder ratios, because + the ADC has 12 bits and DAB signals have a large crest factor. + - Implement a Volterra polynomial to model the PA. Compared to the current + model this would also capture the time dependent behaviour of the PA (memory + effects). + - Continuously observe DAB signal in frequency domain and make sure the power + stays the same. At the moment only the power in the time domain is kept the + same. + - At the moment we assume that the USRP RX gain has to be larger than 30dB and + the received signal should have a median absolute value of 0.05 in order to + have a high quality quantization. Do measurements to support or improve + this heuristic. + - Check if we need to measure MER differently (average over more symbols?) + - Is -45dBm the best RX feedback power level? + +REFERENCES +---------- + +Some papers: + +The paper Raich, Qian, Zhou, "Orthogonal Polynomials for Power Amplifier +Modeling and Predistorter Design" proposes other base polynomials that have +less numerical instability. + +Aladrén, Garcia, Carro, de Mingo, and Sanchez-Perez, "Digital Predistortion +Based on Zernike Polynomial Functions for RF Nonlinear Power Amplifiers". + +Jiang and Wilford, "Digital predistortion for power amplifiers using separable functions" + +Changsoo Eun and Edward J. Powers, "A New Volterra Predistorter Based on the Indirect Learning Architecture" + +Raviv Raich, Hua Qian, and G. Tong Zhou, "Orthogonal Polynomials for Power Amplifier Modeling and Predistorter Design" + + +Models without memory: + +Complex polynomial: y[i] = a1 x[i] + a2 x[i]^2 + a3 x[i]^3 + ... + +The complex polynomial corresponds to the input/output relationship that +applies to the PA in passband (real-valued signal). According to several +sources, this gets transformed to another representation if we consider complex +baseband instead. In the following, all variables are complex. + +Odd-order baseband: y[i] = (b1 + b2 abs(x[i])^2 + b3 abs(x[i])^4) + ...) x[i] + +Complete baseband: y[i] = (b1 + b2 abs(x[i]) + b3 abs(x[i])^2) + ...) x[i] + +with + b_k = 2^{1-k} \binom{k}{(k-1)/2} a_k + + +Models with memory: + + - Hammerstein model: Nonlinearity followed by LTI filter + - Wiener model: LTI filter followed by NL + - Parallel Wiener: input goes to N delays, each delay goes to a NL, all NL outputs summed. + +Taken from slide 36 of [ECE218C Lecture 15](http://www.ece.ucsb.edu/Faculty/rodwell/Classes/ece218c/notes/Lecture15_Digital%20Predistortion_and_Future%20Challenges.pdf) + diff --git a/python/dpd/apply_adapt_dumps.py b/python/dpd/apply_adapt_dumps.py new file mode 100755 index 0000000..20bc013 --- /dev/null +++ b/python/dpd/apply_adapt_dumps.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, apply stored configuration. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import glob +import logging + +dt = datetime.datetime.now().isoformat() +logging.basicConfig(format='%(asctime)s - %(module)s - %(levelname)s - %(message)s', + datefmt='%Y-%m-%d %H:%M:%S', + level=logging.DEBUG) + +import src.Adapt as Adapt +import argparse + +parser = argparse.ArgumentParser( + description="Load pkl dumps DPD settings into ODR-DabMod") +parser.add_argument('--port', default=50055, type=int, + help='port of DPD server to connect to (default: 50055)', + required=False) +parser.add_argument('--rc-port', default=9400, type=int, + help='port of ODR-DabMod ZMQ Remote Control to connect to (default: 9400)', + required=False) +parser.add_argument('--coefs', default='poly.coef', + help='File with DPD coefficients, which will be read by ODR-DabMod', + required=False) +parser.add_argument('file', help='File to read the DPD settings from') + +cli_args = parser.parse_args() + +port = cli_args.port +port_rc = cli_args.rc_port +coef_path = cli_args.coefs +filename = cli_args.file + +# No need to initialise a GlobalConfig since adapt only needs this one field +class DummyConfig: + def __init__(self): + self.plot_location = None + +c = DummyConfig() + +adapt = Adapt.Adapt(c, port_rc, coef_path) + +print("Loading and applying DPD settings from {}".format(filename)) +adapt.load(filename) + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/dpd.ini b/python/dpd/dpd.ini new file mode 100644 index 0000000..31d6140 --- /dev/null +++ b/python/dpd/dpd.ini @@ -0,0 +1,60 @@ +[remotecontrol] +telnet=1 +telnetport=2121 +zmqctrl=1 +zmqctrlendpoint=tcp://127.0.0.1:9400 + +[log] +syslog=0 +filelog=1 +filename=/tmp/dabmod.log + +[input] +transport=tcp +source=localhost:9200 + +[modulator] +gainmode=var +rate=8192000 + +# keep in mind that the DPDCE will set the digital gain through the RC! +digital_gain=0.001 + +[firfilter] +enabled=1 + +[poly] +enabled=1 +polycoeffile=dpd/poly.coef + +# How many threads to use for the predistorter. +# If not set, detect automatically. +#num_threads=2 + +[output] +# to prepare a file for the dpd/iq_file_server.py script, +# use output=file +output=uhd + +[fileoutput] +filename=dpd.iq + +[uhdoutput] +device= +master_clock_rate=32768000 +type=b200 +txgain=80 +channel=13C +refclk_source=internal +pps_source=none +behaviour_refclk_lock_lost=ignore +max_gps_holdover_time=600 +dpd_port=50055 +rxgain=15 + +[delaymanagement] +; Use synchronous=1 so that the USRP time is set. This works +; even in the absence of a reference clk and PPS +synchronous=1 +mutenotimestamps=1 +offset=4.0 diff --git a/python/dpd/img/setup_diagram.svg b/python/dpd/img/setup_diagram.svg new file mode 100644 index 0000000..423ee1e --- /dev/null +++ b/python/dpd/img/setup_diagram.svg @@ -0,0 +1,395 @@ + + + + + + image/svg+xml + + + + + + + + + + + + + + ① USRP TX + + + ① USRP TX + + + + + + + + + + ② Filter + + + ② Filter + + + + + + + + + + ③ PA + + + ③ PA + + + + + + + ④ Dir. Coupler + + + ④ Dir. Coupler + + + + + + + + + + + + + + + + ⑤,⑥ Attenuators + + + ⑤,⑥Attenuators + + + + + + + + ⑦ USRP RX + + + ⑦ USRP RX + + + + + + + + + ⑧ Spectrum Analyzer + + + ⑧ Spectrum Analyzer + + + + diff --git a/python/dpd/img/setup_photo.svg b/python/dpd/img/setup_photo.svg new file mode 100644 index 0000000..a401fda --- /dev/null +++ b/python/dpd/img/setup_photo.svg @@ -0,0 +1,184 @@ + + + + + + + + image/svg+xml + + + + + + + + + ① + ② + + + ③ + ④ + ⑤⑥ + ⑦ + ⑧ + diff --git a/python/dpd/img/shoulder_measurement_after.png b/python/dpd/img/shoulder_measurement_after.png new file mode 100644 index 0000000..2631256 Binary files /dev/null and b/python/dpd/img/shoulder_measurement_after.png differ diff --git a/python/dpd/img/shoulder_measurement_before.png b/python/dpd/img/shoulder_measurement_before.png new file mode 100644 index 0000000..3581a72 Binary files /dev/null and b/python/dpd/img/shoulder_measurement_before.png differ diff --git a/python/dpd/iq_file_server.py b/python/dpd/iq_file_server.py new file mode 100755 index 0000000..7a4e570 --- /dev/null +++ b/python/dpd/iq_file_server.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# This example server simulates the ODR-DabMod's +# DPD server, taking samples from an IQ file +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import sys +import socket +import struct +import argparse +import numpy as np +from datetime import datetime + +SIZEOF_SAMPLE = 8 # complex floats +# Constants for TM 1 +NbSymbols = 76 +NbCarriers = 1536 +Spacing = 2048 +NullSize = 2656 +SymSize = 2552 +FicSizeOut = 288 +FrameSize = NullSize + NbSymbols*SymSize + +def main(): + parser = argparse.ArgumentParser(description="Simulate ODR-DabMod DPD server") + parser.add_argument('--port', default='50055', + help='port to listen on (default: 50055)', + required=False) + parser.add_argument('--file', help='I/Q File to read from (complex floats)', + required=True) + parser.add_argument('--samplerate', default='8192000', help='Sample rate', + required=False) + + cli_args = parser.parse_args() + + serve_file(cli_args) + +def recv_exact(sock, num_bytes): + bufs = [] + while num_bytes > 0: + b = sock.recv(num_bytes) + if len(b) == 0: + break + num_bytes -= len(b) + bufs.append(b) + return b''.join(bufs) + +def serve_file(options): + oversampling = int(int(options.samplerate) / 2048000) + consumesamples = 8*FrameSize * oversampling + iq_data = np.fromfile(options.file, count=consumesamples, dtype=np.complex64) + + print("Loaded {} samples of IQ data".format(len(iq_data))) + + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + s.bind(('localhost', int(options.port))) + s.listen() + + try: + while True: + sock, addr_info = s.accept() + print("Got a connection from {}".format(addr_info)) + + ver = recv_exact(sock, 1) + (num_samps,) = struct.unpack("=I", recv_exact(sock, 4)) + num_bytes = num_samps * SIZEOF_SAMPLE + + if num_bytes > len(iq_data): + print("Truncating length to {} samples".format(len(iq_data))) + num_samps = len(iq_data) + num_bytes = num_samps * 4 + + tx_sec = datetime.now().timestamp() + tx_pps = int(16384000 * (tx_sec - int(tx_sec))) + tx_second = int(tx_sec) + + # TX metadata and data + sock.sendall(struct.pack("=III", num_samps, tx_second, tx_pps)) + sock.sendall(iq_data[-num_samps:].tobytes()) + + # RX metadata and data + rx_second = tx_second + 1 + rx_pps = tx_pps + sock.sendall(struct.pack("=III", num_samps, rx_second, rx_pps)) + sock.sendall(iq_data[-num_samps:].tobytes()) + + print("Sent {} samples".format(num_samps)) + + sock.close() + finally: + s.close() + raise + +main() + + +# The MIT License (MIT) +# +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/lut.coef b/python/dpd/lut.coef new file mode 100644 index 0000000..a198d56 --- /dev/null +++ b/python/dpd/lut.coef @@ -0,0 +1,64 @@ +2 +4294967296 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 +1 +0 diff --git a/python/dpd/main.py b/python/dpd/main.py new file mode 100755 index 0000000..9ea5a39 --- /dev/null +++ b/python/dpd/main.py @@ -0,0 +1,338 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# DPD Computation Engine standalone main file. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +"""This Python script is the main file for ODR-DabMod's DPD Computation Engine running +in stand-alone mode. + +This engine calculates and updates the parameter of the digital +predistortion module of ODR-DabMod.""" + +import sys +import datetime +import os +import argparse +import matplotlib + +matplotlib.use('Agg') + +parser = argparse.ArgumentParser( + description="DPD Computation Engine for ODR-DabMod") +parser.add_argument('--port', default=50055, type=int, + help='port of DPD server to connect to (default: 50055)', + required=False) +parser.add_argument('--rc-port', default=9400, type=int, + help='port of ODR-DabMod ZMQ Remote Control to connect to (default: 9400)', + required=False) +parser.add_argument('--samplerate', default=8192000, type=int, + help='Sample rate', + required=False) +parser.add_argument('--coefs', default='poly.coef', + help='File with DPD coefficients, which will be read by ODR-DabMod', + required=False) +parser.add_argument('--txgain', default=-1, + help='TX Gain, -1 to leave unchanged', + required=False, + type=int) +parser.add_argument('--rxgain', default=30, + help='TX Gain, -1 to leave unchanged', + required=False, + type=int) +parser.add_argument('--digital_gain', default=0.01, + help='Digital Gain', + required=False, + type=float) +parser.add_argument('--target_median', default=0.05, + help='The target median for the RX and TX AGC', + required=False, + type=float) +parser.add_argument('--samps', default='81920', type=int, + help='Number of samples to request from ODR-DabMod', + required=False) +parser.add_argument('-i', '--iterations', default=10, type=int, + help='Number of iterations to run', + required=False) +parser.add_argument('-L', '--lut', + help='Use lookup table instead of polynomial predistorter', + action="store_true") +parser.add_argument('--enable-txgain-agc', + help='Enable the TX gain AGC', + action="store_true") +parser.add_argument('--plot', + help='Enable all plots, to be more selective choose plots in GlobalConfig.py', + action="store_true") +parser.add_argument('--name', default="", type=str, + help='Name of the logging directory') +parser.add_argument('-r', '--reset', action="store_true", + help='Reset the DPD settings to the defaults.') +parser.add_argument('-s', '--status', action="store_true", + help='Display the currently running DPD settings.') +parser.add_argument('--measure', action="store_true", + help='Only measure metrics once') + +cli_args = parser.parse_args() + +port = cli_args.port +port_rc = cli_args.rc_port +coef_path = cli_args.coefs +digital_gain = cli_args.digital_gain +num_iter = cli_args.iterations +rxgain = cli_args.rxgain +txgain = cli_args.txgain +name = cli_args.name +plot = cli_args.plot + +# Logging +import logging + +# Simple usage scenarios don't need to clutter /tmp +if not (cli_args.status or cli_args.reset or cli_args.measure): + dt = datetime.datetime.now().isoformat() + logging_path = '/tmp/dpd_{}'.format(dt).replace('.', '_').replace(':', '-') + if name: + logging_path += '_' + name + print("Logs and plots written to {}".format(logging_path)) + os.makedirs(logging_path) + logging.basicConfig(format='%(asctime)s - %(module)s - %(levelname)s - %(message)s', + datefmt='%Y-%m-%d %H:%M:%S', + filename='{}/dpd.log'.format(logging_path), + filemode='w', + level=logging.DEBUG) + # also log up to INFO to console + console = logging.StreamHandler() + console.setLevel(logging.INFO) + # set a format which is simpler for console use + formatter = logging.Formatter('%(asctime)s - %(module)s - %(levelname)s - %(message)s') + # tell the handler to use this format + console.setFormatter(formatter) + # add the handler to the root logger + logging.getLogger('').addHandler(console) +else: + dt = datetime.datetime.now().isoformat() + logging.basicConfig(format='%(asctime)s - %(module)s - %(levelname)s - %(message)s', + datefmt='%Y-%m-%d %H:%M:%S', + level=logging.INFO) + logging_path = None + +logging.info("DPDCE starting up with options: {}".format(cli_args)) + +import numpy as np +import traceback +from src.Model import Lut, Poly +import src.Heuristics as Heuristics +from src.Measure import Measure +from src.ExtractStatistic import ExtractStatistic +from src.Adapt import Adapt, dpddata_to_str +from src.RX_Agc import Agc +from src.TX_Agc import TX_Agc +from src.Symbol_align import Symbol_align +from src.GlobalConfig import GlobalConfig +from src.MER import MER +from src.Measure_Shoulders import Measure_Shoulders + +c = GlobalConfig(cli_args, logging_path) +SA = Symbol_align(c) +MER = MER(c) +MS = Measure_Shoulders(c) +meas = Measure(c, cli_args.samplerate, port, cli_args.samps) +extStat = ExtractStatistic(c) +adapt = Adapt(c, port_rc, coef_path) + +if cli_args.status: + txgain = adapt.get_txgain() + rxgain = adapt.get_rxgain() + digital_gain = adapt.get_digital_gain() + dpddata = dpddata_to_str(adapt.get_predistorter()) + + logging.info("ODR-DabMod currently running with TXGain {}, RXGain {}, digital gain {} and {}".format( + txgain, rxgain, digital_gain, dpddata)) + sys.exit(0) + +if cli_args.lut: + model = Lut(c) +else: + model = Poly(c) + +# Models have the default settings on startup +adapt.set_predistorter(model.get_dpd_data()) +adapt.set_digital_gain(digital_gain) + +# Set RX Gain +if rxgain == -1: + rxgain = adapt.get_rxgain() +else: + adapt.set_rxgain(rxgain) + +# Set TX Gain +if txgain == -1: + txgain = adapt.get_txgain() +else: + adapt.set_txgain(txgain) + +tx_gain = adapt.get_txgain() +rx_gain = adapt.get_rxgain() +digital_gain = adapt.get_digital_gain() + +dpddata = adapt.get_predistorter() + +logging.info("TX gain {}, RX gain {}, digital_gain {}, {!s}".format( + tx_gain, rx_gain, digital_gain, dpddata_to_str(dpddata))) + +if cli_args.reset: + logging.info("DPD Settings were reset to default values.") + sys.exit(0) + +# Automatic Gain Control +agc = Agc(meas, adapt, c) +agc.run() + +if cli_args.measure: + txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median = meas.get_samples() + + print("TX signal median {}".format(np.median(np.abs(txframe_aligned)))) + print("RX signal median {}".format(rx_median)) + + tx, rx, phase_diff, n_per_bin = extStat.extract(txframe_aligned, rxframe_aligned) + + off = SA.calc_offset(txframe_aligned) + print("off {}".format(off)) + tx_mer = MER.calc_mer(txframe_aligned[off:off + c.T_U], debug_name='TX') + print("tx_mer {}".format(tx_mer)) + rx_mer = MER.calc_mer(rxframe_aligned[off:off + c.T_U], debug_name='RX') + print("rx_mer {}".format(rx_mer)) + + mse = np.mean(np.abs((txframe_aligned - rxframe_aligned) ** 2)) + print("mse {}".format(mse)) + + digital_gain = adapt.get_digital_gain() + print("digital_gain {}".format(digital_gain)) + + #rx_shoulder_tuple = MS.average_shoulders(rxframe_aligned) + #tx_shoulder_tuple = MS.average_shoulders(txframe_aligned) + sys.exit(0) + +# Disable TXGain AGC by default, so that the experiments are controlled +# better. +tx_agc = None +if cli_args.enable_txgain_agc: + tx_agc = TX_Agc(adapt, c) + +state = 'report' +i = 0 +lr = None +n_meas = None +while i < num_iter: + try: + # Measure + if state == 'measure': + # Get Samples and check gain + txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median = meas.get_samples() + if tx_agc and tx_agc.adapt_if_necessary(txframe_aligned): + continue + + # Extract usable data from measurement + tx, rx, phase_diff, n_per_bin = extStat.extract(txframe_aligned, rxframe_aligned) + + n_meas = Heuristics.get_n_meas(i) + if extStat.n_meas >= n_meas: # Use as many measurements nr of runs + state = 'model' + else: + state = 'measure' + + # Model + elif state == 'model': + # Calculate new model parameters and delete old measurements + if any([x is None for x in [tx, rx, phase_diff]]): + logging.error("No data to calculate model") + state = 'measure' + continue + + lr = Heuristics.get_learning_rate(i) + model.train(tx, rx, phase_diff, lr=lr) + dpddata = model.get_dpd_data() + extStat = ExtractStatistic(c) + state = 'adapt' + + # Adapt + elif state == 'adapt': + adapt.set_predistorter(dpddata) + state = 'report' + + # Report + elif state == 'report': + try: + txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median = meas.get_samples() + + # Store all settings for pre-distortion, tx and rx + adapt.dump() + + # Collect logging data + off = SA.calc_offset(txframe_aligned) + tx_mer = MER.calc_mer(txframe_aligned[off:off + c.T_U], debug_name='TX') + rx_mer = MER.calc_mer(rxframe_aligned[off:off + c.T_U], debug_name='RX') + mse = np.mean(np.abs((txframe_aligned - rxframe_aligned) ** 2)) + tx_gain = adapt.get_txgain() + rx_gain = adapt.get_rxgain() + digital_gain = adapt.get_digital_gain() + tx_median = np.median(np.abs(txframe_aligned)) + rx_shoulder_tuple = MS.average_shoulders(rxframe_aligned) + tx_shoulder_tuple = MS.average_shoulders(txframe_aligned) + + # Generic logging + logging.info(list((name, eval(name)) for name in + ['i', 'tx_mer', 'tx_shoulder_tuple', 'rx_mer', + 'rx_shoulder_tuple', 'mse', 'tx_gain', + 'digital_gain', 'rx_gain', 'rx_median', + 'tx_median', 'lr', 'n_meas'])) + + # Model specific logging + if dpddata[0] == 'poly': + coefs_am = dpddata[1] + coefs_pm = dpddata[2] + logging.info('It {}: coefs_am {}'. + format(i, coefs_am)) + logging.info('It {}: coefs_pm {}'. + format(i, coefs_pm)) + elif dpddata[0] == 'lut': + scalefactor = dpddata[1] + lut = dpddata[2] + logging.info('It {}: LUT scalefactor {}, LUT {}'. + format(i, scalefactor, lut)) + except: + logging.error('Iteration {}: Report failed.'.format(i)) + logging.error(traceback.format_exc()) + i += 1 + state = 'measure' + + except: + logging.error('Iteration {} failed.'.format(i)) + logging.error(traceback.format_exc()) + i += 1 + state = 'measure' + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/poly.coef b/python/dpd/poly.coef new file mode 100644 index 0000000..248d316 --- /dev/null +++ b/python/dpd/poly.coef @@ -0,0 +1,12 @@ +1 +5 +1.0 +0.0 +0.0 +0.0 +0.0 +0.0 +0.0 +0.0 +0.0 +0.0 diff --git a/python/dpd/show_spectrum.py b/python/dpd/show_spectrum.py new file mode 100755 index 0000000..f23dba2 --- /dev/null +++ b/python/dpd/show_spectrum.py @@ -0,0 +1,276 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# This is an example tool that shows how to connect to ODR-DabMod's dpd TCP +# server and get samples from there. +# +# Since the TX and RX samples are not perfectly aligned, the tool has to align +# them properly, which is done in two steps: First on sample-level using a +# correlation, then with subsample accuracy using a FFT approach. +# +# It requires SciPy and matplotlib. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import sys +import socket +import struct +import numpy as np +import matplotlib.pyplot as pp +from matplotlib.animation import FuncAnimation +import argparse +from scipy.misc import imsave + +SIZEOF_SAMPLE = 8 # complex floats + +# Constants for TM 1 +NbSymbols = 76 +NbCarriers = 1536 +Spacing = 2048 +NullSize = 2656 +SymSize = 2552 +FicSizeOut = 288 + +def main(): + parser = argparse.ArgumentParser(description="Plot the spectrum of ODR-DabMod's DPD feedback") + parser.add_argument('--samps', default='10240', help='Number of samples to request at once', + required=False) + parser.add_argument('--port', default='50055', + help='port to connect to ODR-DabMod DPD (default: 50055)', + required=False) + parser.add_argument('--animated', action='store_true', help='Enable real-time animation') + parser.add_argument('--constellation', action='store_true', help='Draw constellaton plot') + parser.add_argument('--samplerate', default='8192000', help='Sample rate', + required=False) + + cli_args = parser.parse_args() + + if cli_args.constellation: + plot_constellation_once(cli_args) + elif cli_args.animated: + plot_spectrum_animated(cli_args) + else: + plot_spectrum_once(cli_args) + +def recv_exact(sock, num_bytes): + bufs = [] + while num_bytes > 0: + b = sock.recv(num_bytes) + if len(b) == 0: + break + num_bytes -= len(b) + bufs.append(b) + return b''.join(bufs) + +def get_samples(port, num_samps_to_request): + """Connect to ODR-DabMod, retrieve TX and RX samples, load + into numpy arrays, and return a tuple + (tx_timestamp, tx_samples, rx_timestamp, rx_samples) + where the timestamps are doubles, and the samples are numpy + arrays of complex floats, both having the same size + """ + + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + s.connect(('localhost', port)) + + print("Send version"); + s.sendall(b"\x01") + + print("Send request for {} samples".format(num_samps_to_request)) + s.sendall(struct.pack("=I", num_samps_to_request)) + + print("Wait for TX metadata") + num_samps, tx_second, tx_pps = struct.unpack("=III", recv_exact(s, 12)) + tx_ts = tx_second + tx_pps / 16384000.0 + + if num_samps > 0: + print("Receiving {} TX samples".format(num_samps)) + txframe_bytes = recv_exact(s, num_samps * SIZEOF_SAMPLE) + txframe = np.fromstring(txframe_bytes, dtype=np.complex64) + else: + txframe = np.array([], dtype=np.complex64) + + + print("Wait for RX metadata") + rx_second, rx_pps = struct.unpack("=II", recv_exact(s, 8)) + rx_ts = rx_second + rx_pps / 16384000.0 + + if num_samps > 0: + print("Receiving {} RX samples".format(num_samps)) + rxframe_bytes = recv_exact(s, num_samps * SIZEOF_SAMPLE) + rxframe = np.fromstring(rxframe_bytes, dtype=np.complex64) + else: + rxframe = np.array([], dtype=np.complex64) + + print("Disconnecting") + s.close() + + return (tx_ts, txframe, rx_ts, rxframe) + +def recv_rxtx(port, num_samps_to_request): + tx_ts, txframe, rx_ts, rxframe = get_samples(port, num_samps_to_request) + + # convert to complex doubles for more dynamic range + txframe = txframe.astype(np.complex128) + rxframe = rxframe.astype(np.complex128) + + print("Received {} & {} frames at {} and {}".format( + len(txframe), len(rxframe), tx_ts, rx_ts)) + return tx_ts, txframe, rx_ts, rxframe + +def get_spectrum(port, num_samps_to_request): + tx_ts, txframe, rx_ts, rxframe = recv_rxtx(port, num_samps_to_request) + + print("Calculate TX and RX spectrum assuming 8192000 samples per second") + tx_spectrum = np.fft.fftshift(np.fft.fft(txframe, fft_size)) + tx_power = 20*np.log10(np.abs(tx_spectrum)) + + rx_spectrum = np.fft.fftshift(np.fft.fft(rxframe, fft_size)) + rx_power = 20*np.log10(np.abs(rx_spectrum)) + return tx_power, rx_power + +def remove_guard_intervals(frame, options): + """Remove the cyclic prefix. The frame needs to be aligned to the + end of the transmission frame. Transmission Mode 1 is assumed""" + oversample = int(int(options.samplerate) / 2048000) + + # From the end, take 2048 samples, then skip 504 samples + frame = frame[::-1] + + stride_len = Spacing * oversample + stride_advance = SymSize * oversample + + # Truncate the frame to an integer length of strides + newlen = len(frame) - (len(frame) % stride_advance) + print("Truncating frame from {} to {}".format(len(frame), newlen)) + frame = frame[:newlen] + + # Remove the cyclic prefix + frame = frame.reshape(-1, stride_advance)[:,:stride_len].reshape(-1) + + # Reverse again + return frame[::-1] + + +def plot_constellation_once(options): + port = int(options.port) + num_samps_to_request = int(options.samps) + + tx_ts, txframe, rx_ts, rxframe = recv_rxtx(port, num_samps_to_request) + + frame = remove_guard_intervals(txframe, options) + + oversample = int(int(options.samplerate) / 2048000) + + n = Spacing * oversample # is also number of samples per symbol + if len(frame) % n != 0: + raise ValueError("Frame length doesn't contain exact number of symbols") + num_syms = int(len(frame) / n) + print("frame {} has {} symbols".format(len(frame), num_syms)) + spectrums = np.array([np.fft.fftshift(np.fft.fft(frame[n*i:n*(i+1)], n)) for i in range(num_syms)]) + + def normalise(x): + """Normalise a real-valued array x to the range [0,1]""" + y = x + np.min(x) + return x / np.max(x) + + imsave("spectrums.png", np.concatenate([ + normalise(np.abs(spectrums)), + normalise(np.angle(spectrums))])) + + # Only take bins that are supposed to contain energy + # i.e. the middle 1536 bins, excluding the bin at n/2 + assert(n % 2 == 0) + n_half = int(n/2) + spectrums = np.concatenate( + [spectrums[...,n_half-768:n_half], + spectrums[...,n_half + 1:n_half + 769]], axis=1) + + sym_indices = (np.tile(np.arange(num_syms-1).reshape(num_syms-1,1), (1,NbCarriers)) + + np.tile(np.linspace(-0.4, 0.4, NbCarriers), (num_syms-1, 1) ) ) + sym_indices = sym_indices.reshape(-1) + diff_angles = np.mod(np.diff(np.angle(spectrums, deg=1), axis=0), 360) + #sym_points = spectrums[:-1].reshape(-1) + # Set amplitude and phase of low power points to zero, avoid cluttering diagram + #sym_points[np.abs(sym_points) < np.mean(np.abs(sym_points)) * 0.1] = 0 + + print("ix {} spec {} da {}".format( + sym_indices.shape, spectrums.shape, diff_angles.shape)) + + fig = pp.figure() + + fig.suptitle("Constellation") + ax1 = fig.add_subplot(111) + ax1.set_title("TX") + ax1.scatter(sym_indices, diff_angles.reshape(-1), alpha=0.1) + + pp.show() + +fft_size = 4096 + +def plot_spectrum_once(options): + port = int(options.port) + num_samps_to_request = int(options.samps) + freqs = np.fft.fftshift(np.fft.fftfreq(fft_size, d=1./int(options.samplerate))) + + tx_power, rx_power = get_spectrum(port, num_samps_to_request) + fig = pp.figure() + + fig.suptitle("TX and RX spectrum") + ax1 = fig.add_subplot(211) + ax1.set_title("TX") + ax1.plot(freqs, tx_power, 'r') + ax2 = fig.add_subplot(212) + ax2.set_title("RX") + ax2.plot(freqs, rx_power, 'b') + pp.show() + +def plot_spectrum_animated(options): + port = int(options.port) + num_samps_to_request = int(options.samps) + freqs = np.fft.fftshift(np.fft.fftfreq(fft_size, d=1./int(options.samplerate))) + + fig, axes = pp.subplots(2, sharex=True) + line1, = axes[0].plot(freqs, np.ones(len(freqs)), 'r', animated=True) + axes[0].set_title("TX") + line2, = axes[1].plot(freqs, np.ones(len(freqs)), 'b', animated=True) + axes[1].set_title("RX") + lines = [line1, line2] + + axes[0].set_ylim(-30, 50) + axes[1].set_ylim(-60, 40) + + def update(frame): + tx_power, rx_power = get_spectrum(port, num_samps_to_request) + + lines[0].set_ydata(tx_power) + lines[1].set_ydata(rx_power) + return lines + + ani = FuncAnimation(fig, update, blit=True) + pp.show() + +main() + +# The MIT License (MIT) +# +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Adapt.py b/python/dpd/src/Adapt.py new file mode 100644 index 0000000..a57602f --- /dev/null +++ b/python/dpd/src/Adapt.py @@ -0,0 +1,286 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine: updates ODR-DabMod's settings +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file +""" +This module is used to change settings of ODR-DabMod using +the ZMQ remote control socket. +""" + +import zmq +import logging +import numpy as np +import os +import datetime +import pickle + +LUT_LEN = 32 +FORMAT_POLY = 1 +FORMAT_LUT = 2 + + +def _write_poly_coef_file(coefs_am, coefs_pm, path): + assert (len(coefs_am) == len(coefs_pm)) + + f = open(path, 'w') + f.write("{}\n{}\n".format(FORMAT_POLY, len(coefs_am))) + for coef in coefs_am: + f.write("{}\n".format(coef)) + for coef in coefs_pm: + f.write("{}\n".format(coef)) + f.close() + + +def _write_lut_file(scalefactor, lut, path): + assert (len(lut) == LUT_LEN) + + f = open(path, 'w') + f.write("{}\n{}\n".format(FORMAT_LUT, scalefactor)) + for coef in lut: + f.write("{}\n{}\n".format(coef.real, coef.imag)) + f.close() + +def dpddata_to_str(dpddata): + if dpddata[0] == "poly": + coefs_am = dpddata[1] + coefs_pm = dpddata[2] + return "dpd_coefs_am {}, dpd_coefs_pm {}".format( + coefs_am, coefs_pm) + elif dpddata[0] == "lut": + scalefactor = dpddata[1] + lut = dpddata[2] + return "LUT scalefactor {}, LUT {}".format( + scalefactor, lut) + else: + raise ValueError("Unknown dpddata type {}".format(dpddata[0])) + +class Adapt: + """Uses the ZMQ remote control to change parameters of the DabMod + + Parameters + ---------- + port : int + Port at which the ODR-DabMod is listening to connect the + ZMQ remote control. + """ + + def __init__(self, config, port, coef_path): + logging.debug("Instantiate Adapt object") + self.c = config + self.port = port + self.coef_path = coef_path + self.host = "localhost" + self._context = zmq.Context() + + def _connect(self): + """Establish the connection to ODR-DabMod using + a ZMQ socket that is in request mode (Client). + Returns a socket""" + sock = self._context.socket(zmq.REQ) + poller = zmq.Poller() + poller.register(sock, zmq.POLLIN) + + sock.connect("tcp://%s:%d" % (self.host, self.port)) + + sock.send(b"ping") + + socks = dict(poller.poll(1000)) + if socks: + if socks.get(sock) == zmq.POLLIN: + data = [el.decode() for el in sock.recv_multipart()] + + if data != ['ok']: + raise RuntimeError( + "Invalid ZMQ RC answer to 'ping' at %s %d: %s" % + (self.host, self.port, data)) + else: + sock.close(linger=10) + raise RuntimeError( + "ZMQ RC does not respond to 'ping' at %s %d" % + (self.host, self.port)) + + return sock + + def send_receive(self, message): + """Send a message to ODR-DabMod. It always + returns the answer ODR-DabMod sends back. + + An example message could be + "get sdr txgain" or "set sdr txgain 50" + + Parameter + --------- + message : str + The message string that will be sent to the receiver. + """ + sock = self._connect() + logging.debug("Send message: %s" % message) + msg_parts = message.split(" ") + for i, part in enumerate(msg_parts): + if i == len(msg_parts) - 1: + f = 0 + else: + f = zmq.SNDMORE + + sock.send(part.encode(), flags=f) + + data = [el.decode() for el in sock.recv_multipart()] + logging.debug("Received message: %s" % message) + return data + + def set_txgain(self, gain): + """Set a new txgain for the ODR-DabMod. + + Parameters + ---------- + gain : int + new TX gain, in the same format as ODR-DabMod's config file + """ + # TODO this is specific to the B200 + if gain < 0 or gain > 89: + raise ValueError("Gain has to be in [0,89]") + return self.send_receive("set sdr txgain %.4f" % float(gain)) + + def get_txgain(self): + """Get the txgain value in dB for the ODR-DabMod.""" + # TODO handle failure + return float(self.send_receive("get sdr txgain")[0]) + + def set_rxgain(self, gain): + """Set a new rxgain for the ODR-DabMod. + + Parameters + ---------- + gain : int + new RX gain, in the same format as ODR-DabMod's config file + """ + # TODO this is specific to the B200 + if gain < 0 or gain > 89: + raise ValueError("Gain has to be in [0,89]") + return self.send_receive("set sdr rxgain %.4f" % float(gain)) + + def get_rxgain(self): + """Get the rxgain value in dB for the ODR-DabMod.""" + # TODO handle failure + return float(self.send_receive("get sdr rxgain")[0]) + + def set_digital_gain(self, gain): + """Set a new rxgain for the ODR-DabMod. + + Parameters + ---------- + gain : int + new RX gain, in the same format as ODR-DabMod's config file + """ + msg = "set gain digital %.5f" % gain + return self.send_receive(msg) + + def get_digital_gain(self): + """Get the rxgain value in dB for the ODR-DabMod.""" + # TODO handle failure + return float(self.send_receive("get gain digital")[0]) + + def get_predistorter(self): + """Load the coefficients from the file in the format given in the README, + return ("poly", [AM coef], [PM coef]) or ("lut", scalefactor, [LUT entries]) + """ + f = open(self.coef_path, 'r') + lines = f.readlines() + predistorter_format = int(lines[0]) + if predistorter_format == FORMAT_POLY: + coefs_am_out = [] + coefs_pm_out = [] + n_coefs = int(lines[1]) + coefs = [float(l) for l in lines[2:]] + i = 0 + for c in coefs: + if i < n_coefs: + coefs_am_out.append(c) + elif i < 2 * n_coefs: + coefs_pm_out.append(c) + else: + raise ValueError( + 'Incorrect coef file format: too many' + ' coefficients in {}, should be {}, coefs are {}' + .format(self.coef_path, n_coefs, coefs)) + i += 1 + f.close() + return 'poly', coefs_am_out, coefs_pm_out + elif predistorter_format == FORMAT_LUT: + scalefactor = int(lines[1]) + coefs = np.array([float(l) for l in lines[2:]], dtype=np.float32) + coefs = coefs.reshape((-1, 2)) + lut = coefs[..., 0] + 1j * coefs[..., 1] + if len(lut) != LUT_LEN: + raise ValueError("Incorrect number of LUT entries ({} expected {})".format(len(lut), LUT_LEN)) + return 'lut', scalefactor, lut + else: + raise ValueError("Unknown predistorter format {}".format(predistorter_format)) + + def set_predistorter(self, dpddata): + """Update the predistorter data in the modulator. Takes the same + tuple format as argument than the one returned get_predistorter()""" + if dpddata[0] == "poly": + coefs_am = dpddata[1] + coefs_pm = dpddata[2] + _write_poly_coef_file(coefs_am, coefs_pm, self.coef_path) + elif dpddata[0] == "lut": + scalefactor = dpddata[1] + lut = dpddata[2] + _write_lut_file(scalefactor, lut, self.coef_path) + else: + raise ValueError("Unknown predistorter '{}'".format(dpddata[0])) + self.send_receive("set memlesspoly coeffile {}".format(self.coef_path)) + + def dump(self, path=None): + """Backup current settings to a file""" + dt = datetime.datetime.now().isoformat() + if path is None: + if self.c.plot_location is not None: + path = self.c.plot_location + "/" + dt + "_adapt.pkl" + else: + raise Exception("Cannot dump Adapt without either plot_location or path set") + d = { + "txgain": self.get_txgain(), + "rxgain": self.get_rxgain(), + "digital_gain": self.get_digital_gain(), + "predistorter": self.get_predistorter() + } + with open(path, "wb") as f: + pickle.dump(d, f) + + return path + + def load(self, path): + """Restore settings from a file""" + with open(path, "rb") as f: + d = pickle.load(f) + + self.set_txgain(d["txgain"]) + self.set_digital_gain(d["digital_gain"]) + self.set_rxgain(d["rxgain"]) + self.set_predistorter(d["predistorter"]) + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger, Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Dab_Util.py b/python/dpd/src/Dab_Util.py new file mode 100644 index 0000000..bc89a39 --- /dev/null +++ b/python/dpd/src/Dab_Util.py @@ -0,0 +1,246 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, utilities for working with DAB signals. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import numpy as np +import matplotlib + +matplotlib.use('agg') +import matplotlib.pyplot as plt +import src.subsample_align as sa +import src.phase_align as pa +from scipy import signal + + +def fromfile(filename, offset=0, length=None): + if length is None: + return np.memmap(filename, dtype=np.complex64, mode='r', offset=64 / 8 * offset) + else: + return np.memmap(filename, dtype=np.complex64, mode='r', offset=64 / 8 * offset, shape=length) + + +class Dab_Util: + """Collection of methods that can be applied to an array + complex IQ samples of a DAB signal + """ + + def __init__(self, config, sample_rate, plot=False): + """ + :param sample_rate: sample rate [sample/sec] to use for calculations + """ + self.c = config + self.sample_rate = sample_rate + self.dab_bandwidth = 1536000 # Bandwidth of a dab signal + self.frame_ms = 96 # Duration of a Dab frame + + self.plot = plot + + def lag(self, sig_orig, sig_rec): + """ + Find lag between two signals + Args: + sig_orig: The signal that has been sent + sig_rec: The signal that has been recored + """ + off = sig_rec.shape[0] + c = np.abs(signal.correlate(sig_orig, sig_rec)) + + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + corr_path = self.c.plot_location + "/" + dt + "_tx_rx_corr.png" + plt.plot(c, label="corr") + plt.legend() + plt.savefig(corr_path) + plt.close() + + return np.argmax(c) - off + 1 + + def lag_upsampling(self, sig_orig, sig_rec, n_up): + if n_up != 1: + sig_orig_up = signal.resample(sig_orig, sig_orig.shape[0] * n_up) + sig_rec_up = signal.resample(sig_rec, sig_rec.shape[0] * n_up) + else: + sig_orig_up = sig_orig + sig_rec_up = sig_rec + l = self.lag(sig_orig_up, sig_rec_up) + l_orig = float(l) / n_up + return l_orig + + def subsample_align_upsampling(self, sig_tx, sig_rx, n_up=32): + """ + Returns an aligned version of sig_tx and sig_rx by cropping and subsample alignment + Using upsampling + """ + assert (sig_tx.shape[0] == sig_rx.shape[0]) + + if sig_tx.shape[0] % 2 == 1: + sig_tx = sig_tx[:-1] + sig_rx = sig_rx[:-1] + + sig1_up = signal.resample(sig_tx, sig_tx.shape[0] * n_up) + sig2_up = signal.resample(sig_rx, sig_rx.shape[0] * n_up) + + off_meas = self.lag_upsampling(sig2_up, sig1_up, n_up=1) + off = int(abs(off_meas)) + + if off_meas > 0: + sig1_up = sig1_up[:-off] + sig2_up = sig2_up[off:] + elif off_meas < 0: + sig1_up = sig1_up[off:] + sig2_up = sig2_up[:-off] + + sig_tx = signal.resample(sig1_up, sig1_up.shape[0] / n_up).astype(np.complex64) + sig_rx = signal.resample(sig2_up, sig2_up.shape[0] / n_up).astype(np.complex64) + return sig_tx, sig_rx + + def subsample_align(self, sig_tx, sig_rx): + """ + Returns an aligned version of sig_tx and sig_rx by cropping and subsample alignment + """ + + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_sync_raw.png" + + fig, axs = plt.subplots(2) + axs[0].plot(np.abs(sig_tx[:128]), label="TX Frame") + axs[0].plot(np.abs(sig_rx[:128]), label="RX Frame") + axs[0].set_title("Raw Data") + axs[0].set_ylabel("Amplitude") + axs[0].set_xlabel("Samples") + axs[0].legend(loc=4) + + axs[1].plot(np.real(sig_tx[:128]), label="TX Frame") + axs[1].plot(np.real(sig_rx[:128]), label="RX Frame") + axs[1].set_title("Raw Data") + axs[1].set_ylabel("Real Part") + axs[1].set_xlabel("Samples") + axs[1].legend(loc=4) + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + off_meas = self.lag_upsampling(sig_rx, sig_tx, n_up=1) + off = int(abs(off_meas)) + + logging.debug("sig_tx_orig: {} {}, sig_rx_orig: {} {}, offset {}".format( + len(sig_tx), + sig_tx.dtype, + len(sig_rx), + sig_rx.dtype, + off_meas)) + + if off_meas > 0: + sig_tx = sig_tx[:-off] + sig_rx = sig_rx[off:] + elif off_meas < 0: + sig_tx = sig_tx[off:] + sig_rx = sig_rx[:-off] + + if off % 2 == 1: + sig_tx = sig_tx[:-1] + sig_rx = sig_rx[:-1] + + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_sync_sample_aligned.png" + + fig, axs = plt.subplots(2) + axs[0].plot(np.abs(sig_tx[:128]), label="TX Frame") + axs[0].plot(np.abs(sig_rx[:128]), label="RX Frame") + axs[0].set_title("Sample Aligned Data") + axs[0].set_ylabel("Amplitude") + axs[0].set_xlabel("Samples") + axs[0].legend(loc=4) + + axs[1].plot(np.real(sig_tx[:128]), label="TX Frame") + axs[1].plot(np.real(sig_rx[:128]), label="RX Frame") + axs[1].set_ylabel("Real Part") + axs[1].set_xlabel("Samples") + axs[1].legend(loc=4) + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + sig_rx = sa.subsample_align(sig_rx, sig_tx) + + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_sync_subsample_aligned.png" + + fig, axs = plt.subplots(2) + axs[0].plot(np.abs(sig_tx[:128]), label="TX Frame") + axs[0].plot(np.abs(sig_rx[:128]), label="RX Frame") + axs[0].set_title("Subsample Aligned") + axs[0].set_ylabel("Amplitude") + axs[0].set_xlabel("Samples") + axs[0].legend(loc=4) + + axs[1].plot(np.real(sig_tx[:128]), label="TX Frame") + axs[1].plot(np.real(sig_rx[:128]), label="RX Frame") + axs[1].set_ylabel("Real Part") + axs[1].set_xlabel("Samples") + axs[1].legend(loc=4) + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + sig_rx = pa.phase_align(sig_rx, sig_tx) + + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_sync_phase_aligned.png" + + fig, axs = plt.subplots(2) + axs[0].plot(np.abs(sig_tx[:128]), label="TX Frame") + axs[0].plot(np.abs(sig_rx[:128]), label="RX Frame") + axs[0].set_title("Phase Aligned") + axs[0].set_ylabel("Amplitude") + axs[0].set_xlabel("Samples") + axs[0].legend(loc=4) + + axs[1].plot(np.real(sig_tx[:128]), label="TX Frame") + axs[1].plot(np.real(sig_rx[:128]), label="RX Frame") + axs[1].set_ylabel("Real Part") + axs[1].set_xlabel("Samples") + axs[1].legend(loc=4) + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + logging.debug( + "Sig1_cut: %d %s, Sig2_cut: %d %s, off: %d" % (len(sig_tx), sig_tx.dtype, len(sig_rx), sig_rx.dtype, off)) + return sig_tx, sig_rx + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/ExtractStatistic.py b/python/dpd/src/ExtractStatistic.py new file mode 100644 index 0000000..639513a --- /dev/null +++ b/python/dpd/src/ExtractStatistic.py @@ -0,0 +1,196 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, +# Extract statistic from received TX and RX data to use in Model +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import numpy as np +import matplotlib.pyplot as plt +import datetime +import os +import logging + + +def _check_input_extract(tx_dpd, rx_received): + # Check data type + assert tx_dpd[0].dtype == np.complex64, \ + "tx_dpd is not complex64 but {}".format(tx_dpd[0].dtype) + assert rx_received[0].dtype == np.complex64, \ + "rx_received is not complex64 but {}".format(rx_received[0].dtype) + # Check if signals have same normalization + normalization_error = np.abs(np.median(np.abs(tx_dpd)) - + np.median(np.abs(rx_received))) / ( + np.median(np.abs(tx_dpd)) + np.median(np.abs(rx_received))) + assert normalization_error < 0.01, "Non normalized signals" + + +def _phase_diff_value_per_bin(phase_diffs_values_lists): + phase_list = [] + for values in phase_diffs_values_lists: + mean = np.mean(values) if len(values) > 0 else np.nan + phase_list.append(mean) + return phase_list + + +class ExtractStatistic: + """Calculate a low variance RX value for equally spaced tx values + of a predefined range""" + + def __init__(self, c): + self.c = c + + # Number of measurements used to extract the statistic + self.n_meas = 0 + + # Boundaries for the bins + self.tx_boundaries = np.linspace(c.ES_start, c.ES_end, c.ES_n_bins + 1) + self.n_per_bin = c.ES_n_per_bin + + # List of rx values for each bin + self.rx_values_lists = [] + for i in range(c.ES_n_bins): + self.rx_values_lists.append([]) + + # List of tx values for each bin + self.tx_values_lists = [] + for i in range(c.ES_n_bins): + self.tx_values_lists.append([]) + + self.plot = c.ES_plot + + def _plot_and_log(self, tx_values, rx_values, phase_diffs_values, phase_diffs_values_lists): + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_ExtractStatistic.png" + sub_rows = 3 + sub_cols = 1 + fig = plt.figure(figsize=(sub_cols * 6, sub_rows / 2. * 6)) + i_sub = 0 + + i_sub += 1 + ax = plt.subplot(sub_rows, sub_cols, i_sub) + ax.plot(tx_values, rx_values, + label="Estimated Values", + color="red") + for i, tx_value in enumerate(tx_values): + rx_values_list = self.rx_values_lists[i] + ax.scatter(np.ones(len(rx_values_list)) * tx_value, + np.abs(rx_values_list), + s=0.1, + color="black") + ax.set_title("Extracted Statistic") + ax.set_xlabel("TX Amplitude") + ax.set_ylabel("RX Amplitude") + ax.set_ylim(0, 0.8) + ax.set_xlim(0, 1.1) + ax.legend(loc=4) + + i_sub += 1 + ax = plt.subplot(sub_rows, sub_cols, i_sub) + ax.plot(tx_values, np.rad2deg(phase_diffs_values), + label="Estimated Values", + color="red") + for i, tx_value in enumerate(tx_values): + phase_diff = phase_diffs_values_lists[i] + ax.scatter(np.ones(len(phase_diff)) * tx_value, + np.rad2deg(phase_diff), + s=0.1, + color="black") + ax.set_xlabel("TX Amplitude") + ax.set_ylabel("Phase Difference") + ax.set_ylim(-60, 60) + ax.set_xlim(0, 1.1) + ax.legend(loc=4) + + num = [] + for i, tx_value in enumerate(tx_values): + rx_values_list = self.rx_values_lists[i] + num.append(len(rx_values_list)) + i_sub += 1 + ax = plt.subplot(sub_rows, sub_cols, i_sub) + ax.plot(num) + ax.set_xlabel("TX Amplitude") + ax.set_ylabel("Number of Samples") + ax.set_ylim(0, self.n_per_bin * 1.2) + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + def _rx_value_per_bin(self): + rx_values = [] + for values in self.rx_values_lists: + mean = np.mean(np.abs(values)) if len(values) > 0 else np.nan + rx_values.append(mean) + return rx_values + + def _tx_value_per_bin(self): + tx_values = [] + for start, end in zip(self.tx_boundaries, self.tx_boundaries[1:]): + tx_values.append(np.mean((start, end))) + return tx_values + + def _phase_diff_list_per_bin(self): + phase_values_lists = [] + for tx_list, rx_list in zip(self.tx_values_lists, self.rx_values_lists): + phase_diffs = [] + for tx, rx in zip(tx_list, rx_list): + phase_diffs.append(np.angle(rx * tx.conjugate())) + phase_values_lists.append(phase_diffs) + return phase_values_lists + + def extract(self, tx_dpd, rx): + """Extract information from a new measurement and store them + in member variables.""" + _check_input_extract(tx_dpd, rx) + self.n_meas += 1 + + tx_abs = np.abs(tx_dpd) + for i, (tx_start, tx_end) in enumerate(zip(self.tx_boundaries, self.tx_boundaries[1:])): + mask = (tx_abs > tx_start) & (tx_abs < tx_end) + n_add = max(0, self.n_per_bin - len(self.rx_values_lists[i])) + self.rx_values_lists[i] += \ + list(rx[mask][:n_add]) + self.tx_values_lists[i] += \ + list(tx_dpd[mask][:n_add]) + + rx_values = self._rx_value_per_bin() + tx_values = self._tx_value_per_bin() + + n_per_bin = np.array([len(values) for values in self.rx_values_lists]) + # Index of first not filled bin, assumes that never all bins are filled + idx_end = np.argmin(n_per_bin == self.c.ES_n_per_bin) + + phase_diffs_values_lists = self._phase_diff_list_per_bin() + phase_diffs_values = _phase_diff_value_per_bin(phase_diffs_values_lists) + + self._plot_and_log(tx_values, rx_values, phase_diffs_values, phase_diffs_values_lists) + + tx_values_crop = np.array(tx_values, dtype=np.float32)[:idx_end] + rx_values_crop = np.array(rx_values, dtype=np.float32)[:idx_end] + phase_diffs_values_crop = np.array(phase_diffs_values, dtype=np.float32)[:idx_end] + return tx_values_crop, rx_values_crop, phase_diffs_values_crop, n_per_bin + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/GlobalConfig.py b/python/dpd/src/GlobalConfig.py new file mode 100644 index 0000000..56839fc --- /dev/null +++ b/python/dpd/src/GlobalConfig.py @@ -0,0 +1,108 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, constants and global configuration +# +# Source for DAB standard: etsi_EN_300_401_v010401p p145 +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import numpy as np + +class GlobalConfig: + def __init__(self, cli_args, plot_location): + self.sample_rate = cli_args.samplerate + assert self.sample_rate == 8192000 # By now only constants for 8192000 + + self.plot_location = plot_location + + # DAB frame + # Time domain + oversample = int(self.sample_rate / 2048000) + self.T_F = oversample * 196608 # Transmission frame duration + self.T_NULL = oversample * 2656 # Null symbol duration + self.T_S = oversample * 2552 # Duration of OFDM symbols of indices l = 1, 2, 3,... L; + self.T_U = oversample * 2048 # Inverse of carrier spacing + self.T_C = oversample * 504 # Duration of cyclic prefix + + # Frequency Domain + # example: np.delete(fft[3328:4865], 768) + self.FFT_delta = 1536 # Number of carrier frequencies + self.FFT_delete = 768 + self.FFT_start = 3328 + self.FFT_end = 4865 + + # Calculate sample offset from phase rotation + # time per sample = 1 / sample_rate + # frequency per bin = 1kHz + # phase difference per sample offset = delta_t * 2 * pi * delta_freq + self.phase_offset_per_sample = 1. / self.sample_rate * 2 * np.pi * 1000 + + # Constants for ExtractStatistic + self.ES_plot = cli_args.plot + self.ES_start = 0.0 + self.ES_end = 1.0 + self.ES_n_bins = 64 # Number of bins between ES_start and ES_end + self.ES_n_per_bin = 128 # Number of measurements pre bin + + # Constants for Measure_Shoulder + self.MS_enable = False + self.MS_plot = cli_args.plot + + meas_offset = 976 # Offset from center frequency to measure shoulder [kHz] + meas_width = 100 # Size of frequency delta to measure shoulder [kHz] + shoulder_offset_edge = np.abs(meas_offset - self.FFT_delta) + self.MS_shoulder_left_start = self.FFT_start - shoulder_offset_edge - meas_width / 2 + self.MS_shoulder_left_end = self.FFT_start - shoulder_offset_edge + meas_width / 2 + self.MS_shoulder_right_start = self.FFT_end + shoulder_offset_edge - meas_width / 2 + self.MS_shoulder_right_end = self.FFT_end + shoulder_offset_edge + meas_width / 2 + self.MS_peak_start = self.FFT_start + 100 # Ignore region near edges + self.MS_peak_end = self.FFT_end - 100 + + self.MS_FFT_size = 8192 + self.MS_averaging_size = 4 * self.MS_FFT_size + self.MS_n_averaging = 40 + self.MS_n_proc = 4 + + # Constants for MER + self.MER_plot = cli_args.plot + + # Constants for Model + self.MDL_plot = cli_args.plot + + # Constants for Model_PM + # Set all phase offsets to zero for TX amplitude < MPM_tx_min + self.MPM_tx_min = 0.1 + + # Constants for TX_Agc + self.TAGC_max_txgain = 89 # USRP B200 specific + self.TAGC_tx_median_target = cli_args.target_median + self.TAGC_tx_median_max = self.TAGC_tx_median_target * 1.4 + self.TAGC_tx_median_min = self.TAGC_tx_median_target / 1.4 + + # Constants for RX_AGC + self.RAGC_min_rxgain = 25 # USRP B200 specific + self.RAGC_rx_median_target = cli_args.target_median + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Heuristics.py b/python/dpd/src/Heuristics.py new file mode 100644 index 0000000..21d400b --- /dev/null +++ b/python/dpd/src/Heuristics.py @@ -0,0 +1,56 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, heuristics we use to tune the parameters. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import numpy as np + + +def get_learning_rate(idx_run): + """Gradually reduce learning rate from lr_max to lr_min within + idx_max steps, then keep the learning rate at lr_min""" + idx_max = 10.0 + lr_min = 0.05 + lr_max = 0.4 + lr_delta = lr_max - lr_min + idx_run = min(idx_run, idx_max) + learning_rate = lr_max - lr_delta * idx_run / idx_max + return learning_rate + + +def get_n_meas(idx_run): + """Gradually increase number of measurements used to extract + a statistic from n_meas_min to n_meas_max within idx_max steps, + then keep number of measurements at n_meas_max""" + idx_max = 10.0 + n_meas_min = 10 + n_meas_max = 20 + n_meas_delta = n_meas_max - n_meas_min + idx_run = min(idx_run, idx_max) + learning_rate = n_meas_delta * idx_run / idx_max + n_meas_min + return int(np.round(learning_rate)) + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/MER.py b/python/dpd/src/MER.py new file mode 100644 index 0000000..693058d --- /dev/null +++ b/python/dpd/src/MER.py @@ -0,0 +1,132 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, Modulation Error Rate. