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Getting Started

+

Installation

+
    +
  1. Download Isaac Gym Preview 4 Release
    2. +
  2. +

    Use the below instructions to install the Isaac Gym simulator:

    +
      +
    1. Install a new conda environment and activate it + 
      conda create -n aerialgym python=3.8
+conda activate aerialgym
+
      2. +
    2. Install the dependencies + 
      conda install pytorch==1.13.1 torchvision==0.14.1 torchaudio==0.13.1 \
+ pytorch-cuda=11.7 -c pytorch -c conda-forge -c defaults
+conda install pyyaml==6.0 tensorboard==2.13.0 -c conda-forge -c pytorch -c defaults
+# OR the newest version of PyTorch with CUDA version that supported by your driver if you like
+# conda install pytorch==2.3.0 torchvision==0.18.0 torchaudio==2.3.0 pytorch-cuda=11.8 -c pytorch -c nvidia
+conda install -c fvcore -c iopath -c conda-forge fvcore iopath
+conda install -c pytorch3d pytorch3d
+
      3. +
    3. Install Isaac Gym and dependencies + 
      cd <isaacgym_folder>/python
+pip3 install -e .
+# set the environment variables for Isaac Gym
+export LD_LIBRARY_PATH=~/miniconda3/envs/aerialgym/lib
+# OR
+export LD_LIBRARY_PATH=~/anaconda3/envs/aerialgym/lib
+
+# if you get an error message "rgbImage buffer error 999"
+# then set this environment variable
+export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
+
+# Please add this your .bashrc or .zshrc
+# file to avoid setting the environment variables
+# every time you want to run the simulator
+
      4. +
    4. Test the installation + 
      cd <isaacgym_folder>/python/examples
+python3 1080_balls_of_solitude.py
+
      +If the above example runs without any errors, the Isaac Gym installation is successful.
      5. +
    +
    +

    Change argument parser in Isaac Gym's gymutil.py

    +

    Before installing the Aerial Gym Simulator, a change needs to be made to the Isaac Gym installation. +The argument parser in Isaac Gym interferes with the rest of the arguments that may be needed for other learning frameworks. This can be changed by changing line 337 of gymutil.py in the isaacgym folder from +

    args = parser.parse_args()
+
    +to +
    args, _ = parser.parse_known_args()
+

    +
    +
      +
    1. Create workspace directory and install dependency in the conda environment +
      mkdir -p ~/workspaces/aerial_gym_ws/src && cd ~/workspaces/aerial_gym_ws/src
+# Need to install urdfpy package from source owing to unresolved
+# issues with cylinder meshes representation with the pip-distributed release.
+# More info here: https://github.com/mmatl/urdfpy/issues/20
+git clone git@github.com:mmatl/urdfpy.git
+cd urdfpy
+pip3 install -e .
+
      2. +
    +
    3. +
  3. +

    Download and install Aerial Gym Simulator + 

    cd ~/workspaces/aerial_gym_ws/src
+git clone git@github.com:ntnu-arl/aerial_gym_simulator.git
+# or over HTTPS
+# git clone https://github.com/ntnu-arl/aerial_gym_simulator.git
+
+cd aerial_gym
+pip3 install -e .
+

    +
    4. +
  4. Test an example environment + 
    cd ~/workspaces/aerial_gym_ws/src/aerial_gym/aerial_gym/examples
+python3 position_control_example.py
+
    5. +
+

Running the examples

+

Basic environment example

+

Position control task example

+
cd ~/workspaces/aerial_gym_ws/src/aerial_gym_simulator/examples
+python3 position_control_example.py
+
+
+Code for Position Control Example +
from aerial_gym.utils.logging import CustomLogger
+logger = CustomLogger(__name__)
+from aerial_gym.sim.sim_builder import SimBuilder
+import torch
+
+if __name__ == "__main__":
+    env_manager = SimBuilder().build_env(
+        sim_name="base_sim",
+        env_name="empty_env",
+        robot_name="base_quadrotor",
+        controller_name="lee_position_control",
+        args=None,
+        device="cuda:0",
+        num_envs=64,
+        headless=False,
+        use_warp=False # since there is not supposed to be a camera in the robot for this example.
+    )
+    actions = torch.zeros((env_manager.num_envs, 4)).to("cuda:0")
+    env_manager.reset()
+    for i in range(10000):
+        if i % 500 == 0:
+            logger.info(f"Step {i}, changing target setpoint.")
+            actions[:, 0:3] = 2.0 * (torch.rand_like(actions[:, 0:3]) * 2 - 1)
+            actions[:, 3] = torch.pi * (torch.rand_like(actions[:, 3]) * 2 - 1)
+        env_manager.step(actions=actions)
+
+
+

Position Control Example

+

The above example demonstrates how to create an empty simulation environment, select a quadrotor robot, and control the robot using a geometric position controller. In this example, the action variable is sent to the robot as the commanded position and yaw setpoint to track. This is changed every 100 iterations to a random position and yaw setpoint. The simulation is rendered at each iteration.

+

Rendering and Saving Images

+
cd <path_to_aerial_gym_simulator>/examples
+python3 save_camera_stream.py
+
+
+Code for Rendering and Saving Images +
import numpy as np
+from aerial_gym.utils.logging import CustomLogger
+
+logger = CustomLogger(__name__)
+from aerial_gym.sim.sim_builder import SimBuilder
+from PIL import Image
+import matplotlib
+import torch
+
+if __name__ == "__main__":
+    logger.debug("this is how a debug message looks like")
+    logger.info("this is how an info message looks like")
+    logger.warning("this is how a warning message looks like")
+    logger.error("this is how an error message looks like")
+    logger.critical("this is how a critical message looks like")
+
+    env_manager = SimBuilder().build_env(
+        sim_name="base_sim",
+        env_name="env_with_obstacles",  # "forest_env", #"empty_env", # empty_env
+        robot_name="base_quadrotor",
+        controller_name="lee_position_control",
+        args=None,
+        device="cuda:0",
+        num_envs=2,
+        headless=False,
+        use_warp=True,
+    )
+    actions = torch.zeros((env_manager.num_envs, 4)).to("cuda:0")
+
+    env_manager.reset()
+    seg_frames = []
+    depth_frames = []
+    merged_image_frames = []
+    for i in range(10000):
+        if i % 100 == 0 and i > 0:
+            print("i", i)
+            env_manager.reset()
+            # save frames as a gif:
+            seg_frames[0].save(
+                f"seg_frames_{i}.gif",
+                save_all=True,
+                append_images=seg_frames[1:],
+                duration=100,
+                loop=0,
+            )
+            depth_frames[0].save(
+                f"depth_frames_{i}.gif",
+                save_all=True,
+                append_images=depth_frames[1:],
+                duration=100,
+                loop=0,
+            )
+            merged_image_frames[0].save(
+                f"merged_image_frames_{i}.gif",
+                save_all=True,
+                append_images=merged_image_frames[1:],
+                duration=100,
+                loop=0,
+            )
+            seg_frames = []
+            depth_frames = []
+            merged_image_frames = []
+        env_manager.step(actions=actions)
+        env_manager.render(render_components="sensors")
+        # reset envs that have crashed
+        env_manager.reset_terminated_and_truncated_envs()
+        try:
+            image1 = (
+                255.0 * env_manager.global_tensor_dict["depth_range_pixels"][0, 0].cpu().numpy()
+            ).astype(np.uint8)
+            seg_image1 = env_manager.global_tensor_dict["segmentation_pixels"][0, 0].cpu().numpy()
+        except Exception as e:
+            logger.error("Error in getting images")
+            logger.error("Seems like the image tensors have not been created yet.")
+            logger.error("This is likely due to absence of a functional camera in the environment")
+            raise e
+        seg_image1[seg_image1 <= 0] = seg_image1[seg_image1 > 0].min()
+        seg_image1_normalized = (seg_image1 - seg_image1.min()) / (
+            seg_image1.max() - seg_image1.min()
+        )
+
+        # set colormap to plasma in matplotlib
+        seg_image1_normalized_plasma = matplotlib.cm.plasma(seg_image1_normalized)
+        seg_image1 = Image.fromarray((seg_image1_normalized_plasma * 255.0).astype(np.uint8))
+
+        depth_image1 = Image.fromarray(image1)
+        image_4d = np.zeros((image1.shape[0], image1.shape[1], 4))
+        image_4d[:, :, 0] = image1
+        image_4d[:, :, 1] = image1
+        image_4d[:, :, 2] = image1
+        image_4d[:, :, 3] = 255.0
+        merged_image = np.concatenate((image_4d, seg_image1_normalized_plasma * 255.0), axis=0)
+        # save frames to array:
+        seg_frames.append(seg_image1)
+        depth_frames.append(depth_image1)
+        merged_image_frames.append(Image.fromarray(merged_image.astype(np.uint8)))
+
+
+

The robot sensors can be accessed through the global_tensor_dict attribute of the env_manager. In this example, the depth/range and segmentation images are saved as gifs every 100 iterations. The depth image is saved as a grayscale image, and the segmentation image is saved as a color image using the plasma colormap from matplotlib. The merged image is saved as a gif with the depth image in the top half and the segmentation image in the bottom half.

+

The created gifs from the sensor streams from the camera and LiDAR sensors are saved as below:

+

Range and Segmentation Image LiDAR and Segmentation Images

+

Range and Segmentation Image LiDAR and Segmentation Images

+

RL environment example

+
cd <path_to_aerial_gym_simulator>/examples
+python3 rl_env_example.py
+
+
+Code for RL interface example +
import time
+from aerial_gym.utils.logging import CustomLogger
+
+logger = CustomLogger(__name__)
+from aerial_gym.registry.task_registry import task_registry
+import torch
+
+if __name__ == "__main__":
+    logger.print_example_message()
+    start = time.time()
+    rl_task_env = task_registry.make_task(
+        "position_setpoint_task",
+        # other params are not set here and default values from the task config file are used
+    )
+    rl_task_env.reset()
+    actions = torch.zeros(
+        (
+            rl_task_env.sim_env.num_envs,
+            rl_task_env.sim_env.robot_manager.robot.controller_config.num_actions,
+        )
+    ).to("cuda:0")
+    actions[:] = 0.0
+    with torch.no_grad():
+        for i in range(10000):
+            if i == 100:
+                start = time.time()
+            obs, reward, terminated, truncated, info = rl_task_env.step(actions=actions)
+    end = time.time()
+
+
+ + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/3_robots_and_controllers/index.html b/3_robots_and_controllers/index.html new file mode 100644 index 0000000..3387f42 --- /dev/null +++ b/3_robots_and_controllers/index.html @@ -0,0 +1,949 @@ + + + + + + + + + + + + + + + + + + + + + + + Robots and Controllers - Aerial Gym Simulator + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
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+ + + + + + + + + + + + + + + +

Robots and Controllers

+ +

Robots

+

Underactuated Quadrotor

+

We provide a classic planar quadrotor design as the default choice for the robot platform in our simulation. The robot model is deliberately kept simplistic (in terms of structure, texture etc) to allow for faster simulation speeds. The robot mass and inertia parameters can be set by modifying the URDF of the robot. Moreover, the controller parameters can be tuned to match the response of your real-world platform.

+

Default quadrotor platforms

+

Fully-acutated Octarotor

+

We also provide a fully actuated octarotor platform based on the work in Design, Modeling and Control of an Omni-Directional Aerial Vehicle by Dario Brescianini and Raffaello D’Andrea.

+

Fully-actuated Octarotor Platform

+

Arbitrary Configuration

+

To show how to operate with arbitrary platform designs, we also provide a URDF of a multirotor platform with an unconventional configuration.

+

Arbitrary Octarotor Platform

+

The above GIF shows the arbitrary platform trained using a motor-control policy to reach a goal position.

+
+

Using provided geometric controllers for this configuration

+

will perform suboptimally as they assume that the center of mass for this configuration is at the root link of the robot. To account for the torque exerted about the root link because of an offset center-of-mass, additional terms will be required to be added to the controller. Users are encouraged to provide these modifications themselves for their arbitrary configurations. The controllers will work but will not exploit the controllability of the platform along other dimensions of motion. It is currently an area of active research and users are encouraged to explore learning-based solutions as well.

+
+
+

Control allocation for this configuration

+

is derived assuming unconstrained motor command allocation and then clamping the actions. This is a general problem when dealing with arbitrary configurations and is an area of active research. Users are encouraged to explore learning-based solutions for such platforms. The allocation matrix for the provided configurations are calculated w.r.t the root link of the robot.

+
+

Controllers

+

Parallelized Geometric Controllers

+

We adapt and package controllers for underactuated planar platforms such as quadrotor, hexarotor, and octarotor. The controllers are based on the work in Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3) by Taeyoung Lee, Melvin Leok, and N. Harris McClamroch. We adapt the controllers to provide efficient parallelization on the GPU for the simultaneous control of thousands of multirotor vehicles. The controllers are implemented in PyTorch and pre-compiled using the PyTorch JIT compiler for added speedup. The controllers are designed to be modular and can be easily extended to other platforms. We provide examples of use of this controller with a fully actuated octarotor platform and a planar quadrotor platform.

+
+Use of parallelized geometric controllers with fully actuated platforms +

is bound to produce sub-optimal results as the controllers are designed for quadrotor-like platforms that have all the axes of the motors parallel to each other. The controllers will work on fully actuated platforms but will not exploit the controllability of the platform along other dimensions of motion. It is currently an area of active research and users are encouraged to explore learning-based solutions as well.

+
+

Attitude-Thrust and Body-rate-Thrust Controllers

+

The errors in desired orientation \(e_R\) and body rates \(e_{\Omega}\) are computed as:

+
\[ e_R = \frac{1}{2} (R_d^T R - R^T R_d)^{\vee}, \]
+

and

+
\[ e_{\Omega} = \Omega - R^T R_d \Omega_d .\]
+

The desired body-moment \(M\) is computed as:

+
\[ M = -k_R e_R - k_{\Omega} e_{\Omega} + \Omega \times J \Omega, \]
+

where we set the desired angular velocity \(\Omega_d = 0\) in case of attitude control and \(R_d = R\) in case of body-rate control. The thrust command is directly provided as a control input to the controller.

+

Position, Velocity and Acceleration Controllers

+

Given the above attitude controllers, we first calculate the desired body force \(f\) and the desired orientation \(R_d\) using the following equations:

+
\[ f = -k_x e_x - k_v e_v - m g e_3 + m \ddot{x}_d, \]
+

and

+
\[ M = -k_R e_R - k_{\Omega} e_{\Omega} + \Omega \times J \Omega_c, \]
+

where \(e_R = \frac{1}{2} (R_c^T R - R^T R_c)^{\vee}\), and \(e_{\Omega_c} = \Omega - R^T R_c \Omega_c\). To calculate the matrix \(R_c\), we use:

+
\[ R_c = [ b_{1_c}; b_{3_c}\times b_{1_c}; b_{3_c} ], \]
+

where, \(b_{3_c} = - \frac{-k_x e_x - k_v e_v - m g e_3 + m \ddot{x}_d}{ || -k_x e_x - k_v e_v - m g e_3 + m \ddot{x}_d || }\), and \(b_{1_c}\) is a vector orthogonal to \(b_{3_c}\).

+

For the case of velocity control, we set the position error \(e_x = 0\) and the desired acceleration \(\ddot{x}_d = 0\), for the case of acceleration control, we set the position error and the desired velocity \(\dot{x}_d = 0\).

+

Similarly, for the velocity-steering angle-controller, we combine the above concepts to allow a yaw-setpoint to be provided along with the velocity setpoint.

+

Motor Command Allocation and Thrust Mapping

+

We provide support to allocate motor forces using the control allocation matrix. The allocation matrix is obtained from the geometry of the robot and needs to be explicitly defined in the configuration file. The allocation matrix allows for assigning motor forces given wrench (force and torque) commands for the base link.

+
+The allocation matrix for each robot can be defined in the robot configuration file. +

Below is the example from the fully-actuated octarotor configuration file: +

allocation_matrix = [
+    [-0.78867513, 0.21132487, -0.21132487, 0.78867513, 0.78867513, -0.21132487, 0.21132487, -0.78867513,],
+    [0.21132487, 0.78867513, -0.78867513, -0.21132487, -0.21132487, -0.78867513, 0.78867513, 0.21132487,],
+    [0.57735027, -0.57735027, -0.57735027, 0.57735027, 0.57735027, -0.57735027, -0.57735027, 0.57735027,],
+    [-0.01547005, -0.25773503, 0.21547005, -0.14226497, 0.14226497, -0.21547005, 0.25773503, 0.01547005,],
+    [-0.21547005, -0.14226497, -0.01547005, 0.25773503, -0.25773503, 0.01547005, 0.14226497, 0.21547005,],
+    [0.23094011, -0.11547005, -0.23094011, 0.11547005, -0.11547005, 0.23094011, 0.11547005, -0.23094011,],
+]
+

+
+

You can read more about how this concept is applied in this blog post.

+

Given an allocation matrix and the motor commands, we can calculate the wrench (force and torque) commands for the base link as

+
\[ \begin{bmatrix} f_x \\ f_y \\ f_z \\ M_x \\ M_y \\ M_z \end{bmatrix} = A_{6 \times n} \begin{bmatrix} u_1 \\ u_2 \\ u_3 \\ ... \\ u_n \end{bmatrix}, \]
+

where \(f\) is the force, and \(M\) is the moment for the base link, \(A\) is the allocation matrix, and \(u_i\) represents the motor force for the motor \(i\). We use the pseudo-inverse of the allocation matrix to obtain motor commands:

+
\[ \begin{bmatrix} u_1 \\ u_2 \\ u_3 \\ ... \\ u_n \end{bmatrix} = A^+ \begin{bmatrix} f_x \\ f_y \\ f_z \\ M_x \\ M_y \\ M_z \end{bmatrix}_{desired}, \]
+

where \(A^+\) is the pseudo-inverse of the allocation matrix.

+
+

While this works in the case of platforms such as the quadrotor or fully-actuated octarotor, it may or may not work for arbitrary configurations or it may not produce efficient flight. Users are encouraged to explore learning-based solutions for such platforms.

+
+

Motor Model

+

We model the simulated motors as a first-order system with randomizable time-constants. The thrust commands can be clamped to minimum and maximum values and are updated at each time-step based on the reference thrust values from the controller, following the equation:

+
\[ \dot{f_i} = \frac{1}{\tau_i} (f_{ref_i} - f_i), \]
+

where \(f_i\) is the current thrust value for motor \(i\), \(f_{ref_i}\) is the reference thrust value from the controller, and \(\tau_i\) is the time-constant of the motor. The thrust rate is clamped to a maximum value to prevent the motors from saturating. Users are encouraged to match this model to their specific robot platform for accurate simulation results.

+
+

First order motor model

+
def update_motor_thrusts(self, ref_thrust):
+    ref_thrust = torch.clamp(ref_thrust, self.min_thrust, self.max_thrust)
+    self.motor_thrust_rate[:] = (1.0 / self.motor_time_constants) * (ref_thrust - self.current_motor_thrust)
+    self.motor_thrust_rate[:] = torch.clamp(self.motor_thrust_rate, -self.cfg.max_thrust_rate, self.cfg.max_thrust_rate)
+    self.current_motor_thrust[:] = (self.current_motor_thrust + self.dt * self.motor_thrust_rate)
+    return self.current_motor_thrust
+
+
+

Drag Model

+

A simplistic model for drag is implemented that that can be customized to the user's needs. Linear and quadratic drag coefficients for drag induced by velocity and angular velocity can be set in the configuration file. The drag force \(F_{drag}\) and torque \(M_{drag}\) in the body-frame are calculated as:

+
\[ F_{drag} = -k_{v_{linear}} v -k_{v_{quadratic}} v |v|, \]
+

and

+
\[ M_{drag} = -k_{\omega_{linear}} \omega -k_{\omega_{quadratic}} \omega |\omega|, \]
+

where \(v\) is the linear velocity, \(\omega\) is the angular velocity expressed in the body frame, and \(k\) are the drag coefficients. The drag model can be customized to the user's needs by changing the robot-specific parameters in the configuration file.

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Simulation Components

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The simulator is made of composable entities that allow changing the physics engine parameters, adding various environment handling functionalities to manipulate the environment at runtime, load the assets, select robots and controllers and design custom sensors.

+

Registries

+

The code contains registries for having a named mapping to various configuration files and classes. The registries allow ease of configuration through parameters and allow to mix-and-match various settings, robots, environments, sensors within the simulation. New configurations can be created on-the-fly and registered to be used programmatically by the active code, without having to stop to manually configure the simulation.

+

The code contains registries for the following components:

+
+ +
+

TO register your own custom components, please take a look at the Customization page.

+

Simulation Parameters

+

We use NVIDIA's Isaac Gym as the simulation engine. The simulator allows for selection of different physics backends, such as PhysX and Flex. The simulator provides a set of APIs to interact with the environment, such as setting the gravity, time step, and rendering options. We provide a set of default configurations for the physics engine (based on PhysX) that can be set as per the user's needs. The simulation params are set here:

+
+Default simulation parameters +
class BaseSimConfig:
+# viewer camera:
+class viewer:
+    headless = False
+    ref_env = 0
+    camera_position = [-5, -5, 4]  # [m]
+    lookat = [0, 0, 0]  # [m]
+    camera_orientation_euler_deg = [0, 0, 0]  # [deg]
+    camera_follow_type = "FOLLOW_TRANSFORM"
+    width = 1280
+    height = 720
+    max_range = 100.0  # [m]
+    min_range = 0.1
+    horizontal_fov_deg = 90
+    use_collision_geometry = False
+    camera_follow_transform_local_offset = [-1.0, 0.0, 0.2]  # m
+    camera_follow_position_global_offset = [-1.0, 0.0, 0.4]  # m
+
+class sim:
+    dt = 0.01
+    substeps = 1
+    gravity = [0.0, 0.0, -9.81]  # [m/s^2]
+    up_axis = 1  # 0 is y, 1 is z
+    use_gpu_pipeline = True
+
+    class physx:
+        num_threads = 10
+        solver_type = 1  # 0: pgs, 1: tgs
+        num_position_iterations = 4
+        num_velocity_iterations = 2
+        contact_offset = 0.002  # [m]
+        rest_offset = 0.001  # [m]
+        bounce_threshold_velocity = 0.1  # 0.5 [m/s]
+        max_depenetration_velocity = 1.0
+        max_gpu_contact_pairs = 2**24  # 2**24 -> needed for 8000 envs and more
+        default_buffer_size_multiplier = 10
+        contact_collection = 1  # 0: never, 1: last sub-step, 2: all sub-steps (default=2)
+
+
+

While the default setting of the physics engine is PhysX for this simulator, this can be changed to Flex with minor modifications. It has not been tested for this purpose.

+

Assets

+

Simulation assets in Aerial Gym are generally URDF files that can each have their own parameters for simulation. The asset configuration files for assets are stored in config/asset_config. In our implementation we have defined asset classes based on the type of the asset of our purposes and ground their properties together. Assets of each type can be represented through different URDF files inherently enabling randomization across environments without a further need to specify which asset is to be loaded. Just adding additional URDFs to the appropriate folder path suffices to add them in the pool for selection fr simulation.

+

The parameters for each asset are derived from the BaseAssetParams class that includes the number of assets of that type to be loaded per environment, specifies root asset folder, specifies the position, orientation ratios and physics properties of the asset such as damping coefficients, density etc. Additional parameters can be used to specify properties such as presence of force sensors on the asset, per-link or whole body segmentation labels, etc.

+

The BaseAssetParams file is as follows:

+
+Example of configurable BaseAssetParams class +
class BaseAssetParams:
+    num_assets = 1  # number of assets to include per environment
+
+    asset_folder = f"{AERIAL_GYM_DIRECTORY}/resources/models/environment_assets"
+    file = None  # if file=None, random assets will be selected. If not None, this file will be used
+
+    min_position_ratio = [0.5, 0.5, 0.5]  # min position as a ratio of the bounds
+    max_position_ratio = [0.5, 0.5, 0.5]  # max position as a ratio of the bounds
+
+    collision_mask = 1
+
+    disable_gravity = False
+    replace_cylinder_with_capsule = True  # replace collision cylinders with capsules, leads to faster/more stable simulation
+    flip_visual_attachments = (
+        True  # Some .obj meshes must be flipped from y-up to z-up
+    )
+    density = 0.000001
+    angular_damping = 0.0001
+    linear_damping = 0.0001
+    max_angular_velocity = 100.0
+    max_linear_velocity = 100.0
+    armature = 0.001
+
+    collapse_fixed_joints = True
+    fix_base_link = True
+    color = None
+    keep_in_env = False
+
+    body_semantic_label = 0
+    link_semantic_label = 0
+    per_link_semantic = False
+    semantic_masked_links = {}
+    place_force_sensor = False
+    force_sensor_parent_link = "base_link"
+    force_sensor_transform = [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        1.0,
+    ]  # position, quat x, y, z, w
+    use_collision_mesh_instead_of_visual = False
+
+
+

Environments

+

Environment specification determines what are the components in a simulation environment. A configuration file can be used to select a particular robot (with it's sensors), a specified controller for thr robot and selection of obstacles that are present in the environment alongside a strategy to spawn and randomize their positions w.r.t the environment bounds. The environment configuration files are stored in config/env_config folder. The environment manager calls each of the environment entities to allow specific user-coded behaviors at each timestep or to perform certain actions when the environment is reset. The environment manager is responsible for spawning the assets, robots and obstacles in the environment and managing their interactions.