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import numpy as np +import matplotlib +matplotlib.use('agg') +import matplotlib.pyplot as plt + +class MER: + def __init__(self, c): + self.c = c + + self.plot = c.MER_plot + + def _calc_spectrum(self, tx): + fft = np.fft.fftshift(np.fft.fft(tx)) + return np.delete(fft[self.c.FFT_start:self.c.FFT_end], + self.c.FFT_delete) + + def _split_in_carrier(self, x, y): + if 0.5 < np.mean((np.abs(np.abs(x) - np.abs(y)) / + np.abs(np.abs(x) + np.abs(y)))): + # Constellation points are axis aligned on the Im/Re plane + x1 = x[(y < x) & (y > -x)] + y1 = y[(y < x) & (y > -x)] + + x2 = x[(y > x) & (y > -x)] + y2 = y[(y > x) & (y > -x)] + + x3 = x[(y > x) & (y < -x)] + y3 = y[(y > x) & (y < -x)] + + x4 = x[(y < x) & (y < -x)] + y4 = y[(y < x) & (y < -x)] + else: + # Constellation points are on the diagonal or Im/Re plane + x1 = x[(+x > 0) & (+y > 0)] + y1 = y[(+x > 0) & (+y > 0)] + + x2 = x[(-x > 0) & (+y > 0)] + y2 = y[(-x > 0) & (+y > 0)] + + x3 = x[(-x > 0) & (-y > 0)] + y3 = y[(-x > 0) & (-y > 0)] + + x4 = x[(+x > 0) & (-y > 0)] + y4 = y[(+x > 0) & (-y > 0)] + return (x1, y1), (x2, y2), (x3, y3), (x4, y4) + + def _calc_mer_for_isolated_constellation_point(self, x, y): + """Calculate MER for one constellation point""" + x_mean = np.mean(x) + y_mean = np.mean(y) + + U_RMS = np.sqrt(x_mean ** 2 + y_mean ** 2) + U_ERR = np.mean(np.sqrt((x - x_mean) ** 2 + (y - y_mean) ** 2)) + MER = 20 * np.log10(U_ERR / U_RMS) + + return x_mean, y_mean, U_RMS, U_ERR, MER + + def calc_mer(self, tx, debug_name=""): + """Calculate MER for input signal from a symbol aligned signal.""" + assert tx.shape[0] == self.c.T_U, "Wrong input length" + + spectrum = self._calc_spectrum(tx) + + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_MER" + debug_name + ".png" + else: + fig_path = None + + MERs = [] + for i, (x, y) in enumerate(self._split_in_carrier( + np.real(spectrum), + np.imag(spectrum))): + x_mean, y_mean, U_RMS, U_ERR, MER =\ + self._calc_mer_for_isolated_constellation_point(x, y) + MERs.append(MER) + + tau = np.linspace(0, 2 * np.pi, num=100) + x_err = U_ERR * np.sin(tau) + x_mean + y_err = U_ERR * np.cos(tau) + y_mean + + if self.plot: + ax = plt.subplot(221 + i) + ax.scatter(x, y, s=0.2, color='black') + ax.plot(x_mean, y_mean, 'p', color='red') + ax.plot(x_err, y_err, linewidth=2, color='blue') + ax.text(0.1, 0.1, "MER {:.1f}dB".format(MER), transform=ax.transAxes) + ax.set_xlabel("Real") + ax.set_ylabel("Imag") + ylim = ax.get_ylim() + ax.set_ylim(ylim[0] - (ylim[1] - ylim[0]) * 0.1, ylim[1]) + + if fig_path is not None: + plt.tight_layout() + plt.savefig(fig_path) + plt.show() + plt.close() + + MER_res = 20 * np.log10(np.mean([10 ** (MER / 20) for MER in MERs])) + return MER_res + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Measure.py b/python/dpd/src/Measure.py new file mode 100644 index 0000000..6d8007d --- /dev/null +++ b/python/dpd/src/Measure.py @@ -0,0 +1,136 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, Measure signal using ODR-DabMod's +# DPD Server. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import socket +import struct +import numpy as np +import src.Dab_Util as DU +import os +import logging + +class Measure: + """Collect Measurement from DabMod""" + def __init__(self, config, samplerate, port, num_samples_to_request): + logging.info("Instantiate Measure object") + self.c = config + self.samplerate = samplerate + self.sizeof_sample = 8 # complex floats + self.port = port + self.num_samples_to_request = num_samples_to_request + + def _recv_exact(self, sock, num_bytes): + """Receive an exact number of bytes from a socket. This is + a wrapper around sock.recv() that can return less than the number + of requested bytes. + + Args: + sock (socket): Socket to receive data from. + num_bytes (int): Number of bytes that will be returned. + """ + bufs = [] + while num_bytes > 0: + b = sock.recv(num_bytes) + if len(b) == 0: + break + num_bytes -= len(b) + bufs.append(b) + return b''.join(bufs) + + def receive_tcp(self): + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + s.settimeout(4) + s.connect(('localhost', self.port)) + + logging.debug("Send version") + s.sendall(b"\x01") + + logging.debug("Send request for {} samples".format(self.num_samples_to_request)) + s.sendall(struct.pack("=I", self.num_samples_to_request)) + + logging.debug("Wait for TX metadata") + num_samps, tx_second, tx_pps = struct.unpack("=III", self._recv_exact(s, 12)) + tx_ts = tx_second + tx_pps / 16384000.0 + + if num_samps > 0: + logging.debug("Receiving {} TX samples".format(num_samps)) + txframe_bytes = self._recv_exact(s, num_samps * self.sizeof_sample) + txframe = np.fromstring(txframe_bytes, dtype=np.complex64) + else: + txframe = np.array([], dtype=np.complex64) + + logging.debug("Wait for RX metadata") + rx_second, rx_pps = struct.unpack("=II", self._recv_exact(s, 8)) + rx_ts = rx_second + rx_pps / 16384000.0 + + if num_samps > 0: + logging.debug("Receiving {} RX samples".format(num_samps)) + rxframe_bytes = self._recv_exact(s, num_samps * self.sizeof_sample) + rxframe = np.fromstring(rxframe_bytes, dtype=np.complex64) + else: + rxframe = np.array([], dtype=np.complex64) + + if logging.getLogger().getEffectiveLevel() == logging.DEBUG: + logging.debug('txframe: min {}, max {}, median {}'.format( + np.min(np.abs(txframe)), + np.max(np.abs(txframe)), + np.median(np.abs(txframe)))) + + logging.debug('rxframe: min {}, max {}, median {}'.format( + np.min(np.abs(rxframe)), + np.max(np.abs(rxframe)), + np.median(np.abs(rxframe)))) + + logging.debug("Disconnecting") + s.close() + + return txframe, tx_ts, rxframe, rx_ts + + + def get_samples(self): + """Connect to ODR-DabMod, retrieve TX and RX samples, load + into numpy arrays, and return a tuple + (txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median) + """ + + txframe, tx_ts, rxframe, rx_ts = self.receive_tcp() + + # Normalize received signal with sent signal + rx_median = np.median(np.abs(rxframe)) + rxframe = rxframe / rx_median * np.median(np.abs(txframe)) + + du = DU.Dab_Util(self.c, self.samplerate) + txframe_aligned, rxframe_aligned = du.subsample_align(txframe, rxframe) + + logging.info( + "Measurement done, tx %d %s, rx %d %s, tx aligned %d %s, rx aligned %d %s" + % (len(txframe), txframe.dtype, len(rxframe), rxframe.dtype, + len(txframe_aligned), txframe_aligned.dtype, len(rxframe_aligned), rxframe_aligned.dtype) ) + + return txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Measure_Shoulders.py b/python/dpd/src/Measure_Shoulders.py new file mode 100644 index 0000000..fd90050 --- /dev/null +++ b/python/dpd/src/Measure_Shoulders.py @@ -0,0 +1,158 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, calculate peak to shoulder difference. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import multiprocessing +import numpy as np +import matplotlib.pyplot as plt + + +def plt_next_axis(sub_rows, sub_cols, i_sub): + i_sub += 1 + ax = plt.subplot(sub_rows, sub_cols, i_sub) + return i_sub, ax + + +def plt_annotate(ax, x, y, title=None, legend_loc=None): + ax.set_xlabel(x) + ax.set_ylabel(y) + if title is not None: + ax.set_title(title) + if legend_loc is not None: + ax.legend(loc=legend_loc) + + +def calc_fft_db(signal, offset, c): + fft = np.fft.fftshift(np.fft.fft(signal[offset:offset + c.MS_FFT_size])) + fft_db = 20 * np.log10(np.abs(fft)) + return fft_db + + +def _calc_peak(fft, c): + assert fft.shape == (c.MS_FFT_size,), fft.shape + idxs = (c.MS_peak_start, c.MS_peak_end) + peak = np.mean(fft[idxs[0]:idxs[1]]) + return peak, idxs + + +def _calc_shoulder_hight(fft_db, c): + assert fft_db.shape == (c.MS_FFT_size,), fft_db.shape + idxs_left = (c.MS_shoulder_left_start, c.MS_shoulder_left_end) + idxs_right = (c.MS_shoulder_right_start, c.MS_shoulder_right_end) + + shoulder_left = np.mean(fft_db[idxs_left[0]:idxs_left[1]]) + shoulder_right = np.mean(fft_db[idxs_right[0]:idxs_right[1]]) + + shoulder = np.mean((shoulder_left, shoulder_right)) + return shoulder, (idxs_left, idxs_right) + + +def calc_shoulder(fft, c): + peak = _calc_peak(fft, c)[0] + shoulder = _calc_shoulder_hight(fft, c)[0] + assert (peak >= shoulder), (peak, shoulder) + return peak, shoulder + + +def shoulder_from_sig_offset(arg): + signal, offset, c = arg + fft_db = calc_fft_db(signal, offset, c) + peak, shoulder = calc_shoulder(fft_db, c) + return peak - shoulder, peak, shoulder + + +class Measure_Shoulders: + """Calculate difference between the DAB signal and the shoulder hight in the + power spectrum""" + + def __init__(self, c): + self.c = c + self.plot = c.MS_plot + + def _plot(self, signal): + if self.c.plot_location is None: + return + + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_sync_subsample_aligned.png" + + fft = calc_fft_db(signal, 100, self.c) + peak, idxs_peak = _calc_peak(fft, self.c) + shoulder, idxs_sh = _calc_shoulder_hight(fft, self.c) + + sub_rows = 1 + sub_cols = 1 + fig = plt.figure(figsize=(sub_cols * 6, sub_rows / 2. * 6)) + i_sub = 0 + + i_sub, ax = plt_next_axis(sub_rows, sub_cols, i_sub) + ax.scatter(np.arange(fft.shape[0]), fft, s=0.1, + label="FFT", + color="red") + ax.plot(idxs_peak, (peak, peak)) + ax.plot(idxs_sh[0], (shoulder, shoulder), color='blue') + ax.plot(idxs_sh[1], (shoulder, shoulder), color='blue') + plt_annotate(ax, "Frequency", "Magnitude [dB]", None, 4) + + ax.text(100, -17, str(calc_shoulder(fft, self.c))) + + ax.set_ylim(-20, 30) + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + def average_shoulders(self, signal, n_avg=None): + if not self.c.MS_enable: + logging.info("Shoulder Measurement disabled via Const.py") + return None + + assert signal.shape[0] > 4 * self.c.MS_FFT_size + if n_avg is None: + n_avg = self.c.MS_averaging_size + + off_min = 0 + off_max = signal.shape[0] - self.c.MS_FFT_size + offsets = np.linspace(off_min, off_max, num=n_avg, dtype=int) + + args = zip( + [signal, ] * offsets.shape[0], + offsets, + [self.c, ] * offsets.shape[0] + ) + + pool = multiprocessing.Pool(self.c.MS_n_proc) + res = pool.map(shoulder_from_sig_offset, args) + shoulders_diff, shoulders, peaks = zip(*res) + + if logging.getLogger().getEffectiveLevel() == logging.DEBUG and self.plot: + self._plot(signal) + + return np.mean(shoulders_diff), np.mean(shoulders), np.mean(peaks) + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Model.py b/python/dpd/src/Model.py new file mode 100644 index 0000000..b2c303f --- /dev/null +++ b/python/dpd/src/Model.py @@ -0,0 +1,32 @@ +# -*- coding: utf-8 -*- +from src.Model_Poly import Poly +from src.Model_Lut import Lut + +def select_model_from_dpddata(dpddata): + if dpddata[0] == 'lut': + return Lut + elif dpddata[0] == 'poly': + return Poly + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Model_AM.py b/python/dpd/src/Model_AM.py new file mode 100644 index 0000000..75b226f --- /dev/null +++ b/python/dpd/src/Model_AM.py @@ -0,0 +1,122 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, model implementation for Amplitude and not Phase +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import numpy as np +import matplotlib.pyplot as plt + + +def is_npfloat32(array): + assert isinstance(array, np.ndarray), type(array) + assert array.dtype == np.float32, array.dtype + assert array.flags.contiguous + assert not any(np.isnan(array)) + + +def check_input_get_next_coefs(tx_dpd, rx_received): + is_npfloat32(tx_dpd) + is_npfloat32(rx_received) + + +def poly(sig): + return np.array([sig ** i for i in range(1, 6)]).T + + +def fit_poly(tx_abs, rx_abs): + return np.linalg.lstsq(poly(rx_abs), tx_abs, rcond=None)[0] + + +def calc_line(coefs, min_amp, max_amp): + rx_range = np.linspace(min_amp, max_amp) + tx_est = np.sum(poly(rx_range) * coefs, axis=1) + return tx_est, rx_range + + +class Model_AM: + """Calculates new coefficients using the measurement and the previous + coefficients""" + + def __init__(self, + c, + learning_rate_am=1, + plot=False): + self.c = c + + self.learning_rate_am = learning_rate_am + self.plot = plot + + def _plot(self, tx_dpd, rx_received, coefs_am, coefs_am_new): + if self.plot and self.c.plot_location is not None: + tx_range, rx_est = calc_line(coefs_am, 0, 0.6) + tx_range_new, rx_est_new = calc_line(coefs_am_new, 0, 0.6) + + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_Model_AM.png" + sub_rows = 1 + sub_cols = 1 + fig = plt.figure(figsize=(sub_cols * 6, sub_rows / 2. * 6)) + i_sub = 0 + + i_sub += 1 + ax = plt.subplot(sub_rows, sub_cols, i_sub) + ax.plot(tx_range, rx_est, + label="Estimated TX", + alpha=0.3, + color="gray") + ax.plot(tx_range_new, rx_est_new, + label="New Estimated TX", + color="red") + ax.scatter(tx_dpd, rx_received, + label="Binned Data", + color="blue", + s=1) + ax.set_title("Model_AM") + ax.set_xlabel("TX Amplitude") + ax.set_ylabel("RX Amplitude") + ax.set_xlim(-0.5, 1.5) + ax.legend(loc=4) + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + def get_next_coefs(self, tx_dpd, rx_received, coefs_am): + """Calculate the next AM/AM coefficients using the extracted + statistic of TX and RX amplitude""" + check_input_get_next_coefs(tx_dpd, rx_received) + + coefs_am_new = fit_poly(tx_dpd, rx_received) + coefs_am_new = coefs_am + \ + self.learning_rate_am * (coefs_am_new - coefs_am) + + self._plot(tx_dpd, rx_received, coefs_am, coefs_am_new) + + return coefs_am_new + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Model_Lut.py b/python/dpd/src/Model_Lut.py new file mode 100644 index 0000000..e70fdb0 --- /dev/null +++ b/python/dpd/src/Model_Lut.py @@ -0,0 +1,60 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, model implementation using polynomial +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import os +import logging +import numpy as np + +class Lut: + """Implements a model that calculates lookup table coefficients""" + + def __init__(self, + c, + learning_rate=1., + plot=False): + """ + + :rtype: + """ + logging.debug("Initialising LUT Model") + self.c = c + self.learning_rate = learning_rate + self.plot = plot + self.reset_coefs() + + def reset_coefs(self): + self.scalefactor = 0xFFFFFFFF # max uint32_t value + self.lut = np.ones(32, dtype=np.complex64) + + def train(self, tx_abs, rx_abs, phase_diff): + pass + + def get_dpd_data(self): + return "lut", self.scalefactor, self.lut + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2017 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Model_PM.py b/python/dpd/src/Model_PM.py new file mode 100644 index 0000000..7b80bf3 --- /dev/null +++ b/python/dpd/src/Model_PM.py @@ -0,0 +1,124 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, model implementation for Amplitude and not Phase +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import numpy as np +import matplotlib.pyplot as plt + + +def is_npfloat32(array): + assert isinstance(array, np.ndarray), type(array) + assert array.dtype == np.float32, array.dtype + assert array.flags.contiguous + assert not any(np.isnan(array)) + + +def check_input_get_next_coefs(tx_dpd, phase_diff): + is_npfloat32(tx_dpd) + is_npfloat32(phase_diff) + + +class Model_PM: + """Calculates new coefficients using the measurement and the previous + coefficients""" + + def __init__(self, + c, + learning_rate_pm=1, + plot=False): + self.c = c + + self.learning_rate_pm = learning_rate_pm + self.plot = plot + + def _plot(self, tx_dpd, phase_diff, coefs_pm, coefs_pm_new): + if self.plot and self.c.plot_location is not None: + tx_range, phase_diff_est = self.calc_line(coefs_pm, 0, 0.6) + tx_range_new, phase_diff_est_new = self.calc_line(coefs_pm_new, 0, 0.6) + + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_Model_PM.png" + sub_rows = 1 + sub_cols = 1 + fig = plt.figure(figsize=(sub_cols * 6, sub_rows / 2. * 6)) + i_sub = 0 + + i_sub += 1 + ax = plt.subplot(sub_rows, sub_cols, i_sub) + ax.plot(tx_range, phase_diff_est, + label="Estimated Phase Diff", + alpha=0.3, + color="gray") + ax.plot(tx_range_new, phase_diff_est_new, + label="New Estimated Phase Diff", + color="red") + ax.scatter(tx_dpd, phase_diff, + label="Binned Data", + color="blue", + s=1) + ax.set_title("Model_PM") + ax.set_xlabel("TX Amplitude") + ax.set_ylabel("Phase DIff") + ax.legend(loc=4) + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + def _discard_small_values(self, tx_dpd, phase_diff): + """ Assumes that the phase for small tx amplitudes is zero""" + mask = tx_dpd < self.c.MPM_tx_min + phase_diff[mask] = 0 + return tx_dpd, phase_diff + + def poly(self, sig): + return np.array([sig ** i for i in range(0, 5)]).T + + def fit_poly(self, tx_abs, phase_diff): + return np.linalg.lstsq(self.poly(tx_abs), phase_diff, rcond=None)[0] + + def calc_line(self, coefs, min_amp, max_amp): + tx_range = np.linspace(min_amp, max_amp) + phase_diff = np.sum(self.poly(tx_range) * coefs, axis=1) + return tx_range, phase_diff + + def get_next_coefs(self, tx_dpd, phase_diff, coefs_pm): + """Calculate the next AM/PM coefficients using the extracted + statistic of TX amplitude and phase difference""" + tx_dpd, phase_diff = self._discard_small_values(tx_dpd, phase_diff) + check_input_get_next_coefs(tx_dpd, phase_diff) + + coefs_pm_new = self.fit_poly(tx_dpd, phase_diff) + + coefs_pm_new = coefs_pm + self.learning_rate_pm * (coefs_pm_new - coefs_pm) + self._plot(tx_dpd, phase_diff, coefs_pm, coefs_pm_new) + + return coefs_pm_new + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Model_Poly.py b/python/dpd/src/Model_Poly.py new file mode 100644 index 0000000..cdfd319 --- /dev/null +++ b/python/dpd/src/Model_Poly.py @@ -0,0 +1,101 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, model implementation using polynomial +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import os +import logging +import numpy as np + +import src.Model_AM as Model_AM +import src.Model_PM as Model_PM + + +def assert_np_float32(x): + assert isinstance(x, np.ndarray) + assert x.dtype == np.float32 + assert x.flags.contiguous + + +def _check_input_get_next_coefs(tx_abs, rx_abs, phase_diff): + assert_np_float32(tx_abs) + assert_np_float32(rx_abs) + assert_np_float32(phase_diff) + + assert tx_abs.shape == rx_abs.shape, \ + "tx_abs.shape {}, rx_abs.shape {}".format( + tx_abs.shape, rx_abs.shape) + assert tx_abs.shape == phase_diff.shape, \ + "tx_abs.shape {}, phase_diff.shape {}".format( + tx_abs.shape, phase_diff.shape) + + +class Poly: + """Calculates new coefficients using the measurement and the previous + coefficients""" + + def __init__(self, + c, + learning_rate_am=1.0, + learning_rate_pm=1.0): + self.c = c + self.plot = c.MDL_plot + + self.learning_rate_am = learning_rate_am + self.learning_rate_pm = learning_rate_pm + + self.reset_coefs() + + self.model_am = Model_AM.Model_AM(c, plot=self.plot) + self.model_pm = Model_PM.Model_PM(c, plot=self.plot) + + def reset_coefs(self): + self.coefs_am = np.zeros(5, dtype=np.float32) + self.coefs_am[0] = 1 + self.coefs_pm = np.zeros(5, dtype=np.float32) + + def train(self, tx_abs, rx_abs, phase_diff, lr=None): + """ + :type tx_abs: np.ndarray + :type rx_abs: np.ndarray + :type phase_diff: np.ndarray + :type lr: float + """ + _check_input_get_next_coefs(tx_abs, rx_abs, phase_diff) + + if not lr is None: + self.model_am.learning_rate_am = lr + self.model_pm.learning_rate_pm = lr + + coefs_am_new = self.model_am.get_next_coefs(tx_abs, rx_abs, self.coefs_am) + coefs_pm_new = self.model_pm.get_next_coefs(tx_abs, phase_diff, self.coefs_pm) + + self.coefs_am = self.coefs_am + (coefs_am_new - self.coefs_am) * self.learning_rate_am + self.coefs_pm = self.coefs_pm + (coefs_pm_new - self.coefs_pm) * self.learning_rate_pm + + def get_dpd_data(self): + return "poly", self.coefs_am, self.coefs_pm + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/RX_Agc.py b/python/dpd/src/RX_Agc.py new file mode 100644 index 0000000..f778dee --- /dev/null +++ b/python/dpd/src/RX_Agc.py @@ -0,0 +1,166 @@ +# -*- coding: utf-8 -*- +# +# Automatic Gain Control +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import time +import numpy as np +import matplotlib +matplotlib.use('agg') +import matplotlib.pyplot as plt + +import src.Adapt as Adapt +import src.Measure as Measure + +class Agc: + """The goal of the automatic gain control is to set the + RX gain to a value at which all received amplitudes can + be detected. This means that the maximum possible amplitude + should be quantized at the highest possible digital value. + + A problem we have to face, is that the estimation of the + maximum amplitude by applying the max() function is very + unstable. This is due to the maximum’s rareness. Therefore + we estimate a far more robust value, such as the median, + and then approximate the maximum amplitude from it. + + Given this, we tune the RX gain in such a way, that the + received signal fulfills our desired property, of having + all amplitudes properly quantized.""" + + def __init__(self, measure, adapt, c): + assert isinstance(measure, Measure.Measure) + assert isinstance(adapt, Adapt.Adapt) + self.measure = measure + self.adapt = adapt + self.min_rxgain = c.RAGC_min_rxgain + self.rxgain = self.min_rxgain + self.peak_to_median = 1./c.RAGC_rx_median_target + + def run(self): + self.adapt.set_rxgain(self.rxgain) + + for i in range(2): + # Measure + txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median= \ + self.measure.get_samples() + + # Estimate Maximum + rx_peak = self.peak_to_median * rx_median + correction_factor = 20*np.log10(1/rx_peak) + self.rxgain = self.rxgain + correction_factor + + assert self.min_rxgain <= self.rxgain, ("Desired RX Gain is {} which is smaller than the minimum of {}".format( + self.rxgain, self.min_rxgain)) + + logging.info("RX Median {:1.4f}, estimated peak {:1.4f}, correction factor {:1.4f}, new RX gain {:1.4f}".format( + rx_median, rx_peak, correction_factor, self.rxgain + )) + + self.adapt.set_rxgain(self.rxgain) + time.sleep(0.5) + + def plot_estimates(self): + """Plots the estimate of for Max, Median, Mean for different + number of samples.""" + if self.c.plot_location is None: + return + + self.adapt.set_rxgain(self.min_rxgain) + time.sleep(1) + + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_agc.png" + fig, axs = plt.subplots(2, 2, figsize=(3*6,1*6)) + axs = axs.ravel() + + for j in range(5): + txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median =\ + self.measure.get_samples() + + rxframe_aligned_abs = np.abs(rxframe_aligned) + + x = np.arange(100, rxframe_aligned_abs.shape[0], dtype=int) + rx_max_until = [] + rx_median_until = [] + rx_mean_until = [] + for i in x: + rx_max_until.append(np.max(rxframe_aligned_abs[:i])) + rx_median_until.append(np.median(rxframe_aligned_abs[:i])) + rx_mean_until.append(np.mean(rxframe_aligned_abs[:i])) + + axs[0].plot(x, + rx_max_until, + label="Run {}".format(j+1), + color=matplotlib.colors.hsv_to_rgb((1./(j+1.),0.8,0.7)), + linestyle="-", linewidth=0.25) + axs[0].set_xlabel("Samples") + axs[0].set_ylabel("Amplitude") + axs[0].set_title("Estimation for Maximum RX Amplitude") + axs[0].legend() + + axs[1].plot(x, + rx_median_until, + label="Run {}".format(j+1), + color=matplotlib.colors.hsv_to_rgb((1./(j+1.),0.9,0.7)), + linestyle="-", linewidth=0.25) + axs[1].set_xlabel("Samples") + axs[1].set_ylabel("Amplitude") + axs[1].set_title("Estimation for Median RX Amplitude") + axs[1].legend() + ylim_1 = axs[1].get_ylim() + + axs[2].plot(x, + rx_mean_until, + label="Run {}".format(j+1), + color=matplotlib.colors.hsv_to_rgb((1./(j+1.),0.9,0.7)), + linestyle="-", linewidth=0.25) + axs[2].set_xlabel("Samples") + axs[2].set_ylabel("Amplitude") + axs[2].set_title("Estimation for Mean RX Amplitude") + ylim_2 = axs[2].get_ylim() + axs[2].legend() + + axs[1].set_ylim(min(ylim_1[0], ylim_2[0]), + max(ylim_1[1], ylim_2[1])) + + fig.tight_layout() + fig.savefig(fig_path) + + axs[3].hist(rxframe_aligned_abs, bins=60) + axs[3].set_xlabel("Amplitude") + axs[3].set_ylabel("Frequency") + axs[3].set_title("Histogram of Amplitudes") + axs[3].legend() + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/Symbol_align.py b/python/dpd/src/Symbol_align.py new file mode 100644 index 0000000..2a17a65 --- /dev/null +++ b/python/dpd/src/Symbol_align.py @@ -0,0 +1,193 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, Modulation Error Rate. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import numpy as np +import scipy +import matplotlib + +matplotlib.use('agg') +import matplotlib.pyplot as plt + + +def _remove_outliers(x, stds=5): + deviation_from_mean = np.abs(x - np.mean(x)) + inlier_idxs = deviation_from_mean < stds * np.std(x) + x = x[inlier_idxs] + return x + + +def _calc_delta_angle(fft): + # Introduce invariance against carrier + angles = np.angle(fft) % (np.pi / 2.) + + # Calculate Angle difference and compensate jumps + deltas_angle = np.diff(angles) + deltas_angle[deltas_angle > np.pi / 4.] = \ + deltas_angle[deltas_angle > np.pi / 4.] - np.pi / 2. + deltas_angle[-deltas_angle > np.pi / 4.] = \ + deltas_angle[-deltas_angle > np.pi / 4.] + np.pi / 2. + deltas_angle = _remove_outliers(deltas_angle) + + delta_angle = np.mean(deltas_angle) + + return delta_angle + + +class Symbol_align: + """ + Find the phase offset to the start of the DAB symbols in an + unaligned dab signal. + """ + + def __init__(self, c, plot=False): + self.c = c + self.plot = plot + pass + + def _calc_offset_to_first_symbol_without_prefix(self, tx): + tx_orig = tx[0:-self.c.T_U] + tx_cut_prefix = tx[self.c.T_U:] + + tx_product = np.abs(tx_orig - tx_cut_prefix) + tx_product_avg = np.correlate( + tx_product, + np.ones(self.c.T_C), + mode='valid') + tx_product_avg_min_filt = \ + scipy.ndimage.filters.minimum_filter1d( + tx_product_avg, + int(1.5 * self.c.T_S) + ) + peaks = np.ravel(np.where(tx_product_avg == tx_product_avg_min_filt)) + + offset = peaks[np.argmin([tx_product_avg[peak] for peak in peaks])] + + if self.plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_Symbol_align.png" + + fig = plt.figure(figsize=(9, 9)) + + ax = fig.add_subplot(4, 1, 1) + ax.plot(tx_product) + ylim = ax.get_ylim() + for peak in peaks: + ax.plot((peak, peak), (ylim[0], ylim[1])) + if peak == offset: + ax.text(peak, ylim[0] + 0.3 * np.diff(ylim), "offset", rotation=90) + else: + ax.text(peak, ylim[0] + 0.2 * np.diff(ylim), "peak", rotation=90) + ax.set_xlabel("Sample") + ax.set_ylabel("Conj. Product") + ax.set_title("Difference with shifted self") + + ax = fig.add_subplot(4, 1, 2) + ax.plot(tx_product_avg) + ylim = ax.get_ylim() + for peak in peaks: + ax.plot((peak, peak), (ylim[0], ylim[1])) + if peak == offset: + ax.text(peak, ylim[0] + 0.3 * np.diff(ylim), "offset", rotation=90) + else: + ax.text(peak, ylim[0] + 0.2 * np.diff(ylim), "peak", rotation=90) + ax.set_xlabel("Sample") + ax.set_ylabel("Conj. Product") + ax.set_title("Moving Average") + + ax = fig.add_subplot(4, 1, 3) + ax.plot(tx_product_avg_min_filt) + ylim = ax.get_ylim() + for peak in peaks: + ax.plot((peak, peak), (ylim[0], ylim[1])) + if peak == offset: + ax.text(peak, ylim[0] + 0.3 * np.diff(ylim), "offset", rotation=90) + else: + ax.text(peak, ylim[0] + 0.2 * np.diff(ylim), "peak", rotation=90) + ax.set_xlabel("Sample") + ax.set_ylabel("Conj. Product") + ax.set_title("Min Filter") + + ax = fig.add_subplot(4, 1, 4) + tx_product_crop = tx_product[peaks[0] - 50:peaks[0] + 50] + x = range(tx_product.shape[0])[peaks[0] - 50:peaks[0] + 50] + ax.plot(x, tx_product_crop) + ylim = ax.get_ylim() + ax.plot((peaks[0], peaks[0]), (ylim[0], ylim[1])) + ax.set_xlabel("Sample") + ax.set_ylabel("Conj. Product") + ax.set_title("Difference with shifted self") + + fig.tight_layout() + fig.savefig(fig_path) + plt.close(fig) + + # "offset" measures where the shifted signal matches the + # original signal. Therefore we have to subtract the size + # of the shift to find the offset of the symbol start. + return (offset + self.c.T_C) % self.c.T_S + + def _delta_angle_to_samples(self, angle): + return - angle / self.c.phase_offset_per_sample + + def _calc_sample_offset(self, sig): + assert sig.shape[0] == self.c.T_U, \ + "Input length is not a Symbol without cyclic prefix" + + fft = np.fft.fftshift(np.fft.fft(sig)) + fft_crop = np.delete(fft[self.c.FFT_start:self.c.FFT_end], self.c.FFT_delete) + delta_angle = _calc_delta_angle(fft_crop) + delta_sample = self._delta_angle_to_samples(delta_angle) + delta_sample_int = np.round(delta_sample).astype(int) + error = np.abs(delta_sample_int - delta_sample) + if error > 0.1: + raise RuntimeError("Could not calculate " \ + "sample offset. Error {}".format(error)) + return delta_sample_int + + def calc_offset(self, tx): + """Calculate the offset the first symbol""" + off_sym = self._calc_offset_to_first_symbol_without_prefix( + tx) + off_sam = self._calc_sample_offset( + tx[off_sym:off_sym + self.c.T_U]) + off = (off_sym + off_sam) % self.c.T_S + + assert self._calc_sample_offset(tx[off:off + self.c.T_U]) == 0, \ + "Failed to calculate offset" + return off + + def crop_symbol_without_cyclic_prefix(self, tx): + off = self.calc_offset(tx) + return tx[ + off: + off + self.c.T_U + ] + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/TX_Agc.py b/python/dpd/src/TX_Agc.py new file mode 100644 index 0000000..309193d --- /dev/null +++ b/python/dpd/src/TX_Agc.py @@ -0,0 +1,131 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, Automatic Gain Control. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import datetime +import os +import logging +import time +import numpy as np +import matplotlib + +matplotlib.use('agg') +import matplotlib.pyplot as plt + +import src.Adapt as Adapt + + +# TODO fix for float tx_gain +class TX_Agc: + def __init__(self, + adapt, + c): + """ + In order to avoid digital clipping, this class increases the + TX gain and reduces the digital gain. Digital clipping happens + when the digital analog converter receives values greater than + it's maximal output. This class solves that problem by adapting + the TX gain in a way that the peaks of the TX signal are in a + specified range. The TX gain is adapted accordingly. The TX peaks + are approximated by estimating it based on the signal median. + + :param adapt: Instance of Adapt Class to update + txgain and coefficients + :param max_txgain: limit for TX gain + :param tx_median_threshold_max: if the median of TX is larger + than this value, then the digital gain is reduced + :param tx_median_threshold_min: if the median of TX is smaller + than this value, then the digital gain is increased + :param tx_median_target: The digital gain is reduced in a way that + the median TX value is expected to be lower than this value. + """ + + assert isinstance(adapt, Adapt.Adapt) + self.adapt = adapt + self.max_txgain = c.TAGC_max_txgain + self.txgain = self.max_txgain + + self.tx_median_threshold_tolerate_max = c.TAGC_tx_median_max + self.tx_median_threshold_tolerate_min = c.TAGC_tx_median_min + self.tx_median_target = c.TAGC_tx_median_target + + def _calc_new_tx_gain(self, tx_median): + delta_db = 20 * np.log10(self.tx_median_target / tx_median) + new_txgain = self.adapt.get_txgain() - delta_db + assert new_txgain < self.max_txgain, \ + "TX_Agc failed. New TX gain of {} is too large.".format( + new_txgain + ) + return new_txgain, delta_db + + def _calc_digital_gain(self, delta_db): + digital_gain_factor = 10 ** (delta_db / 20.) + digital_gain = self.adapt.get_digital_gain() * digital_gain_factor + return digital_gain, digital_gain_factor + + def _set_tx_gain(self, new_txgain): + self.adapt.set_txgain(new_txgain) + txgain = self.adapt.get_txgain() + return txgain + + def _have_to_adapt(self, tx_median): + too_large = tx_median > self.tx_median_threshold_tolerate_max + too_small = tx_median < self.tx_median_threshold_tolerate_min + return too_large or too_small + + def adapt_if_necessary(self, tx): + tx_median = np.median(np.abs(tx)) + + if self._have_to_adapt(tx_median): + # Calculate new values + new_txgain, delta_db = self._calc_new_tx_gain(tx_median) + digital_gain, digital_gain_factor = \ + self._calc_digital_gain(delta_db) + + # Set new values. + # Avoid temorary increase of output power with correct order + if digital_gain_factor < 1: + self.adapt.set_digital_gain(digital_gain) + time.sleep(0.5) + txgain = self._set_tx_gain(new_txgain) + time.sleep(1) + else: + txgain = self._set_tx_gain(new_txgain) + time.sleep(1) + self.adapt.set_digital_gain(digital_gain) + time.sleep(0.5) + + logging.info( + "digital_gain = {}, txgain_new = {}, " \ + "delta_db = {}, tx_median {}, " \ + "digital_gain_factor = {}". + format(digital_gain, txgain, delta_db, + tx_median, digital_gain_factor)) + + return True + return False + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/__init__.py b/python/dpd/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/python/dpd/src/phase_align.py b/python/dpd/src/phase_align.py new file mode 100644 index 0000000..8654333 --- /dev/null +++ b/python/dpd/src/phase_align.py @@ -0,0 +1,98 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, phase-align a signal against a reference. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file +import datetime +import os +import logging +import numpy as np +import matplotlib.pyplot as plt + + +def phase_align(sig, ref_sig, plot=False): + """Do phase alignment for sig relative to the reference signal + ref_sig. + + Returns the aligned signal""" + + angle_diff = (np.angle(sig) - np.angle(ref_sig)) % (2. * np.pi) + + real_diffs = np.cos(angle_diff) + imag_diffs = np.sin(angle_diff) + + if plot and self.c.plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = self.c.plot_location + "/" + dt + "_phase_align.png" + + plt.subplot(511) + plt.hist(angle_diff, bins=60, label="Angle Diff") + plt.xlabel("Angle") + plt.ylabel("Count") + plt.legend(loc=4) + + plt.subplot(512) + plt.hist(real_diffs, bins=60, label="Real Diff") + plt.xlabel("Real Part") + plt.ylabel("Count") + plt.legend(loc=4) + + plt.subplot(513) + plt.hist(imag_diffs, bins=60, label="Imaginary Diff") + plt.xlabel("Imaginary Part") + plt.ylabel("Count") + plt.legend(loc=4) + + plt.subplot(514) + plt.plot(np.angle(ref_sig[:128]), label="ref_sig") + plt.plot(np.angle(sig[:128]), label="sig") + plt.xlabel("Angle") + plt.ylabel("Sample") + plt.legend(loc=4) + + real_diff = np.median(real_diffs) + imag_diff = np.median(imag_diffs) + + angle = np.angle(real_diff + 1j * imag_diff) + + logging.debug( + "Compensating phase by {} rad, {} degree. real median {}, imag median {}".format( + angle, angle*180./np.pi, real_diff, imag_diff + )) + sig = sig * np.exp(1j * -angle) + + if logging.getLogger().getEffectiveLevel() == logging.DEBUG and plot: + plt.subplot(515) + plt.plot(np.angle(ref_sig[:128]), label="ref_sig") + plt.plot(np.angle(sig[:128]), label="sig") + plt.xlabel("Angle") + plt.ylabel("Sample") + plt.legend(loc=4) + plt.tight_layout() + plt.savefig(fig_path) + plt.close() + + return sig + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/src/subsample_align.py b/python/dpd/src/subsample_align.py new file mode 100755 index 0000000..20ae56b --- /dev/null +++ b/python/dpd/src/subsample_align.py @@ -0,0 +1,111 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, utility to do subsample alignment. +# +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file +import datetime +import logging +import os +import numpy as np +from scipy import optimize +import matplotlib.pyplot as plt + +def gen_omega(length): + if (length % 2) == 1: + raise ValueError("Needs an even length array.") + + halflength = int(length / 2) + factor = 2.0 * np.pi / length + + omega = np.zeros(length, dtype=np.float) + for i in range(halflength): + omega[i] = factor * i + + for i in range(halflength, length): + omega[i] = factor * (i - length) + + return omega + + +def subsample_align(sig, ref_sig, plot_location=None): + """Do subsample alignment for sig relative to the reference signal + ref_sig. The delay between the two must be less than sample + + Returns the aligned signal""" + + n = len(sig) + if (n % 2) == 1: + raise ValueError("Needs an even length signal.") + halflen = int(n / 2) + + fft_sig = np.fft.fft(sig) + + omega = gen_omega(n) + + def correlate_for_delay(tau): + # A subsample offset between two signals corresponds, in the frequency + # domain, to a linearly increasing phase shift, whose slope + # corresponds to the delay. + # + # Here, we build this phase shift in rotate_vec, and multiply it with + # our signal. + + rotate_vec = np.exp(1j * tau * omega) + # zero-frequency is rotate_vec[0], so rotate_vec[N/2] is the + # bin corresponding to the [-1, 1, -1, 1, ...] time signal, which + # is both the maximum positive and negative frequency. + # I don't remember why we handle it differently. + rotate_vec[halflen] = np.cos(np.pi * tau) + + corr_sig = np.fft.ifft(rotate_vec * fft_sig) + + return -np.abs(np.sum(np.conj(corr_sig) * ref_sig)) + + optim_result = optimize.minimize_scalar(correlate_for_delay, bounds=(-1, 1), method='bounded', + options={'disp': True}) + + if optim_result.success: + best_tau = optim_result.x + + if plot_location is not None: + corr = np.vectorize(correlate_for_delay) + ixs = np.linspace(-1, 1, 100) + taus = corr(ixs) + + dt = datetime.datetime.now().isoformat() + tau_path = (plot_location + "/" + dt + "_tau.png") + plt.plot(ixs, taus) + plt.title("Subsample correlation, minimum is best: {}".format(best_tau)) + plt.savefig(tau_path) + plt.close() + + # Prepare rotate_vec = fft_sig with rotated phase + rotate_vec = np.exp(1j * best_tau * omega) + rotate_vec[halflen] = np.cos(np.pi * best_tau) + return np.fft.ifft(rotate_vec * fft_sig).astype(np.complex64) + else: + # print("Could not optimize: " + optim_result.message) + return np.zeros(0, dtype=np.complex64) + +# The MIT License (MIT) +# +# Copyright (c) 2017 Andreas Steger +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/dpd/store_received.py b/python/dpd/store_received.py new file mode 100755 index 0000000..19b735e --- /dev/null +++ b/python/dpd/store_received.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# This is an example tool that shows how to connect to ODR-DabMod's dpd TCP server +# and get samples from there. +# +# Since the TX and RX samples are not perfectly aligned, the tool has to align them properly, +# which is done in two steps: First on sample-level using a correlation, then with subsample +# accuracy using a FFT approach. +# +# It requires SciPy and matplotlib. +# +# Copyright (C) 2017 Matthias P. Braendli +# http://www.opendigitalradio.org +# Licence: The MIT License, see notice at the end of this file + +import sys +import socket +import struct +import argparse +import os +import time +from src.GlobalConfig import GlobalConfig +from src.Measure import Measure + +SIZEOF_SAMPLE = 8 # complex floats + +parser = argparse.ArgumentParser(description="Plot the spectrum of ODR-DabMod's DPD feedback") +parser.add_argument('--samps', default='10240', type=int, + help='Number of samples to request at once', + required=False) +parser.add_argument('--port', default='50055', type=int, + help='port to connect to ODR-DabMod DPD (default: 50055)', + required=False) +parser.add_argument('--count', default='1', type=int, + help='Number of recordings', + required=False) +parser.add_argument('--verbose', type=int, default=0, + help='Level of verbosity', + required=False) +parser.add_argument('--plot', + help='Enable all plots, to be more selective choose plots in GlobalConfig.py', + action="store_true") +parser.add_argument('--samplerate', default=8192000, type=int, + help='Sample rate', + required=False) + +cli_args = parser.parse_args() + +cli_args.target_median = 0.05 + +c = GlobalConfig(cli_args, None) + +meas = Measure(c, cli_args.samplerate, cli_args.port, cli_args.samps) + +for i in range(int(cli_args.count)): + if i>0: + time.sleep(0.1) + + txframe_aligned, tx_ts, rxframe_aligned, rx_ts, rx_median = meas.get_samples() + + txframe_aligned.tofile("%d_tx_record.iq" % i) + rxframe_aligned.tofile("%d_rx_record.iq" % i) + +# The MIT License (MIT) +# +# Copyright (c) 2018 Matthias P. Braendli +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. diff --git a/python/gui/README.md b/python/gui/README.md new file mode 100644 index 0000000..ec55bc9 --- /dev/null +++ b/python/gui/README.md @@ -0,0 +1,45 @@ +ODR-DabMod Web UI +================= + +Goals +----- + +Enable users to play with digital predistortion settings, through a +visualisation of the settings and the parameters. + +Make it easier to discover the tuning possibilities of the modulator. + + +Install +------- + +Install dependencies: cherrypy, jinja2, scipy, matplotlib, zmq python modules + +Run +--- + +1. Execute ODR-DabMod, configured with zmq rc on port 9400 +1. `cd gui` +1. `./run.py` +1. Connect your browser to `http://localhost:8099` + +Todo +---- + +* Integrate DPDCE + * Show DPD settings and effect visually + * Allow load/store of DPD settings + * Make ports configurable +* Use Feedback Server interface and make spectrum and constellation plots +* Get authentication to work +* Read and write config file, and add forms to change ODR-DabMod configuration +* Connect to supervisord to be able to restart ODR-DabMod +* Create a status page + * Is process running? + * Is modulator rate within bounds? + * Are there underruns or late packets? + * Is the GPSDO ok? (needs new RC params) +* Think about how to show PA settings + * Return loss is an important metric + * Some PAs offer serial interfaces for supervision + diff --git a/python/gui/api/__init__.py b/python/gui/api/__init__.py new file mode 100755 index 0000000..77faa10 --- /dev/null +++ b/python/gui/api/__init__.py @@ -0,0 +1,132 @@ +# -*- coding: utf-8 -*- +# +# Copyright (C) 2018 +# Matthias P. Braendli, matthias.braendli@mpb.li +# +# http://www.opendigitalradio.org +# +# This file is part of ODR-DabMod. +# +# ODR-DabMod is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# ODR-DabMod is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with ODR-DabMod. If not, see . + +import cherrypy +from cherrypy.lib.httputil import parse_query_string + +import json +import urllib +import os + +import io +import datetime +import threading + +def send_ok(data=None): + if data is not None: + return {'status' : 'ok', 'data': data} + else: + return {'status': 'ok'} + +def send_error(reason=""): + if reason: + return {'status' : 'error', 'reason': reason} + else: + return {'status' : 'error'} + +class RXThread(threading.Thread): + def __init__(self, api): + super(RXThread, self).__init__() + self.api = api + self.running = False + self.daemon = True + + def cancel(self): + self.running = False + + def run(self): + self.running = True + while self.running: + if self.api.dpd_pipe.poll(1): + rx = self.api.dpd_pipe.recv() + if rx['cmd'] == "quit": + break + elif rx['cmd'] == "dpd-state": + self.api.dpd_state = rx['data'] + elif rx['cmd'] == "dpd-calibration-result": + self.api.calibration_result = rx['data'] + +class API: + def __init__(self, mod_rc, dpd_pipe): + self.mod_rc = mod_rc + self.dpd_pipe = dpd_pipe + self.dpd_state = None + self.calibration_result = None + self.receive_thread = RXThread(self) + self.receive_thread.start() + + @cherrypy.expose + def index(self): + return """This is the api area.""" + + @cherrypy.expose + @cherrypy.tools.json_out() + def rc_parameters(self): + return send_ok(self.mod_rc.get_modules()) + + @cherrypy.expose + @cherrypy.tools.json_out() + def parameter(self, **kwargs): + if cherrypy.request.method == 'POST': + cl = cherrypy.request.headers['Content-Length'] + rawbody = cherrypy.request.body.read(int(cl)) + params = json.loads(rawbody.decode()) + try: + self.mod_rc.set_param_value(params['controllable'], params['param'], params['value']) + except ValueError as e: + cherrypy.response.status = 400 + return send_error(str(e)) + return send_ok() + else: + cherrypy.response.status = 400 + return send_error("POST only") + + @cherrypy.expose + @cherrypy.tools.json_out() + def trigger_capture(self, **kwargs): + if cherrypy.request.method == 'POST': + self.dpd_pipe.send({'cmd': "dpd-capture"}) + return send_ok() + else: + cherrypy.response.status = 400 + return send_error("POST only") + + @cherrypy.expose + @cherrypy.tools.json_out() + def dpd_status(self, **kwargs): + if self.dpd_state is not None: + return send_ok(self.dpd_state) + else: + return send_error("DPD state unknown") + + @cherrypy.expose + @cherrypy.tools.json_out() + def calibrate(self, **kwargs): + if cherrypy.request.method == 'POST': + self.dpd_pipe.send({'cmd': "dpd-calibrate"}) + return send_ok() + else: + if self.calibration_result is not None: + return send_ok(self.calibration_result) + else: + return send_error("DPD calibration result unknown") + diff --git a/python/gui/configuration.py b/python/gui/configuration.py new file mode 100644 index 0000000..4af1abd --- /dev/null +++ b/python/gui/configuration.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# Copyright (C) 2018 +# Matthias P. Braendli, matthias.braendli@mpb.li +# +# http://www.opendigitalradio.org +# +# This file is part of ODR-DabMod. +# +# ODR-DabMod is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# ODR-DabMod is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with ODR-DabMod. If not, see . +import json + +class ConfigurationNotPresent: + pass + +class Configuration: + def __init__(self, configfilename="ui-config.json"): + self.config = None + + try: + fd = open(configfilename, "r") + self.config = json.load(fd) + except json.JSONDecodeError: + pass + except OSError: + pass + + def get_key(self, key): + if self.config is None: + raise ConfigurationNotPresent() + else: + return self.config[key] diff --git a/python/gui/dpd/Align.py b/python/gui/dpd/Align.py new file mode 100644 index 0000000..1634ec8 --- /dev/null +++ b/python/gui/dpd/Align.py @@ -0,0 +1,166 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, utility to do subsample alignment. +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2018 Matthias P. Braendli +# +# http://www.opendigitalradio.org +# +# This file is part of ODR-DabMod. +# +# ODR-DabMod is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# ODR-DabMod is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with ODR-DabMod. If not, see . +import datetime +import os +import numpy as np +from scipy import optimize +import matplotlib.pyplot as plt + +def gen_omega(length): + if (length % 2) == 1: + raise ValueError("Needs an even length array.") + + halflength = int(length / 2) + factor = 2.0 * np.pi / length + + omega = np.zeros(length, dtype=np.float) + for i in range(halflength): + omega[i] = factor * i + + for i in range(halflength, length): + omega[i] = factor * (i - length) + + return omega + + +def subsample_align(sig, ref_sig, plot_location=None): + """Do subsample alignment for sig relative to the reference signal + ref_sig. The delay between the two must be less than sample + + Returns the aligned signal""" + + n = len(sig) + if (n % 2) == 1: + raise ValueError("Needs an even length signal.") + halflen = int(n / 2) + + fft_sig = np.fft.fft(sig) + + omega = gen_omega(n) + + def correlate_for_delay(tau): + # A subsample offset between two signals corresponds, in the frequency + # domain, to a linearly increasing phase shift, whose slope + # corresponds to the delay. + # + # Here, we build this phase shift in rotate_vec, and multiply it with + # our signal. + + rotate_vec = np.exp(1j * tau * omega) + # zero-frequency is rotate_vec[0], so rotate_vec[N/2] is the + # bin corresponding to the [-1, 1, -1, 1, ...] time signal, which + # is both the maximum positive and negative frequency. + # I don't remember why we handle it differently. + rotate_vec[halflen] = np.cos(np.pi * tau) + + corr_sig = np.fft.ifft(rotate_vec * fft_sig) + + return -np.abs(np.sum(np.conj(corr_sig) * ref_sig)) + + optim_result = optimize.minimize_scalar(correlate_for_delay, bounds=(-1, 1), method='bounded', + options={'disp': True}) + + if optim_result.success: + best_tau = optim_result.x + + if plot_location is not None: + corr = np.vectorize(correlate_for_delay) + ixs = np.linspace(-1, 1, 100) + taus = corr(ixs) + + dt = datetime.datetime.now().isoformat() + tau_path = (plot_location + "/" + dt + "_tau.png") + plt.plot(ixs, taus) + plt.title("Subsample correlation, minimum is best: {}".format(best_tau)) + plt.savefig(tau_path) + plt.close() + + # Prepare rotate_vec = fft_sig with rotated phase + rotate_vec = np.exp(1j * best_tau * omega) + rotate_vec[halflen] = np.cos(np.pi * best_tau) + return np.fft.ifft(rotate_vec * fft_sig).astype(np.complex64) + else: + # print("Could not optimize: " + optim_result.message) + return np.zeros(0, dtype=np.complex64) + +def phase_align(sig, ref_sig, plot_location=None): + """Do phase alignment for sig relative to the reference signal + ref_sig. + + Returns the aligned signal""" + + angle_diff = (np.angle(sig) - np.angle(ref_sig)) % (2. * np.pi) + + real_diffs = np.cos(angle_diff) + imag_diffs = np.sin(angle_diff) + + if plot_location is not None: + dt = datetime.datetime.now().isoformat() + fig_path = plot_location + "/" + dt + "_phase_align.png" + + plt.subplot(511) + plt.hist(angle_diff, bins=60, label="Angle Diff") + plt.xlabel("Angle") + plt.ylabel("Count") + plt.legend(loc=4) + + plt.subplot(512) + plt.hist(real_diffs, bins=60, label="Real Diff") + plt.xlabel("Real Part") + plt.ylabel("Count") + plt.legend(loc=4) + + plt.subplot(513) + plt.hist(imag_diffs, bins=60, label="Imaginary Diff") + plt.xlabel("Imaginary Part") + plt.ylabel("Count") + plt.legend(loc=4) + + plt.subplot(514) + plt.plot(np.angle(ref_sig[:128]), label="ref_sig") + plt.plot(np.angle(sig[:128]), label="sig") + plt.xlabel("Angle") + plt.ylabel("Sample") + plt.legend(loc=4) + + real_diff = np.median(real_diffs) + imag_diff = np.median(imag_diffs) + + angle = np.angle(real_diff + 1j * imag_diff) + + #logging.debug( "Compensating phase by {} rad, {} degree. real median {}, imag median {}".format( angle, angle*180./np.pi, real_diff, imag_diff)) + sig = sig * np.exp(1j * -angle) + + if plot_location is not None: + plt.subplot(515) + plt.plot(np.angle(ref_sig[:128]), label="ref_sig") + plt.plot(np.angle(sig[:128]), label="sig") + plt.xlabel("Angle") + plt.ylabel("Sample") + plt.legend(loc=4) + plt.tight_layout() + plt.savefig(fig_path) + plt.close() + + return sig diff --git a/python/gui/dpd/Capture.py b/python/gui/dpd/Capture.py new file mode 100644 index 0000000..7d95f90 --- /dev/null +++ b/python/gui/dpd/Capture.py @@ -0,0 +1,253 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine, Capture TX signal and RX feedback using ODR-DabMod's +# DPD Server. +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2018 Matthias P. Braendli +# +# http://www.opendigitalradio.org +# +# This file is part of ODR-DabMod. +# +# ODR-DabMod is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# ODR-DabMod is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with ODR-DabMod. If not, see . + +import socket +import struct +import os.path +import logging +import numpy as np +from scipy import signal +import matplotlib +matplotlib.use('Agg') +import matplotlib.pyplot as plt +import io + +from . import Align as sa + +def correlation_coefficient(sig_tx, sig_rx): + return np.corrcoef(sig_tx, sig_rx)[0, 1] + +def align_samples(sig_tx, sig_rx): + """ + Returns an aligned version of sig_tx and sig_rx by cropping, subsample alignment and + correct phase offset + """ + + # Coarse sample-level alignment + c = np.abs(signal.correlate(sig_rx, sig_tx)) + off_meas = np.argmax(c) - sig_tx.shape[0] + 1 + off = int(abs(off_meas)) + + if off_meas > 0: + sig_tx = sig_tx[:-off] + sig_rx = sig_rx[off:] + elif off_meas < 0: + sig_tx = sig_tx[off:] + sig_rx = sig_rx[:-off] + + if off % 2 == 1: + sig_tx = sig_tx[:-1] + sig_rx = sig_rx[:-1] + + # Fine subsample alignment and phase offset + sig_rx = sa.subsample_align(sig_rx, sig_tx) + sig_rx = sa.phase_align(sig_rx, sig_tx) + return sig_tx, sig_rx, abs(off_meas) + +class Capture: + """Capture samples from ODR-DabMod""" + def __init__(self, samplerate, port, num_samples_to_request, plot_dir): + self.samplerate = samplerate + self.sizeof_sample = 8 # complex floats + self.port = port + self.num_samples_to_request = num_samples_to_request + self.plot_dir = plot_dir + + # Before we run the samples through the model, we want to accumulate + # them into bins depending on their amplitude, and keep only n_per_bin + # samples to avoid that the polynomial gets overfitted in the low-amplitude + # part, which is less interesting than the high-amplitude part, where + # non-linearities become apparent. + self.binning_n_bins = 64 # Number of bins between binning_start and binning_end + self.binning_n_per_bin = 128 # Number of measurements pre bin + + self.rx_normalisation = 1.0 + + self.clear_accumulated() + + def clear_accumulated(self): + self.binning_start = 0.0 + self.binning_end = 1.0 + + # axis 0: bins + # axis 1: 0=tx, 1=rx + self.accumulated_bins = [np.zeros((0, 2), dtype=np.complex64) for i in range(self.binning_n_bins)] + + def _recv_exact(self, sock, num_bytes): + """Receive an exact number of bytes from a socket. This is + a wrapper around sock.recv() that can return less than the number + of requested bytes. + + Args: + sock (socket): Socket to receive data from. + num_bytes (int): Number of bytes that will be returned. + """ + bufs = [] + while num_bytes > 0: + b = sock.recv(num_bytes) + if len(b) == 0: + break + num_bytes -= len(b) + bufs.append(b) + return b''.join(bufs) + + def receive_tcp(self): + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + s.settimeout(4) + s.connect(('localhost', self.port)) + + logging.debug("Send version") + s.sendall(b"\x01") + + logging.debug("Send request for {} samples".format(self.num_samples_to_request)) + s.sendall(struct.pack("=I", self.num_samples_to_request)) + + logging.debug("Wait for TX metadata") + num_samps, tx_second, tx_pps = struct.unpack("=III", self._recv_exact(s, 12)) + tx_ts = tx_second + tx_pps / 16384000.0 + + if num_samps > 0: + logging.debug("Receiving {} TX samples".format(num_samps)) + txframe_bytes = self._recv_exact(s, num_samps * self.sizeof_sample) + txframe = np.fromstring(txframe_bytes, dtype=np.complex64) + else: + txframe = np.array([], dtype=np.complex64) + + logging.debug("Wait for RX metadata") + rx_second, rx_pps = struct.unpack("=II", self._recv_exact(s, 8)) + rx_ts = rx_second + rx_pps / 16384000.0 + + if num_samps > 0: + logging.debug("Receiving {} RX samples".format(num_samps)) + rxframe_bytes = self._recv_exact(s, num_samps * self.sizeof_sample) + rxframe = np.fromstring(rxframe_bytes, dtype=np.complex64) + else: + rxframe = np.array([], dtype=np.complex64) + + if logging.getLogger().getEffectiveLevel() == logging.DEBUG: + logging.debug('txframe: min {}, max {}, median {}'.format( + np.min(np.abs(txframe)), + np.max(np.abs(txframe)), + np.median(np.abs(txframe)))) + + logging.debug('rxframe: min {}, max {}, median {}'.format( + np.min(np.abs(rxframe)), + np.max(np.abs(rxframe)), + np.median(np.abs(rxframe)))) + + logging.debug("Disconnecting") + s.close() + + return txframe, tx_ts, rxframe, rx_ts + + def _plot_spectrum(self, signal, filename, title): + fig = plt.figure() + ax = plt.subplot(1, 1, 1) + + fft = np.fft.fftshift(np.fft.fft(signal)) + fft_db = 20 * np.log10(np.abs(fft)) + + ax.plot(fft_db) + ax.set_title(title) + fig.tight_layout() + fig.savefig(os.path.join(self.plot_dir, filename)) + plt.close(fig) + + def calibrate(self): + txframe, tx_ts, rxframe, rx_ts = self.receive_tcp() + + # Normalize received signal with sent signal + tx_median = np.median(np.abs(txframe)) + rx_median = np.median(np.abs(rxframe)) + self.rx_normalisation = tx_median / rx_median + + rxframe = rxframe * self.rx_normalisation + txframe_aligned, rxframe_aligned, coarse_offset = align_samples(txframe, rxframe) + + self._plot_spectrum(rxframe[:8192], "rxframe.png", "RX Frame") + self._plot_spectrum(txframe[:8192], "txframe.png", "RX Frame") + + return tx_ts, tx_median, rx_ts, rx_median, np.abs(coarse_offset), correlation_coefficient(txframe_aligned, rxframe_aligned) + + def get_samples(self): + """Connect to ODR-DabMod, retrieve TX and RX samples, load + into numpy arrays, and return a tuple + (txframe_aligned, tx_ts, tx_median, rxframe_aligned, rx_ts, rx_median) + """ + + txframe, tx_ts, rxframe, rx_ts = self.receive_tcp() + + # Normalize received signal with calibrated normalisation + rxframe = rxframe * self.rx_normalisation + txframe_aligned, rxframe_aligned, coarse_offset = align_samples(txframe, rxframe) + self._bin_and_accumulate(txframe_aligned, rxframe_aligned) + return txframe_aligned, tx_ts, tx_median, rxframe_aligned, rx_ts, rx_median + + def bin_histogram(self): + return [b.shape[0] for b in self.accumulated_bins] + + def pointcloud_png(self): + fig = plt.figure() + ax = plt.subplot(1, 1, 1) + for b in self.accumulated_bins: + if b: + ax.scatter( + np.abs(b[0]), + np.abs(b[1]), + s=0.1, + color="black") + ax.set_title("Captured and Binned Samples") + ax.set_xlabel("TX Amplitude") + ax.set_ylabel("RX Amplitude") + ax.set_ylim(0, 0.8) + ax.set_xlim(0, 1.1) + ax.legend(loc=4) + fig.tight_layout() + fig.savefig(os.path.join(self.plot_dir, "pointcloud.png")) + plt.close(fig) + + def _bin_and_accumulate(self, txframe, rxframe): + """Bin the samples and extend the accumulated samples""" + + bin_edges = np.linspace(self.binning_start, self.binning_end, self.binning_n_bins) + + minsize = self.num_samples_to_request + + for i, (tx_start, tx_end) in enumerate(zip(bin_edges, bin_edges[1:])): + txframe_abs = np.abs(txframe) + indices = np.bitwise_and(tx_start < txframe_abs, txframe_abs <= tx_end) + txsamples = np.asmatrix(txframe[indices]) + rxsamples = np.asmatrix(rxframe[indices]) + binned_sample_pairs = np.concatenate((txsamples, rxsamples)).T + + missing_in_bin = self.binning_n_per_bin - self.accumulated_bins[i].shape[0] + num_to_append = min(missing_in_bin, binned_sample_pairs.shape[0]) + print("Handling bin {} {}-{}, {} available, {} missing".format(i, tx_start, tx_end, binned_sample_pairs.shape[0], missing_in_bin)) + if num_to_append: + print("Appending {} to bin {} with shape {}".format(num_to_append, i, self.accumulated_bins[i].shape)) + + self.accumulated_bins[i] = np.concatenate((self.accumulated_bins[i], binned_sample_pairs[:num_to_append,...])) + print("{} now has shape {}".format(i, self.accumulated_bins[i].shape)) + diff --git a/python/gui/dpd/__init__.py b/python/gui/dpd/__init__.py new file mode 100644 index 0000000..9009436 --- /dev/null +++ b/python/gui/dpd/__init__.py @@ -0,0 +1,93 @@ +# -*- coding: utf-8 -*- +# +# DPD Computation Engine module +# +# Copyright (c) 2017 Andreas Steger +# Copyright (c) 2018 Matthias P. Braendli +# +# http://www.opendigitalradio.org +# +# This file is part of ODR-DabMod. +# +# ODR-DabMod is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# ODR-DabMod is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with ODR-DabMod. If not, see . + +from . import Capture +import numpy as np + +class DPD: + def __init__(self, plot_dir, samplerate=8192000): + self.samplerate = samplerate + + oversample = int(self.samplerate / 2048000) + self.T_F = oversample * 196608 # Transmission frame duration + self.T_NULL = oversample * 2656 # Null symbol duration + self.T_S = oversample * 2552 # Duration of OFDM symbols of indices l = 1, 2, 3,... L; + self.T_U = oversample * 2048 # Inverse of carrier spacing + self.T_C = oversample * 504 # Duration of cyclic prefix + + self.last_capture_info = {} + + port = 50055 + samples_to_capture = 81920 + self.capture = Capture.Capture(self.samplerate, port, samples_to_capture, plot_dir) + + def status(self): + r = {} + r['histogram'] = self.capture.bin_histogram() + r['capture'] = self.last_capture_info + return r + + def pointcloud_png(self): + return self.capture.pointcloud_png() + + def clear_accumulated(self): + return self.capture.clear_accumulated() + + def capture_calibration(self): + tx_ts, tx_median, rx_ts, rx_median, coarse_offset, correlation_coefficient = self.capture.calibrate() + result = {'status': "ok"} + result['tx_median'] = "{:.2f}dB".format(20*np.log10(tx_median)) + result['rx_median'] = "{:.2f}dB".format(20*np.log10(rx_median)) + result['tx_ts'] = tx_ts + result['rx_ts'] = rx_ts + result['coarse_offset'] = int(coarse_offset) + result['correlation'] = float(correlation_coefficient) + return result + + def capture_samples(self): + """Captures samples and store them in the accumulated samples, + returns a dict with some info""" + result = {} + try: + txframe_aligned, tx_ts, tx_median, rxframe_aligned, rx_ts, rx_median = self.capture.get_samples() + result['status'] = "ok" + result['length'] = len(txframe_aligned) + result['tx_median'] = float(tx_median) + result['rx_median'] = float(rx_median) + result['tx_ts'] = tx_ts + result['rx_ts'] = rx_ts + except ValueError as e: + result['status'] = "Capture failed: {}".format(e) + + self.last_capture_info = result + + # tx, rx, phase_diff, n_per_bin = extStat.extract(txframe_aligned, rxframe_aligned) + # off = SA.calc_offset(txframe_aligned) + # print("off {}".format(off)) + # tx_mer = MER.calc_mer(txframe_aligned[off:off + c.T_U], debug_name='TX') + # print("tx_mer {}".format(tx_mer)) + # rx_mer = MER.calc_mer(rxframe_aligned[off:off + c.T_U], debug_name='RX') + # print("rx_mer {}".format(rx_mer)) + # mse = np.mean(np.abs((txframe_aligned - rxframe_aligned) ** 2)) + # print("mse {}".format(mse)) diff --git a/python/gui/logs/.keep b/python/gui/logs/.keep new file mode 100644 index 0000000..e69de29 diff --git a/python/gui/run.py b/python/gui/run.py new file mode 100755 index 0000000..b83dd14 --- /dev/null +++ b/python/gui/run.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# Copyright (C) 2018 +# Matthias P. Braendli, matthias.braendli@mpb.li +# +# http://www.opendigitalradio.org +# +# This file is part of ODR-DabMod. +# +# ODR-DabMod is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# ODR-DabMod is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with ODR-DabMod. If not, see . + +import configuration +from multiprocessing import Process, Pipe +import os.path +import cherrypy +import argparse +from jinja2 import Environment, FileSystemLoader +from api import API +import zmqrc +import dpd + +env = Environment(loader=FileSystemLoader('templates')) + +base_js = ["js/odr.js"] + +class Root: + def __init__(self, config_file, dpd_pipe): + self.config_file = config_file + self.conf = configuration.Configuration(self.config_file) + self.mod_rc = zmqrc.ModRemoteControl("localhost") + self.api = API(self.mod_rc, dpd_pipe) + + @cherrypy.expose + def index(self): + raise cherrypy.HTTPRedirect('/home') + + @cherrypy.expose + def about(self): + tmpl = env.get_template("about.html") + return tmpl.render(tab='about', js=base_js, is_login=False) + + @cherrypy.expose + def home(self): + tmpl = env.get_template("home.html") + return tmpl.render(tab='home', js=base_js, is_login=False) + + @cherrypy.expose + def rcvalues(self): + tmpl = env.get_template("rcvalues.html") + js = base_js + ["js/odr-rcvalues.js"] + return tmpl.render(tab='rcvalues', js=js, is_login=False) + + @cherrypy.expose + def modulator(self): + tmpl = env.get_template("modulator.html") + js = base_js + ["js/odr-modulator.js"] + return tmpl.render(tab='modulator', js=js, is_login=False) + + @cherrypy.expose + def predistortion(self): + tmpl = env.get_template("predistortion.html") + js = base_js + ["js/odr-predistortion.js"] + return tmpl.render(tab='predistortion', js=js, is_login=False) + +class DPDRunner: + def __init__(self, static_dir): + self.web_end, self.dpd_end = Pipe() + self.dpd = dpd.DPD(static_dir) + + def __enter__(self): + self.p = Process(target=self._handle_messages) + self.p.start() + return self.web_end + + def _handle_messages(self): + while True: + rx = self.dpd_end.recv() + if rx['cmd'] == "quit": + break + elif rx['cmd'] == "dpd-capture": + self.dpd.capture_samples() + elif rx['cmd'] == "dpd-calibrate": + self.dpd_end.send({'cmd': "dpd-calibration-result", + 'data': self.dpd.capture_calibration()}) + + + def __exit__(self, exc_type, exc_value, traceback): + self.web_end.send({'cmd': "quit"}) + self.p.join() + return False + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='ODR-DabMod Web GUI') + parser.add_argument('-c', '--config', + default="ui-config.json", + help='configuration filename') + cli_args = parser.parse_args() + + config = configuration.Configuration(cli_args.config) + if config.config is None: + print("Configuration file is missing or is not readable - {}".format(cli_args.config)) + sys.exit(1) + + if config.config['global']['daemon']: + cherrypy.process.plugins.Daemonizer(cherrypy.engine).subscribe() + + accesslog = os.path.realpath(os.path.join(config.config['global']['logs_directory'], 'access.log')) + errorlog = os.path.realpath(os.path.join(config.config['global']['logs_directory'], 'error.log')) + + cherrypy.config.update({ + 'engine.autoreload.on': True, + 'server.socket_host': config.config['global']['host'], + 'server.socket_port': int(config.config['global']['port']), + 'request.show_tracebacks' : True, + 'tools.sessions.on': False, + 'tools.encode.on': True, + 'tools.encode.encoding': "utf-8", + 'log.access_file': accesslog, + 'log.error_file': errorlog, + 'log.screen': True, + }) + + staticdir = os.path.realpath(config.config['global']['static_directory']) + + with DPDRunner(os.path.join(staticdir, "dpd")) as dpd_pipe: + cherrypy.tree.mount( + Root(cli_args.config, dpd_pipe), config={ + '/': { }, + '/dpd': { + 'tools.staticdir.on': True, + 'tools.staticdir.dir': os.path.join(staticdir, u"dpd/") + }, + '/css': { + 'tools.staticdir.on': True, + 'tools.staticdir.dir': os.path.join(staticdir, u"css/") + }, + '/js': { + 'tools.staticdir.on': True, + 'tools.staticdir.dir': os.path.join(staticdir, u"js/") + }, + '/fonts': { + 'tools.staticdir.on': True, + 'tools.staticdir.dir': os.path.join(staticdir, u"fonts/") + }, + '/favicon.ico': { + 'tools.staticfile.on': True, + 'tools.staticfile.filename': os.path.join(staticdir, u"fonts/favicon.ico") + }, + } + ) + + cherrypy.engine.start() + cherrypy.engine.block() + diff --git a/python/gui/static/css/bootstrap.min.css b/python/gui/static/css/bootstrap.min.css new file mode 100644 index 0000000..28f154d --- /dev/null +++ b/python/gui/static/css/bootstrap.min.css @@ -0,0 +1,5 @@ +/*! 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2011 Jordan Boesch + * Dual licensed under the MIT and GPL licenses. + * + * Date: December 8, 2011 + * Version: 1.7.3 + */ + +(function($){ + + /** + * Set it up as an object under the jQuery namespace + */ + $.gritter = {}; + + /** + * Set up global options that the user can over-ride + */ + $.gritter.options = { + position: '', + class_name: '', // could be set to 'gritter-light' to use white notifications + fade_in_speed: 'medium', // how fast notifications fade in + fade_out_speed: 1000, // how fast the notices fade out + time: 6000 // hang on the screen for... + } + + /** + * Add a gritter notification to the screen + * @see Gritter#add(); + */ + $.gritter.add = function(params){ + + try { + return Gritter.add(params || {}); + } catch(e) { + + var err = 'Gritter Error: ' + e; + (typeof(console) != 'undefined' && console.error) ? + console.error(err, params) : + alert(err); + + } + + } + + /** + * Remove a gritter notification from the screen + * @see Gritter#removeSpecific(); + */ + $.gritter.remove = function(id, params){ + Gritter.removeSpecific(id, params || {}); + } + + /** + * Remove all notifications + * @see Gritter#stop(); + */ + $.gritter.removeAll = function(params){ + Gritter.stop(params || {}); + } + + /** + * Big fat Gritter object + * @constructor (not really since its object literal) + */ + var Gritter = { + + // Public - options to over-ride with $.gritter.options in "add" + position: '', + fade_in_speed: '', + fade_out_speed: '', + time: '', + + // Private - no touchy the private parts + _custom_timer: 0, + _item_count: 0, + _is_setup: 0, + _tpl_close: '
', + _tpl_item: '', + _tpl_wrap: '
', + + /** + * Add a gritter notification to the screen + * @param {Object} params The object that contains all the options for drawing the notification + * @return {Integer} The specific numeric id to that gritter notification + */ + add: function(params){ + + // We might have some issues if we don't have a title or text! + if(!params.title || !params.text){ + throw 'You need to fill out the first 2 params: "title" and "text"'; + } + + // Check the options and set them once + if(!this._is_setup){ + this._runSetup(); + } + + // Basics + var user = params.title, + text = params.text, + image = params.image || '', + sticky = params.sticky || false, + item_class = params.class_name || $.gritter.options.class_name, + position = $.gritter.options.position, + time_alive = params.time || ''; + + this._verifyWrapper(); + + this._item_count++; + var number = this._item_count, + tmp = this._tpl_item; + + // Assign callbacks + $(['before_open', 'after_open', 'before_close', 'after_close']).each(function(i, val){ + Gritter['_' + val + '_' + number] = ($.isFunction(params[val])) ? params[val] : function(){} + }); + + // Reset + this._custom_timer = 0; + + // A custom fade time set + if(time_alive){ + this._custom_timer = time_alive; + } + + var image_str = (image != '') ? '' : '', + class_name = (image != '') ? 'gritter-with-image' : 'gritter-without-image'; + + // String replacements on the template + tmp = this._str_replace( + ['[[username]]', '[[text]]', '[[close]]', '[[image]]', '[[number]]', '[[class_name]]', '[[item_class]]'], + [user, text, this._tpl_close, image_str, this._item_count, class_name, item_class], tmp + ); + + // If it's false, don't show another gritter message + if(this['_before_open_' + number]() === false){ + return false; + } + + $('#gritter-notice-wrapper').addClass(position).append(tmp); + + var item = $('#gritter-item-' + this._item_count); + + item.fadeIn(this.fade_in_speed, function(){ + Gritter['_after_open_' + number]($(this)); + }); + + if(!sticky){ + this._setFadeTimer(item, number); + } + + // Bind the hover/unhover states + $(item).bind('mouseenter mouseleave', function(event){ + if(event.type == 'mouseenter'){ + if(!sticky){ + Gritter._restoreItemIfFading($(this), number); + } + } + else { + if(!sticky){ + Gritter._setFadeTimer($(this), number); + } + } + Gritter._hoverState($(this), event.type); + }); + + return number; + + }, + + /** + * If we don't have any more gritter notifications, get rid of the wrapper using this check + * @private + * @param {Integer} unique_id The ID of the element that was just deleted, use it for a callback + * @param {Object} e The jQuery element that we're going to perform the remove() action on + * @param {Boolean} manual_close Did we close the gritter dialog with the (X) button + */ + _countRemoveWrapper: function(unique_id, e, manual_close){ + + // Remove it then run the callback function + e.remove(); + this['_after_close_' + unique_id](e, manual_close); + + // Check if the wrapper is empty, if it is.. remove the wrapper + if($('.gritter-item-wrapper').length == 0){ + $('#gritter-notice-wrapper').remove(); + } + + }, + + /** + * Fade out an element after it's been on the screen for x amount of time + * @private + * @param {Object} e The jQuery element to get rid of + * @param {Integer} unique_id The id of the element to remove + * @param {Object} params An optional list of params to set fade speeds etc. + * @param {Boolean} unbind_events Unbind the mouseenter/mouseleave events if they click (X) + */ + _fade: function(e, unique_id, params, unbind_events){ + + var params = params || {}, + fade = (typeof(params.fade) != 'undefined') ? params.fade : true; + fade_out_speed = params.speed || this.fade_out_speed, + manual_close = unbind_events; + + this['_before_close_' + unique_id](e, manual_close); + + // If this is true, then we are coming from clicking the (X) + if(unbind_events){ + e.unbind('mouseenter mouseleave'); + } + + // Fade it out or remove it + if(fade){ + + e.animate({ + opacity: 0 + }, fade_out_speed, function(){ + e.animate({ height: 0 }, 300, function(){ + Gritter._countRemoveWrapper(unique_id, e, manual_close); + }) + }) + + } + else { + + this._countRemoveWrapper(unique_id, e); + + } + + }, + + /** + * Perform actions based on the type of bind (mouseenter, mouseleave) + * @private + * @param {Object} e The jQuery element + * @param {String} type The type of action we're performing: mouseenter or mouseleave + */ + _hoverState: function(e, type){ + + // Change the border styles and add the (X) close button when you hover + if(type == 'mouseenter'){ + + e.addClass('hover'); + + // Show close button + e.find('.gritter-close').show(); + + // Clicking (X) makes the perdy thing close + e.find('.gritter-close').click(function(){ + var unique_id = e.attr('id').split('-')[2]; + Gritter.removeSpecific(unique_id, {}, e, true); + }); + + } + // Remove the border styles and hide (X) close button when you mouse out + else { + + e.removeClass('hover'); + + // Hide close button + e.find('.gritter-close').hide(); + + } + + }, + + /** + * Remove a specific notification based on an ID + * @param {Integer} unique_id The ID used to delete a specific notification + * @param {Object} params A set of options passed in to determine how to get rid of it + * @param {Object} e The jQuery element that we're "fading" then removing + * @param {Boolean} unbind_events If we clicked on the (X) we set this to true to unbind mouseenter/mouseleave + */ + removeSpecific: function(unique_id, params, e, unbind_events){ + + if(!e){ + var e = $('#gritter-item-' + unique_id); + } + + // We set the fourth param to let the _fade function know to + // unbind the "mouseleave" event. Once you click (X) there's no going back! + this._fade(e, unique_id, params || {}, unbind_events); + + }, + + /** + * If the item is fading out and we hover over it, restore it! + * @private + * @param {Object} e The HTML element to remove + * @param {Integer} unique_id The ID of the element + */ + _restoreItemIfFading: function(e, unique_id){ + + clearTimeout(this['_int_id_' + unique_id]); + e.stop().css({ opacity: '', height: '' }); + + }, + + /** + * Setup the global options - only once + * @private + */ + _runSetup: function(){ + + for(opt in $.gritter.options){ + this[opt] = $.gritter.options[opt]; + } + this._is_setup = 1; + + }, + + /** + * Set the notification to fade out after a certain amount of time + * @private + * @param {Object} item The HTML element we're dealing with + * @param {Integer} unique_id The ID of the element + */ + _setFadeTimer: function(e, unique_id){ + + var timer_str = (this._custom_timer) ? this._custom_timer : this.time; + this['_int_id_' + unique_id] = setTimeout(function(){ + Gritter._fade(e, unique_id); + }, timer_str); + + }, + + /** + * Bring everything to a halt + * @param {Object} params A list of callback functions to pass when all notifications are removed + */ + stop: function(params){ + + // callbacks (if passed) + var before_close = ($.isFunction(params.before_close)) ? params.before_close : function(){}; + var after_close = ($.isFunction(params.after_close)) ? params.after_close : function(){}; + + var wrap = $('#gritter-notice-wrapper'); + before_close(wrap); + wrap.fadeOut(function(){ + $(this).remove(); + after_close(); + }); + + }, + + /** + * An extremely handy PHP function ported to JS, works well for templating + * @private + * @param {String/Array} search A list of things to search for + * @param {String/Array} replace A list of things to replace the searches with + * @return {String} sa The output + */ + _str_replace: function(search, replace, subject, count){ + + var i = 0, j = 0, temp = '', repl = '', sl = 0, fl = 0, + f = [].concat(search), + r = [].concat(replace), + s = subject, + ra = r instanceof Array, sa = s instanceof Array; + s = [].concat(s); + + if(count){ + this.window[count] = 0; + } + + for(i = 0, sl = s.length; i < sl; i++){ + + if(s[i] === ''){ + continue; + } + + for (j = 0, fl = f.length; j < fl; j++){ + + temp = s[i] + ''; + repl = ra ? (r[j] !== undefined ? r[j] : '') : r[0]; + s[i] = (temp).split(f[j]).join(repl); + + if(count && s[i] !== temp){ + this.window[count] += (temp.length-s[i].length) / f[j].length; + } + + } + } + + return sa ? s : s[0]; + + }, + + /** + * A check to make sure we have something to wrap our notices with + * @private + */ + _verifyWrapper: function(){ + + if($('#gritter-notice-wrapper').length == 0){ + $('body').append(this._tpl_wrap); + } + + } + + } + +})(jQuery); diff --git a/python/gui/static/js/jquery.js b/python/gui/static/js/jquery.js new file mode 100644 index 0000000..79d631f --- /dev/null +++ b/python/gui/static/js/jquery.js @@ -0,0 +1,9205 @@ +/*! + * jQuery JavaScript Library v2.1.3 + * http://jquery.com/ + * + * Includes Sizzle.js + * http://sizzlejs.com/ + * + * Copyright 2005, 2014 jQuery Foundation, Inc. and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: 2014-12-18T15:11Z + */ + +(function( global, factory ) { + + if ( typeof module === "object" && typeof module.exports === "object" ) { + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +}(typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Support: Firefox 18+ +// Can't be in strict mode, several libs including ASP.NET trace +// the stack via arguments.caller.callee and Firefox dies if +// you try to trace through "use strict" call chains. (#13335) +// + +var arr = []; + +var slice = arr.slice; + +var concat = arr.concat; + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var support = {}; + + + +var + // Use the correct document accordingly with window argument (sandbox) + document = window.document, + + version = "2.1.3", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }, + + // Support: Android<4.1 + // Make sure we trim BOM and NBSP + rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g, + + // Matches dashed string for camelizing + rmsPrefix = /^-ms-/, + rdashAlpha = /-([\da-z])/gi, + + // Used by jQuery.camelCase as callback to replace() + fcamelCase = function( all, letter ) { + return letter.toUpperCase(); + }; + +jQuery.fn = jQuery.prototype = { + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // Start with an empty selector + selector: "", + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + return num != null ? + + // Return just the one element from the set + ( num < 0 ? this[ num + this.length ] : this[ num ] ) : + + // Return all the elements in a clean array + slice.call( this ); + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + ret.context = this.context; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + // (You can seed the arguments with an array of args, but this is + // only used internally.) + each: function( callback, args ) { + return jQuery.each( this, callback, args ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map(this, function( elem, i ) { + return callback.call( elem, i, elem ); + })); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[j] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(null); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[0] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !jQuery.isFunction(target) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + // Only deal with non-null/undefined values + if ( (options = arguments[ i ]) != null ) { + // Extend the base object + for ( name in options ) { + src = target[ name ]; + copy = options[ name ]; + + // Prevent never-ending loop + if ( target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject(copy) || (copyIsArray = jQuery.isArray(copy)) ) ) { + if ( copyIsArray ) { + copyIsArray = false; + clone = src && jQuery.isArray(src) ? src : []; + + } else { + clone = src && jQuery.isPlainObject(src) ? src : {}; + } + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend({ + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isFunction: function( obj ) { + return jQuery.type(obj) === "function"; + }, + + isArray: Array.isArray, + + isWindow: function( obj ) { + return obj != null && obj === obj.window; + }, + + isNumeric: function( obj ) { + // parseFloat NaNs numeric-cast false positives (null|true|false|"") + // ...but misinterprets leading-number strings, particularly hex literals ("0x...") + // subtraction forces infinities to NaN + // adding 1 corrects loss of precision from parseFloat (#15100) + return !jQuery.isArray( obj ) && (obj - parseFloat( obj ) + 1) >= 0; + }, + + isPlainObject: function( obj ) { + // Not plain objects: + // - Any object or value whose internal [[Class]] property is not "[object Object]" + // - DOM nodes + // - window + if ( jQuery.type( obj ) !== "object" || obj.nodeType || jQuery.isWindow( obj ) ) { + return false; + } + + if ( obj.constructor && + !hasOwn.call( obj.constructor.prototype, "isPrototypeOf" ) ) { + return false; + } + + // If the function hasn't returned already, we're confident that + // |obj| is a plain object, created by {} or constructed with new Object + return true; + }, + + isEmptyObject: function( obj ) { + var name; + for ( name in obj ) { + return false; + } + return true; + }, + + type: function( obj ) { + if ( obj == null ) { + return obj + ""; + } + // Support: Android<4.0, iOS<6 (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call(obj) ] || "object" : + typeof obj; + }, + + // Evaluates a script in a global context + globalEval: function( code ) { + var script, + indirect = eval; + + code = jQuery.trim( code ); + + if ( code ) { + // If the code includes a valid, prologue position + // strict mode pragma, execute code by injecting a + // script tag into the document. + if ( code.indexOf("use strict") === 1 ) { + script = document.createElement("script"); + script.text = code; + document.head.appendChild( script ).parentNode.removeChild( script ); + } else { + // Otherwise, avoid the DOM node creation, insertion + // and removal by using an indirect global eval + indirect( code ); + } + } + }, + + // Convert dashed to camelCase; used by the css and data modules + // Support: IE9-11+ + // Microsoft forgot to hump their vendor prefix (#9572) + camelCase: function( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); + }, + + nodeName: function( elem, name ) { + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + }, + + // args is for internal usage only + each: function( obj, callback, args ) { + var value, + i = 0, + length = obj.length, + isArray = isArraylike( obj ); + + if ( args ) { + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback.apply( obj[ i ], args ); + + if ( value === false ) { + break; + } + } + } else { + for ( i in obj ) { + value = callback.apply( obj[ i ], args ); + + if ( value === false ) { + break; + } + } + } + + // A special, fast, case for the most common use of each + } else { + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback.call( obj[ i ], i, obj[ i ] ); + + if ( value === false ) { + break; + } + } + } else { + for ( i in obj ) { + value = callback.call( obj[ i ], i, obj[ i ] ); + + if ( value === false ) { + break; + } + } + } + } + + return obj; + }, + + // Support: Android<4.1 + trim: function( text ) { + return text == null ? + "" : + ( text + "" ).replace( rtrim, "" ); + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArraylike( Object(arr) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var value, + i = 0, + length = elems.length, + isArray = isArraylike( elems ), + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return concat.apply( [], ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // Bind a function to a context, optionally partially applying any + // arguments. + proxy: function( fn, context ) { + var tmp, args, proxy; + + if ( typeof context === "string" ) { + tmp = fn[ context ]; + context = fn; + fn = tmp; + } + + // Quick check to determine if target is callable, in the spec + // this throws a TypeError, but we will just return undefined. + if ( !jQuery.isFunction( fn ) ) { + return undefined; + } + + // Simulated bind + args = slice.call( arguments, 2 ); + proxy = function() { + return fn.apply( context || this, args.concat( slice.call( arguments ) ) ); + }; + + // Set the guid of unique handler to the same of original handler, so it can be removed + proxy.guid = fn.guid = fn.guid || jQuery.guid++; + + return proxy; + }, + + now: Date.now, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +}); + +// Populate the class2type map +jQuery.each("Boolean Number String Function Array Date RegExp Object Error".split(" "), function(i, name) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +}); + +function isArraylike( obj ) { + var length = obj.length, + type = jQuery.type( obj ); + + if ( type === "function" || jQuery.isWindow( obj ) ) { + return false; + } + + if ( obj.nodeType === 1 && length ) { + return true; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.2.0-pre + * http://sizzlejs.com/ + * + * Copyright 2008, 2014 jQuery Foundation, Inc. and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: 2014-12-16 + */ +(function( window ) { + +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // General-purpose constants + MAX_NEGATIVE = 1 << 31, + + // Instance methods + hasOwn = ({}).hasOwnProperty, + arr = [], + pop = arr.pop, + push_native = arr.push, + push = arr.push, + slice = arr.slice, + // Use a stripped-down indexOf as it's faster than native + // http://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[i] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // Whitespace characters http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + // http://www.w3.org/TR/css3-syntax/#characters + characterEncoding = "(?:\\\\.|[\\w-]|[^\\x00-\\xa0])+", + + // Loosely modeled on CSS identifier characters + // An unquoted value should be a CSS identifier http://www.w3.org/TR/css3-selectors/#attribute-selectors + // Proper syntax: http://www.w3.org/TR/CSS21/syndata.html#value-def-identifier + identifier = characterEncoding.replace( "w", "w#" ), + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + characterEncoding + ")(?:" + whitespace + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + // "Attribute values must be CSS identifiers [capture 5] or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + whitespace + + "*\\]", + + pseudos = ":(" + characterEncoding + ")(?:\\((" + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + "*" ), + + rattributeQuotes = new RegExp( "=" + whitespace + "*([^\\]'\"]*?)" + whitespace + "*\\]", "g" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + characterEncoding + ")" ), + "CLASS": new RegExp( "^\\.(" + characterEncoding + ")" ), + "TAG": new RegExp( "^(" + characterEncoding.replace( "w", "w*" ) + ")" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + whitespace + + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + whitespace + + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + + whitespace + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + rescape = /'|\\/g, + + // CSS escapes http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\([\\da-f]{1,6}" + whitespace + "?|(" + whitespace + ")|.)", "ig" ), + funescape = function( _, escaped, escapedWhitespace ) { + var high = "0x" + escaped - 0x10000; + // NaN means non-codepoint + // Support: Firefox<24 + // Workaround erroneous numeric interpretation of +"0x" + return high !== high || escapedWhitespace ? + escaped : + high < 0 ? + // BMP codepoint + String.fromCharCode( high + 0x10000 ) : + // Supplemental Plane codepoint (surrogate pair) + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }; + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + (arr = slice.call( preferredDoc.childNodes )), + preferredDoc.childNodes + ); + // Support: Android<4.0 + // Detect silently failing push.apply + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + push_native.apply( target, slice.call(els) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + // Can't trust NodeList.length + while ( (target[j++] = els[i++]) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var match, elem, m, nodeType, + // QSA vars + i, groups, old, nid, newContext, newSelector; + + if ( ( context ? context.ownerDocument || context : preferredDoc ) !== document ) { + setDocument( context ); + } + + context = context || document; + results = results || []; + nodeType = context.nodeType; + + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + if ( !seed && documentIsHTML ) { + + // Try to shortcut find operations when possible (e.g., not under DocumentFragment) + if ( nodeType !== 11 && (match = rquickExpr.exec( selector )) ) { + // Speed-up: Sizzle("#ID") + if ( (m = match[1]) ) { + if ( nodeType === 9 ) { + elem = context.getElementById( m ); + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document (jQuery #6963) + if ( elem && elem.parentNode ) { + // Handle the case where IE, Opera, and Webkit return items + // by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + } else { + // Context is not a document + if ( context.ownerDocument && (elem = context.ownerDocument.getElementById( m )) && + contains( context, elem ) && elem.id === m ) { + results.push( elem ); + return results; + } + } + + // Speed-up: Sizzle("TAG") + } else if ( match[2] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Speed-up: Sizzle(".CLASS") + } else if ( (m = match[3]) && support.getElementsByClassName ) { + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // QSA path + if ( support.qsa && (!rbuggyQSA || !rbuggyQSA.test( selector )) ) { + nid = old = expando; + newContext = context; + newSelector = nodeType !== 1 && selector; + + // qSA works strangely on Element-rooted queries + // We can work around this by specifying an extra ID on the root + // and working up from there (Thanks to Andrew Dupont for the technique) + // IE 8 doesn't work on object elements + if ( nodeType === 1 && context.nodeName.toLowerCase() !== "object" ) { + groups = tokenize( selector ); + + if ( (old = context.getAttribute("id")) ) { + nid = old.replace( rescape, "\\$&" ); + } else { + context.setAttribute( "id", nid ); + } + nid = "[id='" + nid + "'] "; + + i = groups.length; + while ( i-- ) { + groups[i] = nid + toSelector( groups[i] ); + } + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || context; + newSelector = groups.join(","); + } + + if ( newSelector ) { + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch(qsaError) { + } finally { + if ( !old ) { + context.removeAttribute("id"); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {Function(string, Object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return (cache[ key + " " ] = value); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created div and expects a boolean result + */ +function assert( fn ) { + var div = document.createElement("div"); + + try { + return !!fn( div ); + } catch (e) { + return false; + } finally { + // Remove from its parent by default + if ( div.parentNode ) { + div.parentNode.removeChild( div ); + } + // release memory in IE + div = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split("|"), + i = attrs.length; + + while ( i-- ) { + Expr.attrHandle[ arr[i] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + ( ~b.sourceIndex || MAX_NEGATIVE ) - + ( ~a.sourceIndex || MAX_NEGATIVE ); + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( (cur = cur.nextSibling) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return (name === "input" || name === "button") && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction(function( argument ) { + argument = +argument; + return markFunction(function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ (j = matchIndexes[i]) ] ) { + seed[j] = !(matches[j] = seed[j]); + } + } + }); + }); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + // documentElement is verified for cases where it doesn't yet exist + // (such as loading iframes in IE - #4833) + var documentElement = elem && (elem.ownerDocument || elem).documentElement; + return documentElement ? documentElement.nodeName !== "HTML" : false; +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, parent, + doc = node ? node.ownerDocument || node : preferredDoc; + + // If no document and documentElement is available, return + if ( doc === document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Set our document + document = doc; + docElem = doc.documentElement; + parent = doc.defaultView; + + // Support: IE>8 + // If iframe document is assigned to "document" variable and if iframe has been reloaded, + // IE will throw "permission denied" error when accessing "document" variable, see jQuery #13936 + // IE6-8 do not support the defaultView property so parent will be undefined + if ( parent && parent !== parent.top ) { + // IE11 does not have attachEvent, so all must suffer + if ( parent.addEventListener ) { + parent.addEventListener( "unload", unloadHandler, false ); + } else if ( parent.attachEvent ) { + parent.attachEvent( "onunload", unloadHandler ); + } + } + + /* Support tests + ---------------------------------------------------------------------- */ + documentIsHTML = !isXML( doc ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert(function( div ) { + div.className = "i"; + return !div.getAttribute("className"); + }); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert(function( div ) { + div.appendChild( doc.createComment("") ); + return !div.getElementsByTagName("*").length; + }); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( doc.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert(function( div ) { + docElem.appendChild( div ).id = expando; + return !doc.getElementsByName || !doc.getElementsByName( expando ).length; + }); + + // ID find and filter + if ( support.getById ) { + Expr.find["ID"] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var m = context.getElementById( id ); + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document #6963 + return m && m.parentNode ? [ m ] : []; + } + }; + Expr.filter["ID"] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute("id") === attrId; + }; + }; + } else { + // Support: IE6/7 + // getElementById is not reliable as a find shortcut + delete Expr.find["ID"]; + + Expr.filter["ID"] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && elem.getAttributeNode("id"); + return node && node.value === attrId; + }; + }; + } + + // Tag + Expr.find["TAG"] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( (elem = results[i++]) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find["CLASS"] = support.getElementsByClassName && function( className, context ) { + if ( documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See http://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( (support.qsa = rnative.test( doc.querySelectorAll )) ) { + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert(function( div ) { + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // http://bugs.jquery.com/ticket/12359 + docElem.appendChild( div ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // http://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( div.querySelectorAll("[msallowcapture^='']").length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !div.querySelectorAll("[selected]").length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.2+, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.7+ + if ( !div.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push("~="); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !div.querySelectorAll(":checked").length ) { + rbuggyQSA.push(":checked"); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibing-combinator selector` fails + if ( !div.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push(".#.+[+~]"); + } + }); + + assert(function( div ) { + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = doc.createElement("input"); + input.setAttribute( "type", "hidden" ); + div.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( div.querySelectorAll("[name=d]").length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( !div.querySelectorAll(":enabled").length ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Opera 10-11 does not throw on post-comma invalid pseudos + div.querySelectorAll("*,:x"); + rbuggyQSA.push(",.*:"); + }); + } + + if ( (support.matchesSelector = rnative.test( (matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector) )) ) { + + assert(function( div ) { + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( div, "div" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( div, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + }); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join("|") ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join("|") ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully does not implement inclusive descendent + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + )); + } : + function( a, b ) { + if ( b ) { + while ( (b = b.parentNode) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + compare = ( a.ownerDocument || a ) === ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + (!support.sortDetached && b.compareDocumentPosition( a ) === compare) ) { + + // Choose the first element that is related to our preferred document + if ( a === doc || a.ownerDocument === preferredDoc && contains(preferredDoc, a) ) { + return -1; + } + if ( b === doc || b.ownerDocument === preferredDoc && contains(preferredDoc, b) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + return a === doc ? -1 : + b === doc ? 1 : + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( (cur = cur.parentNode) ) { + ap.unshift( cur ); + } + cur = b; + while ( (cur = cur.parentNode) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[i] === bp[i] ) { + i++; + } + + return i ? + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[i], bp[i] ) : + + // Otherwise nodes in our document sort first + ap[i] === preferredDoc ? -1 : + bp[i] === preferredDoc ? 1 : + 0; + }; + + return doc; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + // Make sure that attribute selectors are quoted + expr = expr.replace( rattributeQuotes, "='$1']" ); + + if ( support.matchesSelector && documentIsHTML && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch (e) {} + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + // Set document vars if needed + if ( ( context.ownerDocument || context ) !== document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + (val = elem.getAttributeNode(name)) && val.specified ? + val.value : + null; +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( (elem = results[i++]) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + // If no nodeType, this is expected to be an array + while ( (node = elem[i++]) ) { + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[1] = match[1].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[3] = ( match[3] || match[4] || match[5] || "" ).replace( runescape, funescape ); + + if ( match[2] === "~=" ) { + match[3] = " " + match[3] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[1] = match[1].toLowerCase(); + + if ( match[1].slice( 0, 3 ) === "nth" ) { + // nth-* requires argument + if ( !match[3] ) { + Sizzle.error( match[0] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[4] = +( match[4] ? match[5] + (match[6] || 1) : 2 * ( match[3] === "even" || match[3] === "odd" ) ); + match[5] = +( ( match[7] + match[8] ) || match[3] === "odd" ); + + // other types prohibit arguments + } else if ( match[3] ) { + Sizzle.error( match[0] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[6] && match[2]; + + if ( matchExpr["CHILD"].test( match[0] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[3] ) { + match[2] = match[4] || match[5] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + // Get excess from tokenize (recursively) + (excess = tokenize( unquoted, true )) && + // advance to the next closing parenthesis + (excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length) ) { + + // excess is a negative index + match[0] = match[0].slice( 0, excess ); + match[2] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { return true; } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + (pattern = new RegExp( "(^|" + whitespace + ")" + className + "(" + whitespace + "|$)" )) && + classCache( className, function( elem ) { + return pattern.test( typeof elem.className === "string" && elem.className || typeof elem.getAttribute !== "undefined" && elem.getAttribute("class") || "" ); + }); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + }; + }, + + "CHILD": function( type, what, argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, context, xml ) { + var cache, outerCache, node, diff, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( (node = node[ dir ]) ) { + if ( ofType ? node.nodeName.toLowerCase() === name : node.nodeType === 1 ) { + return false; + } + } + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + // Seek `elem` from a previously-cached index + outerCache = parent[ expando ] || (parent[ expando ] = {}); + cache = outerCache[ type ] || []; + nodeIndex = cache[0] === dirruns && cache[1]; + diff = cache[0] === dirruns && cache[2]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( (node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + (diff = nodeIndex = 0) || start.pop()) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + outerCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + // Use previously-cached element index if available + } else if ( useCache && (cache = (elem[ expando ] || (elem[ expando ] = {}))[ type ]) && cache[0] === dirruns ) { + diff = cache[1]; + + // xml :nth-child(...) or :nth-last-child(...) or :nth(-last)?-of-type(...) + } else { + // Use the same loop as above to seek `elem` from the start + while ( (node = ++nodeIndex && node && node[ dir ] || + (diff = nodeIndex = 0) || start.pop()) ) { + + if ( ( ofType ? node.nodeName.toLowerCase() === name : node.nodeType === 1 ) && ++diff ) { + // Cache the index of each encountered element + if ( useCache ) { + (node[ expando ] || (node[ expando ] = {}))[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction(function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[i] ); + seed[ idx ] = !( matches[ idx ] = matched[i] ); + } + }) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + // Potentially complex pseudos + "not": markFunction(function( selector ) { + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction(function( seed, matches, context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( (elem = unmatched[i]) ) { + seed[i] = !(matches[i] = elem); + } + } + }) : + function( elem, context, xml ) { + input[0] = elem; + matcher( input, null, xml, results ); + // Don't keep the element (issue #299) + input[0] = null; + return !results.pop(); + }; + }), + + "has": markFunction(function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + }), + + "contains": markFunction(function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || elem.innerText || getText( elem ) ).indexOf( text ) > -1; + }; + }), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + // lang value must be a valid identifier + if ( !ridentifier.test(lang || "") ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( (elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute("xml:lang") || elem.getAttribute("lang")) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( (elem = elem.parentNode) && elem.nodeType === 1 ); + return false; + }; + }), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && (!document.hasFocus || document.hasFocus()) && !!