+
+Example of an Environment Configuration for an empty environment with a robot +
class EmptyEnvCfg:
+    class env:
+        num_envs = 3  # number of environments
+        num_env_actions = 0  # this is the number of actions handled by the environment
+        # these are the actions that are sent to environment entities
+        # and some of them may be used to control various entities in the environment
+        # e.g. motion of obstacles, etc.
+        env_spacing = 1.0  # not used with heightfields/trimeshes
+        num_physics_steps_per_env_step_mean = 1  # number of steps between camera renders mean
+        num_physics_steps_per_env_step_std = 0  # number of steps between camera renders std
+        render_viewer_every_n_steps = 10  # render the viewer every n steps
+        collision_force_threshold = 0.010  # collision force threshold
+        manual_camera_trigger = False  # trigger camera captures manually
+        reset_on_collision = (
+            True  # reset environment when contact force on quadrotor is above a threshold
+        )
+        create_ground_plane = False  # create a ground plane
+        sample_timestep_for_latency = True  # sample the timestep for the latency noise
+        perturb_observations = True
+        keep_same_env_for_num_episodes = 1
+
+        use_warp = False
+        e_s = env_spacing
+        lower_bound_min = [-e_s, -e_s, -e_s]  # lower bound for the environment space
+        lower_bound_max = [-e_s, -e_s, -e_s]  # lower bound for the environment space
+        upper_bound_min = [e_s, e_s, e_s]  # upper bound for the environment space
+        upper_bound_max = [e_s, e_s, e_s]  # upper bound for the environment space
+
+    class env_config:
+        include_asset_type = {}
+
+        asset_type_to_dict_map = {}
+
+
+

In order to add assets to the environment, the include_asset_type dictionary can be used to specify the assets that are to be included in the environment. The asset_type_to_dict_map dictionary maps the asset type to the class defining the asset parameters.

+
+Environment configuration file for an environment with obstacles +

for the case of an environment with obstacles can be seen below: +

from aerial_gym.config.env_config.env_object_config import EnvObjectConfig
+
+import numpy as np
+
+
+class EnvWithObstaclesCfg(EnvObjectConfig):
+    class env:
+        num_envs = 64
+        num_env_actions = 4  # this is the number of actions handled by the environment
+        # potentially some of these can be input from the RL agent for the robot and
+        # some of them can be used to control various entities in the environment
+        # e.g. motion of obstacles, etc.
+        env_spacing = 5.0  # not used with heightfields/trimeshes
+
+        num_physics_steps_per_env_step_mean = 10  # number of steps between camera renders mean
+        num_physics_steps_per_env_step_std = 0  # number of steps between camera renders std
+
+        render_viewer_every_n_steps = 1  # render the viewer every n steps
+        reset_on_collision = (
+            True  # reset environment when contact force on quadrotor is above a threshold
+        )
+        collision_force_threshold = 0.05  # collision force threshold [N]
+        create_ground_plane = False  # create a ground plane
+        sample_timestep_for_latency = True  # sample the timestep for the latency noise
+        perturb_observations = True
+        keep_same_env_for_num_episodes = 1
+
+        use_warp = True
+        lower_bound_min = [-2.0, -4.0, -3.0]  # lower bound for the environment space
+        lower_bound_max = [-1.0, -2.5, -2.0]  # lower bound for the environment space
+        upper_bound_min = [9.0, 2.5, 2.0]  # upper bound for the environment space
+        upper_bound_max = [10.0, 4.0, 3.0]  # upper bound for the environment space
+
+    class env_config:
+        include_asset_type = {
+            "panels": True,
+            "thin": False,
+            "trees": False,
+            "objects": True,
+            "left_wall": True,
+            "right_wall": True,
+            "back_wall": True,
+            "front_wall": True,
+            "top_wall": True,
+            "bottom_wall": True,
+        }
+
+        # maps the above names to the classes defining the assets. They can be enabled and disabled above in include_asset_type
+        asset_type_to_dict_map = {
+            "panels": EnvObjectConfig.panel_asset_params,
+            "thin": EnvObjectConfig.thin_asset_params,
+            "trees": EnvObjectConfig.tree_asset_params,
+            "objects": EnvObjectConfig.object_asset_params,
+            "left_wall": EnvObjectConfig.left_wall,
+            "right_wall": EnvObjectConfig.right_wall,
+            "back_wall": EnvObjectConfig.back_wall,
+            "front_wall": EnvObjectConfig.front_wall,
+            "bottom_wall": EnvObjectConfig.bottom_wall,
+            "top_wall": EnvObjectConfig.top_wall,
+        }
+

+
+

Tasks

+

An environment specification determines what is populated in an independent simulation instance and how the collective simulation steps through time based on commanded actions. The task here is however slightly different. We intend to use this term of interpreting task-specific information from the environment. A task class instantiates the entire simulation with all its parallel robots and assets and therefore, has access to all the simulation information. We intend to use this class to determine how the environment is interpreted for RL tasks. For example, a given simulation instance with sim params, environment and asset specification, robot, sensors and controller specifications, can be utilized to train a policy to perform completely different tasks. Example of these could include setpoint navigation through clutter, observing a specific asset in the simulation, perching on that specific asset in simulation and so on and so forth. All these tasks can be performed with the same set of objects in the environment, but require a different interpretation of the environment data for training the RL algorithm appropriately. This can be done within the Task classes. A task can be specified in the files in the config/task_config folder as:

+
+Example of a Task Configuration +
class task_config:
+    seed = 10
+    sim_name = "base_sim"
+    env_name = "empty_env"
+    robot_name = "base_quadrotor"
+    args = {}
+    num_envs = 2
+    device = "cuda:0"
+    observation_space_dim = 13
+    privileged_observation_space_dim = 0
+    action_space_dim = 4
+    episode_len_steps = 1000 # real physics time for simulation is this value multiplied by sim.dt
+    return_state_before_reset = False
+    reward_parameters = {
+        "pos_error_gain1": [2.0, 2.0, 2.0],
+        "pos_error_exp1": [1/3.5, 1/3.5, 1/3.5],
+        "pos_error_gain2": [2.0, 2.0, 2.0],
+        "pos_error_exp2": [2.0, 2.0, 2.0],
+        "dist_reward_coefficient": 7.5,
+        "max_dist": 15.0,
+        "action_diff_penalty_gain": [1.0, 1.0, 1.0],
+        "absolute_action_reward_gain": [2.0, 2.0, 2.0],
+        "crash_penalty": -100,
+    }
+
+    # a + bx for action scaling
+    consant_for_action = torch.tensor([0.0, 0.0, 0.0, 0.0], dtype=torch.float32, device=device)
+
+    scale_for_action = torch.tensor([3.0, 3.0, 3.0, 1.50], dtype=torch.float32, device=device)
+
+
+    def action_transformation_function(action):
+        clamped_action = torch.clamp(action, -1.0, 1.0)
+        return task_config.consant_for_action + task_config.scale_for_action * clamped_action     
+
+
+

A sample task for position setpoint navigation (without sensors or obstacles) is provided as an example:

+
+PositionSetpointTask class definition example +
class PositionSetpointTask(BaseTask):
+    def __init__(self, task_config):
+        super().__init__(task_config)
+        self.device = self.task_config.device
+        # set the each of the elements of reward parameter to a torch tensor
+        # common boilerplate code here
+
+        # Currently only the "observations" are sent to the actor and critic.
+        # The "privileged_obs" are not handled so far in sample-factory
+
+        self.task_obs = {
+            "observations": torch.zeros(
+                (self.sim_env.num_envs, self.task_config.observation_space_dim),
+                device=self.device,
+                requires_grad=False,
+            ),
+            "priviliged_obs": torch.zeros(
+                (self.sim_env.num_envs, self.task_config.privileged_observation_space_dim),
+                device=self.device,
+                requires_grad=False,
+            ),
+            "collisions": torch.zeros(
+                (self.sim_env.num_envs, 1), device=self.device, requires_grad=False
+            ),
+            "rewards": torch.zeros(
+                (self.sim_env.num_envs, 1), device=self.device, requires_grad=False
+            ),
+        }
+
+    # common boilerplate code here
+
+    def step(self, actions):
+        # this uses the action, gets observations
+        # calculates rewards, returns tuples
+        # In this case, the episodes that are terminated need to be
+        # first reset, and the first observation of the new episode
+        # needs to be returned.
+
+        transformed_action = self.action_transformation_function(actions)
+        self.sim_env.step(actions=transformed_action)
+
+        # This step must be done since the reset is done after the reward is calculated.
+        # This enables the robot to send back an updated state, and an updated observation to the RL agent after the reset.
+        # This is important for the RL agent to get the correct state after the reset.
+        self.rewards[:], self.terminations[:] = self.compute_rewards_and_crashes(self.obs_dict)
+
+        if self.task_config.return_state_before_reset == True:
+            return_tuple = self.get_return_tuple()
+
+
+        self.truncations[:] = torch.where(self.sim_env.sim_steps > self.task_config.episode_len_steps, 1, 0)
+        self.sim_env.post_reward_calculation_step()
+
+        self.infos = {}  # self.obs_dict["infos"]
+
+        if self.task_config.return_state_before_reset == False:
+            return_tuple = self.get_return_tuple()
+        return return_tuple
+
+    ...
+
+    def process_obs_for_task(self):
+        self.task_obs["observations"][:, 0:3] = (
+            self.target_position - self.obs_dict["robot_position"] # position in environment/world frame
+        )
+        self.task_obs["observations"][:, 3:7] = self.obs_dict["robot_orientation"] # orientation in environment/world frame
+        self.task_obs["observations"][:, 7:10] = self.obs_dict["robot_body_linvel"] # linear velocity in the body/imu frame
+        self.task_obs["observations"][:, 10:13] = self.obs_dict["robot_body_angvel"] # angular velocity in the body/imu frame
+        self.task_obs["rewards"] = self.rewards # reward for the time step after it is calculated
+        self.task_obs["terminations"] = self.terminations # terminations/crashes 
+        self.task_obs["truncations"] = self.truncations # truncations or premature resets (for purposes of diversifying data and episodes)
+
+
+@torch.jit.script
+def exp_func(x, gain, exp):
+    return gain * torch.exp(-exp * x * x)
+
+
+@torch.jit.script
+def compute_reward(
+    pos_error, crashes, action, prev_action, curriculum_level_multiplier, parameter_dict
+):
+    # type: (Tensor, Tensor, Tensor, Tensor, float, Dict[str, Tensor]) -> Tuple[Tensor, Tensor]
+    dist = torch.norm(pos_error, dim=1)
+
+    pos_reward = 2.0 / ( 1.0 + dist * dist)
+
+    dist_reward = (20 - dist) / 20.0
+
+    total_reward = (
+        pos_reward + dist_reward # + up_reward + action_diff_reward + absolute_action_reward
+    )
+    total_reward[:] = curriculum_level_multiplier * total_reward
+    crashes[:] = torch.where(dist > 8.0, torch.ones_like(crashes), crashes)
+
+    total_reward[:] = torch.where(
+        crashes > 0.0, -2 * torch.ones_like(total_reward), total_reward
+    )
+    return total_reward, crashes
+
+
+

The Task class is ultimately designed to be used with RL frameworks, therefore conforms to the Gymnasium API specification. In this above class, the step(...) function first translates the commands from the RL agent to a control command for the specific robot platform by transforming the action input. Subsequently this is commanded to the robot and the environment is stepped. Finally, a reward is computed for the new state and truncations and terminations are determined and the final tuple is returned for use by the RL framework. Similarly, for trajectory tracking, only the reward function and observation needs to be changed to train the RL algorithm without making any changes to the asset, robots or the environment.

+

To add your own custom tasks please refer to the section on customizing the simulator.

+
+Difference between Environment and Task +

A lot of different simulator implementations interchange the terminologies. In our case, we view the environment as the components that define the robot, it's physics surroundings, i.e., the assets near the robot, the parameters of the physics engine that detemine how the various entities in the simulation world interact with one another, and how sensors perceive the data via the sensor parameters.

+

The task on the other hand is an interpretation of the simulation world and the information provided by / collected from it to reach a particular goal that is desired by the user. The same environment can be used to train multiple tasks and the tasks can be changed without changing an environment definition.

+

For example, an empty environment with a quadrotor can be used to train a position setpoint task, or a trajectory tracking task. An environment with a set of obstacles can be used to train a policy that can either navigate through the obstacles or perch on a specific asset in the environment. The task is the interpretation of the environment data for the RL algorithm to learn the desired behavior.

+

To relate it with a familiar environment from the OpenAI Gym suite of tasks, an "environment" in our case could refer to a CartPole world with its associated dynamics, however a "task" in our case would allow the same cartpole to be controlled to balance the pole upright, or to keep swinging the pole at a given angular rate or to have the endpoint of the pole at a given location in the environment. All of which require different formulation of rewards and observations for the RL algorithm to learn the desired behavior.

+
+

Robots

+

Robots can be specified and configured independently of the sensors and the environment using a robot registry. More about robots can be found on the page for Robots and Controllers

+

Controllers

+

Controllers can be specified and selected independently of the robot platform. Note however, that all combinations of controllers will not produce optimal results with all platforms. The controllers can be registered and selected from the controller registry. More about controllers can be found on the page for Robots and Controllers.

+

Sensors

+

Similar to the above, the sensors can be specified and selected independently. However since the sensors are mounted on the robot platform, we have made a choice to select the sensors for the robot in the robot config file, and not directly as a registry (it is possible to do so yourself with very minor changes to the code). More about the capabilities of the sensors can be found on the page for Sensors and Rendering.

+ + + + + + + + + + + + + +
+
+ + + + + +
+ + + +
+ + + +
+
+
+
+ +
+ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/5_customization/index.html b/5_customization/index.html new file mode 100644 index 0000000..864611a --- /dev/null +++ b/5_customization/index.html @@ -0,0 +1,1095 @@ + + + + + + + + + + + + + + + + + + + + + + + Customizing the Simulator - Aerial Gym Simulator + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
+
+ +
+ + + + + + +
+ + + + + + + +
+ +
+ + + + +
+
+ + + +
+
+
+ + + + + + + + + +
+
+
+ + + + +
+
+ + + + + + + + + + + + + + + +

Customizing the Simulator

+ +

Custom Physics Parameters

+

Different physics engine + viewer window combination parameters can be set in the sim class with another class name. This configuration can be registered with to be used in the simulation either in the __init__.py file in the relevant folder, or at runtime in the code by the following command:

+
+Custom simulation parameters +
from aerial_gym.registry.sim_registry import sim_registry
+from aerial_gym.simulation.sim_params import BaseSimParams
+
+class CustomSimParamsFallingForwards(BaseSimParams):
+    class sim(BaseSimConfig.sim):
+        dt = 0.01  # Custom Parameter
+        gravity = [+1.0, 0.0, 0.0]
+
+
+# register your custom class here
+sim_registry.register_sim_params("falling_forwards", CustomSimParamsFallingForwards)
+
+### use the registered class further in the code to spawn a simulation ###
+
+
+

A config file can then be created that specifies that the simulation should use the custom parameters. The simulator (Isaac Gym instance within the code) will have to be restarted for the changes to take effect.

+
+

The physics simulation parameters can be registered via the sim_registry

+
    +
  • in the file sim/__init__.py for it to be named and identifiable throughout the simulation run, or
    • +
  • at runtime in the code by the following command: + 
    from aerial_gym.registry.sim_registry import sim_registry
+sim_registry.register_sim_params("falling_forwards_sim_params", CustomSimParamsFallingForwards)
+
    • +
+
+

The simulation instance needs to be restarted for the parameters to take effect

+
+
+

Custom Environments

+

We provide an example environment that has milti-linked parametric tree objects in the environment to simulate a forest.

+

More objects can be added to the environment by setting their asset properties and creating an environment file for that environment that specifies which assets are to be included in the environment.

+

In this manner, it is:

+
    +
  1. Possible to reuse the same (set of) assets across environments
    2. +
  2. Easy to compose multiple environments with same or varying assets with different parameters for randomization.
    3. +
  3. Include your own assets and create custom environments for specific tasks.
    4. +
+
+The configuration file for the forest environment +
from aerial_gym.config.env_config.env_object_config import EnvObjectConfig
+
+import numpy as np
+
+
+class ForestEnvCfg(EnvObjectConfig):
+    class env:
+        num_envs = 64
+        num_env_actions = 4
+        env_spacing = 5.0  # not used with heightfields/trimeshes
+        num_physics_steps_per_env_step_mean = 10  # number of steps between camera renders mean
+        num_physics_steps_per_env_step_std = 0  # number of steps between camera renders std
+        render_viewer_every_n_steps = 1  # render the viewer every n steps
+        reset_on_collision = (
+            True  # reset environment when contact force on quadrotor is above a threshold
+        )
+        collision_force_threshold = 0.005  # collision force threshold [N]
+        create_ground_plane = False  # create a ground plane
+        sample_timestep_for_latency = True  # sample the timestep for the latency noise
+        perturb_observations = True
+        keep_same_env_for_num_episodes = 1
+        use_warp = True
+        lower_bound_min = [-5.0, -5.0, -1.0]  # lower bound for the environment space
+        lower_bound_max = [-5.0, -5.0, -1.0]  # lower bound for the environment space
+        upper_bound_min = [5.0, 5.0, 3.0]  # upper bound for the environment space
+        upper_bound_max = [5.0, 5.0, 3.0]  # upper bound for the environment space
+
+    class env_config:
+        include_asset_type = {
+            "trees": True,
+            "objects": True,
+            "bottom_wall": True,
+        }
+
+        # maps the above names to the classes defining the assets. They can be enabled and disabled above in include_asset_type
+        asset_type_to_dict_map = {
+            "trees": EnvObjectConfig.tree_asset_params,
+            "objects": EnvObjectConfig.object_asset_params,
+            "bottom_wall": EnvObjectConfig.bottom_wall,
+        }
+
+
+

The environment appears as shown below:

+

Forest Environment

+

Custom Controllers

+

Additional controllers can be added as per the need of the users for their preferred robot configuration. We provide an example of a non-standard controller that tracks a velocity and steering angle command in the controller folder. The vehicle velocity is expressed in the vehicle frame and the steering angle is measured w.r.t the world frame. The controller can be registered in the __init__.py file in the controller folder, or at runtime in the code. To better show the integration with our existing code, we exploit the functionality provided by the base_lee_controller.py class, however the users are not required to adhere to this and can write their own controller structures as per their requirements. We also modify the controller from the base_lee_controller.py file to show the control of a fully actuated platform with 8 motors and use it to control a model of an underwater vehicle. We also provide an example file to simulate this controller with an underwater robot model.

+
+FullyActuatedController code +
class FullyActuatedController(BaseLeeController):
+    def __init__(self, config, num_envs, device):
+        super().__init__(config, num_envs, device)
+
+    def init_tensors(self, global_tensor_dict=None):
+        super().init_tensors(global_tensor_dict)
+
+    def update(self, command_actions):
+        """
+        Fully actuated controller. Input is in the form of desired position and orientation.
+        command_actions = [p_x, p_y, p_z, qx, qy, qz, qw]
+        Position setpoint is in the world frame
+        Orientation reference is w.r.t world frame
+        """
+        self.reset_commands()
+        command_actions[:, 3:7] = normalize(command_actions[:, 3:7])
+        self.accel[:] = self.compute_acceleration(command_actions[:, 0:3], torch.zeros_like(command_actions[:, 0:3]))
+        forces = self.mass * (self.accel - self.gravity)
+        self.wrench_command[:, 0:3] = quat_rotate_inverse(
+            self.robot_orientation, forces
+        )
+        self.desired_quat[:] = command_actions[:, 3:]
+        self.wrench_command[:, 3:6] = self.compute_body_torque(
+            self.desired_quat, torch.zeros_like(command_actions[:, 0:3])
+        )
+        return self.wrench_command
+
+
+
+

The controller can be registered via the controller_registry

+
    +
  • in the file controller/__init__.py for it to be named and identifiable throughout the simulation run, or
    • +
  • at runtime in the code by the following command: + 
    from aerial_gym.registry.controller_registry import controller_registry
+controller_registry.register_controller(
+    "fully_actuated_control", FullyActuatedController, fully_actuated_controller_config
+)
+
    • +
+
+

Custom Robots

+

We support addition of custom robot configurations and custom control methodologies in the simulator. An example of an arbitrary robot configuration with 8 motors is provided with the simulator. The robot configuration, if differing significantly, can have its own python class to control the robot links, coontrollers, and utilize the sensors that are onboard the robot. The robot configuration can be registered in the __init__.py file in the robot folder, or at runtime in the code. Moreover, the current file structure allows for us to reuse the same robot class with an appropriate configuration file.

+

In our case, we use the base_quadrotor.py class alongside with an appropriate configuration file for the robot. For example, for the arbitrary robot model, we use the following configuration file:

+
+Configuration file for arbitrary robot model +
# asset parameters for the simulator above
+
+
+class control_allocator_config:
+    num_motors = 8
+    force_application_level = "motor_link"
+    # "motor_link" or "root_link" to apply forces at the root link or at the individual motor links
+
+    motor_mask = [1 + 8 + i for i in range(0, 8)]
+    motor_directions = [1, -1, 1, -1, 1, -1, 1, -1]
+
+    allocation_matrix = [[ 5.55111512e-17, -3.21393805e-01, -4.54519478e-01, -3.42020143e-01,
+                        9.69846310e-01,  3.42020143e-01,  8.66025404e-01, -7.54406507e-01],
+                        [ 1.00000000e+00, -3.42020143e-01, -7.07106781e-01,  0.00000000e+00,
+                        -1.73648178e-01,  9.39692621e-01,  5.00000000e-01, -1.73648178e-01],
+                        [ 1.66533454e-16, -8.83022222e-01,  5.41675220e-01,  9.39692621e-01,
+                        1.71010072e-01,  1.11022302e-16,  1.11022302e-16,  6.33022222e-01],
+                        [ 1.75000000e-01,  1.23788742e-01, -5.69783368e-02,  1.34977168e-01,
+                        3.36959042e-02, -2.66534135e-01, -7.88397460e-02, -2.06893989e-02],
+                        [ 1.00000000e-02,  2.78845133e-01, -4.32852308e-02, -2.72061766e-01,
+                        -1.97793856e-01,  8.63687139e-02,  1.56554446e-01, -1.71261290e-01],
+                        [ 2.82487373e-01, -1.41735490e-01, -8.58541103e-02,  3.84858939e-02,
+                        -3.33468026e-01,  8.36741468e-02,  8.46777988e-03, -8.74336259e-02]]
+
+    # here, the allocation matrix is computed (by the user) to from the URDF files of the robot
+    # to map the effect of motor forces on the net force and torque acting on the robot.
+
+class motor_model_config:
+    motor_time_constant_min = 0.01
+    motor_time_constant_max = 0.03
+    max_thrust = 5.0
+    min_thrust = -5.0
+    max_thrust_rate = 100.0
+    thrust_to_torque_ratio = 0.01 # thrust to torque ratio is related to inertia matrix dont change
+
+# other parameters for the robot below
+
+
+

Additionally, we also provide an example of control of an underwater BlueROV robot model with 8 motors and a custom controller for the fully-actutated platform. We provide an example file showing full-state tracking of the robot with the controller.

+

BlueROV Position Tracking

+

Custom Tasks

+

You can refer to the example file in tasks/custom_task and implement your own task specification as shown here:

+
+Custom Task Class Definition +
class CustomTask(BaseTask):
+    def __init__(self, task_config):
+        super().__init__(task_config)
+        self.device = self.task_config.device
+        # write your own implementation herer
+
+        self.sim_env = SimBuilder().build_env(
+            sim_name=self.task_config.sim_name,
+            env_name=self.task_config.env_name,
+            robot_name=self.task_config.robot_name,
+            args=self.task_config.args,
+            device=self.device,
+        )
+
+        # Implement something here that is relevant to your task
+
+        self.task_obs = {
+            "observations": torch.zeros(
+                (self.sim_env.num_envs, self.task_config.observation_space_dim),
+                device=self.device,
+                requires_grad=False,
+            ),
+            "priviliged_obs": torch.zeros(
+                (self.sim_env.num_envs, self.task_config.privileged_observation_space_dim),
+                device=self.device,
+                requires_grad=False,
+            ),
+            "collisions": torch.zeros(
+                (self.sim_env.num_envs, 1), device=self.device, requires_grad=False
+            ),
+            "rewards": torch.zeros(
+                (self.sim_env.num_envs, 1), device=self.device, requires_grad=False
+            ),
+        }
+
+    def close(self):
+        self.sim_env.delete_env()
+
+    def reset(self):
+        # write your implementation here
+        return None
+
+    def reset_idx(self, env_ids):
+        # write your implementation here
+        return
+
+    def render(self):
+        return self.sim_env.render()
+
+    def step(self, actions):
+        # this uses the action, gets observations
+        # calculates rewards, returns tuples
+        # In this case, the episodes that are terminated need to be
+        # first reset, and the first obseration of the new episode
+        # needs to be returned.
+
+        # repace this with something that is relevant to your task
+        self.sim_env.step(actions=actions)
+
+
+        return None # replace this with something relevant to your task
+
+@torch.jit.script
+def compute_reward(
+    pos_error, crashes, action, prev_action, curriculum_level_multiplier, parameter_dict
+):
+    # something here
+    return 0
+
+
+
+

The task must be registered via the task-registry

+
    +
  • in the file task/__init__.py for it to be named and identifiable throughout the simulation run, or
    • +
  • at runtime in the code by the following command: + 
    from aerial_gym.registry.task_registry import task_registry
+task_registry.register_task("custom_task", CustomTask)
+
    • +
+
+

Custom Sensors

+

Exposing sensor parameters for the ray-casting sensor allows for them to be individually customized to simulate an exteroceptive sensor by the user. We provide an example of a hemispherical LiDAR sensor based on Ouster OSDome LiDAR.

+
+The parameters can be configured as shown here +
from aerial_gym.config.sensor_config.lidar_config.base_lidar_config import BaseLidarConfig
+
+class OSDome_64_Config(BaseLidarConfig):
+    # keep everything pretty much the same and change the number of vertical rays
+    height = 64
+    width = 512
+    horizontal_fov_deg_min = -180
+    horizontal_fov_deg_max = 180
+    vertical_fov_deg_min = 0
+    vertical_fov_deg_max = 90
+    max_range = 20.0
+    min_range = 0.5
+
+    return_pointcloud= False
+    segmentation_camera = True
+
+    # randomize placement of the sensor
+    randomize_placement = False
+    min_translation = [0.0, 0.0, 0.0]
+    max_translation = [0.0, 0.0, 0.0]
+    # example of a front-mounted dome lidar
+    min_euler_rotation_deg = [0.0, 0.0, 0.0]
+    max_euler_rotation_deg = [0.0, 0.0, 0.0]
+    class sensor_noise:
+        enable_sensor_noise = False
+        pixel_dropout_prob = 0.01
+        pixel_std_dev_multiplier = 0.01
+
+
+

The data from the hemispherical LiDAR is projected into a range and segmented image and appears as shown below:

+

OSDome Depth Data +OSDome Segmentation Data

+ + + + + + + + + + + + + +
+
+ + + + + +
+ + + +
+ + + +
+
+
+
+ +
+ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/6_rl_training/index.html b/6_rl_training/index.html new file mode 100644 index 0000000..3d6e391 --- /dev/null +++ b/6_rl_training/index.html @@ -0,0 +1,1029 @@ + + + + + + + + + + + + + + + + + + + + + + + RL Training - Aerial Gym Simulator + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
+
+ +
+ + + + + + +
+ + + + + + + +
+ +
+ + + + +
+
+ + + +
+
+
+ + + + + + + + + +
+
+
+ + + + +
+
+ + + + + + + + + + + + + + + +

Reinforcement Learning

+

Reinforcement Learning for Navigation Tasks using Depth Images

+

We provide a ready-to-use policy that was used for the work in Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding. The observation space is redefined to match the example shown in the paper and a script is provided to run the inference on the trained policy. To check out the performance of the policy yourself, please follow the steps below:

+
cd examples/dce_rl_navigation
+bash run_trained_navigation_policy.sh
+
+

You should now be able to see the trained policy in action: +RL for Navigation

+

For this task, the rendering is done using Warp by default and the robot's depth camera sees the environment as shown below:

+

Depth Stream RL 1 Depth Stream RL 2

+

If you use this work, please cite the following paper:

+
@misc{kulkarni2024reinforcementlearningcollisionfreeflight,
+      title={Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding}, 
+      author={Mihir Kulkarni and Kostas Alexis},
+      year={2024},
+      eprint={2402.03947},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2402.03947}, 
+}
+
+

Train policies for your own robot with the Aerial Gym Simulator

+

We provide examples with rl-games, sample-factory and CleanRL frameworks out-of-the-box with relevant scripts for the same. The Task definition of the simulator allows for a minimalistic integration possible with the simulator allowing the developed/user to focus on designing an appropriate simulation environment rather than spending time on integrating the environment with the RL training framework.

+

Train your own navigation policies

+

Similar task-configuration can be done to enable navigation control policies, however the robot needs to simulate the exteroceptive sensor data using the camera sensor onboard. This change occurs on the robot side and requires enabling the cameras / LiDAR sensors on the robot.

+

The config/robot_config/base_quad_config.py or corresponding robot configuration files require modification to enable the camera sensor. The camera sensor can be enabled as follows: +

class BaseQuadCfg:
+    ...
+    class sensor_config:
+        enable_camera = True # False when you do not need a camera sensor
+        camera_config = BaseDepthCameraConfig
+
+        enable_lidar = False
+        lidar_config = BaseLidarConfig  # OSDome_64_Config
+
+        enable_imu = False
+        imu_config = BaseImuConfig
+    ...
+

+

Subsequently, the various algorithms can be trained using the provided training scripts in the rl_training folder.

+

Example with rl_games: +

### Train the navigation policy for the quadrotor with velocity control
+python3 runner.py --file=./ppo_aerial_quad_navigation.yaml --num_envs=1024 --headless=True
+
+### Replay the trained policy in simulation
+python3 runner.py --file=./ppo_aerial_quad_navigation.yaml --num_envs=16 --play --checkpoint=./runs/<weights_file_path>/<weights_filename>.pth
+

+

The training takes approximately an hour on a single NVIDIA RTX 3090 GPU. The navigation_task uses a Deep Collision Encoder by default to represent the latent representation considering obstacles inflated by the robot size.

+

Train your own position-control policies

+

We provide readymade task-definitions to train policies for position control of various robots. The task definition remains same - regardless of the configuration and the reward function may be modified to suit the user's needs for specific requirements in performance such as smoothness in control, energy efficiency etc. The provided RL algorithms will learn to generate control commands for the onboard controller or provide direct motor commands to the robots.

+

For training position-setpoint policies for various robots using various onboard controllers, configure the config/task_config/position_setpoint_task_config.py as follows: +

class task_config:
+    seed = -1 # set your seed here. -1 will randomize the seed
+    sim_name = "base_sim"
+
+    env_name = "empty_env"
+    # env_name = "env_with_obstacles"
+    # env_name = "forest_env"
+
+    robot_name = "base_quadrotor"
+    # robot_name = "base_fully_actuated"
+    # robot_name = "base_random"
+
+
+    controller_name = "lee_attitude_control"
+    # controller_name = "lee_acceleration_control"
+    # controller_name = "no-control"
+    ...
+

+

To train a policy with rl_games, please run the following command: +

# train the policy
+python3 runner.py --task=position_setpoint_task --num_envs=8192 --headless=True --use_warp=True
+
+# replay the trained policy
+python3 runner.py --task=position_setpoint_task --num_envs=16 --headless=False --use_warp=True --checkpoint=<path_to_checkpoint_weights>.pth --play
+

+

This policy trains in under a minute using a single NVIDIA RTX 3090 GPU. The resultant trained policy is shown below:

+

RL for Position Control

+

rl-games

+

The Task instance of the simulation is required to be wrapped with a framework-specific environment wrapper for parallel environments.

+
+Example rl-games Wrapper +
class ExtractObsWrapper(gym.Wrapper):
+    def __init__(self, env):
+        super().__init__(env)
+
+    def reset(self, **kwargs):
+        observations, *_ = super().reset(**kwargs)
+        return observations["observations"]
+
+    def step(self, action):
+        observations, rewards, terminated, truncated, infos = super().step(
+            action
+        )
+
+        dones = torch.where(terminated | truncated, torch.ones_like(terminated), torch.zeros_like(terminated))
+
+        return (
+            observations["observations"],
+            rewards,
+            dones,
+            infos,
+        )
+
+
+class AERIALRLGPUEnv(vecenv.IVecEnv):
+    def __init__(self, config_name, num_actors, **kwargs):
+        print("AERIALRLGPUEnv", config_name, num_actors, kwargs)
+        print(env_configurations.configurations)
+        self.env = env_configurations.configurations[config_name][
+            "env_creator"
+        ](**kwargs)
+
+        self.env = ExtractObsWrapper(self.env)
+
+    def step(self, actions):
+        return self.env.step(actions)
+
+    def reset(self):
+        return self.env.reset()
+
+    def reset_done(self):
+        return self.env.reset_done()
+
+    def get_number_of_agents(self):
+        return self.env.get_number_of_agents()
+
+    def get_env_info(self):
+        info = {}
+        info["action_space"] = spaces.Box(
+            np.ones(self.env.task_config.action_space_dim) * -1.0, np.ones(self.env.task_config.action_space_dim) * 1.0
+        )
+        info["observation_space"] = spaces.Box(
+            np.ones(self.env.task_config.observation_space_dim) * -np.Inf, np.ones(self.env.task_config.observation_space_dim) * np.Inf
+        )
+
+        print(info["action_space"], info["observation_space"])
+
+        return info
+
+
+

Here the environment is wrapper inside an AERIALRLGPUEnv instance. The ExtractObsWrapper is a gym wrapper that allows to extract the observations from the environment. While this is not necessary given that our Task allows this flexibility within it, we have retained this structure to maintain consistency with our previous release and other implementations.

+

An example of the rl-games training wrapper for the position setpoint task with attitude control for a quadrotor is shown below:

+

+

Similarly, an example for the position setpoint task using motor commands for a fully-actutaed octarotor and a random configuration with 8 motors is shown below:

+

+

+

Sample Factory

+

Similar to the description above, Sample Factory integration requries a gym Wrapper. This is also done as follows:

+
+Example Sample Factory Wrapper +
class AerialGymVecEnv(gym.Env):
+    '''
+    Wrapper for Aerial Gym environments to make them compatible with the sample factory.
+    '''
+    def __init__(self, aerialgym_env, obs_key):
+        self.env = aerialgym_env
+        self.num_agents = self.env.num_envs
+        self.action_space = convert_space(self.env.action_space)
+
+        # Aerial Gym examples environments actually return dicts
+        if obs_key == "obs":
+            self.observation_space = gym.spaces.Dict(convert_space(self.env.observation_space))
+        else:
+            raise ValueError(f"Unknown observation key: {obs_key}")
+
+        self._truncated: Tensor = torch.zeros(self.num_agents, dtype=torch.bool)
+
+    def reset(self, *args, **kwargs) -> Tuple[Dict[str, Tensor], Dict]:
+        # some IGE envs return all zeros on the first timestep, but this is probably okay
+        obs, rew, terminated, truncated, infos = self.env.reset()
+        return obs, infos
+
+    def step(self, action) -> Tuple[Dict[str, Tensor], Tensor, Tensor, Tensor, Dict]:
+        obs, rew, terminated, truncated, infos = self.env.step(action)
+        return obs, rew, terminated, truncated, infos
+
+    def render(self):
+        pass
+
+
+def make_aerialgym_env(full_task_name: str, cfg: Config, _env_config=None, render_mode: Optional[str] = None) -> Env:
+
+    return AerialGymVecEnv(task_registry.make_task(task_name=full_task_name), "obs")
+
+
+

An example of the position setpoint task with attitude control for a quadrotor is shown below:

+

+

CleanRL

+

The flexibility provided by the task definition for RL allows it to be directly used with the CleanRL framework with no changes:

+
+Example for CleanRL Wrapper +
    # env setup
+    envs = task_registry.make_task(task_name=args.task)
+
+    envs = RecordEpisodeStatisticsTorch(envs, device)
+
+    print("num actions: ", envs.task_config.action_space_dim)
+    print("num obs: ", envs.task_config.observation_space_dim)
+
+
+

An example of the position setpoint task with attitude control for a quadrotor is shown below:

+

+

Adding your own RL frameworks

+

Kindly refer to the existing implementations for sample-factory, rl-games and CleanRL for reference. We would love to include your implementations within the simulator allowing it to be more accessible to more users with different needs/preferences. If you wish to contribute to this repository, please open a Pull Request on GitHub.

+ + + + + + + + + + + + + +
+
+ + + + + +
+ + + +
+ + + +
+
+
+
+ +
+ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/7_FAQ_and_troubleshooting/index.html b/7_FAQ_and_troubleshooting/index.html new file mode 100644 index 0000000..26b5bdc --- /dev/null +++ b/7_FAQ_and_troubleshooting/index.html @@ -0,0 +1,794 @@ + + + + + + + + + + + + + + + + + + + + + FAQ & Troubleshooting - Aerial Gym Simulator + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + Skip to content + + +
+
+ +
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+ +
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+ + + +
+
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+ + + + + + + + + +
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+ + + + +
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+ + + + + + + + + + + + + + + +

FAQs and Troubleshooting

+

Frequently Asked Questions

+
+

When is the support for Isaac Lab expected?

+

We are working on supporting Isaac Lab in the near future. Please stay tuned for updates on this.

+
+
+

How can I use the Isaac Gym Simulator with my custom robot?

+

The Isaac Gym Simulator is designed to be modular and flexible, allowing users to easily integrate their custom robots. You can refer to the Custom Robot Integration section of the documentation for detailed instructions on how to integrate your custom robot with the Isaac Gym Simulator.

+
+
+

How can I randomize the pose of the sensor on the robot

+

The pose of the sensor can be randomized by enabling the randomize_placement flag in the sensor configuration file. This is however only applicable to Warp rendering pipeline and is very slow with the Isaac Gym's native rendering pipeline as it requires the user to loop through each sensor instance. By default the sensor position is randomized at each reset of the environment, however you can randomize at each timestep if you like with little overhead.

+
+
+

How can I change the randomize the pose at which the robot spawns

+

This can be set using the min_init_state and the max_init_state parameters in the robot configuration file. The starting pose of the robot is randomized at each reset of the environment by default. Based on the current structure, the position is a ratio of the environment bounds, and the orientation can be defined by minimum and maximum roll, pitch and yaw values.

+
+
+

Difference between Environment and Task

+

A lot of different simulator implementations interchange the terminologies. In our case, we view the environment as the components that define the robot, it's physics surroundings, i.e., the assets near the robot, the parameters of the physics engine that detemine how the various entities in the simulation world interact with one another, and how sensors perceive the data via the sensor parameters.

+

The task on the other hand is an interpretation of the simulation world and the information provided by / collected from it to reach a particular goal that is deired by the user. The same environment can be used to train multiple tasks and the tasks can be changed without changing an environment definition.

+

For example, an empty environment with a quadrotor can be used to train a position setpoint task, or a trajectory tracking task. An environment with a set of obstacles can be used to train a policy that can either navigate through the obstacles or perch on a specific asset in the environment. The task is the interpretation of the environment data for the RL algorithm to learn the desired behavior.

+

To relate it with a familiar environment from the OpenAI Gym suite of tasks, an "environment" in our case could refer to a CartPole world with the dynamics of the CartPole, however a "task" in our case would allow the same cartpole to be controlled to balance the pole upright, or to keep swinging the pole at a given angular rate or to have the endpoint of the pole at a given location in the environment. All of which require different formulation of rewards and observations for the RL algorithm to learn the desired behavior.

+
+

Troubleshooting

+
+

My Isaac Gym viewer window does not show anything or is blank

+

This can be because of a discrepancy in the version of your NVIDIA drivers. Please ensure that you have the appropriate NVIDIA drivers on your system as per the Isaac Gym documentation, and that the Isaac Gym examples such as 1080_balls_of_solitude.py and joint_monkey.py are working as expected. Please also make sure that the environment variables LD_LIBRARY_PATH and VK_ICD_FILENAMES are set correctly.

+
+
+

rgbImage buffer error 999

+
[Error] [carb.gym.plugin] cudaImportExternalMemory failed on rgbImage buffer with error 999
+
+

This is most likely due to an improper Vulkan configuration. Please refer to the Troubleshooting section of the Isaac Gym documentation and check if the VK_ICD_FILENAMES environment variable is set, and that the file exists.

+
+
+

My simulation assets are going through each other without collisions

+

This occurs in case of an improperly set quaternion for the simulation assets. Kindly check that the quaternion is normalized as required by the Isaac Gym Simulator, and that it is in the format [q_x, q_y, q_z, q_w].

+
+
+

My simulation assets just spin very fast at each reset

+

There seem to be nan values somewhere in the measurements of your implementation. This can be due to a variety of reasons, such as improper quaternion normalization, or improper sensor measurements. Please check your code and ensure that all measurements are valid and within the expected range.

+
+
+

I see an error that ends with if len(self._meshes) == 0:

+

Most likely you have installed urdfpy package via pip. This version has a bug that has since been resolved in the master branch of the URDFPY project repository. Please follow the installation page to install the package from source.

+
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+ + + + Skip to content + + +
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Sensors and Rendering

+

Enabling Sensors in Simulation

+

The sensors can be chosen and enabled or disabled before each robot by editing the robot config file: +

class sensor_config:
+    enable_camera = True
+    camera_config = BaseDepthCameraConfig
+
+    enable_lidar = False
+    lidar_config = BaseLidarConfig  # OSDome_64_Config
+
+    enable_imu = False
+    imu_config = BaseImuConfig
+

+

Warp Sensors

+

We develop a set of sensors using NVIDIA Warp. We create custom implementations of ray-casting based sensors to obtain depth, range, pointcloud, segmentation and surface normal information from the environment. The various sensors that are provided out-of-the-box are listed below, along with the customization options that are available.

+

Some common configurable parameters for the sensors are described below:

+
height = 128 # height of image or number of scan lines in the LiDAR sensor
+width = 512 # width of the image or number of points per scan line in the LiDAR sensor
+horizontal_fov_deg_min = -180 # minimum horizontal FoV in degrees
+horizontal_fov_deg_max = 180 # maximum horizontal FoV in degrees
+vertical_fov_deg_min = -45 # minimum vertical FoV in degrees
+vertical_fov_deg_max = +45 # maximum vertical FoV in degrees
+max_range = 10.0 # maximum range
+min_range = 0.2 # minimum range
+calculate_depth = True # Calculate depth image / setting false will return range. (Only for camera sensors)
+return_pointcloud = False  # Return a pointcloud [x,y,z] instead of an image
+pointcloud_in_world_frame = False # Pointcloud are expressed in the robot or world frame
+segmentation_camera = True  # Also return a segmentation image
+normalize_range = True  # normalize values 0 and 1 w.r.t sensor range limits.
+
+

Depth Camera

+

The depth camera sensor provides depth information about the environment. The sensor can be configured with different field of view (FOV) and resolution settings. The depth camera can be used to generate depth images, point clouds, and surface normals.

+

For this sensor model, the vertical and horizontal FOV are related to each other with the relation

+
\[\textrm{vfov} = 2 \arctan(\tan(\textrm{hfov}/2) * \textrm{height}/\textrm{width}).\]
+

The depth image is then returned as a tensor [num_envs, num_sensor_per_robot, vertical_pixels, horizontal_pixels] where the last two dimensions are the vertical and horizontal pixels of the depth image. The Aerial Gym Simulator can also return the pointcloud of the environment on setting calculate_pointcloud = True in the sensor configuration file. This is returned as a 4D tensor [num_envs, num_sensor_per_robot, vertical_pixels, horizontal_pixels, 3] where the last dimension is the 3D coordinates of the point.

+
+

Note

+

When a range / depth image is returned, the information is returned in the dimensions [num_envs, num_sensor_per_env, vertical_pixels, horizontal_pixels], however in case the segmentation camera option is selected, another tensor with the same dimensions is initialized to store this information. In case the option to return data as pointcloud is selected, the data is returned as a 4D tensor [num_envs, num_sensor_per_env, vertical_pixels, horizontal_pixels, 3] where the last dimension is the 3D coordinates of the point in the world frame.

+
+

Some examples of the depth image obtained using this sensor is shown below:

+

Depth Image D455 1 Depth Image D455 2

+

Lidar

+

A LiDAR sensor is modeled after the configuration of an Ouster OS0-128 sensor. The sensor can be configured with a different FoV, resolution, range and noise settings. The sensor allows to return a range-image and the pointclouds of the environments, along with segmentation images and also the surface normals. Similar to many popular existing implementations, this implementation performs ray-casting of all the rays after the physics step is performed. This does not take into account the spinning of the lidar and the change in the robot position during one scan of the lidar.

+

An idealized lidar sensor is used to perform ray-casting. The ray direction for each ray is calculated using the horizontal and vertical FOV of the sensor. The ray direction is calculated as follows:

+
\[ \textrm{ray}[i, j] = \begin{bmatrix} \cos(\phi) \times \cos(\theta) \\ \sin(\phi) \times \cos(\theta) \\ \sin(\theta) \end{bmatrix}, \]
+

where \(\phi\) is the azimuth angle and \(\theta\) is the elevation angle. The azimuth and elevation angles range from the maximum to the minimum FOV of the sensor in the horizontal and vertical directions respectively.

+
+Code for initializing ray directions for a LiDAR Sensor +
for i in range(self.num_scan_lines):
+    for j in range(self.num_points_per_line):
+        # Rays go from +HFoV/2 to -HFoV/2 and +VFoV/2 to -VFoV/2
+        azimuth_angle = self.horizontal_fov_max - (
+            self.horizontal_fov_max - self.horizontal_fov_min
+        ) * (j / (self.num_points_per_line - 1))
+        elevation_angle = self.vertical_fov_max - (
+            self.vertical_fov_max - self.vertical_fov_min
+        ) * (i / (self.num_scan_lines - 1))
+        ray_vectors[i, j, 0] = math.cos(azimuth_angle) * math.cos(elevation_angle)
+        ray_vectors[i, j, 1] = math.sin(azimuth_angle) * math.cos(elevation_angle)
+        ray_vectors[i, j, 2] = math.sin(elevation_angle)
+# normalize ray_vectors
+ray_vectors = ray_vectors / torch.norm(ray_vectors, dim=2, keepdim=True)
+
+
+

For both the Depth Camera and the LiDAR sensors, the measurements can be returned as range and/or depth images and also as pointclouds. The pointclouds can be returned in the world frame or the sensor frame by setting the parameter pointcloud_in_world_frame = True in the sensor configuration file.

+

Sample LiDAR renderings are shown below:

+

Ouster OS0 1 Ouster OS0 2

+

Segmentation Camera

+

The segmentation camera is provided combined with the depth or the LiDAR sensor. The segmentation camera provides a segmentation image of the environment. In the Isaac Gym rendering framework, the segmentation information can be embedded in each link of the asset in the environment, however for possibility of faster rendering and more flexibility, we allow our Warp environment representation to include the segmentation information per vertex of the mesh. Practically, this method hijacks the velocity field of each vertex in the mesh to encode the segmentation information. The segmentation information is then queried from a particular vertex of each face intersecting the ray cast from the sensor origin. While we provide the capbility equivalent to what is provided in the Isaac Gym rendering framework, this can easily be extended to include more information for the mesh or to have more complex segmentation information that can be assigned to vertices associated with particular faces (triangles) in the mesh.

+

The segmentation camera is associated with the depth/range or the LiDAR sensor, and can only be enabled by setting a flag segmentation_camera = True in the sensor configuration file. Moreover, the segmentation camera queries the mesh directly to read the velocities field of the vertex data and use the first element (x-velocity field) of the first vertex of the face to encode and read the segmentation information from the mesh face.