(elem.type || elem.href || ~elem.tabIndex); + }, + + // Boolean properties + "enabled": function( elem ) { + return elem.disabled === false; + }, + + "disabled": function( elem ) { + return elem.disabled === true; + }, + + "checked": function( elem ) { + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return (nodeName === "input" && !!elem.checked) || (nodeName === "option" && !!elem.selected); + }, + + "selected": function( elem ) { + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos["empty"]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( (attr = elem.getAttribute("type")) == null || attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo(function() { + return [ 0 ]; + }), + + "last": createPositionalPseudo(function( matchIndexes, length ) { + return [ length - 1 ]; + }), + + "eq": createPositionalPseudo(function( matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + }), + + "even": createPositionalPseudo(function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "odd": createPositionalPseudo(function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "lt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "gt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }) + } +}; + +Expr.pseudos["nth"] = Expr.pseudos["eq"]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || (match = rcomma.exec( soFar )) ) { + if ( match ) { + // Don't consume trailing commas as valid + soFar = soFar.slice( match[0].length ) || soFar; + } + groups.push( (tokens = []) ); + } + + matched = false; + + // Combinators + if ( (match = rcombinators.exec( soFar )) ) { + matched = match.shift(); + tokens.push({ + value: matched, + // Cast descendant combinators to space + type: match[0].replace( rtrim, " " ) + }); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( (match = matchExpr[ type ].exec( soFar )) && (!preFilters[ type ] || + (match = preFilters[ type ]( match ))) ) { + matched = match.shift(); + tokens.push({ + value: matched, + type: type, + matches: match + }); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[i].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + checkNonElements = base && dir === "parentNode", + doneName = done++; + + return combinator.first ? + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from dir caching + if ( xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || (elem[ expando ] = {}); + if ( (oldCache = outerCache[ dir ]) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return (newCache[ 2 ] = oldCache[ 2 ]); + } else { + // Reuse newcache so results back-propagate to previous elements + outerCache[ dir ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( (newCache[ 2 ] = matcher( elem, context, xml )) ) { + return true; + } + } + } + } + } + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[i]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[0]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[i], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( (elem = unmatched[i]) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction(function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( selector || "*", context.nodeType ? [ context ] : context, [] ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( (elem = temp[i]) ) { + matcherOut[ postMap[i] ] = !(matcherIn[ postMap[i] ] = elem); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) ) { + // Restore matcherIn since elem is not yet a final match + temp.push( (matcherIn[i] = elem) ); + } + } + postFinder( null, (matcherOut = []), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) && + (temp = postFinder ? indexOf( seed, elem ) : preMap[i]) > -1 ) { + + seed[temp] = !(results[temp] = elem); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + }); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[0].type ], + implicitRelative = leadingRelative || Expr.relative[" "], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + (checkContext = context).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( (matcher = Expr.relative[ tokens[i].type ]) ) { + matchers = [ addCombinator(elementMatcher( matchers ), matcher) ]; + } else { + matcher = Expr.filter[ tokens[i].type ].apply( null, tokens[i].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[j].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens.slice( 0, i - 1 ).concat({ value: tokens[ i - 2 ].type === " " ? "*" : "" }) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( (tokens = tokens.slice( j )) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find["TAG"]( "*", outermost ), + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = (dirruns += contextBackup == null ? 1 : Math.random() || 0.1), + len = elems.length; + + if ( outermost ) { + outermostContext = context !== document && context; + } + + // Add elements passing elementMatchers directly to results + // Keep `i` a string if there are no elements so `matchedCount` will be "00" below + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && (elem = elems[i]) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + while ( (matcher = elementMatchers[j++]) ) { + if ( matcher( elem, context, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + // They will have gone through all possible matchers + if ( (elem = !matcher && elem) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // Apply set filters to unmatched elements + matchedCount += i; + if ( bySet && i !== matchedCount ) { + j = 0; + while ( (matcher = setMatchers[j++]) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !(unmatched[i] || setMatched[i]) ) { + setMatched[i] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[i] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( selector, matcherFromGroupMatchers( elementMatchers, setMatchers ) ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( (selector = compiled.selector || selector) ); + + results = results || []; + + // Try to minimize operations if there is no seed and only one group + if ( match.length === 1 ) { + + // Take a shortcut and set the context if the root selector is an ID + tokens = match[0] = match[0].slice( 0 ); + if ( tokens.length > 2 && (token = tokens[0]).type === "ID" && + support.getById && context.nodeType === 9 && documentIsHTML && + Expr.relative[ tokens[1].type ] ) { + + context = ( Expr.find["ID"]( token.matches[0].replace(runescape, funescape), context ) || [] )[0]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr["needsContext"].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[i]; + + // Abort if we hit a combinator + if ( Expr.relative[ (type = token.type) ] ) { + break; + } + if ( (find = Expr.find[ type ]) ) { + // Search, expanding context for leading sibling combinators + if ( (seed = find( + token.matches[0].replace( runescape, funescape ), + rsibling.test( tokens[0].type ) && testContext( context.parentNode ) || context + )) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split("").sort( sortOrder ).join("") === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert(function( div1 ) { + // Should return 1, but returns 4 (following) + return div1.compareDocumentPosition( document.createElement("div") ) & 1; +}); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// http://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert(function( div ) { + div.innerHTML = ""; + return div.firstChild.getAttribute("href") === "#" ; +}) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + }); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert(function( div ) { + div.innerHTML = ""; + div.firstChild.setAttribute( "value", "" ); + return div.firstChild.getAttribute( "value" ) === ""; +}) ) { + addHandle( "value", function( elem, name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + }); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert(function( div ) { + return div.getAttribute("disabled") == null; +}) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + (val = elem.getAttributeNode( name )) && val.specified ? + val.value : + null; + } + }); +} + +return Sizzle; + +})( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; +jQuery.expr[":"] = jQuery.expr.pseudos; +jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; + + + +var rneedsContext = jQuery.expr.match.needsContext; + +var rsingleTag = (/^<(\w+)\s*\/?>(?:<\/\1>|)$/); + + + +var risSimple = /^.[^:#\[\.,]*$/; + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( jQuery.isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + /* jshint -W018 */ + return !!qualifier.call( elem, i, elem ) !== not; + }); + + } + + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + }); + + } + + if ( typeof qualifier === "string" ) { + if ( risSimple.test( qualifier ) ) { + return jQuery.filter( qualifier, elements, not ); + } + + qualifier = jQuery.filter( qualifier, elements ); + } + + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) >= 0 ) !== not; + }); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + return elems.length === 1 && elem.nodeType === 1 ? + jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : [] : + jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + })); +}; + +jQuery.fn.extend({ + find: function( selector ) { + var i, + len = this.length, + ret = [], + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter(function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + }) ); + } + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + // Needed because $( selector, context ) becomes $( context ).find( selector ) + ret = this.pushStack( len > 1 ? jQuery.unique( ret ) : ret ); + ret.selector = this.selector ? this.selector + " " + selector : selector; + return ret; + }, + filter: function( selector ) { + return this.pushStack( winnow(this, selector || [], false) ); + }, + not: function( selector ) { + return this.pushStack( winnow(this, selector || [], true) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +}); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]*))$/, + + init = jQuery.fn.init = function( selector, context ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[0] === "<" && selector[ selector.length - 1 ] === ">" && selector.length >= 3 ) { + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && (match[1] || !context) ) { + + // HANDLE: $(html) -> $(array) + if ( match[1] ) { + context = context instanceof jQuery ? context[0] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[1], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[1] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + // Properties of context are called as methods if possible + if ( jQuery.isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[2] ); + + // Support: Blackberry 4.6 + // gEBID returns nodes no longer in the document (#6963) + if ( elem && elem.parentNode ) { + // Inject the element directly into the jQuery object + this.length = 1; + this[0] = elem; + } + + this.context = document; + this.selector = selector; + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || rootjQuery ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this.context = this[0] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( jQuery.isFunction( selector ) ) { + return typeof rootjQuery.ready !== "undefined" ? + rootjQuery.ready( selector ) : + // Execute immediately if ready is not present + selector( jQuery ); + } + + if ( selector.selector !== undefined ) { + this.selector = selector.selector; + this.context = selector.context; + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.extend({ + dir: function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( (elem = elem[ dir ]) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; + }, + + sibling: function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; + } +}); + +jQuery.fn.extend({ + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter(function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[i] ) ) { + return true; + } + } + }); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + pos = rneedsContext.test( selectors ) || typeof selectors !== "string" ? + jQuery( selectors, context || this.context ) : + 0; + + for ( ; i < l; i++ ) { + for ( cur = this[i]; cur && cur !== context; cur = cur.parentNode ) { + // Always skip document fragments + if ( cur.nodeType < 11 && (pos ? + pos.index(cur) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector(cur, selectors)) ) { + + matched.push( cur ); + break; + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.unique( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.unique( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter(selector) + ); + } +}); + +function sibling( cur, dir ) { + while ( (cur = cur[dir]) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each({ + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return jQuery.dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, i, until ) { + return jQuery.dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return jQuery.dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return jQuery.dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, i, until ) { + return jQuery.dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, i, until ) { + return jQuery.dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return jQuery.sibling( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return jQuery.sibling( elem.firstChild ); + }, + contents: function( elem ) { + return elem.contentDocument || jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.unique( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +}); +var rnotwhite = (/\S+/g); + + + +// String to Object options format cache +var optionsCache = {}; + +// Convert String-formatted options into Object-formatted ones and store in cache +function createOptions( options ) { + var object = optionsCache[ options ] = {}; + jQuery.each( options.match( rnotwhite ) || [], function( _, flag ) { + object[ flag ] = true; + }); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + ( optionsCache[ options ] || createOptions( options ) ) : + jQuery.extend( {}, options ); + + var // Last fire value (for non-forgettable lists) + memory, + // Flag to know if list was already fired + fired, + // Flag to know if list is currently firing + firing, + // First callback to fire (used internally by add and fireWith) + firingStart, + // End of the loop when firing + firingLength, + // Index of currently firing callback (modified by remove if needed) + firingIndex, + // Actual callback list + list = [], + // Stack of fire calls for repeatable lists + stack = !options.once && [], + // Fire callbacks + fire = function( data ) { + memory = options.memory && data; + fired = true; + firingIndex = firingStart || 0; + firingStart = 0; + firingLength = list.length; + firing = true; + for ( ; list && firingIndex < firingLength; firingIndex++ ) { + if ( list[ firingIndex ].apply( data[ 0 ], data[ 1 ] ) === false && options.stopOnFalse ) { + memory = false; // To prevent further calls using add + break; + } + } + firing = false; + if ( list ) { + if ( stack ) { + if ( stack.length ) { + fire( stack.shift() ); + } + } else if ( memory ) { + list = []; + } else { + self.disable(); + } + } + }, + // Actual Callbacks object + self = { + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + // First, we save the current length + var start = list.length; + (function add( args ) { + jQuery.each( args, function( _, arg ) { + var type = jQuery.type( arg ); + if ( type === "function" ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && type !== "string" ) { + // Inspect recursively + add( arg ); + } + }); + })( arguments ); + // Do we need to add the callbacks to the + // current firing batch? + if ( firing ) { + firingLength = list.length; + // With memory, if we're not firing then + // we should call right away + } else if ( memory ) { + firingStart = start; + fire( memory ); + } + } + return this; + }, + // Remove a callback from the list + remove: function() { + if ( list ) { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + // Handle firing indexes + if ( firing ) { + if ( index <= firingLength ) { + firingLength--; + } + if ( index <= firingIndex ) { + firingIndex--; + } + } + } + }); + } + return this; + }, + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? jQuery.inArray( fn, list ) > -1 : !!( list && list.length ); + }, + // Remove all callbacks from the list + empty: function() { + list = []; + firingLength = 0; + return this; + }, + // Have the list do nothing anymore + disable: function() { + list = stack = memory = undefined; + return this; + }, + // Is it disabled? + disabled: function() { + return !list; + }, + // Lock the list in its current state + lock: function() { + stack = undefined; + if ( !memory ) { + self.disable(); + } + return this; + }, + // Is it locked? + locked: function() { + return !stack; + }, + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( list && ( !fired || stack ) ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + if ( firing ) { + stack.push( args ); + } else { + fire( args ); + } + } + return this; + }, + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +jQuery.extend({ + + Deferred: function( func ) { + var tuples = [ + // action, add listener, listener list, final state + [ "resolve", "done", jQuery.Callbacks("once memory"), "resolved" ], + [ "reject", "fail", jQuery.Callbacks("once memory"), "rejected" ], + [ "notify", "progress", jQuery.Callbacks("memory") ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + then: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + return jQuery.Deferred(function( newDefer ) { + jQuery.each( tuples, function( i, tuple ) { + var fn = jQuery.isFunction( fns[ i ] ) && fns[ i ]; + // deferred[ done | fail | progress ] for forwarding actions to newDefer + deferred[ tuple[1] ](function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && jQuery.isFunction( returned.promise ) ) { + returned.promise() + .done( newDefer.resolve ) + .fail( newDefer.reject ) + .progress( newDefer.notify ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( this === promise ? newDefer.promise() : this, fn ? [ returned ] : arguments ); + } + }); + }); + fns = null; + }).promise(); + }, + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Keep pipe for back-compat + promise.pipe = promise.then; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 3 ]; + + // promise[ done | fail | progress ] = list.add + promise[ tuple[1] ] = list.add; + + // Handle state + if ( stateString ) { + list.add(function() { + // state = [ resolved | rejected ] + state = stateString; + + // [ reject_list | resolve_list ].disable; progress_list.lock + }, tuples[ i ^ 1 ][ 2 ].disable, tuples[ 2 ][ 2 ].lock ); + } + + // deferred[ resolve | reject | notify ] + deferred[ tuple[0] ] = function() { + deferred[ tuple[0] + "With" ]( this === deferred ? promise : this, arguments ); + return this; + }; + deferred[ tuple[0] + "With" ] = list.fireWith; + }); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( subordinate /* , ..., subordinateN */ ) { + var i = 0, + resolveValues = slice.call( arguments ), + length = resolveValues.length, + + // the count of uncompleted subordinates + remaining = length !== 1 || ( subordinate && jQuery.isFunction( subordinate.promise ) ) ? length : 0, + + // the master Deferred. If resolveValues consist of only a single Deferred, just use that. + deferred = remaining === 1 ? subordinate : jQuery.Deferred(), + + // Update function for both resolve and progress values + updateFunc = function( i, contexts, values ) { + return function( value ) { + contexts[ i ] = this; + values[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( values === progressValues ) { + deferred.notifyWith( contexts, values ); + } else if ( !( --remaining ) ) { + deferred.resolveWith( contexts, values ); + } + }; + }, + + progressValues, progressContexts, resolveContexts; + + // Add listeners to Deferred subordinates; treat others as resolved + if ( length > 1 ) { + progressValues = new Array( length ); + progressContexts = new Array( length ); + resolveContexts = new Array( length ); + for ( ; i < length; i++ ) { + if ( resolveValues[ i ] && jQuery.isFunction( resolveValues[ i ].promise ) ) { + resolveValues[ i ].promise() + .done( updateFunc( i, resolveContexts, resolveValues ) ) + .fail( deferred.reject ) + .progress( updateFunc( i, progressContexts, progressValues ) ); + } else { + --remaining; + } + } + } + + // If we're not waiting on anything, resolve the master + if ( !remaining ) { + deferred.resolveWith( resolveContexts, resolveValues ); + } + + return deferred.promise(); + } +}); + + +// The deferred used on DOM ready +var readyList; + +jQuery.fn.ready = function( fn ) { + // Add the callback + jQuery.ready.promise().done( fn ); + + return this; +}; + +jQuery.extend({ + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Hold (or release) the ready event + holdReady: function( hold ) { + if ( hold ) { + jQuery.readyWait++; + } else { + jQuery.ready( true ); + } + }, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + + // Trigger any bound ready events + if ( jQuery.fn.triggerHandler ) { + jQuery( document ).triggerHandler( "ready" ); + jQuery( document ).off( "ready" ); + } + } +}); + +/** + * The ready event handler and self cleanup method + */ +function completed() { + document.removeEventListener( "DOMContentLoaded", completed, false ); + window.removeEventListener( "load", completed, false ); + jQuery.ready(); +} + +jQuery.ready.promise = function( obj ) { + if ( !readyList ) { + + readyList = jQuery.Deferred(); + + // Catch cases where $(document).ready() is called after the browser event has already occurred. + // We once tried to use readyState "interactive" here, but it caused issues like the one + // discovered by ChrisS here: http://bugs.jquery.com/ticket/12282#comment:15 + if ( document.readyState === "complete" ) { + // Handle it asynchronously to allow scripts the opportunity to delay ready + setTimeout( jQuery.ready ); + + } else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed, false ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed, false ); + } + } + return readyList.promise( obj ); +}; + +// Kick off the DOM ready check even if the user does not +jQuery.ready.promise(); + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = jQuery.access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( jQuery.type( key ) === "object" ) { + chainable = true; + for ( i in key ) { + jQuery.access( elems, fn, i, key[i], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !jQuery.isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( elems[i], key, raw ? value : value.call( elems[i], i, fn( elems[i], key ) ) ); + } + } + } + + return chainable ? + elems : + + // Gets + bulk ? + fn.call( elems ) : + len ? fn( elems[0], key ) : emptyGet; +}; + + +/** + * Determines whether an object can have data + */ +jQuery.acceptData = function( owner ) { + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + /* jshint -W018 */ + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + +function Data() { + // Support: Android<4, + // Old WebKit does not have Object.preventExtensions/freeze method, + // return new empty object instead with no [[set]] accessor + Object.defineProperty( this.cache = {}, 0, { + get: function() { + return {}; + } + }); + + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; +Data.accepts = jQuery.acceptData; + +Data.prototype = { + key: function( owner ) { + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return the key for a frozen object. + if ( !Data.accepts( owner ) ) { + return 0; + } + + var descriptor = {}, + // Check if the owner object already has a cache key + unlock = owner[ this.expando ]; + + // If not, create one + if ( !unlock ) { + unlock = Data.uid++; + + // Secure it in a non-enumerable, non-writable property + try { + descriptor[ this.expando ] = { value: unlock }; + Object.defineProperties( owner, descriptor ); + + // Support: Android<4 + // Fallback to a less secure definition + } catch ( e ) { + descriptor[ this.expando ] = unlock; + jQuery.extend( owner, descriptor ); + } + } + + // Ensure the cache object + if ( !this.cache[ unlock ] ) { + this.cache[ unlock ] = {}; + } + + return unlock; + }, + set: function( owner, data, value ) { + var prop, + // There may be an unlock assigned to this node, + // if there is no entry for this "owner", create one inline + // and set the unlock as though an owner entry had always existed + unlock = this.key( owner ), + cache = this.cache[ unlock ]; + + // Handle: [ owner, key, value ] args + if ( typeof data === "string" ) { + cache[ data ] = value; + + // Handle: [ owner, { properties } ] args + } else { + // Fresh assignments by object are shallow copied + if ( jQuery.isEmptyObject( cache ) ) { + jQuery.extend( this.cache[ unlock ], data ); + // Otherwise, copy the properties one-by-one to the cache object + } else { + for ( prop in data ) { + cache[ prop ] = data[ prop ]; + } + } + } + return cache; + }, + get: function( owner, key ) { + // Either a valid cache is found, or will be created. + // New caches will be created and the unlock returned, + // allowing direct access to the newly created + // empty data object. A valid owner object must be provided. + var cache = this.cache[ this.key( owner ) ]; + + return key === undefined ? + cache : cache[ key ]; + }, + access: function( owner, key, value ) { + var stored; + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ((key && typeof key === "string") && value === undefined) ) { + + stored = this.get( owner, key ); + + return stored !