+
+Segmentation Camera Kernel Code +
if wp.mesh_query_ray(
+    mesh, ray_origin, ray_direction_world, far_plane, t, u, v, sign, n, f
+):
+    dist = t
+    mesh_obj = wp.mesh_get(mesh)
+    face_index = mesh_obj.indices[f * 3]
+    segmentation_value = wp.int32(mesh_obj.velocities[face_index][0])
+if pointcloud_in_world_frame:
+    pixels[env_id, cam_id, scan_line, point_index] = (
+        ray_origin + dist * ray_direction_world
+    )
+else:
+    pixels[env_id, cam_id, scan_line, point_index] = dist * ray_dir
+segmentation_pixels[env_id, cam_id, scan_line, point_index] = segmentation_value
+
+
+

The segmentation camera's output for the corresponding depth images for the camera are shown below:

+

Depth Image D455 1 Depth Image D455 2

+

segmentation Image D455 1 segmentation Image D455 2

+

Similarly, for the LiDAR sensor, the range and segmentation image outputs are shown below:

+

Ouster OS0 1 Ouster OS0 2

+

segmentation Image D455 1 segmentation Image D455 2

+

Custom Sensors

+

While the framework to implement the Depth Cameras and the LiDAR sensors is provided, it can be modified to simulate custom sensors as per the user's needs. For example, ToF cameras and single ray range sensors can be designed and used in the simulator. Alternatively, the implementations provided can be modified to obtain exclusively segmentation information or the scene flow information from the simulator.

+

Randomizing Sensor Placement

+

Moreover, the sensors can have randomized placement and orientation. By default, this happens at each <sensor>.reset(), however, as opposed to Isaac Gym sensors, this can also be done at each timestep by the user without introducing any slowdown. The parameters for randomizing the placement and orientation of the sensors are shown below, and can be changed in the respective config files:

+
+Randomizing Sensor Placement and Orientation +
# randomize placement of the sensor
+randomize_placement = True
+min_translation = [0.07, -0.06, 0.01] # [m] # Max translation limits of the sensor for [x, y, z] axes
+max_translation = [0.12, 0.03, 0.04] # [m] # Minimum translation limits of the sensor for [x, y, z] axes
+min_euler_rotation_deg = [-5.0, -5.0, -5.0] # [deg] # Minimum rotation limits of the sensor for [x, y, z] axes
+max_euler_rotation_deg = [5.0, 5.0, 5.0] # [deg] # Maximum rotation limits of the sensor for [x, y, z] axes
+
+# nominal position and orientation (only for Isaac Gym Camera Sensors)
+# this is done as randomizing the placement of the camera at each reset is slow
+nominal_position = [0.10, 0.0, 0.03] # [m] # Nominal position of the sensor in the robot frame
+nominal_orientation_euler_deg = [0.0, 0.0, 0.0] # [deg] # Nominal orientation of the sensor in the robot frame
+
+
+

Simulating sensor noise

+

We provide two sensor noise models. The first is a pixel dropout model where a pixel in the image is randomly set to zero with a probability pixel_dropout_prob. The second is a pixel noise model where the pixel values are perturbed by a Gaussian noise with a standard deviation of pixel_std_dev_multiplier times the pixel value. The parameters for the sensor noise models are shown below:

+
class sensor_noise:
+    enable_sensor_noise = False
+    pixel_dropout_prob = 0.01
+    pixel_std_dev_multiplier = 0.01
+
+
+

Should I use Warp or Isaac Gym sensors?

+

This depends on your use case. If you are simulating dynamic environments, Isaac Gym sensors are required. If you are using an implementation that is provided by both frameworks and you only want simulation speed, it is highly recommended to use warp. As a general observation, Warp worked faster generally and we specifically saw orders of magnitude speedups while simulating single or multiple low-dimensional sensors (such as 8x8 ToF sensors) per robot, while the Isaac Gym sensor was slightly better for our case when dealing with many complex meshes in the environment.

+

However Isaac Gym sensors cannot simulate LiDARs or any custom sensor model. If you need better customizability and capability to randomize sensor paramters such as pose, or projection model of the sensors on-the-fly, then our Warp implementation is recommended. Here, the position, orientation, camera matrix, ray casting direction etc can be changed or randomized at each timestep (whoaaa!!!) without introducing much delays. If you want to embed additional information in your environment itself that can be queried by the sensors, our Warp implementation is a natural optionas this allows for an immensely powerful rendering framework.

+
+

Isaac Gym Camera sensors

+
+

Using both Isaac Gym and Warp rendering

+

Enabling both Warp and Isaac Gym rendering pipelines together can cause a slowdown in the simulation and has not been extensively tested. It is recommended to use one rendering pipeline at a time.

+
+

We provide wrappers to enable the use of Isaac Gym cameras with the robots in the simulator. These camera sensors are provided as-is from the Isaac Gym interface. The sensors offered include RGB, Depth, and Segmentation and Optical Flow cameras. Isaac Gym Simulator does not provide all the customization options that we offer with the Warp-based sensors. However, we provide a standardized interface to use these sensors with the robots in the simulator.

+

IMU Sensor

+

An IMU sensor is implemented that can calculate the acceleration and angular rates of the robot. The sensor is configured by default to be mounted at the origin of the base link of the robot, while the orientation is configurable. This is done as the IMU is implemented using the Force sensor in Isaac Gym and cannot account for centripetal forces and gyroscopic effects. The IMU measurement is obtained as follows:

+
\[ a_{\textrm{meas}} = a_{\textrm{true}} + b_a + n_a, \]
+
\[ \omega_{\textrm{meas}} = \omega_{\textrm{true}} + b_{\omega} + n_{\omega}, \]
+

where, \(a_{\textrm{meas}}\) and \(\omega_{\textrm{meas}}\) are the measured acceleration and angular rates, \(a_{\textrm{true}}\) and \(\omega_{\textrm{true}}\) are the true acceleration and angular rates, \(b_a\) and \(b_{\omega}\) are the biases, and \(n_a\) and \(n_{\omega}\) are the noise terms. The noise terms are modeled as Gaussian noise with standard deviations \(\sigma_{n_a}\) and \(\sigma_{n_{\omega}}\) respectively. The biases are modeled as random walk processes with parameters \(\sigma_{a}\) and \(\sigma_{\omega}\) respectively.

+
+The bias model for the IMU +

is a random walk model and the parameters set for the provided sensor are obtained from a VN-100 IMU. Using an IMU requires the force sensor to be enabled on the robot asset configuration.

+
\[ b_{a,k} = b_{a,k-1} + \sigma_{a} \cdot \mathcal{N}(0,1) / \sqrt{\Delta t}, \]
+
\[ b_{\omega,k} = b_{\omega,k-1} + \sigma_{\omega} \cdot \mathcal{N}(0,1) \cdot \sqrt{\Delta t}, \]
+

where \(b_{a,k}\) and \(b_{\omega,k}\) are the biases at time \(k\), \(\sigma_{a}\) and \(\sigma_{\omega}\) are the bias random walk parameters, \(\Delta t\) is the time step, \(a_{\textrm{meas}}\) and \(\omega_{\textrm{meas}}\) are the measured acceleration and angular rates, \(a_{\textrm{true}}\) and \(\omega_{\textrm{true}}\) are the true acceleration and angular rates, \(b_a\) and \(b_{\omega}\) are the biases, The noise terms \(n_a\) and \(n_{\omega}\) are modeled as:

+
\[ n_a = \sigma_{n_a} \cdot \mathcal{N}(0,1) / \sqrt{\Delta t}, \textrm{and} \]
+
\[ n_{\omega} = \sigma_{n_{\omega}} \cdot \mathcal{N}(0,1) / \sqrt{\Delta t}. \]
+
+ + + + + + + + + + + + + +
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.state-title{fill:var(--md-mermaid-label-fg-color)!important;font-family:var(--md-mermaid-font-family)}g.stateGroup .composit{fill:var(--md-mermaid-label-bg-color)}.nodeLabel,.nodeLabel p{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}a .nodeLabel{text-decoration:underline}.node circle.state-end,.node circle.state-start,.start-state{fill:var(--md-mermaid-edge-color);stroke:none}.end-state-inner,.end-state-outer{fill:var(--md-mermaid-edge-color)}.end-state-inner,.node circle.state-end{stroke:var(--md-mermaid-label-bg-color)}.transition{stroke:var(--md-mermaid-edge-color)}[id^=state-fork] rect,[id^=state-join] rect{fill:var(--md-mermaid-edge-color)!important;stroke:none!important}.statediagram-cluster.statediagram-cluster .inner{fill:var(--md-default-bg-color)}.statediagram-cluster rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.statediagram-state rect.divider{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}defs #statediagram-barbEnd{stroke:var(--md-mermaid-edge-color)}.attributeBoxEven,.attributeBoxOdd{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityBox{fill:var(--md-mermaid-label-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityLabel{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.relationshipLabelBox{fill:var(--md-mermaid-label-bg-color);fill-opacity:1;background-color:var(--md-mermaid-label-bg-color);opacity:1}.relationshipLabel{fill:var(--md-mermaid-label-fg-color)}.relationshipLine{stroke:var(--md-mermaid-edge-color)}defs #ONE_OR_MORE_END *,defs #ONE_OR_MORE_START *,defs #ONLY_ONE_END *,defs #ONLY_ONE_START *,defs #ZERO_OR_MORE_END *,defs #ZERO_OR_MORE_START *,defs #ZERO_OR_ONE_END *,defs #ZERO_OR_ONE_START *{stroke:var(--md-mermaid-edge-color)!important}defs #ZERO_OR_MORE_END circle,defs #ZERO_OR_MORE_START circle{fill:var(--md-mermaid-label-bg-color)}.actor{fill:var(--md-mermaid-sequence-actor-bg-color);stroke:var(--md-mermaid-sequence-actor-border-color)}text.actor>tspan{fill:var(--md-mermaid-sequence-actor-fg-color);font-family:var(--md-mermaid-font-family)}line{stroke:var(--md-mermaid-sequence-actor-line-color)}.actor-man circle,.actor-man line{fill:var(--md-mermaid-sequence-actorman-bg-color);stroke:var(--md-mermaid-sequence-actorman-line-color)}.messageLine0,.messageLine1{stroke:var(--md-mermaid-sequence-message-line-color)}.note{fill:var(--md-mermaid-sequence-note-bg-color);stroke:var(--md-mermaid-sequence-note-border-color)}.loopText,.loopText>tspan,.messageText,.noteText>tspan{stroke:none;font-family:var(--md-mermaid-font-family)!important}.messageText{fill:var(--md-mermaid-sequence-message-fg-color)}.loopText,.loopText>tspan{fill:var(--md-mermaid-sequence-loop-fg-color)}.noteText>tspan{fill:var(--md-mermaid-sequence-note-fg-color)}#arrowhead path{fill:var(--md-mermaid-sequence-message-line-color);stroke:none}.loopLine{fill:var(--md-mermaid-sequence-loop-bg-color);stroke:var(--md-mermaid-sequence-loop-border-color)}.labelBox{fill:var(--md-mermaid-sequence-label-bg-color);stroke:none}.labelText,.labelText>span{fill:var(--md-mermaid-sequence-label-fg-color);font-family:var(--md-mermaid-font-family)}.sequenceNumber{fill:var(--md-mermaid-sequence-number-fg-color)}rect.rect{fill:var(--md-mermaid-sequence-box-bg-color);stroke:none}rect.rect+text.text{fill:var(--md-mermaid-sequence-box-fg-color)}defs #sequencenumber{fill:var(--md-mermaid-sequence-number-bg-color)!important}";var Br,Da=0;function Va(){return typeof mermaid=="undefined"||mermaid instanceof Element?wt("https://unpkg.com/mermaid@10/dist/mermaid.min.js"):I(void 0)}function In(e){return e.classList.remove("mermaid"),Br||(Br=Va().pipe(E(()=>mermaid.initialize({startOnLoad:!1,themeCSS:Rn,sequence:{actorFontSize:"16px",messageFontSize:"16px",noteFontSize:"16px"}})),m(()=>{}),G(1))),Br.subscribe(()=>ao(this,null,function*(){e.classList.add("mermaid");let t=`__mermaid_${Da++}`,r=x("div",{class:"mermaid"}),o=e.textContent,{svg:n,fn:i}=yield mermaid.render(t,o),a=r.attachShadow({mode:"closed"});a.innerHTML=n,e.replaceWith(r),i==null||i(a)})),Br.pipe(m(()=>({ref:e})))}var Fn=x("table");function jn(e){return e.replaceWith(Fn),Fn.replaceWith(On(e)),I({ref:e})}function Na(e){let t=e.find(r=>r.checked)||e[0];return S(...e.map(r=>d(r,"change").pipe(m(()=>P(`label[for="${r.id}"]`))))).pipe(Q(P(`label[for="${t.id}"]`)),m(r=>({active:r})))}function Wn(e,{viewport$:t,target$:r}){let o=P(".tabbed-labels",e),n=$(":scope > input",e),i=Qr("prev");e.append(i);let a=Qr("next");return e.append(a),C(()=>{let s=new g,p=s.pipe(X(),ne(!0));z([s,ge(e),tt(e)]).pipe(U(p),Le(1,me)).subscribe({next([{active:c},l]){let f=Ue(c),{width:u}=ce(c);e.style.setProperty("--md-indicator-x",`${f.x}px`),e.style.setProperty("--md-indicator-width",`${u}px`);let h=pr(o);(f.xh.x+l.width)&&o.scrollTo({left:Math.max(0,f.x-16),behavior:"smooth"})},complete(){e.style.removeProperty("--md-indicator-x"),e.style.removeProperty("--md-indicator-width")}}),z([De(o),ge(o)]).pipe(U(p)).subscribe(([c,l])=>{let f=Tt(o);i.hidden=c.x<16,a.hidden=c.x>f.width-l.width-16}),S(d(i,"click").pipe(m(()=>-1)),d(a,"click").pipe(m(()=>1))).pipe(U(p)).subscribe(c=>{let{width:l}=ce(o);o.scrollBy({left:l*c,behavior:"smooth"})}),r.pipe(U(p),b(c=>n.includes(c))).subscribe(c=>c.click()),o.classList.add("tabbed-labels--linked");for(let c of n){let l=P(`label[for="${c.id}"]`);l.replaceChildren(x("a",{href:`#${l.htmlFor}`,tabIndex:-1},...Array.from(l.childNodes))),d(l.firstElementChild,"click").pipe(U(p),b(f=>!(f.metaKey||f.ctrlKey)),E(f=>{f.preventDefault(),f.stopPropagation()})).subscribe(()=>{history.replaceState({},"",`#${l.htmlFor}`),l.click()})}return B("content.tabs.link")&&s.pipe(Ce(1),ee(t)).subscribe(([{active:c},{offset:l}])=>{let f=c.innerText.trim();if(c.hasAttribute("data-md-switching"))c.removeAttribute("data-md-switching");else{let u=e.offsetTop-l.y;for(let w of $("[data-tabs]"))for(let A of $(":scope > input",w)){let te=P(`label[for="${A.id}"]`);if(te!==c&&te.innerText.trim()===f){te.setAttribute("data-md-switching",""),A.click();break}}window.scrollTo({top:e.offsetTop-u});let h=__md_get("__tabs")||[];__md_set("__tabs",[...new Set([f,...h])])}}),s.pipe(U(p)).subscribe(()=>{for(let c of $("audio, video",e))c.pause()}),Na(n).pipe(E(c=>s.next(c)),L(()=>s.complete()),m(c=>R({ref:e},c)))}).pipe(Qe(se))}function Un(e,{viewport$:t,target$:r,print$:o}){return S(...$(".annotate:not(.highlight)",e).map(n=>Cn(n,{target$:r,print$:o})),...$("pre:not(.mermaid) > code",e).map(n=>$n(n,{target$:r,print$:o})),...$("pre.mermaid",e).map(n=>In(n)),...$("table:not([class])",e).map(n=>jn(n)),...$("details",e).map(n=>Pn(n,{target$:r,print$:o})),...$("[data-tabs]",e).map(n=>Wn(n,{viewport$:t,target$:r})),...$("[title]",e).filter(()=>B("content.tooltips")).map(n=>lt(n,{viewport$:t})))}function za(e,{alert$:t}){return t.pipe(v(r=>S(I(!0),I(!1).pipe(Ge(2e3))).pipe(m(o=>({message:r,active:o})))))}function Dn(e,t){let r=P(".md-typeset",e);return C(()=>{let o=new g;return o.subscribe(({message:n,active:i})=>{e.classList.toggle("md-dialog--active",i),r.textContent=n}),za(e,t).pipe(E(n=>o.next(n)),L(()=>o.complete()),m(n=>R({ref:e},n)))})}var qa=0;function Qa(e,t){document.body.append(e);let{width:r}=ce(e);e.style.setProperty("--md-tooltip-width",`${r}px`),e.remove();let o=cr(t),n=typeof o!="undefined"?De(o):I({x:0,y:0}),i=S(et(t),kt(t)).pipe(K());return z([i,n]).pipe(m(([a,s])=>{let{x:p,y:c}=Ue(t),l=ce(t),f=t.closest("table");return f&&t.parentElement&&(p+=f.offsetLeft+t.parentElement.offsetLeft,c+=f.offsetTop+t.parentElement.offsetTop),{active:a,offset:{x:p-s.x+l.width/2-r/2,y:c-s.y+l.height+8}}}))}function Vn(e){let t=e.title;if(!t.length)return O;let r=`__tooltip_${qa++}`,o=Pt(r,"inline"),n=P(".md-typeset",o);return n.innerHTML=t,C(()=>{let i=new g;return i.subscribe({next({offset:a}){o.style.setProperty("--md-tooltip-x",`${a.x}px`),o.style.setProperty("--md-tooltip-y",`${a.y}px`)},complete(){o.style.removeProperty("--md-tooltip-x"),o.style.removeProperty("--md-tooltip-y")}}),S(i.pipe(b(({active:a})=>a)),i.pipe(_e(250),b(({active:a})=>!a))).subscribe({next({active:a}){a?(e.insertAdjacentElement("afterend",o),e.setAttribute("aria-describedby",r),e.removeAttribute("title")):(o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t))},complete(){o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t)}}),i.pipe(Le(16,me)).subscribe(({active:a})=>{o.classList.toggle("md-tooltip--active",a)}),i.pipe(ct(125,me),b(()=>!!e.offsetParent),m(()=>e.offsetParent.getBoundingClientRect()),m(({x:a})=>a)).subscribe({next(a){a?o.style.setProperty("--md-tooltip-0",`${-a}px`):o.style.removeProperty("--md-tooltip-0")},complete(){o.style.removeProperty("--md-tooltip-0")}}),Qa(o,e).pipe(E(a=>i.next(a)),L(()=>i.complete()),m(a=>R({ref:e},a)))}).pipe(Qe(se))}function Ka({viewport$:e}){if(!B("header.autohide"))return I(!1);let t=e.pipe(m(({offset:{y:n}})=>n),Ye(2,1),m(([n,i])=>[nMath.abs(i-n.y)>100),m(([,[n]])=>n),K()),o=Ve("search");return z([e,o]).pipe(m(([{offset:n},i])=>n.y>400&&!i),K(),v(n=>n?r:I(!1)),Q(!1))}function Nn(e,t){return C(()=>z([ge(e),Ka(t)])).pipe(m(([{height:r},o])=>({height:r,hidden:o})),K((r,o)=>r.height===o.height&&r.hidden===o.hidden),G(1))}function zn(e,{header$:t,main$:r}){return C(()=>{let o=new g,n=o.pipe(X(),ne(!0));o.pipe(Z("active"),We(t)).subscribe(([{active:a},{hidden:s}])=>{e.classList.toggle("md-header--shadow",a&&!s),e.hidden=s});let i=ue($("[title]",e)).pipe(b(()=>B("content.tooltips")),oe(a=>Vn(a)));return r.subscribe(o),t.pipe(U(n),m(a=>R({ref:e},a)),Pe(i.pipe(U(n))))})}function Ya(e,{viewport$:t,header$:r}){return mr(e,{viewport$:t,header$:r}).pipe(m(({offset:{y:o}})=>{let{height:n}=ce(e);return{active:o>=n}}),Z("active"))}function qn(e,t){return C(()=>{let r=new g;r.subscribe({next({active:n}){e.classList.toggle("md-header__title--active",n)},complete(){e.classList.remove("md-header__title--active")}});let o=fe(".md-content h1");return typeof o=="undefined"?O:Ya(o,t).pipe(E(n=>r.next(n)),L(()=>r.complete()),m(n=>R({ref:e},n)))})}function Qn(e,{viewport$:t,header$:r}){let o=r.pipe(m(({height:i})=>i),K()),n=o.pipe(v(()=>ge(e).pipe(m(({height:i})=>({top:e.offsetTop,bottom:e.offsetTop+i})),Z("bottom"))));return z([o,n,t]).pipe(m(([i,{top:a,bottom:s},{offset:{y:p},size:{height:c}}])=>(c=Math.max(0,c-Math.max(0,a-p,i)-Math.max(0,c+p-s)),{offset:a-i,height:c,active:a-i<=p})),K((i,a)=>i.offset===a.offset&&i.height===a.height&&i.active===a.active))}function Ba(e){let t=__md_get("__palette")||{index:e.findIndex(o=>matchMedia(o.getAttribute("data-md-color-media")).matches)},r=Math.max(0,Math.min(t.index,e.length-1));return I(...e).pipe(oe(o=>d(o,"change").pipe(m(()=>o))),Q(e[r]),m(o=>({index:e.indexOf(o),color:{media:o.getAttribute("data-md-color-media"),scheme:o.getAttribute("data-md-color-scheme"),primary:o.getAttribute("data-md-color-primary"),accent:o.getAttribute("data-md-color-accent")}})),G(1))}function Kn(e){let t=$("input",e),r=x("meta",{name:"theme-color"});document.head.appendChild(r);let o=x("meta",{name:"color-scheme"});document.head.appendChild(o);let n=$t("(prefers-color-scheme: light)");return C(()=>{let i=new g;return i.subscribe(a=>{if(document.body.setAttribute("data-md-color-switching",""),a.color.media==="(prefers-color-scheme)"){let s=matchMedia("(prefers-color-scheme: light)"),p=document.querySelector(s.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: 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Gr=Vt(Yr());function Ga(e){e.setAttribute("data-md-copying","");let t=e.closest("[data-copy]"),r=t?t.getAttribute("data-copy"):e.innerText;return e.removeAttribute("data-md-copying"),r.trimEnd()}function Bn({alert$:e}){Gr.default.isSupported()&&new F(t=>{new Gr.default("[data-clipboard-target], [data-clipboard-text]",{text:r=>r.getAttribute("data-clipboard-text")||Ga(P(r.getAttribute("data-clipboard-target")))}).on("success",r=>t.next(r))}).pipe(E(t=>{t.trigger.focus()}),m(()=>Ee("clipboard.copied"))).subscribe(e)}function Gn(e,t){return e.protocol=t.protocol,e.hostname=t.hostname,e}function Ja(e,t){let r=new Map;for(let o of $("url",e)){let n=P("loc",o),i=[Gn(new URL(n.textContent),t)];r.set(`${i[0]}`,i);for(let a of $("[rel=alternate]",o)){let s=a.getAttribute("href");s!=null&&i.push(Gn(new URL(s),t))}}return r}function ur(e){return mn(new URL("sitemap.xml",e)).pipe(m(t=>Ja(t,new URL(e))),ve(()=>I(new Map)))}function Xa(e,t){if(!(e.target instanceof Element))return O;let r=e.target.closest("a");if(r===null)return O;if(r.target||e.metaKey||e.ctrlKey)return O;let o=new URL(r.href);return o.search=o.hash="",t.has(`${o}`)?(e.preventDefault(),I(new URL(r.href))):O}function Jn(e){let t=new Map;for(let r of $(":scope > *",e.head))t.set(r.outerHTML,r);return t}function Xn(e){for(let t of $("[href], [src]",e))for(let r of["href","src"]){let o=t.getAttribute(r);if(o&&!/^(?:[a-z]+:)?\/\//i.test(o)){t[r]=t[r];break}}return I(e)}function Za(e){for(let o of["[data-md-component=announce]","[data-md-component=container]","[data-md-component=header-topic]","[data-md-component=outdated]","[data-md-component=logo]","[data-md-component=skip]",...B("navigation.tabs.sticky")?["[data-md-component=tabs]"]:[]]){let n=fe(o),i=fe(o,e);typeof n!="undefined"&&typeof i!="undefined"&&n.replaceWith(i)}let t=Jn(document);for(let[o,n]of Jn(e))t.has(o)?t.delete(o):document.head.appendChild(n);for(let o of t.values()){let n=o.getAttribute("name");n!=="theme-color"&&n!=="color-scheme"&&o.remove()}let r=Se("container");return je($("script",r)).pipe(v(o=>{let n=e.createElement("script");if(o.src){for(let i of o.getAttributeNames())n.setAttribute(i,o.getAttribute(i));return o.replaceWith(n),new F(i=>{n.onload=()=>i.complete()})}else return n.textContent=o.textContent,o.replaceWith(n),O}),X(),ne(document))}function Zn({location$:e,viewport$:t,progress$:r}){let o=ye();if(location.protocol==="file:")return O;let n=ur(o.base);I(document).subscribe(Xn);let i=d(document.body,"click").pipe(We(n),v(([p,c])=>Xa(p,c)),pe()),a=d(window,"popstate").pipe(m(xe),pe());i.pipe(ee(t)).subscribe(([p,{offset:c}])=>{history.replaceState(c,""),history.pushState(null,"",p)}),S(i,a).subscribe(e);let s=e.pipe(Z("pathname"),v(p=>ln(p,{progress$:r}).pipe(ve(()=>(pt(p,!0),O)))),v(Xn),v(Za),pe());return 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p=o.pipe(E(()=>s.innerHTML=""),v(({items:l})=>S(I(...l.slice(0,10)),I(...l.slice(10)).pipe(Ye(4),Vr(n),v(([f])=>f)))),m(Tn),pe());return p.subscribe(l=>s.appendChild(l)),p.pipe(oe(l=>{let f=fe("details",l);return typeof f=="undefined"?O:d(f,"toggle").pipe(U(o),m(()=>f))})).subscribe(l=>{l.open===!1&&l.offsetTop<=i.scrollTop&&i.scrollTo({top:l.offsetTop})}),t.pipe(b(dr),m(({data:l})=>l)).pipe(E(l=>o.next(l)),L(()=>o.complete()),m(l=>R({ref:e},l)))}function is(e,{query$:t}){return t.pipe(m(({value:r})=>{let o=xe();return o.hash="",r=r.replace(/\s+/g,"+").replace(/&/g,"%26").replace(/=/g,"%3D"),o.search=`q=${r}`,{url:o}}))}function ci(e,t){let r=new g,o=r.pipe(X(),ne(!0));return r.subscribe(({url:n})=>{e.setAttribute("data-clipboard-text",e.href),e.href=`${n}`}),d(e,"click").pipe(U(o)).subscribe(n=>n.preventDefault()),is(e,t).pipe(E(n=>r.next(n)),L(()=>r.complete()),m(n=>R({ref:e},n)))}function pi(e,{worker$:t,keyboard$:r}){let o=new g,n=Se("search-query"),i=S(d(n,"keydown"),d(n,"focus")).pipe(be(se),m(()=>n.value),K());return o.pipe(We(i),m(([{suggest:s},p])=>{let c=p.split(/([\s-]+)/);if(s!=null&&s.length&&c[c.length-1]){let l=s[s.length-1];l.startsWith(c[c.length-1])&&(c[c.length-1]=l)}else c.length=0;return c})).subscribe(s=>e.innerHTML=s.join("").replace(/\s/g," ")),r.pipe(b(({mode:s})=>s==="search")).subscribe(s=>{switch(s.type){case"ArrowRight":e.innerText.length&&n.selectionStart===n.value.length&&(n.value=e.innerText);break}}),t.pipe(b(dr),m(({data:s})=>s)).pipe(E(s=>o.next(s)),L(()=>o.complete()),m(()=>({ref:e})))}function li(e,{index$:t,keyboard$:r}){let o=ye();try{let n=ni(o.search,t),i=Se("search-query",e),a=Se("search-result",e);d(e,"click").pipe(b(({target:p})=>p instanceof Element&&!!p.closest("a"))).subscribe(()=>Je("search",!1)),r.pipe(b(({mode:p})=>p==="search")).subscribe(p=>{let c=Re();switch(p.type){case"Enter":if(c===i){let l=new Map;for(let f of $(":first-child [href]",a)){let 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z([t,r.pipe(Q(xe()),b(o=>!!o.searchParams.get("h")))]).pipe(m(([o,n])=>oi(o.config)(n.searchParams.get("h"))),m(o=>{var a;let n=new Map,i=document.createNodeIterator(e,NodeFilter.SHOW_TEXT);for(let s=i.nextNode();s;s=i.nextNode())if((a=s.parentElement)!=null&&a.offsetHeight){let p=s.textContent,c=o(p);c.length>p.length&&n.set(s,c)}for(let[s,p]of n){let{childNodes:c}=x("span",null,p);s.replaceWith(...Array.from(c))}return{ref:e,nodes:n}}))}function as(e,{viewport$:t,main$:r}){let o=e.closest(".md-grid"),n=o.offsetTop-o.parentElement.offsetTop;return z([r,t]).pipe(m(([{offset:i,height:a},{offset:{y:s}}])=>(a=a+Math.min(n,Math.max(0,s-i))-n,{height:a,locked:s>=i+n})),K((i,a)=>i.height===a.height&&i.locked===a.locked))}function Jr(e,o){var n=o,{header$:t}=n,r=io(n,["header$"]);let i=P(".md-sidebar__scrollwrap",e),{y:a}=Ue(i);return C(()=>{let s=new g,p=s.pipe(X(),ne(!0)),c=s.pipe(Le(0,me));return 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r=`https://api.github.com/users/${e}`;return Ne(r).pipe(m(o=>({repositories:o.public_repos})),Be({}))}}function ui(e,t){let r=`https://${e}/api/v4/projects/${encodeURIComponent(t)}`;return Ne(r).pipe(ve(()=>O),m(({star_count:o,forks_count:n})=>({stars:o,forks:n})),Be({}))}function di(e){let t=e.match(/^.+github\.com\/([^/]+)\/?([^/]+)?/i);if(t){let[,r,o]=t;return fi(r,o)}if(t=e.match(/^.+?([^/]*gitlab[^/]+)\/(.+?)\/?$/i),t){let[,r,o]=t;return ui(r,o)}return O}var ss;function cs(e){return ss||(ss=C(()=>{let t=__md_get("__source",sessionStorage);if(t)return I(t);if(ae("consent").length){let o=__md_get("__consent");if(!(o&&o.github))return O}return di(e.href).pipe(E(o=>__md_set("__source",o,sessionStorage)))}).pipe(ve(()=>O),b(t=>Object.keys(t).length>0),m(t=>({facts:t})),G(1)))}function hi(e){let t=P(":scope > :last-child",e);return C(()=>{let r=new g;return 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n=t.pipe(m(({offset:{y:a}})=>a),Ye(2,1),m(([a,s])=>a>s&&s>0),K()),i=r.pipe(m(({active:a})=>a));return z([i,n]).pipe(m(([a,s])=>!(a&&s)),K(),U(o.pipe(Ce(1))),ne(!0),st({delay:250}),m(a=>({hidden:a})))}function gi(e,{viewport$:t,header$:r,main$:o,target$:n}){let i=new g,a=i.pipe(X(),ne(!0));return i.subscribe({next({hidden:s}){e.hidden=s,s?(e.setAttribute("tabindex","-1"),e.blur()):e.removeAttribute("tabindex")},complete(){e.style.top="",e.hidden=!0,e.removeAttribute("tabindex")}}),r.pipe(U(a),Z("height")).subscribe(({height:s})=>{e.style.top=`${s+16}px`}),d(e,"click").subscribe(s=>{s.preventDefault(),window.scrollTo({top:0})}),ms(e,{viewport$:t,main$:o,target$:n}).pipe(E(s=>i.next(s)),L(()=>i.complete()),m(s=>R({ref:e},s)))}function xi({document$:e,viewport$:t}){e.pipe(v(()=>$(".md-ellipsis")),oe(r=>tt(r).pipe(U(e.pipe(Ce(1))),b(o=>o),m(()=>r),Te(1))),b(r=>r.offsetWidth{let o=r.innerText,n=r.closest("a")||r;return n.title=o,B("content.tooltips")?lt(n,{viewport$:t}).pipe(U(e.pipe(Ce(1))),L(()=>n.removeAttribute("title"))):O})).subscribe(),B("content.tooltips")&&e.pipe(v(()=>$(".md-status")),oe(r=>lt(r,{viewport$:t}))).subscribe()}function yi({document$:e,tablet$:t}){e.pipe(v(()=>$(".md-toggle--indeterminate")),E(r=>{r.indeterminate=!0,r.checked=!1}),oe(r=>d(r,"change").pipe(Dr(()=>r.classList.contains("md-toggle--indeterminate")),m(()=>r))),ee(t)).subscribe(([r,o])=>{r.classList.remove("md-toggle--indeterminate"),o&&(r.checked=!1)})}function fs(){return/(iPad|iPhone|iPod)/.test(navigator.userAgent)}function Ei({document$:e}){e.pipe(v(()=>$("[data-md-scrollfix]")),E(t=>t.removeAttribute("data-md-scrollfix")),b(fs),oe(t=>d(t,"touchstart").pipe(m(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function wi({viewport$:e,tablet$:t}){z([Ve("search"),t]).pipe(m(([r,o])=>r&&!o),v(r=>I(r).pipe(Ge(r?400:100))),ee(e)).subscribe(([r,{offset:{y:o}}])=>{if(r)document.body.setAttribute("data-md-scrolllock",""),document.body.style.top=`-${o}px`;else{let n=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-scrolllock"),document.body.style.top="",n&&window.scrollTo(0,n)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let o=e[r];typeof o=="string"?o=document.createTextNode(o):o.parentNode&&o.parentNode.removeChild(o),r?t.insertBefore(this.previousSibling,o):t.replaceChild(o,this)}}}));function us(){return location.protocol==="file:"?wt(`${new URL("search/search_index.js",Xr.base)}`).pipe(m(()=>__index),G(1)):Ne(new URL("search/search_index.json",Xr.base))}document.documentElement.classList.remove("no-js");document.documentElement.classList.add("js");var ot=Yo(),jt=nn(),Ot=cn(jt),Zr=on(),Oe=bn(),hr=$t("(min-width: 960px)"),Si=$t("(min-width: 1220px)"),Oi=pn(),Xr=ye(),Mi=document.forms.namedItem("search")?us():Ke,eo=new g;Bn({alert$:eo});var to=new g;B("navigation.instant")&&Zn({location$:jt,viewport$:Oe,progress$:to}).subscribe(ot);var Ti;((Ti=Xr.version)==null?void 0:Ti.provider)==="mike"&&ii({document$:ot});S(jt,Ot).pipe(Ge(125)).subscribe(()=>{Je("drawer",!1),Je("search",!1)});Zr.pipe(b(({mode:e})=>e==="global")).subscribe(e=>{switch(e.type){case"p":case",":let t=fe("link[rel=prev]");typeof t!="undefined"&&pt(t);break;case"n":case".":let r=fe("link[rel=next]");typeof r!="undefined"&&pt(r);break;case"Enter":let o=Re();o instanceof HTMLLabelElement&&o.click()}});xi({viewport$:Oe,document$:ot});yi({document$:ot,tablet$:hr});Ei({document$:ot});wi({viewport$:Oe,tablet$:hr});var rt=Nn(Se("header"),{viewport$:Oe}),Ft=ot.pipe(m(()=>Se("main")),v(e=>Qn(e,{viewport$:Oe,header$:rt})),G(1)),ds=S(...ae("consent").map(e=>xn(e,{target$:Ot})),...ae("dialog").map(e=>Dn(e,{alert$:eo})),...ae("header").map(e=>zn(e,{viewport$:Oe,header$:rt,main$:Ft})),...ae("palette").map(e=>Kn(e)),...ae("progress").map(e=>Yn(e,{progress$:to})),...ae("search").map(e=>li(e,{index$:Mi,keyboard$:Zr})),...ae("source").map(e=>hi(e))),hs=C(()=>S(...ae("announce").map(e=>gn(e)),...ae("content").map(e=>Un(e,{viewport$:Oe,target$:Ot,print$:Oi})),...ae("content").map(e=>B("search.highlight")?mi(e,{index$:Mi,location$:jt}):O),...ae("header-title").map(e=>qn(e,{viewport$:Oe,header$:rt})),...ae("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?Nr(Si,()=>Jr(e,{viewport$:Oe,header$:rt,main$:Ft})):Nr(hr,()=>Jr(e,{viewport$:Oe,header$:rt,main$:Ft}))),...ae("tabs").map(e=>bi(e,{viewport$:Oe,header$:rt})),...ae("toc").map(e=>vi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Ot})),...ae("top").map(e=>gi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Ot})))),Li=ot.pipe(v(()=>hs),Pe(ds),G(1));Li.subscribe();window.document$=ot;window.location$=jt;window.target$=Ot;window.keyboard$=Zr;window.viewport$=Oe;window.tablet$=hr;window.screen$=Si;window.print$=Oi;window.alert$=eo;window.progress$=to;window.component$=Li;})(); 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"node_modules/rxjs/src/internal/util/noop.ts", "node_modules/rxjs/src/internal/NotificationFactories.ts", "node_modules/rxjs/src/internal/util/errorContext.ts", "node_modules/rxjs/src/internal/Subscriber.ts", "node_modules/rxjs/src/internal/symbol/observable.ts", "node_modules/rxjs/src/internal/util/identity.ts", "node_modules/rxjs/src/internal/util/pipe.ts", "node_modules/rxjs/src/internal/Observable.ts", "node_modules/rxjs/src/internal/util/lift.ts", "node_modules/rxjs/src/internal/operators/OperatorSubscriber.ts", "node_modules/rxjs/src/internal/scheduler/animationFrameProvider.ts", "node_modules/rxjs/src/internal/util/ObjectUnsubscribedError.ts", "node_modules/rxjs/src/internal/Subject.ts", "node_modules/rxjs/src/internal/BehaviorSubject.ts", "node_modules/rxjs/src/internal/scheduler/dateTimestampProvider.ts", "node_modules/rxjs/src/internal/ReplaySubject.ts", "node_modules/rxjs/src/internal/scheduler/Action.ts", "node_modules/rxjs/src/internal/scheduler/intervalProvider.ts", "node_modules/rxjs/src/internal/scheduler/AsyncAction.ts", "node_modules/rxjs/src/internal/Scheduler.ts", "node_modules/rxjs/src/internal/scheduler/AsyncScheduler.ts", "node_modules/rxjs/src/internal/scheduler/async.ts", "node_modules/rxjs/src/internal/scheduler/QueueAction.ts", "node_modules/rxjs/src/internal/scheduler/QueueScheduler.ts", "node_modules/rxjs/src/internal/scheduler/queue.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameAction.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameScheduler.ts", "node_modules/rxjs/src/internal/scheduler/animationFrame.ts", "node_modules/rxjs/src/internal/observable/empty.ts", "node_modules/rxjs/src/internal/util/isScheduler.ts", "node_modules/rxjs/src/internal/util/args.ts", "node_modules/rxjs/src/internal/util/isArrayLike.ts", "node_modules/rxjs/src/internal/util/isPromise.ts", "node_modules/rxjs/src/internal/util/isInteropObservable.ts", "node_modules/rxjs/src/internal/util/isAsyncIterable.ts", "node_modules/rxjs/src/internal/util/throwUnobservableError.ts", "node_modules/rxjs/src/internal/symbol/iterator.ts", "node_modules/rxjs/src/internal/util/isIterable.ts", "node_modules/rxjs/src/internal/util/isReadableStreamLike.ts", "node_modules/rxjs/src/internal/observable/innerFrom.ts", "node_modules/rxjs/src/internal/util/executeSchedule.ts", "node_modules/rxjs/src/internal/operators/observeOn.ts", "node_modules/rxjs/src/internal/operators/subscribeOn.ts", "node_modules/rxjs/src/internal/scheduled/scheduleObservable.ts", "node_modules/rxjs/src/internal/scheduled/schedulePromise.ts", "node_modules/rxjs/src/internal/scheduled/scheduleArray.ts", "node_modules/rxjs/src/internal/scheduled/scheduleIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleAsyncIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleReadableStreamLike.ts", "node_modules/rxjs/src/internal/scheduled/scheduled.ts", "node_modules/rxjs/src/internal/observable/from.ts", "node_modules/rxjs/src/internal/observable/of.ts", "node_modules/rxjs/src/internal/observable/throwError.ts", "node_modules/rxjs/src/internal/util/EmptyError.ts", "node_modules/rxjs/src/internal/util/isDate.ts", "node_modules/rxjs/src/internal/operators/map.ts", "node_modules/rxjs/src/internal/util/mapOneOrManyArgs.ts", "node_modules/rxjs/src/internal/util/argsArgArrayOrObject.ts", "node_modules/rxjs/src/internal/util/createObject.ts", "node_modules/rxjs/src/internal/observable/combineLatest.ts", "node_modules/rxjs/src/internal/operators/mergeInternals.ts", "node_modules/rxjs/src/internal/operators/mergeMap.ts", "node_modules/rxjs/src/internal/operators/mergeAll.ts", "node_modules/rxjs/src/internal/operators/concatAll.ts", "node_modules/rxjs/src/internal/observable/concat.ts", "node_modules/rxjs/src/internal/observable/defer.ts", "node_modules/rxjs/src/internal/observable/fromEvent.ts", "node_modules/rxjs/src/internal/observable/fromEventPattern.ts", "node_modules/rxjs/src/internal/observable/timer.ts", "node_modules/rxjs/src/internal/observable/merge.ts", "node_modules/rxjs/src/internal/observable/never.ts", "node_modules/rxjs/src/internal/util/argsOrArgArray.ts", "node_modules/rxjs/src/internal/operators/filter.ts", "node_modules/rxjs/src/internal/observable/zip.ts", "node_modules/rxjs/src/internal/operators/audit.ts", "node_modules/rxjs/src/internal/operators/auditTime.ts", "node_modules/rxjs/src/internal/operators/bufferCount.ts", "node_modules/rxjs/src/internal/operators/catchError.ts", "node_modules/rxjs/src/internal/operators/scanInternals.ts", "node_modules/rxjs/src/internal/operators/combineLatest.ts", "node_modules/rxjs/src/internal/operators/combineLatestWith.ts", "node_modules/rxjs/src/internal/operators/debounce.ts", "node_modules/rxjs/src/internal/operators/debounceTime.ts", "node_modules/rxjs/src/internal/operators/defaultIfEmpty.ts", "node_modules/rxjs/src/internal/operators/take.ts", "node_modules/rxjs/src/internal/operators/ignoreElements.ts", "node_modules/rxjs/src/internal/operators/mapTo.ts", "node_modules/rxjs/src/internal/operators/delayWhen.ts", "node_modules/rxjs/src/internal/operators/delay.ts", "node_modules/rxjs/src/internal/operators/distinctUntilChanged.ts", "node_modules/rxjs/src/internal/operators/distinctUntilKeyChanged.ts", "node_modules/rxjs/src/internal/operators/throwIfEmpty.ts", "node_modules/rxjs/src/internal/operators/endWith.ts", "node_modules/rxjs/src/internal/operators/finalize.ts", "node_modules/rxjs/src/internal/operators/first.ts", "node_modules/rxjs/src/internal/operators/takeLast.ts", "node_modules/rxjs/src/internal/operators/merge.ts", "node_modules/rxjs/src/internal/operators/mergeWith.ts", "node_modules/rxjs/src/internal/operators/repeat.ts", "node_modules/rxjs/src/internal/operators/scan.ts", "node_modules/rxjs/src/internal/operators/share.ts", "node_modules/rxjs/src/internal/operators/shareReplay.ts", "node_modules/rxjs/src/internal/operators/skip.ts", "node_modules/rxjs/src/internal/operators/skipUntil.ts", "node_modules/rxjs/src/internal/operators/startWith.ts", "node_modules/rxjs/src/internal/operators/switchMap.ts", "node_modules/rxjs/src/internal/operators/takeUntil.ts", "node_modules/rxjs/src/internal/operators/takeWhile.ts", "node_modules/rxjs/src/internal/operators/tap.ts", "node_modules/rxjs/src/internal/operators/throttle.ts", "node_modules/rxjs/src/internal/operators/throttleTime.ts", "node_modules/rxjs/src/internal/operators/withLatestFrom.ts", "node_modules/rxjs/src/internal/operators/zip.ts", "node_modules/rxjs/src/internal/operators/zipWith.ts", "src/templates/assets/javascripts/browser/document/index.ts", "src/templates/assets/javascripts/browser/element/_/index.ts", "src/templates/assets/javascripts/browser/element/focus/index.ts", "src/templates/assets/javascripts/browser/element/hover/index.ts", "src/templates/assets/javascripts/utilities/h/index.ts", "src/templates/assets/javascripts/utilities/round/index.ts", "src/templates/assets/javascripts/browser/script/index.ts", "src/templates/assets/javascripts/browser/element/size/_/index.ts", "src/templates/assets/javascripts/browser/element/size/content/index.ts", "src/templates/assets/javascripts/browser/element/offset/_/index.ts", "src/templates/assets/javascripts/browser/element/offset/content/index.ts", "src/templates/assets/javascripts/browser/element/visibility/index.ts", "src/templates/assets/javascripts/browser/toggle/index.ts", "src/templates/assets/javascripts/browser/keyboard/index.ts", "src/templates/assets/javascripts/browser/location/_/index.ts", "src/templates/assets/javascripts/browser/location/hash/index.ts", "src/templates/assets/javascripts/browser/media/index.ts", "src/templates/assets/javascripts/browser/request/index.ts", "src/templates/assets/javascripts/browser/viewport/offset/index.ts", "src/templates/assets/javascripts/browser/viewport/size/index.ts", "src/templates/assets/javascripts/browser/viewport/_/index.ts", "src/templates/assets/javascripts/browser/viewport/at/index.ts", "src/templates/assets/javascripts/browser/worker/index.ts", "src/templates/assets/javascripts/_/index.ts", "src/templates/assets/javascripts/components/_/index.ts", "src/templates/assets/javascripts/components/announce/index.ts", "src/templates/assets/javascripts/components/consent/index.ts", "src/templates/assets/javascripts/templates/tooltip/index.tsx", "src/templates/assets/javascripts/templates/annotation/index.tsx", "src/templates/assets/javascripts/templates/clipboard/index.tsx", "src/templates/assets/javascripts/templates/search/index.tsx", "src/templates/assets/javascripts/templates/source/index.tsx", "src/templates/assets/javascripts/templates/tabbed/index.tsx", "src/templates/assets/javascripts/templates/table/index.tsx", "src/templates/assets/javascripts/templates/version/index.tsx", "src/templates/assets/javascripts/components/tooltip2/index.ts", "src/templates/assets/javascripts/components/content/annotation/_/index.ts", "src/templates/assets/javascripts/components/content/annotation/list/index.ts", "src/templates/assets/javascripts/components/content/annotation/block/index.ts", "src/templates/assets/javascripts/components/content/code/_/index.ts", "src/templates/assets/javascripts/components/content/details/index.ts", "src/templates/assets/javascripts/components/content/mermaid/index.css", "src/templates/assets/javascripts/components/content/mermaid/index.ts", "src/templates/assets/javascripts/components/content/table/index.ts", "src/templates/assets/javascripts/components/content/tabs/index.ts", "src/templates/assets/javascripts/components/content/_/index.ts", "src/templates/assets/javascripts/components/dialog/index.ts", "src/templates/assets/javascripts/components/tooltip/index.ts", "src/templates/assets/javascripts/components/header/_/index.ts", "src/templates/assets/javascripts/components/header/title/index.ts", "src/templates/assets/javascripts/components/main/index.ts", "src/templates/assets/javascripts/components/palette/index.ts", "src/templates/assets/javascripts/components/progress/index.ts", "src/templates/assets/javascripts/integrations/clipboard/index.ts", "src/templates/assets/javascripts/integrations/sitemap/index.ts", "src/templates/assets/javascripts/integrations/instant/index.ts", "src/templates/assets/javascripts/integrations/search/highlighter/index.ts", "src/templates/assets/javascripts/integrations/search/worker/message/index.ts", "src/templates/assets/javascripts/integrations/search/worker/_/index.ts", "src/templates/assets/javascripts/integrations/version/index.ts", "src/templates/assets/javascripts/components/search/query/index.ts", "src/templates/assets/javascripts/components/search/result/index.ts", "src/templates/assets/javascripts/components/search/share/index.ts", "src/templates/assets/javascripts/components/search/suggest/index.ts", "src/templates/assets/javascripts/components/search/_/index.ts", "src/templates/assets/javascripts/components/search/highlight/index.ts", "src/templates/assets/javascripts/components/sidebar/index.ts", "src/templates/assets/javascripts/components/source/facts/github/index.ts", "src/templates/assets/javascripts/components/source/facts/gitlab/index.ts", "src/templates/assets/javascripts/components/source/facts/_/index.ts", "src/templates/assets/javascripts/components/source/_/index.ts", "src/templates/assets/javascripts/components/tabs/index.ts", "src/templates/assets/javascripts/components/toc/index.ts", "src/templates/assets/javascripts/components/top/index.ts", "src/templates/assets/javascripts/patches/ellipsis/index.ts", "src/templates/assets/javascripts/patches/indeterminate/index.ts", "src/templates/assets/javascripts/patches/scrollfix/index.ts", "src/templates/assets/javascripts/patches/scrolllock/index.ts", "src/templates/assets/javascripts/polyfills/index.ts"], + "sourcesContent": ["(function (global, factory) {\n typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n typeof define === 'function' && define.amd ? define(factory) :\n (factory());\n}(this, (function () { 'use strict';\n\n /**\n * Applies the :focus-visible polyfill at the given scope.