== undefined ? + stored : this.get( owner, jQuery.camelCase(key) ); + } + + // [*]When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, name, camel, + unlock = this.key( owner ), + cache = this.cache[ unlock ]; + + if ( key === undefined ) { + this.cache[ unlock ] = {}; + + } else { + // Support array or space separated string of keys + if ( jQuery.isArray( key ) ) { + // If "name" is an array of keys... + // When data is initially created, via ("key", "val") signature, + // keys will be converted to camelCase. + // Since there is no way to tell _how_ a key was added, remove + // both plain key and camelCase key. #12786 + // This will only penalize the array argument path. + name = key.concat( key.map( jQuery.camelCase ) ); + } else { + camel = jQuery.camelCase( key ); + // Try the string as a key before any manipulation + if ( key in cache ) { + name = [ key, camel ]; + } else { + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + name = camel; + name = name in cache ? + [ name ] : ( name.match( rnotwhite ) || [] ); + } + } + + i = name.length; + while ( i-- ) { + delete cache[ name[ i ] ]; + } + } + }, + hasData: function( owner ) { + return !jQuery.isEmptyObject( + this.cache[ owner[ this.expando ] ] || {} + ); + }, + discard: function( owner ) { + if ( owner[ this.expando ] ) { + delete this.cache[ owner[ this.expando ] ]; + } + } +}; +var data_priv = new Data(); + +var data_user = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /([A-Z])/g; + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$1" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = data === "true" ? true : + data === "false" ? false : + data === "null" ? null : + // Only convert to a number if it doesn't change the string + +data + "" === data ? +data : + rbrace.test( data ) ? jQuery.parseJSON( data ) : + data; + } catch( e ) {} + + // Make sure we set the data so it isn't changed later + data_user.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend({ + hasData: function( elem ) { + return data_user.hasData( elem ) || data_priv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return data_user.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + data_user.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to data_priv methods, these can be deprecated. + _data: function( elem, name, data ) { + return data_priv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + data_priv.remove( elem, name ); + } +}); + +jQuery.fn.extend({ + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = data_user.get( elem ); + + if ( elem.nodeType === 1 && !data_priv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE11+ + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = jQuery.camelCase( name.slice(5) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + data_priv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each(function() { + data_user.set( this, key ); + }); + } + + return access( this, function( value ) { + var data, + camelKey = jQuery.camelCase( key ); + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + // Attempt to get data from the cache + // with the key as-is + data = data_user.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to get data from the cache + // with the key camelized + data = data_user.get( elem, camelKey ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, camelKey, undefined ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each(function() { + // First, attempt to store a copy or reference of any + // data that might've been store with a camelCased key. + var data = data_user.get( this, camelKey ); + + // For HTML5 data-* attribute interop, we have to + // store property names with dashes in a camelCase form. + // This might not apply to all properties...* + data_user.set( this, camelKey, value ); + + // *... In the case of properties that might _actually_ + // have dashes, we need to also store a copy of that + // unchanged property. + if ( key.indexOf("-") !== -1 && data !== undefined ) { + data_user.set( this, key, value ); + } + }); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each(function() { + data_user.remove( this, key ); + }); + } +}); + + +jQuery.extend({ + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = data_priv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || jQuery.isArray( data ) ) { + queue = data_priv.access( elem, type, jQuery.makeArray(data) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return data_priv.get( elem, key ) || data_priv.access( elem, key, { + empty: jQuery.Callbacks("once memory").add(function() { + data_priv.remove( elem, [ type + "queue", key ] ); + }) + }); + } +}); + +jQuery.fn.extend({ + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[0], type ); + } + + return data === undefined ? + this : + this.each(function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[0] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + }); + }, + dequeue: function( type ) { + return this.each(function() { + jQuery.dequeue( this, type ); + }); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = data_priv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +}); +var pnum = (/[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/).source; + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var isHidden = function( elem, el ) { + // isHidden might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + return jQuery.css( elem, "display" ) === "none" || !jQuery.contains( elem.ownerDocument, elem ); + }; + +var rcheckableType = (/^(?:checkbox|radio)$/i); + + + +(function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Safari<=5.1 + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Safari<=5.1, Android<4.2 + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE<=11+ + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; +})(); +var strundefined = typeof undefined; + + + +support.focusinBubbles = "onfocusin" in window; + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu)|click/, + rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)$/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = data_priv.get( elem ); + + // Don't attach events to noData or text/comment nodes (but allow plain objects) + if ( !elemData ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !(events = elemData.events) ) { + events = elemData.events = {}; + } + if ( !(eventHandle = elemData.handle) ) { + eventHandle = elemData.handle = function( e ) { + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== strundefined && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnotwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[t] ) || []; + type = origType = tmp[1]; + namespaces = ( tmp[2] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend({ + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join(".") + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !(handlers = events[ type ]) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle, false ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = data_priv.hasData( elem ) && data_priv.get( elem ); + + if ( !elemData || !(events = elemData.events) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnotwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[t] ) || []; + type = origType = tmp[1]; + namespaces = ( tmp[2] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[2] && new RegExp( "(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + delete elemData.handle; + data_priv.remove( elem, "events" ); + } + }, + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split(".") : []; + + cur = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf(".") >= 0 ) { + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split("."); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf(":") < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join("."); + event.namespace_re = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !jQuery.isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === (elem.ownerDocument || document) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( (cur = eventPath[i++]) && !event.isPropagationStopped() ) { + + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( data_priv.get( cur, "events" ) || {} )[ event.type ] && data_priv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && jQuery.acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( (!special._default || special._default.apply( eventPath.pop(), data ) === false) && + jQuery.acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && jQuery.isFunction( elem[ type ] ) && !jQuery.isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + elem[ type ](); + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + dispatch: function( event ) { + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( event ); + + var i, j, ret, matched, handleObj, + handlerQueue = [], + args = slice.call( arguments ), + handlers = ( data_priv.get( this, "events" ) || {} )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[0] = event; + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( (matched = handlerQueue[ i++ ]) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( (handleObj = matched.handlers[ j++ ]) && !event.isImmediatePropagationStopped() ) { + + // Triggered event must either 1) have no namespace, or 2) have namespace(s) + // a subset or equal to those in the bound event (both can have no namespace). + if ( !event.namespace_re || event.namespace_re.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( (jQuery.event.special[ handleObj.origType ] || {}).handle || handleObj.handler ) + .apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( (event.result = ret) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, matches, sel, handleObj, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + // Black-hole SVG instance trees (#13180) + // Avoid non-left-click bubbling in Firefox (#3861) + if ( delegateCount && cur.nodeType && (!event.button || event.type !== "click") ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.disabled !== true || event.type !== "click" ) { + matches = []; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matches[ sel ] === undefined ) { + matches[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) >= 0 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matches[ sel ] ) { + matches.push( handleObj ); + } + } + if ( matches.length ) { + handlerQueue.push({ elem: cur, handlers: matches }); + } + } + } + } + + // Add the remaining (directly-bound) handlers + if ( delegateCount < handlers.length ) { + handlerQueue.push({ elem: this, handlers: handlers.slice( delegateCount ) }); + } + + return handlerQueue; + }, + + // Includes some event props shared by KeyEvent and MouseEvent + props: "altKey bubbles cancelable ctrlKey currentTarget eventPhase metaKey relatedTarget shiftKey target timeStamp view which".split(" "), + + fixHooks: {}, + + keyHooks: { + props: "char charCode key keyCode".split(" "), + filter: function( event, original ) { + + // Add which for key events + if ( event.which == null ) { + event.which = original.charCode != null ? original.charCode : original.keyCode; + } + + return event; + } + }, + + mouseHooks: { + props: "button buttons clientX clientY offsetX offsetY pageX pageY screenX screenY toElement".split(" "), + filter: function( event, original ) { + var eventDoc, doc, body, + button = original.button; + + // Calculate pageX/Y if missing and clientX/Y available + if ( event.pageX == null && original.clientX != null ) { + eventDoc = event.target.ownerDocument || document; + doc = eventDoc.documentElement; + body = eventDoc.body; + + event.pageX = original.clientX + ( doc && doc.scrollLeft || body && body.scrollLeft || 0 ) - ( doc && doc.clientLeft || body && body.clientLeft || 0 ); + event.pageY = original.clientY + ( doc && doc.scrollTop || body && body.scrollTop || 0 ) - ( doc && doc.clientTop || body && body.clientTop || 0 ); + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + // Note: button is not normalized, so don't use it + if ( !event.which && button !== undefined ) { + event.which = ( button & 1 ? 1 : ( button & 2 ? 3 : ( button & 4 ? 2 : 0 ) ) ); + } + + return event; + } + }, + + fix: function( event ) { + if ( event[ jQuery.expando ] ) { + return event; + } + + // Create a writable copy of the event object and normalize some properties + var i, prop, copy, + type = event.type, + originalEvent = event, + fixHook = this.fixHooks[ type ]; + + if ( !fixHook ) { + this.fixHooks[ type ] = fixHook = + rmouseEvent.test( type ) ? this.mouseHooks : + rkeyEvent.test( type ) ? this.keyHooks : + {}; + } + copy = fixHook.props ? this.props.concat( fixHook.props ) : this.props; + + event = new jQuery.Event( originalEvent ); + + i = copy.length; + while ( i-- ) { + prop = copy[ i ]; + event[ prop ] = originalEvent[ prop ]; + } + + // Support: Cordova 2.5 (WebKit) (#13255) + // All events should have a target; Cordova deviceready doesn't + if ( !event.target ) { + event.target = document; + } + + // Support: Safari 6.0+, Chrome<28 + // Target should not be a text node (#504, #13143) + if ( event.target.nodeType === 3 ) { + event.target = event.target.parentNode; + } + + return fixHook.filter ? fixHook.filter( event, originalEvent ) : event; + }, + + special: { + load: { + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + focus: { + // Fire native event if possible so blur/focus sequence is correct + trigger: function() { + if ( this !== safeActiveElement() && this.focus ) { + this.focus(); + return false; + } + }, + delegateType: "focusin" + }, + blur: { + trigger: function() { + if ( this === safeActiveElement() && this.blur ) { + this.blur(); + return false; + } + }, + delegateType: "focusout" + }, + click: { + // For checkbox, fire native event so checked state will be right + trigger: function() { + if ( this.type === "checkbox" && this.click && jQuery.nodeName( this, "input" ) ) { + this.click(); + return false; + } + }, + + // For cross-browser consistency, don't fire native .click() on links + _default: function( event ) { + return jQuery.nodeName( event.target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + }, + + simulate: function( type, elem, event, bubble ) { + // Piggyback on a donor event to simulate a different one. + // Fake originalEvent to avoid donor's stopPropagation, but if the + // simulated event prevents default then we do the same on the donor. + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true, + originalEvent: {} + } + ); + if ( bubble ) { + jQuery.event.trigger( e, null, elem ); + } else { + jQuery.event.dispatch.call( elem, e ); + } + if ( e.isDefaultPrevented() ) { + event.preventDefault(); + } + } +}; + +jQuery.removeEvent = function( elem, type, handle ) { + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle, false ); + } +}; + +jQuery.Event = function( src, props ) { + // Allow instantiation without the 'new' keyword + if ( !(this instanceof jQuery.Event) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + // Support: Android<4.0 + src.returnValue === false ? + returnTrue : + returnFalse; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || jQuery.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// http://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && e.preventDefault ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && e.stopPropagation ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && e.stopImmediatePropagation ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Create mouseenter/leave events using mouseover/out and event-time checks +// Support: Chrome 15+ +jQuery.each({ + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mousenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || (related !== target && !jQuery.contains( target, related )) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +}); + +// Support: Firefox, Chrome, Safari +// Create "bubbling" focus and blur events +if ( !support.focusinBubbles ) { + jQuery.each({ focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ), true ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + var doc = this.ownerDocument || this, + attaches = data_priv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + data_priv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this, + attaches = data_priv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + data_priv.remove( doc, fix ); + + } else { + data_priv.access( doc, fix, attaches ); + } + } + }; + }); +} + +jQuery.fn.extend({ + + on: function( types, selector, data, fn, /*INTERNAL*/ one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + this.on( type, selector, data, types[ type ], one ); + } + return this; + } + + if ( data == null && fn == null ) { + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return this; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return this.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + }); + }, + one: function( types, selector, data, fn ) { + return this.on( types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? handleObj.origType + "." + handleObj.namespace : handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each(function() { + jQuery.event.remove( this, types, fn, selector ); + }); + }, + + trigger: function( type, data ) { + return this.each(function() { + jQuery.event.trigger( type, data, this ); + }); + }, + triggerHandler: function( type, data ) { + var elem = this[0]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +}); + + +var + rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/gi, + rtagName = /<([\w:]+)/, + rhtml = /<|&#?\w+;/, + rnoInnerhtml = /<(?:script|style|link)/i, + // checked="checked" or checked + rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i, + rscriptType = /^$|\/(?:java|ecma)script/i, + rscriptTypeMasked = /^true\/(.*)/, + rcleanScript = /^\s*\s*$/g, + + // We have to close these tags to support XHTML (#13200) + wrapMap = { + + // Support: IE9 + option: [ 1, "" ], + + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] + }; + +// Support: IE9 +wrapMap.optgroup = wrapMap.option; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: 1.x compatibility +// Manipulating tables requires a tbody +function manipulationTarget( elem, content ) { + return jQuery.nodeName( elem, "table" ) && + jQuery.nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ? + + elem.getElementsByTagName("tbody")[0] || + elem.appendChild( elem.ownerDocument.createElement("tbody") ) : + elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = (elem.getAttribute("type") !== null) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + var match = rscriptTypeMasked.exec( elem.type ); + + if ( match ) { + elem.type = match[ 1 ]; + } else { + elem.removeAttribute("type"); + } + + return elem; +} + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + data_priv.set( + elems[ i ], "globalEval", !refElements || data_priv.get( refElements[ i ], "globalEval" ) + ); + } +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, pdataCur, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( data_priv.hasData( src ) ) { + pdataOld = data_priv.access( src ); + pdataCur = data_priv.set( dest, pdataOld ); + events = pdataOld.events; + + if ( events ) { + delete pdataCur.handle; + pdataCur.events = {}; + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( data_user.hasData( src ) ) { + udataOld = data_user.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + data_user.set( dest, udataCur ); + } +} + +function getAll( context, tag ) { + var ret = context.getElementsByTagName ? context.getElementsByTagName( tag || "*" ) : + context.querySelectorAll ? context.querySelectorAll( tag || "*" ) : + []; + + return tag === undefined || tag && jQuery.nodeName( context, tag ) ? + jQuery.merge( [ context ], ret ) : + ret; +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +jQuery.extend({ + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = jQuery.contains( elem.ownerDocument, elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: http://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + buildFragment: function( elems, context, scripts, selection ) { + var elem, tmp, tag, wrap, contains, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( jQuery.type( elem ) === "object" ) { + // Support: QtWebKit, PhantomJS + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement("div") ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + elem.replace( rxhtmlTag, "<$1>" ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: QtWebKit, PhantomJS + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( (elem = nodes[ i++ ]) ) { + + // #4087 - If origin and destination elements are the same, and this is + // that element, do not do anything + if ( selection && jQuery.inArray( elem, selection ) !== -1 ) { + continue; + } + + contains = jQuery.contains( elem.ownerDocument, elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( contains ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( (elem = tmp[ j++ ]) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; + }, + + cleanData: function( elems ) { + var data, elem, type, key, + special = jQuery.event.special, + i = 0; + + for ( ; (elem = elems[ i ]) !== undefined; i++ ) { + if ( jQuery.acceptData( elem ) ) { + key = elem[ data_priv.expando ]; + + if ( key && (data = data_priv.cache[ key ]) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + if ( data_priv.cache[ key ] ) { + // Discard any remaining `private` data + delete data_priv.cache[ key ]; + } + } + } + // Discard any remaining `user` data + delete data_user.cache[ elem[ data_user.expando ] ]; + } + } +}); + +jQuery.fn.extend({ + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each(function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + }); + }, null, value, arguments.length ); + }, + + append: function() { + return this.domManip( arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + }); + }, + + prepend: function() { + return this.domManip( arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + }); + }, + + before: function() { + return this.domManip( arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + }); + }, + + after: function() { + return this.domManip( arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + }); + }, + + remove: function( selector, keepData /* Internal Use Only */ ) { + var elem, + elems = selector ? jQuery.filter( selector, this ) : this, + i = 0; + + for ( ; (elem = elems[i]) != null; i++ ) { + if ( !keepData && elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem ) ); + } + + if ( elem.parentNode ) { + if ( keepData && jQuery.contains( elem.ownerDocument, elem ) ) { + setGlobalEval( getAll( elem, "script" ) ); + } + elem.parentNode.removeChild( elem ); + } + } + + return this; + }, + + empty: function() { + var elem, + i = 0; + + for ( ; (elem = this[i]) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map(function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + }); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = value.replace( rxhtmlTag, "<$1>" ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var arg = arguments[ 0 ]; + + // Make the changes, replacing each context element with the new content + this.domManip( arguments, function( elem ) { + arg = this.parentNode; + + jQuery.cleanData( getAll( this ) ); + + if ( arg ) { + arg.replaceChild( elem, this ); + } + }); + + // Force removal if there was no new content (e.g., from empty arguments) + return arg && (arg.length || arg.nodeType) ? this : this.remove(); + }, + + detach: function( selector ) { + return this.remove( selector, true ); + }, + + domManip: function( args, callback ) { + + // Flatten any nested arrays + args = concat.apply( [], args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = this.length, + set = this, + iNoClone = l - 1, + value = args[ 0 ], + isFunction = jQuery.isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( isFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return this.each(function( index ) { + var self = set.eq( index ); + if ( isFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + self.domManip( args, callback ); + }); + } + + if ( l ) { + fragment = jQuery.buildFragment( args, this[ 0 ].ownerDocument, false, this ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + if ( first ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + // Support: QtWebKit + // jQuery.merge because push.apply(_, arraylike) throws + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( this[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !data_priv.access( node, "globalEval" ) && jQuery.contains( doc, node ) ) { + + if ( node.src ) { + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl ) { + jQuery._evalUrl( node.src ); + } + } else { + jQuery.globalEval( node.textContent.replace( rcleanScript, "" ) ); + } + } + } + } + } + } + + return this; + } +}); + +jQuery.each({ + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: QtWebKit + // .get() because push.apply(_, arraylike) throws + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +}); + + +var iframe, + elemdisplay = {}; + +/** + * Retrieve the actual display of a element + * @param {String} name nodeName of the element + * @param {Object} doc Document object + */ +// Called only from within defaultDisplay +function actualDisplay( name, doc ) { + var style, + elem = jQuery( doc.createElement( name ) ).appendTo( doc.body ), + + // getDefaultComputedStyle might be reliably used only on attached element + display = window.getDefaultComputedStyle && ( style = window.getDefaultComputedStyle( elem[ 0 ] ) ) ? + + // Use of this method is a temporary fix (more like optimization) until something better comes along, + // since it was removed from specification and supported only in FF + style.display : jQuery.css( elem[ 0 ], "display" ); + + // We don't have any data stored on the element, + // so use "detach" method as fast way to get rid of the element + elem.detach(); + + return display; +} + +/** + * Try to determine the default display value of an element + * @param {String} nodeName + */ +function defaultDisplay( nodeName ) { + var doc = document, + display = elemdisplay[ nodeName ]; + + if ( !display ) { + display = actualDisplay( nodeName, doc ); + + // If the simple way fails, read from inside an iframe + if ( display === "none" || !display ) { + + // Use the already-created iframe if possible + iframe = (iframe || jQuery( "