\n * A scope in this case is either the top-level Document or a Shadow Root.\n *\n * @param {(Document|ShadowRoot)} scope\n * @see https://github.com/WICG/focus-visible\n */\n function applyFocusVisiblePolyfill(scope) {\n var hadKeyboardEvent = true;\n var hadFocusVisibleRecently = false;\n var hadFocusVisibleRecentlyTimeout = null;\n\n var inputTypesAllowlist = {\n text: true,\n search: true,\n url: true,\n tel: true,\n email: true,\n password: true,\n number: true,\n date: true,\n month: true,\n week: true,\n time: true,\n datetime: true,\n 'datetime-local': true\n };\n\n /**\n * Helper function for legacy browsers and iframes which sometimes focus\n * elements like document, body, and non-interactive SVG.\n * @param {Element} el\n */\n function isValidFocusTarget(el) {\n if (\n el &&\n el !== document &&\n el.nodeName !== 'HTML' &&\n el.nodeName !== 'BODY' &&\n 'classList' in el &&\n 'contains' in el.classList\n ) {\n return true;\n }\n return false;\n }\n\n /**\n * Computes whether the given element should automatically trigger the\n * `focus-visible` class being added, i.e. whether it should always match\n * `:focus-visible` when focused.\n * @param {Element} el\n * @return {boolean}\n */\n function focusTriggersKeyboardModality(el) {\n var type = el.type;\n var tagName = el.tagName;\n\n if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n return true;\n }\n\n if (tagName === 'TEXTAREA' && !el.readOnly) {\n return true;\n }\n\n if (el.isContentEditable) {\n return true;\n }\n\n return false;\n }\n\n /**\n * Add the `focus-visible` class to the given element if it was not added by\n * the author.\n * @param {Element} el\n */\n function addFocusVisibleClass(el) {\n if (el.classList.contains('focus-visible')) {\n return;\n }\n el.classList.add('focus-visible');\n el.setAttribute('data-focus-visible-added', '');\n }\n\n /**\n * Remove the `focus-visible` class from the given element if it was not\n * originally added by the author.\n * @param {Element} el\n */\n function removeFocusVisibleClass(el) {\n if (!el.hasAttribute('data-focus-visible-added')) {\n return;\n }\n el.classList.remove('focus-visible');\n el.removeAttribute('data-focus-visible-added');\n }\n\n /**\n * If the most recent user interaction was via the keyboard;\n * and the key press did not include a meta, alt/option, or control key;\n * then the modality is keyboard. Otherwise, the modality is not keyboard.\n * Apply `focus-visible` to any current active element and keep track\n * of our keyboard modality state with `hadKeyboardEvent`.\n * @param {KeyboardEvent} e\n */\n function onKeyDown(e) {\n if (e.metaKey || e.altKey || e.ctrlKey) {\n return;\n }\n\n if (isValidFocusTarget(scope.activeElement)) {\n addFocusVisibleClass(scope.activeElement);\n }\n\n hadKeyboardEvent = true;\n }\n\n /**\n * If at any point a user clicks with a pointing device, ensure that we change\n * the modality away from keyboard.\n * This avoids the situation where a user presses a key on an already focused\n * element, and then clicks on a different element, focusing it with a\n * pointing device, while we still think we're in keyboard modality.\n * @param {Event} e\n */\n function onPointerDown(e) {\n hadKeyboardEvent = false;\n }\n\n /**\n * On `focus`, add the `focus-visible` class to the target if:\n * - the target received focus as a result of keyboard navigation, or\n * - the event target is an element that will likely require interaction\n * via the keyboard (e.g. a text box)\n * @param {Event} e\n */\n function onFocus(e) {\n // Prevent IE from focusing the document or HTML element.\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n addFocusVisibleClass(e.target);\n }\n }\n\n /**\n * On `blur`, remove the `focus-visible` class from the target.\n * @param {Event} e\n */\n function onBlur(e) {\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (\n e.target.classList.contains('focus-visible') ||\n e.target.hasAttribute('data-focus-visible-added')\n ) {\n // To detect a tab/window switch, we look for a blur event followed\n // rapidly by a visibility change.\n // If we don't see a visibility change within 100ms, it's probably a\n // regular focus change.\n hadFocusVisibleRecently = true;\n window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n hadFocusVisibleRecently = false;\n }, 100);\n removeFocusVisibleClass(e.target);\n }\n }\n\n /**\n * If the user changes tabs, keep track of whether or not the previously\n * focused element had .focus-visible.\n * @param {Event} e\n */\n function onVisibilityChange(e) {\n if (document.visibilityState === 'hidden') {\n // If the tab becomes active again, the browser will handle calling focus\n // on the element (Safari actually calls it twice).\n // If this tab change caused a blur on an element with focus-visible,\n // re-apply the class when the user switches back to the tab.\n if (hadFocusVisibleRecently) {\n hadKeyboardEvent = true;\n }\n addInitialPointerMoveListeners();\n }\n }\n\n /**\n * Add a group of listeners to detect usage of any pointing devices.\n * These listeners will be added when the polyfill first loads, and anytime\n * the window is blurred, so that they are active when the window regains\n * focus.\n */\n function addInitialPointerMoveListeners() {\n document.addEventListener('mousemove', onInitialPointerMove);\n document.addEventListener('mousedown', onInitialPointerMove);\n document.addEventListener('mouseup', onInitialPointerMove);\n document.addEventListener('pointermove', onInitialPointerMove);\n document.addEventListener('pointerdown', onInitialPointerMove);\n document.addEventListener('pointerup', onInitialPointerMove);\n document.addEventListener('touchmove', onInitialPointerMove);\n document.addEventListener('touchstart', onInitialPointerMove);\n document.addEventListener('touchend', onInitialPointerMove);\n }\n\n function removeInitialPointerMoveListeners() {\n document.removeEventListener('mousemove', onInitialPointerMove);\n document.removeEventListener('mousedown', onInitialPointerMove);\n document.removeEventListener('mouseup', onInitialPointerMove);\n document.removeEventListener('pointermove', onInitialPointerMove);\n document.removeEventListener('pointerdown', onInitialPointerMove);\n document.removeEventListener('pointerup', onInitialPointerMove);\n document.removeEventListener('touchmove', onInitialPointerMove);\n document.removeEventListener('touchstart', onInitialPointerMove);\n document.removeEventListener('touchend', onInitialPointerMove);\n }\n\n /**\n * When the polfyill first loads, assume the user is in keyboard modality.\n * If any event is received from a pointing device (e.g. mouse, pointer,\n * touch), turn off keyboard modality.\n * This accounts for situations where focus enters the page from the URL bar.\n * @param {Event} e\n */\n function onInitialPointerMove(e) {\n // Work around a Safari quirk that fires a mousemove on whenever the\n // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n return;\n }\n\n hadKeyboardEvent = false;\n removeInitialPointerMoveListeners();\n }\n\n // For some kinds of state, we are interested in changes at the global scope\n // only. For example, global pointer input, global key presses and global\n // visibility change should affect the state at every scope:\n document.addEventListener('keydown', onKeyDown, true);\n document.addEventListener('mousedown', onPointerDown, true);\n document.addEventListener('pointerdown', onPointerDown, true);\n document.addEventListener('touchstart', onPointerDown, true);\n document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n addInitialPointerMoveListeners();\n\n // For focus and blur, we specifically care about state changes in the local\n // scope. This is because focus / blur events that originate from within a\n // shadow root are not re-dispatched from the host element if it was already\n // the active element in its own scope:\n scope.addEventListener('focus', onFocus, true);\n scope.addEventListener('blur', onBlur, true);\n\n // We detect that a node is a ShadowRoot by ensuring that it is a\n // DocumentFragment and also has a host property. This check covers native\n // implementation and polyfill implementation transparently. If we only cared\n // about the native implementation, we could just check if the scope was\n // an instance of a ShadowRoot.\n if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n // have a root element to add a class to. So, we add this attribute to the\n // host element instead:\n scope.host.setAttribute('data-js-focus-visible', '');\n } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n document.documentElement.classList.add('js-focus-visible');\n document.documentElement.setAttribute('data-js-focus-visible', '');\n }\n }\n\n // It is important to wrap all references to global window and document in\n // these checks to support server-side rendering use cases\n // @see https://github.com/WICG/focus-visible/issues/199\n if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n // Make the polyfill helper globally available. This can be used as a signal\n // to interested libraries that wish to coordinate with the polyfill for e.g.,\n // applying the polyfill to a shadow root:\n window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n // Notify interested libraries of the polyfill's presence, in case the\n // polyfill was loaded lazily:\n var event;\n\n try {\n event = new CustomEvent('focus-visible-polyfill-ready');\n } catch (error) {\n // IE11 does not support using CustomEvent as a constructor directly:\n event = document.createEvent('CustomEvent');\n event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n }\n\n window.dispatchEvent(event);\n }\n\n if (typeof document !== 'undefined') {\n // Apply the polyfill to the global document, so that no JavaScript\n // coordination is required to use the polyfill in the top-level document:\n applyFocusVisiblePolyfill(document);\n }\n\n})));\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n try {\n return document.execCommand(type);\n } catch (err) {\n return false;\n }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n var selectedText = select_default()(target);\n command('cut');\n return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n fakeElement.style.fontSize = '12pt'; // Reset box model\n\n fakeElement.style.border = '0';\n fakeElement.style.padding = '0';\n fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n fakeElement.style.position = 'absolute';\n fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n fakeElement.style.top = \"\".concat(yPosition, \"px\");\n fakeElement.setAttribute('readonly', '');\n fakeElement.value = value;\n return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n var fakeElement = createFakeElement(value);\n options.container.appendChild(fakeElement);\n var selectedText = select_default()(fakeElement);\n command('copy');\n fakeElement.remove();\n return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n var selectedText = '';\n\n if (typeof target === 'string') {\n selectedText = fakeCopyAction(target, options);\n } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n selectedText = fakeCopyAction(target.value, options);\n } else {\n selectedText = select_default()(target);\n command('copy');\n }\n\n return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n // Defines base properties passed from constructor.\n var _options$action = options.action,\n action = _options$action === void 0 ? 'copy' : _options$action,\n container = options.container,\n target = options.target,\n text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n if (action !== 'copy' && action !== 'cut') {\n throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n } // Sets the `target` property using an element that will be have its content copied.\n\n\n if (target !== undefined) {\n if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n if (action === 'copy' && target.hasAttribute('disabled')) {\n throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n }\n\n if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n }\n } else {\n throw new Error('Invalid \"target\" value, use a valid Element');\n }\n } // Define selection strategy based on `text` property.\n\n\n if (text) {\n return actions_copy(text, {\n container: container\n });\n } // Defines which selection strategy based on `target` property.\n\n\n if (target) {\n return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n container: container\n });\n }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n var attribute = \"data-clipboard-\".concat(suffix);\n\n if (!element.hasAttribute(attribute)) {\n return;\n }\n\n return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n _inherits(Clipboard, _Emitter);\n\n var _super = _createSuper(Clipboard);\n\n /**\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n * @param {Object} options\n */\n function Clipboard(trigger, options) {\n var _this;\n\n _classCallCheck(this, Clipboard);\n\n _this = _super.call(this);\n\n _this.resolveOptions(options);\n\n _this.listenClick(trigger);\n\n return _this;\n }\n /**\n * Defines if attributes would be resolved using internal setter functions\n * or custom functions that were passed in the constructor.\n * @param {Object} options\n */\n\n\n _createClass(Clipboard, [{\n key: \"resolveOptions\",\n value: function resolveOptions() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n }\n /**\n * Adds a click event listener to the passed trigger.\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n */\n\n }, {\n key: \"listenClick\",\n value: function listenClick(trigger) {\n var _this2 = this;\n\n this.listener = listen_default()(trigger, 'click', function (e) {\n return _this2.onClick(e);\n });\n }\n /**\n * Defines a new `ClipboardAction` on each click event.\n * @param {Event} e\n */\n\n }, {\n key: \"onClick\",\n value: function onClick(e) {\n var trigger = e.delegateTarget || e.currentTarget;\n var action = this.action(trigger) || 'copy';\n var text = actions_default({\n action: action,\n container: this.container,\n target: this.target(trigger),\n text: this.text(trigger)\n }); // Fires an event based on the copy operation result.\n\n this.emit(text ? 'success' : 'error', {\n action: action,\n text: text,\n trigger: trigger,\n clearSelection: function clearSelection() {\n if (trigger) {\n trigger.focus();\n }\n\n window.getSelection().removeAllRanges();\n }\n });\n }\n /**\n * Default `action` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultAction\",\n value: function defaultAction(trigger) {\n return getAttributeValue('action', trigger);\n }\n /**\n * Default `target` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultTarget\",\n value: function defaultTarget(trigger) {\n var selector = getAttributeValue('target', trigger);\n\n if (selector) {\n return document.querySelector(selector);\n }\n }\n /**\n * Allow fire programmatically a copy action\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @returns Text copied.\n */\n\n }, {\n key: \"defaultText\",\n\n /**\n * Default `text` lookup function.\n * @param {Element} trigger\n */\n value: function defaultText(trigger) {\n return getAttributeValue('text', trigger);\n }\n /**\n * Destroy lifecycle.\n */\n\n }, {\n key: \"destroy\",\n value: function destroy() {\n this.listener.destroy();\n }\n }], [{\n key: \"copy\",\n value: function copy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n return actions_copy(target, options);\n }\n /**\n * Allow fire programmatically a cut action\n * @param {String|HTMLElement} target\n * @returns Text cutted.\n */\n\n }, {\n key: \"cut\",\n value: function cut(target) {\n return actions_cut(target);\n }\n /**\n * Returns the support of the given action, or all actions if no action is\n * given.\n * @param {String} [action]\n */\n\n }, {\n key: \"isSupported\",\n value: function isSupported() {\n var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n var actions = typeof action === 'string' ? [action] : action;\n var support = !!document.queryCommandSupported;\n actions.forEach(function (action) {\n support = support && !!document.queryCommandSupported(action);\n });\n return support;\n }\n }]);\n\n return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n var proto = Element.prototype;\n\n proto.matches = proto.matchesSelector ||\n proto.mozMatchesSelector ||\n proto.msMatchesSelector ||\n proto.oMatchesSelector ||\n proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n if (typeof element.matches === 'function' &&\n element.matches(selector)) {\n return element;\n }\n element = element.parentNode;\n }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n var listenerFn = listener.apply(this, arguments);\n\n element.addEventListener(type, listenerFn, useCapture);\n\n return {\n destroy: function() {\n element.removeEventListener(type, listenerFn, useCapture);\n }\n }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n // Handle the regular Element usage\n if (typeof elements.addEventListener === 'function') {\n return _delegate.apply(null, arguments);\n }\n\n // Handle Element-less usage, it defaults to global delegation\n if (typeof type === 'function') {\n // Use `document` as the first parameter, then apply arguments\n // This is a short way to .unshift `arguments` without running into deoptimizations\n return _delegate.bind(null, document).apply(null, arguments);\n }\n\n // Handle Selector-based usage\n if (typeof elements === 'string') {\n elements = document.querySelectorAll(elements);\n }\n\n // Handle Array-like based usage\n return Array.prototype.map.call(elements, function (element) {\n return _delegate(element, selector, type, callback, useCapture);\n });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n return function(e) {\n e.delegateTarget = closest(e.target, selector);\n\n if (e.delegateTarget) {\n callback.call(element, e);\n }\n }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n return value !== undefined\n && value instanceof HTMLElement\n && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return value !== undefined\n && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n && ('length' in value)\n && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n return typeof value === 'string'\n || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n if (!target && !type && !callback) {\n throw new Error('Missing required arguments');\n }\n\n if (!is.string(type)) {\n throw new TypeError('Second argument must be a String');\n }\n\n if (!is.fn(callback)) {\n throw new TypeError('Third argument must be a Function');\n }\n\n if (is.node(target)) {\n return listenNode(target, type, callback);\n }\n else if (is.nodeList(target)) {\n return listenNodeList(target, type, callback);\n }\n else if (is.string(target)) {\n return listenSelector(target, type, callback);\n }\n else {\n throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n node.addEventListener(type, callback);\n\n return {\n destroy: function() {\n node.removeEventListener(type, callback);\n }\n }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.addEventListener(type, callback);\n });\n\n return {\n destroy: function() {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.removeEventListener(type, callback);\n });\n }\n }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n var selectedText;\n\n if (element.nodeName === 'SELECT') {\n element.focus();\n\n selectedText = element.value;\n }\n else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n var isReadOnly = element.hasAttribute('readonly');\n\n if (!isReadOnly) {\n element.setAttribute('readonly', '');\n }\n\n element.select();\n element.setSelectionRange(0, element.value.length);\n\n if (!isReadOnly) {\n element.removeAttribute('readonly');\n }\n\n selectedText = element.value;\n }\n else {\n if (element.hasAttribute('contenteditable')) {\n element.focus();\n }\n\n var selection = window.getSelection();\n var range = document.createRange();\n\n range.selectNodeContents(element);\n selection.removeAllRanges();\n selection.addRange(range);\n\n selectedText = selection.toString();\n }\n\n return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n // Keep this empty so it's easier to inherit from\n // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n on: function (name, callback, ctx) {\n var e = this.e || (this.e = {});\n\n (e[name] || (e[name] = [])).push({\n fn: callback,\n ctx: ctx\n });\n\n return this;\n },\n\n once: function (name, callback, ctx) {\n var self = this;\n function listener () {\n self.off(name, listener);\n callback.apply(ctx, arguments);\n };\n\n listener._ = callback\n return this.on(name, listener, ctx);\n },\n\n emit: function (name) {\n var data = [].slice.call(arguments, 1);\n var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n var i = 0;\n var len = evtArr.length;\n\n for (i; i < len; i++) {\n evtArr[i].fn.apply(evtArr[i].ctx, data);\n }\n\n return this;\n },\n\n off: function (name, callback) {\n var e = this.e || (this.e = {});\n var evts = e[name];\n var liveEvents = [];\n\n if (evts && callback) {\n for (var i = 0, len = evts.length; i < len; i++) {\n if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n liveEvents.push(evts[i]);\n }\n }\n\n // Remove event from queue to prevent memory leak\n // Suggested by https://github.com/lazd\n // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n (liveEvents.length)\n ? e[name] = liveEvents\n : delete e[name];\n\n return this;\n }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n var str = '' + string;\n var match = matchHtmlRegExp.exec(str);\n\n if (!match) {\n return str;\n }\n\n var escape;\n var html = '';\n var index = 0;\n var lastIndex = 0;\n\n for (index = match.index; index < str.length; index++) {\n switch (str.charCodeAt(index)) {\n case 34: // \"\n escape = '"';\n break;\n case 38: // &\n escape = '&';\n break;\n case 39: // '\n escape = ''';\n break;\n case 60: // <\n escape = '<';\n break;\n case 62: // >\n escape = '>';\n break;\n default:\n continue;\n }\n\n if (lastIndex !== index) {\n html += str.substring(lastIndex, index);\n }\n\n lastIndex = index + 1;\n html += escape;\n }\n\n return lastIndex !== index\n ? html + str.substring(lastIndex, index)\n : html;\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath \n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n EMPTY,\n NEVER,\n Observable,\n Subject,\n defer,\n delay,\n filter,\n map,\n merge,\n mergeWith,\n shareReplay,\n switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n at,\n getActiveElement,\n getOptionalElement,\n requestJSON,\n setLocation,\n setToggle,\n watchDocument,\n watchKeyboard,\n watchLocation,\n watchLocationTarget,\n watchMedia,\n watchPrint,\n watchScript,\n watchViewport\n} from \"./browser\"\nimport {\n getComponentElement,\n getComponentElements,\n mountAnnounce,\n mountBackToTop,\n mountConsent,\n mountContent,\n mountDialog,\n mountHeader,\n mountHeaderTitle,\n mountPalette,\n mountProgress,\n mountSearch,\n mountSearchHiglight,\n mountSidebar,\n mountSource,\n mountTableOfContents,\n mountTabs,\n watchHeader,\n watchMain\n} from \"./components\"\nimport {\n SearchIndex,\n setupClipboardJS,\n setupInstantNavigation,\n setupVersionSelector\n} from \"./integrations\"\nimport {\n patchEllipsis,\n patchIndeterminate,\n patchScrollfix,\n patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable {\n if (location.protocol === \"file:\") {\n return watchScript(\n `${new URL(\"search/search_index.js\", config.base)}`\n )\n .pipe(\n // @ts-ignore - @todo fix typings\n map(() => __index),\n shareReplay(1)\n )\n } else {\n return requestJSON(\n new URL(\"search/search_index.json\", config.base)\n )\n }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$ = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$ = watchMedia(\"(min-width: 960px)\")\nconst screen$ = watchMedia(\"(min-width: 1220px)\")\nconst print$ = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n ? fetchSearchIndex()\n : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject()\nsetupClipboardJS({ alert$ })\n\n/* Set up progress indicator */\nconst progress$ = new Subject()\n\n/* Set up instant navigation, if enabled */\nif (feature(\"navigation.instant\"))\n setupInstantNavigation({ location$, viewport$, progress$ })\n .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n .pipe(\n delay(125)\n )\n .subscribe(() => {\n setToggle(\"drawer\", false)\n setToggle(\"search\", false)\n })\n\n/* Set up global keyboard handlers */\nkeyboard$\n .pipe(\n filter(({ mode }) => mode === \"global\")\n )\n .subscribe(key => {\n switch (key.type) {\n\n /* Go to previous page */\n case \"p\":\n case \",\":\n const prev = getOptionalElement(\"link[rel=prev]\")\n if (typeof prev !== \"undefined\")\n setLocation(prev)\n break\n\n /* Go to next page */\n case \"n\":\n case \".\":\n const next = getOptionalElement(\"link[rel=next]\")\n if (typeof next !== \"undefined\")\n setLocation(next)\n break\n\n /* Expand navigation, see https://bit.ly/3ZjG5io */\n case \"Enter\":\n const active = getActiveElement()\n if (active instanceof HTMLLabelElement)\n active.click()\n }\n })\n\n/* Set up patches */\npatchEllipsis({ viewport$, document$ })\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n .pipe(\n map(() => getComponentElement(\"main\")),\n switchMap(el => watchMain(el, { viewport$, header$ })),\n shareReplay(1)\n )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n /* Consent */\n ...getComponentElements(\"consent\")\n .map(el => mountConsent(el, { target$ })),\n\n /* Dialog */\n ...getComponentElements(\"dialog\")\n .map(el => mountDialog(el, { alert$ })),\n\n /* Header */\n ...getComponentElements(\"header\")\n .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n /* Color palette */\n ...getComponentElements(\"palette\")\n .map(el => mountPalette(el)),\n\n /* Progress bar */\n ...getComponentElements(\"progress\")\n .map(el => mountProgress(el, { progress$ })),\n\n /* Search */\n ...getComponentElements(\"search\")\n .map(el => mountSearch(el, { index$, keyboard$ })),\n\n /* Repository information */\n ...getComponentElements(\"source\")\n .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n /* Announcement bar */\n ...getComponentElements(\"announce\")\n .map(el => mountAnnounce(el)),\n\n /* Content */\n ...getComponentElements(\"content\")\n .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n /* Search highlighting */\n ...getComponentElements(\"content\")\n .map(el => feature(\"search.highlight\")\n ? mountSearchHiglight(el, { index$, location$ })\n : EMPTY\n ),\n\n /* Header title */\n ...getComponentElements(\"header-title\")\n .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n /* Sidebar */\n ...getComponentElements(\"sidebar\")\n .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n ),\n\n /* Navigation tabs */\n ...getComponentElements(\"tabs\")\n .map(el => mountTabs(el, { viewport$, header$ })),\n\n /* Table of contents */\n ...getComponentElements(\"toc\")\n .map(el => mountTableOfContents(el, {\n viewport$, header$, main$, target$\n })),\n\n /* Back-to-top button */\n ...getComponentElements(\"top\")\n .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n .pipe(\n switchMap(() => content$),\n mergeWith(control$),\n shareReplay(1)\n )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$ = document$ /* Document observable */\nwindow.location$ = location$ /* Location subject */\nwindow.target$ = target$ /* Location target observable */\nwindow.keyboard$ = keyboard$ /* Keyboard observable */\nwindow.viewport$ = viewport$ /* Viewport observable */\nwindow.tablet$ = tablet$ /* Media tablet observable */\nwindow.screen$ = screen$ /* Media screen observable */\nwindow.print$ = print$ /* Media print observable */\nwindow.alert$ = alert$ /* Alert subject */\nwindow.progress$ = progress$ /* Progress indicator subject */\nwindow.component$ = component$ /* Component observable */\n", "/*! *****************************************************************************\r\nCopyright (c) Microsoft Corporation.\r\n\r\nPermission to use, copy, modify, and/or distribute this software for any\r\npurpose with or without fee is hereby granted.\r\n\r\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\r\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\r\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\r\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\r\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\r\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\r\nPERFORMANCE OF THIS SOFTWARE.\r\n***************************************************************************** */\r\n/* global Reflect, Promise */\r\n\r\nvar extendStatics = function(d, b) {\r\n extendStatics = Object.setPrototypeOf ||\r\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\r\n function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\r\n return extendStatics(d, b);\r\n};\r\n\r\nexport function __extends(d, b) {\r\n if (typeof b !== \"function\" && b !== null)\r\n throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\r\n extendStatics(d, b);\r\n function __() { this.constructor = d; }\r\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\r\n}\r\n\r\nexport var __assign = function() {\r\n __assign = Object.assign || function __assign(t) {\r\n for (var s, i = 1, n = arguments.length; i < n; i++) {\r\n s = arguments[i];\r\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\r\n }\r\n return t;\r\n }\r\n return __assign.apply(this, arguments);\r\n}\r\n\r\nexport function __rest(s, e) {\r\n var t = {};\r\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\r\n t[p] = s[p];\r\n if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\r\n for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\r\n if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\r\n t[p[i]] = s[p[i]];\r\n }\r\n return t;\r\n}\r\n\r\nexport function __decorate(decorators, target, key, desc) {\r\n var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\r\n if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\r\n else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\r\n return c > 3 && r && Object.defineProperty(target, key, r), r;\r\n}\r\n\r\nexport function __param(paramIndex, decorator) {\r\n return function (target, key) { decorator(target, key, paramIndex); }\r\n}\r\n\r\nexport function __metadata(metadataKey, metadataValue) {\r\n if (typeof Reflect === \"object\" && typeof Reflect.metadata === \"function\") return Reflect.metadata(metadataKey, metadataValue);\r\n}\r\n\r\nexport function __awaiter(thisArg, _arguments, P, generator) {\r\n function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }\r\n return new (P || (P = Promise))(function (resolve, reject) {\r\n function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }\r\n function rejected(value) { try { step(generator[\"throw\"](value)); } catch (e) { reject(e); } }\r\n function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }\r\n step((generator = generator.apply(thisArg, _arguments || [])).next());\r\n });\r\n}\r\n\r\nexport function __generator(thisArg, body) {\r\n var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g;\r\n return g = { next: verb(0), \"throw\": verb(1), \"return\": verb(2) }, typeof Symbol === \"function\" && (g[Symbol.iterator] = function() { return this; }), g;\r\n function verb(n) { return function (v) { return step([n, v]); }; }\r\n function step(op) {\r\n if (f) throw new TypeError(\"Generator is already executing.\");\r\n while (_) try {\r\n if (f = 1, y && (t = op[0] & 2 ? y[\"return\"] : op[0] ? y[\"throw\"] || ((t = y[\"return\"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;\r\n if (y = 0, t) op = [op[0] & 2, t.value];\r\n switch (op[0]) {\r\n case 0: case 1: t = op; break;\r\n case 4: _.label++; return { value: op[1], done: false };\r\n case 5: _.label++; y = op[1]; op = [0]; continue;\r\n case 7: op = _.ops.pop(); _.trys.pop(); continue;\r\n default:\r\n if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }\r\n if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }\r\n if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }\r\n if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }\r\n if (t[2]) _.ops.pop();\r\n _.trys.pop(); continue;\r\n }\r\n op = body.call(thisArg, _);\r\n } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }\r\n if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };\r\n }\r\n}\r\n\r\nexport var __createBinding = Object.create ? (function(o, m, k, k2) {\r\n if (k2 === undefined) k2 = k;\r\n Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });\r\n}) : (function(o, m, k, k2) {\r\n if (k2 === undefined) k2 = k;\r\n o[k2] = m[k];\r\n});\r\n\r\nexport function __exportStar(m, o) {\r\n for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\r\n}\r\n\r\nexport function __values(o) {\r\n var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\r\n if (m) return m.call(o);\r\n if (o && typeof o.length === \"number\") return {\r\n next: function () {\r\n if (o && i >= o.length) o = void 0;\r\n return { value: o && o[i++], done: !o };\r\n }\r\n };\r\n throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\r\n}\r\n\r\nexport function __read(o, n) {\r\n var m = typeof Symbol === \"function\" && o[Symbol.iterator];\r\n if (!m) return o;\r\n var i = m.call(o), r, ar = [], e;\r\n try {\r\n while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\r\n }\r\n catch (error) { e = { error: error }; }\r\n finally {\r\n try {\r\n if (r && !r.done && (m = i[\"return\"])) m.call(i);\r\n }\r\n finally { if (e) throw e.error; }\r\n }\r\n return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spread() {\r\n for (var ar = [], i = 0; i < arguments.length; i++)\r\n ar = ar.concat(__read(arguments[i]));\r\n return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spreadArrays() {\r\n for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\r\n for (var r = Array(s), k = 0, i = 0; i < il; i++)\r\n for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\r\n r[k] = a[j];\r\n return r;\r\n}\r\n\r\nexport function __spreadArray(to, from, pack) {\r\n if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\r\n if (ar || !(i in from)) {\r\n if (!ar) ar = Array.prototype.slice.call(from, 0, i);\r\n ar[i] = from[i];\r\n }\r\n }\r\n return to.concat(ar || Array.prototype.slice.call(from));\r\n}\r\n\r\nexport function __await(v) {\r\n return this instanceof __await ? (this.v = v, this) : new __await(v);\r\n}\r\n\r\nexport function __asyncGenerator(thisArg, _arguments, generator) {\r\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n var g = generator.apply(thisArg, _arguments || []), i, q = [];\r\n return i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i;\r\n function verb(n) { if (g[n]) i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; }\r\n function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\r\n function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\r\n function fulfill(value) { resume(\"next\", value); }\r\n function reject(value) { resume(\"throw\", value); }\r\n function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\r\n}\r\n\r\nexport function __asyncDelegator(o) {\r\n var i, p;\r\n return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\r\n function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: n === \"return\" } : f ? f(v) : v; } : f; }\r\n}\r\n\r\nexport function __asyncValues(o) {\r\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n var m = o[Symbol.asyncIterator], i;\r\n return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\r\n function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\r\n function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\r\n}\r\n\r\nexport function __makeTemplateObject(cooked, raw) {\r\n if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\r\n return cooked;\r\n};\r\n\r\nvar __setModuleDefault = Object.create ? (function(o, v) {\r\n Object.defineProperty(o, \"default\", { enumerable: true, value: v });\r\n}) : function(o, v) {\r\n o[\"default\"] = v;\r\n};\r\n\r\nexport function __importStar(mod) {\r\n if (mod && mod.__esModule) return mod;\r\n var result = {};\r\n if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\r\n __setModuleDefault(result, mod);\r\n return result;\r\n}\r\n\r\nexport function __importDefault(mod) {\r\n return (mod && mod.__esModule) ? mod : { default: mod };\r\n}\r\n\r\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\r\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\r\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\r\n return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\r\n}\r\n\r\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\r\n if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\r\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\r\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\r\n return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\r\n}\r\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass(createImpl: (_super: any) => any): T {\n const _super = (instance: any) => {\n Error.call(instance);\n instance.stack = new Error().stack;\n };\n\n const ctorFunc = createImpl(_super);\n ctorFunc.prototype = Object.create(Error.prototype);\n ctorFunc.prototype.constructor = ctorFunc;\n return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n (_super) =>\n function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n _super(this);\n this.message = errors\n ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n ')}`\n : '';\n this.name = 'UnsubscriptionError';\n this.errors = errors;\n }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove(arr: T[] | undefined | null, item: T) {\n if (arr) {\n const index = arr.indexOf(item);\n 0 <= index && arr.splice(index, 1);\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n /** @nocollapse */\n public static EMPTY = (() => {\n const empty = new Subscription();\n empty.closed = true;\n return empty;\n })();\n\n /**\n * A flag to indicate whether this Subscription has already been unsubscribed.\n */\n public closed = false;\n\n private _parentage: Subscription[] | Subscription | null = null;\n\n /**\n * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n * list occurs in the {@link #add} and {@link #remove} methods.\n */\n private _finalizers: Exclude[] | null = null;\n\n /**\n * @param initialTeardown A function executed first as part of the finalization\n * process that is kicked off when {@link #unsubscribe} is called.\n */\n constructor(private initialTeardown?: () => void) {}\n\n /**\n * Disposes the resources held by the subscription. May, for instance, cancel\n * an ongoing Observable execution or cancel any other type of work that\n * started when the Subscription was created.\n * @return {void}\n */\n unsubscribe(): void {\n let errors: any[] | undefined;\n\n if (!this.closed) {\n this.closed = true;\n\n // Remove this from it's parents.\n const { _parentage } = this;\n if (_parentage) {\n this._parentage = null;\n if (Array.isArray(_parentage)) {\n for (const parent of _parentage) {\n parent.remove(this);\n }\n } else {\n _parentage.remove(this);\n }\n }\n\n const { initialTeardown: initialFinalizer } = this;\n if (isFunction(initialFinalizer)) {\n try {\n initialFinalizer();\n } catch (e) {\n errors = e instanceof UnsubscriptionError ? e.errors : [e];\n }\n }\n\n const { _finalizers } = this;\n if (_finalizers) {\n this._finalizers = null;\n for (const finalizer of _finalizers) {\n try {\n execFinalizer(finalizer);\n } catch (err) {\n errors = errors ?? [];\n if (err instanceof UnsubscriptionError) {\n errors = [...errors, ...err.errors];\n } else {\n errors.push(err);\n }\n }\n }\n }\n\n if (errors) {\n throw new UnsubscriptionError(errors);\n }\n }\n }\n\n /**\n * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n * because it has already been unsubscribed, then whatever finalizer is passed to it\n * will automatically be executed (unless the finalizer itself is also a closed subscription).\n *\n * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n * subscription to a any subscription will result in no operation. (A noop).\n *\n * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n * operation at all. (A noop).\n *\n * `Subscription` instances that are added to this instance will automatically remove themselves\n * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n * will need to be removed manually with {@link #remove}\n *\n * @param teardown The finalization logic to add to this subscription.\n */\n add(teardown: TeardownLogic): void {\n // Only add the finalizer if it's not undefined\n // and don't add a subscription to itself.\n if (teardown && teardown !== this) {\n if (this.closed) {\n // If this subscription is already closed,\n // execute whatever finalizer is handed to it automatically.\n execFinalizer(teardown);\n } else {\n if (teardown instanceof Subscription) {\n // We don't add closed subscriptions, and we don't add the same subscription\n // twice. Subscription unsubscribe is idempotent.\n if (teardown.closed || teardown._hasParent(this)) {\n return;\n }\n teardown._addParent(this);\n }\n (this._finalizers = this._finalizers ?? []).push(teardown);\n }\n }\n }\n\n /**\n * Checks to see if a this subscription already has a particular parent.\n * This will signal that this subscription has already been added to the parent in question.\n * @param parent the parent to check for\n */\n private _hasParent(parent: Subscription) {\n const { _parentage } = this;\n return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n }\n\n /**\n * Adds a parent to this subscription so it can be removed from the parent if it\n * unsubscribes on it's own.\n *\n * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n * @param parent The parent subscription to add\n */\n private _addParent(parent: Subscription) {\n const { _parentage } = this;\n this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n }\n\n /**\n * Called on a child when it is removed via {@link #remove}.\n * @param parent The parent to remove\n */\n private _removeParent(parent: Subscription) {\n const { _parentage } = this;\n if (_parentage === parent) {\n this._parentage = null;\n } else if (Array.isArray(_parentage)) {\n arrRemove(_parentage, parent);\n }\n }\n\n /**\n * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n *\n * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n * from every other `Subscription` they have been added to. This means that using the `remove` method\n * is not a common thing and should be used thoughtfully.\n *\n * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n * more than once, you will need to call `remove` the same number of times to remove all instances.\n *\n * All finalizer instances are removed to free up memory upon unsubscription.\n *\n * @param teardown The finalizer to remove from this subscription\n */\n remove(teardown: Exclude): void {\n const { _finalizers } = this;\n _finalizers && arrRemove(_finalizers, teardown);\n\n if (teardown instanceof Subscription) {\n teardown._removeParent(this);\n }\n }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n return (\n value instanceof Subscription ||\n (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n if (isFunction(finalizer)) {\n finalizer();\n } else {\n finalizer.unsubscribe();\n }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n onUnhandledError: null,\n onStoppedNotification: null,\n Promise: undefined,\n useDeprecatedSynchronousErrorHandling: false,\n useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n /**\n * A registration point for unhandled errors from RxJS. These are errors that\n * cannot were not handled by consuming code in the usual subscription path. For\n * example, if you have this configured, and you subscribe to an observable without\n * providing an error handler, errors from that subscription will end up here. This\n * will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onUnhandledError: ((err: any) => void) | null;\n\n /**\n * A registration point for notifications that cannot be sent to subscribers because they\n * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n * might want a different behavior. For example, with sources that attempt to report errors\n * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n * This will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onStoppedNotification: ((notification: ObservableNotification, subscriber: Subscriber) => void) | null;\n\n /**\n * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n * methods.\n *\n * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n * Promise constructor. If you need a Promise implementation other than native promises,\n * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n */\n Promise?: PromiseConstructorLike;\n\n /**\n * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n * call in a try/catch block. It also enables producer interference, a nasty bug\n * where a multicast can be broken for all observers by a downstream consumer with\n * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n * FOR MIGRATION REASONS.\n *\n * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n * behaviors described above. Will be removed in v8.\n */\n useDeprecatedSynchronousErrorHandling: boolean;\n\n /**\n * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n * `unsubscribe()` via `this` context in `next` functions created in observers passed\n * to `subscribe`.\n *\n * This is being removed because the performance was severely problematic, and it could also cause\n * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n * their `this` context overwritten.\n *\n * @deprecated As of version 8, RxJS will no longer support altering the\n * context of next functions provided as part of an observer to Subscribe. Instead,\n * you will have access to a subscription or a signal or token that will allow you to do things like\n * unsubscribe and test closed status. Will be removed in v8.\n */\n useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n delegate:\n | {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n }\n | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setTimeout(handler: () => void, timeout?: number, ...args) {\n const { delegate } = timeoutProvider;\n if (delegate?.setTimeout) {\n return delegate.setTimeout(handler, timeout, ...args);\n }\n return setTimeout(handler, timeout, ...args);\n },\n clearTimeout(handle) {\n const { delegate } = timeoutProvider;\n return (delegate?.clearTimeout || clearTimeout)(handle as any);\n },\n delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n timeoutProvider.setTimeout(() => {\n const { onUnhandledError } = config;\n if (onUnhandledError) {\n // Execute the user-configured error handler.\n onUnhandledError(err);\n } else {\n // Throw so it is picked up by the runtime's uncaught error mechanism.\n throw err;\n }\n });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification(value: T) {\n return createNotification('N', value, undefined) as NextNotification;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n return {\n kind,\n value,\n error,\n };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n const isRoot = !context;\n if (isRoot) {\n context = { errorThrown: false, error: null };\n }\n cb();\n if (isRoot) {\n const { errorThrown, error } = context!;\n context = null;\n if (errorThrown) {\n throw error;\n }\n }\n } else {\n // This is the general non-deprecated path for everyone that\n // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n cb();\n }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n if (config.useDeprecatedSynchronousErrorHandling && context) {\n context.errorThrown = true;\n context.error = err;\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber\n */\nexport class Subscriber extends Subscription implements Observer {\n /**\n * A static factory for a Subscriber, given a (potentially partial) definition\n * of an Observer.\n * @param next The `next` callback of an Observer.\n * @param error The `error` callback of an\n * Observer.\n * @param complete The `complete` callback of an\n * Observer.\n * @return A Subscriber wrapping the (partially defined)\n * Observer represented by the given arguments.\n * @nocollapse\n * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n * method, and there is no reason to be creating instances of `Subscriber` directly.\n * If you have a specific use case, please file an issue.\n */\n static create(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber {\n return new SafeSubscriber(next, error, complete);\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected isStopped: boolean = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected destination: Subscriber | Observer; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n */\n constructor(destination?: Subscriber | Observer) {\n super();\n if (destination) {\n this.destination = destination;\n // Automatically chain subscriptions together here.\n // if destination is a Subscription, then it is a Subscriber.\n if (isSubscription(destination)) {\n destination.add(this);\n }\n } else {\n this.destination = EMPTY_OBSERVER;\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `next` from\n * the Observable, with a value. The Observable may call this method 0 or more\n * times.\n * @param {T} [value] The `next` value.\n * @return {void}\n */\n next(value?: T): void {\n if (this.isStopped) {\n handleStoppedNotification(nextNotification(value), this);\n } else {\n this._next(value!);\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `error` from\n * the Observable, with an attached `Error`. Notifies the Observer that\n * the Observable has experienced an error condition.\n * @param {any} [err] The `error` exception.\n * @return {void}\n */\n error(err?: any): void {\n if (this.isStopped) {\n handleStoppedNotification(errorNotification(err), this);\n } else {\n this.isStopped = true;\n this._error(err);\n }\n }\n\n /**\n * The {@link Observer} callback to receive a valueless notification of type\n * `complete` from the Observable. Notifies the Observer that the Observable\n * has finished sending push-based notifications.\n * @return {void}\n */\n complete(): void {\n if (this.isStopped) {\n handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n } else {\n this.isStopped = true;\n this._complete();\n }\n }\n\n unsubscribe(): void {\n if (!this.closed) {\n this.isStopped = true;\n super.unsubscribe();\n this.destination = null!;\n }\n }\n\n protected _next(value: T): void {\n this.destination.next(value);\n }\n\n protected _error(err: any): void {\n try {\n this.destination.error(err);\n } finally {\n this.unsubscribe();\n }\n }\n\n protected _complete(): void {\n try {\n this.destination.complete();\n } finally {\n this.unsubscribe();\n }\n }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind any>(fn: Fn, thisArg: any): Fn {\n return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver implements Observer {\n constructor(private partialObserver: Partial>) {}\n\n next(value: T): void {\n const { partialObserver } = this;\n if (partialObserver.next) {\n try {\n partialObserver.next(value);\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n\n error(err: any): void {\n const { partialObserver } = this;\n if (partialObserver.error) {\n try {\n partialObserver.error(err);\n } catch (error) {\n handleUnhandledError(error);\n }\n } else {\n handleUnhandledError(err);\n }\n }\n\n complete(): void {\n const { partialObserver } = this;\n if (partialObserver.complete) {\n try {\n partialObserver.complete();\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n}\n\nexport class SafeSubscriber extends Subscriber {\n constructor(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((e?: any) => void) | null,\n complete?: (() => void) | null\n ) {\n super();\n\n let partialObserver: Partial>;\n if (isFunction(observerOrNext) || !observerOrNext) {\n // The first argument is a function, not an observer. The next\n // two arguments *could* be observers, or they could be empty.\n partialObserver = {\n next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n error: error ?? undefined,\n complete: complete ?? undefined,\n };\n } else {\n // The first argument is a partial observer.\n let context: any;\n if (this && config.useDeprecatedNextContext) {\n // This is a deprecated path that made `this.unsubscribe()` available in\n // next handler functions passed to subscribe. This only exists behind a flag\n // now, as it is *very* slow.\n context = Object.create(observerOrNext);\n context.unsubscribe = () => this.unsubscribe();\n partialObserver = {\n next: observerOrNext.next && bind(observerOrNext.next, context),\n error: observerOrNext.error && bind(observerOrNext.error, context),\n complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n };\n } else {\n // The \"normal\" path. Just use the partial observer directly.\n partialObserver = observerOrNext;\n }\n }\n\n // Wrap the partial observer to ensure it's a full observer, and\n // make sure proper error handling is accounted for.\n this.destination = new ConsumerObserver(partialObserver);\n }\n}\n\nfunction handleUnhandledError(error: any) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n captureError(error);\n } else {\n // Ideal path, we report this as an unhandled error,\n // which is thrown on a new call stack.\n reportUnhandledError(error);\n }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification, subscriber: Subscriber) {\n const { onStoppedNotification } = config;\n onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly> & { closed: true } = {\n closed: true,\n next: noop,\n error: defaultErrorHandler,\n complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n * map(i => range(i)),\n * mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity(x: T): T {\n return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe(fn1: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction, fn3: UnaryFunction): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction,\n ...fns: UnaryFunction[]\n): UnaryFunction;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on. \n */\nexport function pipe(...fns: Array>): UnaryFunction {\n return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray(fns: Array>): UnaryFunction {\n if (fns.length === 0) {\n return identity as UnaryFunction;\n }\n\n if (fns.length === 1) {\n return fns[0];\n }\n\n return function piped(input: T): R {\n return fns.reduce((prev: any, fn: UnaryFunction) => fn(prev), input as any);\n };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable\n */\nexport class Observable implements Subscribable {\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n source: Observable | undefined;\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n operator: Operator | undefined;\n\n /**\n * @constructor\n * @param {Function} subscribe the function that is called when the Observable is\n * initially subscribed to. This function is given a Subscriber, to which new values\n * can be `next`ed, or an `error` method can be called to raise an error, or\n * `complete` can be called to notify of a successful completion.\n */\n constructor(subscribe?: (this: Observable, subscriber: Subscriber) => TeardownLogic) {\n if (subscribe) {\n this._subscribe = subscribe;\n }\n }\n\n // HACK: Since TypeScript inherits static properties too, we have to\n // fight against TypeScript here so Subject can have a different static create signature\n /**\n * Creates a new Observable by calling the Observable constructor\n * @owner Observable\n * @method create\n * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n * @return {Observable} a new observable\n * @nocollapse\n * @deprecated Use `new Observable()` instead. Will be removed in v8.\n */\n static create: (...args: any[]) => any = (subscribe?: (subscriber: Subscriber) => TeardownLogic) => {\n return new Observable(subscribe);\n };\n\n /**\n * Creates a new Observable, with this Observable instance as the source, and the passed\n * operator defined as the new observable's operator.\n * @method lift\n * @param operator the operator defining the operation to take on the observable\n * @return a new observable with the Operator applied\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * If you have implemented an operator using `lift`, it is recommended that you create an\n * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n * scratch\" section here: https://rxjs.dev/guide/operators\n */\n lift(operator?: Operator): Observable {\n const observable = new Observable();\n observable.source = this;\n observable.operator = operator;\n return observable;\n }\n\n subscribe(observerOrNext?: Partial> | ((value: T) => void)): Subscription;\n /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n /**\n * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n *\n * Use it when you have all these Observables, but still nothing is happening.\n *\n * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n * might be for example a function that you passed to Observable's constructor, but most of the time it is\n * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n * the thought.\n *\n * Apart from starting the execution of an Observable, this method allows you to listen for values\n * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n * of the following ways.\n *\n * The first way is creating an object that implements {@link Observer} interface. It should have methods\n * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n * an `error` method to avoid missing thrown errors.\n *\n * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n *\n * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n * and you also handled emissions internally by using operators (e.g. using `tap`).\n *\n * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n *\n * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n * It is an Observable itself that decides when these functions will be called. For example {@link of}\n * by default emits all its values synchronously. Always check documentation for how given Observable\n * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n *\n * #### Examples\n *\n * Subscribe with an {@link guide/observer Observer}\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * const sumObserver = {\n * sum: 0,\n * next(value) {\n * console.log('Adding: ' + value);\n * this.sum = this.sum + value;\n * },\n * error() {\n * // We actually could just remove this method,\n * // since we do not really care about errors right now.\n * },\n * complete() {\n * console.log('Sum equals: ' + this.sum);\n * }\n * };\n *\n * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n * .subscribe(sumObserver);\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n *\n * ```ts\n * import { of } from 'rxjs'\n *\n * let sum = 0;\n *\n * of(1, 2, 3).subscribe(\n * value => {\n * console.log('Adding: ' + value);\n * sum = sum + value;\n * },\n * undefined,\n * () => console.log('Sum equals: ' + sum)\n * );\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Cancel a subscription\n *\n * ```ts\n * import { interval } from 'rxjs';\n *\n * const subscription = interval(1000).subscribe({\n * next(num) {\n * console.log(num)\n * },\n * complete() {\n * // Will not be called, even when cancelling subscription.\n * console.log('completed!');\n * }\n * });\n *\n * setTimeout(() => {\n * subscription.unsubscribe();\n * console.log('unsubscribed!');\n * }, 2500);\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 'unsubscribed!' after 2.5s\n * ```\n *\n * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n * Observable.\n * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n * the error will be thrown asynchronously as unhandled.\n * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n * @return {Subscription} a subscription reference to the registered handlers\n * @method subscribe\n */\n subscribe(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((error: any) => void) | null,\n complete?: (() => void) | null\n ): Subscription {\n const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n errorContext(() => {\n const { operator, source } = this;\n subscriber.add(\n operator\n ? // We're dealing with a subscription in the\n // operator chain to one of our lifted operators.\n operator.call(subscriber, source)\n : source\n ? // If `source` has a value, but `operator` does not, something that\n // had intimate knowledge of our API, like our `Subject`, must have\n // set it. We're going to just call `_subscribe` directly.\n this._subscribe(subscriber)\n : // In all other cases, we're likely wrapping a user-provided initializer\n // function, so we need to catch errors and handle them appropriately.\n this._trySubscribe(subscriber)\n );\n });\n\n return subscriber;\n }\n\n /** @internal */\n protected _trySubscribe(sink: Subscriber): TeardownLogic {\n try {\n return this._subscribe(sink);\n } catch (err) {\n // We don't need to return anything in this case,\n // because it's just going to try to `add()` to a subscription\n // above.\n sink.error(err);\n }\n }\n\n /**\n * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * #### Example\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(4));\n *\n * async function getTotal() {\n * let total = 0;\n *\n * await source$.forEach(value => {\n * total += value;\n * console.log('observable -> ' + value);\n * });\n *\n * return total;\n * }\n *\n * getTotal().then(\n * total => console.log('Total: ' + total)\n * );\n *\n * // Expected:\n * // 'observable -> 0'\n * // 'observable -> 1'\n * // 'observable -> 2'\n * // 'observable -> 3'\n * // 'Total: 6'\n * ```\n *\n * @param next a handler for each value emitted by the observable\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n */\n forEach(next: (value: T) => void): Promise;\n\n /**\n * @param next a handler for each value emitted by the observable\n * @param promiseCtor a constructor function used to instantiate the Promise\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n * @deprecated Passing a Promise constructor will no longer be available\n * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n * little benefit. If you need this functionality, it is recommended that you either\n * polyfill Promise, or you create an adapter to convert the returned native promise\n * to whatever promise implementation you wanted. Will be removed in v8.\n */\n forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise;\n\n forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n const subscriber = new SafeSubscriber({\n next: (value) => {\n try {\n next(value);\n } catch (err) {\n reject(err);\n subscriber.unsubscribe();\n }\n },\n error: reject,\n complete: resolve,\n });\n this.subscribe(subscriber);\n }) as Promise;\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): TeardownLogic {\n return this.source?.subscribe(subscriber);\n }\n\n /**\n * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n * @method Symbol.observable\n * @return {Observable} this instance of the observable\n */\n [Symbol_observable]() {\n return this;\n }\n\n /* tslint:disable:max-line-length */\n pipe(): Observable;\n pipe(op1: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction, op3: OperatorFunction): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction,\n ...operations: OperatorFunction[]\n ): Observable;\n /* tslint:enable:max-line-length */\n\n /**\n * Used to stitch together functional operators into a chain.\n * @method pipe\n * @return {Observable} the Observable result of all of the operators having\n * been called in the order they were passed in.\n *\n * ## Example\n *\n * ```ts\n * import { interval, filter, map, scan } from 'rxjs';\n *\n * interval(1000)\n * .pipe(\n * filter(x => x % 2 === 0),\n * map(x => x + x),\n * scan((acc, x) => acc + x)\n * )\n * .subscribe(x => console.log(x));\n * ```\n */\n pipe(...operations: OperatorFunction[]): Observable {\n return pipeFromArray(operations)(this);\n }\n\n /* tslint:disable:max-line-length */\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: typeof Promise): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: PromiseConstructorLike): Promise;\n /* tslint:enable:max-line-length */\n\n /**\n * Subscribe to this Observable and get a Promise resolving on\n * `complete` with the last emission (if any).\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * @method toPromise\n * @param [promiseCtor] a constructor function used to instantiate\n * the Promise\n * @return A Promise that resolves with the last value emit, or\n * rejects on an error. If there were no emissions, Promise\n * resolves with undefined.\n * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n */\n toPromise(promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n let value: T | undefined;\n this.subscribe(\n (x: T) => (value = x),\n (err: any) => reject(err),\n () => resolve(value)\n );\n }) as Promise;\n }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver(value: any): value is Observer {\n return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber(value: any): value is Subscriber {\n return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType['lift'] } {\n return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate(\n init: (liftedSource: Observable, subscriber: Subscriber) => (() => void) | void\n): OperatorFunction {\n return (source: Observable) => {\n if (hasLift(source)) {\n return source.lift(function (this: Subscriber, liftedSource: Observable) {\n try {\n return init(liftedSource, this);\n } catch (err) {\n this.error(err);\n }\n });\n }\n throw new TypeError('Unable to lift unknown Observable type');\n };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n onFinalize?: () => void\n): Subscriber {\n return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber extends Subscriber {\n /**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n */\n constructor(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n private onFinalize?: () => void,\n private shouldUnsubscribe?: () => boolean\n ) {\n // It's important - for performance reasons - that all of this class's\n // members are initialized and that they are always initialized in the same\n // order. This will ensure that all OperatorSubscriber instances have the\n // same hidden class in V8. This, in turn, will help keep the number of\n // hidden classes involved in property accesses within the base class as\n // low as possible. If the number of hidden classes involved exceeds four,\n // the property accesses will become megamorphic and performance penalties\n // will be incurred - i.e. inline caches won't be used.\n //\n // The reasons for ensuring all instances have the same hidden class are\n // further discussed in this blog post from Benedikt Meurer:\n // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n super(destination);\n this._next = onNext\n ? function (this: OperatorSubscriber, value: T) {\n try {\n onNext(value);\n } catch (err) {\n destination.error(err);\n }\n }\n : super._next;\n this._error = onError\n ? function (this: OperatorSubscriber, err: any) {\n try {\n onError(err);\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._error;\n this._complete = onComplete\n ? function (this: OperatorSubscriber) {\n try {\n onComplete();\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._complete;\n }\n\n unsubscribe() {\n if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n const { closed } = this;\n super.unsubscribe();\n // Execute additional teardown if we have any and we didn't already do so.\n !closed && this.onFinalize?.();\n }\n }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n schedule(callback: FrameRequestCallback): Subscription;\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n delegate:\n | {\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n }\n | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n schedule(callback) {\n let request = requestAnimationFrame;\n let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n const { delegate } = animationFrameProvider;\n if (delegate) {\n request = delegate.requestAnimationFrame;\n cancel = delegate.cancelAnimationFrame;\n }\n const handle = request((timestamp) => {\n // Clear the cancel function. The request has been fulfilled, so\n // attempting to cancel the request upon unsubscription would be\n // pointless.\n cancel = undefined;\n callback(timestamp);\n });\n return new Subscription(() => cancel?.(handle));\n },\n requestAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n },\n cancelAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n },\n delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n (_super) =>\n function ObjectUnsubscribedErrorImpl(this: any) {\n _super(this);\n this.name = 'ObjectUnsubscribedError';\n this.message = 'object unsubscribed';\n }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject extends Observable implements SubscriptionLike {\n closed = false;\n\n private currentObservers: Observer[] | null = null;\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n observers: Observer[] = [];\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n isStopped = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n hasError = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n thrownError: any = null;\n\n /**\n * Creates a \"subject\" by basically gluing an observer to an observable.\n *\n * @nocollapse\n * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n */\n static create: (...args: any[]) => any = (destination: Observer, source: Observable): AnonymousSubject => {\n return new AnonymousSubject(destination, source);\n };\n\n constructor() {\n // NOTE: This must be here to obscure Observable's constructor.\n super();\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n lift(operator: Operator): Observable {\n const subject = new AnonymousSubject(this, this);\n subject.operator = operator as any;\n return subject as any;\n }\n\n /** @internal */\n protected _throwIfClosed() {\n if (this.closed) {\n throw new ObjectUnsubscribedError();\n }\n }\n\n next(value: T) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n if (!this.currentObservers) {\n this.currentObservers = Array.from(this.observers);\n }\n for (const observer of this.currentObservers) {\n observer.next(value);\n }\n }\n });\n }\n\n error(err: any) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.hasError = this.isStopped = true;\n this.thrownError = err;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.error(err);\n }\n }\n });\n }\n\n complete() {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.isStopped = true;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.complete();\n }\n }\n });\n }\n\n unsubscribe() {\n this.isStopped = this.closed = true;\n this.observers = this.currentObservers = null!;\n }\n\n get observed() {\n return this.observers?.length > 0;\n }\n\n /** @internal */\n protected _trySubscribe(subscriber: Subscriber): TeardownLogic {\n this._throwIfClosed();\n return super._trySubscribe(subscriber);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._checkFinalizedStatuses(subscriber);\n return this._innerSubscribe(subscriber);\n }\n\n /** @internal */\n protected _innerSubscribe(subscriber: Subscriber) {\n const { hasError, isStopped, observers } = this;\n if (hasError || isStopped) {\n return EMPTY_SUBSCRIPTION;\n }\n this.currentObservers = null;\n observers.push(subscriber);\n return new Subscription(() => {\n this.currentObservers = null;\n arrRemove(observers, subscriber);\n });\n }\n\n /** @internal */\n protected _checkFinalizedStatuses(subscriber: Subscriber) {\n const { hasError, thrownError, isStopped } = this;\n if (hasError) {\n subscriber.error(thrownError);\n } else if (isStopped) {\n subscriber.complete();\n }\n }\n\n /**\n * Creates a new Observable with this Subject as the source. You can do this\n * to create custom Observer-side logic of the Subject and conceal it from\n * code that uses the Observable.\n * @return {Observable} Observable that the Subject casts to\n */\n asObservable(): Observable {\n const observable: any = new Observable();\n observable.source = this;\n return observable;\n }\n}\n\n/**\n * @class AnonymousSubject\n */\nexport class AnonymousSubject extends Subject {\n constructor(\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n public destination?: Observer,\n source?: Observable\n ) {\n super();\n this.source = source;\n }\n\n next(value: T) {\n this.destination?.next?.(value);\n }\n\n error(err: any) {\n this.destination?.error?.(err);\n }\n\n complete() {\n this.destination?.complete?.();\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n }\n}\n", "import { Subject } from './Subject';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\n\n/**\n * A variant of Subject that requires an initial value and emits its current\n * value whenever it is subscribed to.\n *\n * @class BehaviorSubject\n */\nexport class BehaviorSubject extends Subject {\n constructor(private _value: T) {\n super();\n }\n\n get value(): T {\n return this.getValue();\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n const subscription = super._subscribe(subscriber);\n !subscription.closed && subscriber.next(this._value);\n return subscription;\n }\n\n getValue(): T {\n const { hasError, thrownError, _value } = this;\n if (hasError) {\n throw thrownError;\n }\n this._throwIfClosed();\n return _value;\n }\n\n next(value: T): void {\n super.next((this._value = value));\n }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n now() {\n // Use the variable rather than `this` so that the function can be called\n // without being bound to the provider.\n return (dateTimestampProvider.delegate || Date).now();\n },\n delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject extends Subject {\n private _buffer: (T | number)[] = [];\n private _infiniteTimeWindow = true;\n\n /**\n * @param bufferSize The size of the buffer to replay on subscription\n * @param windowTime The amount of time the buffered items will stay buffered\n * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n * calculate the amount of time something has been buffered.\n */\n constructor(\n private _bufferSize = Infinity,\n private _windowTime = Infinity,\n private _timestampProvider: TimestampProvider = dateTimestampProvider\n ) {\n super();\n this._infiniteTimeWindow = _windowTime === Infinity;\n this._bufferSize = Math.max(1, _bufferSize);\n this._windowTime = Math.max(1, _windowTime);\n }\n\n next(value: T): void {\n const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n if (!isStopped) {\n _buffer.push(value);\n !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n }\n this._trimBuffer();\n super.next(value);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._trimBuffer();\n\n const subscription = this._innerSubscribe(subscriber);\n\n const { _infiniteTimeWindow, _buffer } = this;\n // We use a copy here, so reentrant code does not mutate our array while we're\n // emitting it to a new subscriber.\n const copy = _buffer.slice();\n for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n subscriber.next(copy[i] as T);\n }\n\n this._checkFinalizedStatuses(subscriber);\n\n return subscription;\n }\n\n private _trimBuffer() {\n const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n // If we don't have an infinite buffer size, and we're over the length,\n // use splice to truncate the old buffer values off. Note that we have to\n // double the size for instances where we're not using an infinite time window\n // because we're storing the values and the timestamps in the same array.\n const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n // Now, if we're not in an infinite time window, remove all values where the time is\n // older than what is allowed.\n if (!_infiniteTimeWindow) {\n const now = _timestampProvider.now();\n let last = 0;\n // Search the array for the first timestamp that isn't expired and\n // truncate the buffer up to that point.\n for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n last = i;\n }\n last && _buffer.splice(0, last + 1);\n }\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action extends Subscription {\n * new (scheduler: Scheduler, work: (state?: T) => void);\n * schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action\n */\nexport class Action extends Subscription {\n constructor(scheduler: Scheduler, work: (this: SchedulerAction, state?: T) => void) {\n super();\n }\n /**\n * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n * some context object, `state`. May happen at some point in the future,\n * according to the `delay` parameter, if specified.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler.\n * @return {void}\n */\n public schedule(state?: T, delay: number = 0): Subscription {\n return this;\n }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n delegate:\n | {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n }\n | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setInterval(handler: () => void, timeout?: number, ...args) {\n const { delegate } = intervalProvider;\n if (delegate?.setInterval) {\n return delegate.setInterval(handler, timeout, ...args);\n }\n return setInterval(handler, timeout, ...args);\n },\n clearInterval(handle) {\n const { delegate } = intervalProvider;\n return (delegate?.clearInterval || clearInterval)(handle as any);\n },\n delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction extends Action {\n public id: TimerHandle | undefined;\n public state?: T;\n // @ts-ignore: Property has no initializer and is not definitely assigned\n public delay: number;\n protected pending: boolean = false;\n\n constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n public schedule(state?: T, delay: number = 0): Subscription {\n if (this.closed) {\n return this;\n }\n\n // Always replace the current state with the new state.\n this.state = state;\n\n const id = this.id;\n const scheduler = this.scheduler;\n\n //\n // Important implementation note:\n //\n // Actions only execute once by default, unless rescheduled from within the\n // scheduled callback. This allows us to implement single and repeat\n // actions via the same code path, without adding API surface area, as well\n // as mimic traditional recursion but across asynchronous boundaries.\n //\n // However, JS runtimes and timers distinguish between intervals achieved by\n // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n // serial `setTimeout` calls can be individually delayed, which delays\n // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n // guarantee the interval callback will be invoked more precisely to the\n // interval period, regardless of load.\n //\n // Therefore, we use `setInterval` to schedule single and repeat actions.\n // If the action reschedules itself with the same delay, the interval is not\n // canceled. If the action doesn't reschedule, or reschedules with a\n // different delay, the interval will be canceled after scheduled callback\n // execution.\n //\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, delay);\n }\n\n // Set the pending flag indicating that this action has been scheduled, or\n // has recursively rescheduled itself.\n this.pending = true;\n\n this.delay = delay;\n // If this action has already an async Id, don't request a new one.\n this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n return this;\n }\n\n protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n }\n\n protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n // If this action is rescheduled with the same delay time, don't clear the interval id.\n if (delay != null && this.delay === delay && this.pending === false) {\n return id;\n }\n // Otherwise, if the action's delay time is different from the current delay,\n // or the action has been rescheduled before it's executed, clear the interval id\n if (id != null) {\n intervalProvider.clearInterval(id);\n }\n\n return undefined;\n }\n\n /**\n * Immediately executes this action and the `work` it contains.\n * @return {any}\n */\n public execute(state: T, delay: number): any {\n if (this.closed) {\n return new Error('executing a cancelled action');\n }\n\n this.pending = false;\n const error = this._execute(state, delay);\n if (error) {\n return error;\n } else if (this.pending === false && this.id != null) {\n // Dequeue if the action didn't reschedule itself. Don't call\n // unsubscribe(), because the action could reschedule later.\n // For example:\n // ```\n // scheduler.schedule(function doWork(counter) {\n // /* ... I'm a busy worker bee ... */\n // var originalAction = this;\n // /* wait 100ms before rescheduling the action */\n // setTimeout(function () {\n // originalAction.schedule(counter + 1);\n // }, 100);\n // }, 1000);\n // ```\n this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n }\n }\n\n protected _execute(state: T, _delay: number): any {\n let errored: boolean = false;\n let errorValue: any;\n try {\n this.work(state);\n } catch (e) {\n errored = true;\n // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n // return here, we can't have it return \"\" or 0 or false.\n // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n errorValue = e ? e : new Error('Scheduled action threw falsy error');\n }\n if (errored) {\n this.unsubscribe();\n return errorValue;\n }\n }\n\n unsubscribe() {\n if (!this.closed) {\n const { id, scheduler } = this;\n const { actions } = scheduler;\n\n this.work = this.state = this.scheduler = null!;\n this.pending = false;\n\n arrRemove(actions, this);\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, null);\n }\n\n this.delay = null!;\n super.unsubscribe();\n }\n }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n * now(): number;\n * schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n public static now: () => number = dateTimestampProvider.now;\n\n constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n this.now = now;\n }\n\n /**\n * A getter method that returns a number representing the current time\n * (at the time this function was called) according to the scheduler's own\n * internal clock.\n * @return {number} A number that represents the current time. May or may not\n * have a relation to wall-clock time. May or may not refer to a time unit\n * (e.g. milliseconds).\n */\n public now: () => number;\n\n /**\n * Schedules a function, `work`, for execution. May happen at some point in\n * the future, according to the `delay` parameter, if specified. May be passed\n * some context object, `state`, which will be passed to the `work` function.\n *\n * The given arguments will be processed an stored as an Action object in a\n * queue of actions.\n *\n * @param {function(state: ?T): ?Subscription} work A function representing a\n * task, or some unit of work to be executed by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler itself.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @return {Subscription} A subscription in order to be able to unsubscribe\n * the scheduled work.\n */\n public schedule(work: (this: SchedulerAction, state?: T) => void, delay: number = 0, state?: T): Subscription {\n return new this.schedulerActionCtor(this, work).schedule(state, delay);\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n public actions: Array> = [];\n /**\n * A flag to indicate whether the Scheduler is currently executing a batch of\n * queued actions.\n * @type {boolean}\n * @internal\n */\n public _active: boolean = false;\n /**\n * An internal ID used to track the latest asynchronous task such as those\n * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n * others.\n * @type {any}\n * @internal\n */\n public _scheduled: TimerHandle | undefined;\n\n constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n super(SchedulerAction, now);\n }\n\n public flush(action: AsyncAction): void {\n const { actions } = this;\n\n if (this._active) {\n actions.push(action);\n return;\n }\n\n let error: any;\n this._active = true;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n this._active = false;\n\n if (error) {\n while ((action = actions.shift()!)) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * Schedule task as if you used setTimeout(task, duration)\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n * console.log(state);\n * this.schedule(state + 1, 1000); // `this` references currently executing Action,\n * // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { Subscription } from '../Subscription';\nimport { QueueScheduler } from './QueueScheduler';\nimport { SchedulerAction } from '../types';\nimport { TimerHandle } from './timerHandle';\n\nexport class QueueAction extends AsyncAction {\n constructor(protected scheduler: QueueScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n public schedule(state?: T, delay: number = 0): Subscription {\n if (delay > 0) {\n return super.schedule(state, delay);\n }\n this.delay = delay;\n this.state = state;\n this.scheduler.flush(this);\n return this;\n }\n\n public execute(state: T, delay: number): any {\n return delay > 0 || this.closed ? super.execute(state, delay) : this._execute(state, delay);\n }\n\n protected requestAsyncId(scheduler: QueueScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n // If delay exists and is greater than 0, or if the delay is null (the\n // action wasn't rescheduled) but was originally scheduled as an async\n // action, then recycle as an async action.\n\n if ((delay != null && delay > 0) || (delay == null && this.delay > 0)) {\n return super.requestAsyncId(scheduler, id, delay);\n }\n\n // Otherwise flush the scheduler starting with this action.\n scheduler.flush(this);\n\n // HACK: In the past, this was returning `void`. However, `void` isn't a valid\n // `TimerHandle`, and generally the return value here isn't really used. So the\n // compromise is to return `0` which is both \"falsy\" and a valid `TimerHandle`,\n // as opposed to refactoring every other instanceo of `requestAsyncId`.\n return 0;\n }\n}\n", "import { AsyncScheduler } from './AsyncScheduler';\n\nexport class QueueScheduler extends AsyncScheduler {\n}\n", "import { QueueAction } from './QueueAction';\nimport { QueueScheduler } from './QueueScheduler';\n\n/**\n *\n * Queue Scheduler\n *\n * Put every next task on a queue, instead of executing it immediately\n *\n * `queue` scheduler, when used with delay, behaves the same as {@link asyncScheduler} scheduler.\n *\n * When used without delay, it schedules given task synchronously - executes it right when\n * it is scheduled. However when called recursively, that is when inside the scheduled task,\n * another task is scheduled with queue scheduler, instead of executing immediately as well,\n * that task will be put on a queue and wait for current one to finish.\n *\n * This means that when you execute task with `queue` scheduler, you are sure it will end\n * before any other task scheduled with that scheduler will start.\n *\n * ## Examples\n * Schedule recursively first, then do something\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(() => {\n * queueScheduler.schedule(() => console.log('second')); // will not happen now, but will be put on a queue\n *\n * console.log('first');\n * });\n *\n * // Logs:\n * // \"first\"\n * // \"second\"\n * ```\n *\n * Reschedule itself recursively\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(function(state) {\n * if (state !== 0) {\n * console.log('before', state);\n * this.schedule(state - 1); // `this` references currently executing Action,\n * // which we reschedule with new state\n * console.log('after', state);\n * }\n * }, 0, 3);\n *\n * // In scheduler that runs recursively, you would expect:\n * // \"before\", 3\n * // \"before\", 2\n * // \"before\", 1\n * // \"after\", 1\n * // \"after\", 2\n * // \"after\", 3\n *\n * // But with queue it logs:\n * // \"before\", 3\n * // \"after\", 3\n * // \"before\", 2\n * // \"after\", 2\n * // \"before\", 1\n * // \"after\", 1\n * ```\n */\n\nexport const queueScheduler = new QueueScheduler(QueueAction);\n\n/**\n * @deprecated Renamed to {@link queueScheduler}. Will be removed in v8.\n */\nexport const queue = queueScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction extends AsyncAction {\n constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n // If delay is greater than 0, request as an async action.\n if (delay !== null && delay > 0) {\n return super.requestAsyncId(scheduler, id, delay);\n }\n // Push the action to the end of the scheduler queue.\n scheduler.actions.push(this);\n // If an animation frame has already been requested, don't request another\n // one. If an animation frame hasn't been requested yet, request one. Return\n // the current animation frame request id.\n return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n }\n\n protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n // If delay exists and is greater than 0, or if the delay is null (the\n // action wasn't rescheduled) but was originally scheduled as an async\n // action, then recycle as an async action.\n if (delay != null ? delay > 0 : this.delay > 0) {\n return super.recycleAsyncId(scheduler, id, delay);\n }\n // If the scheduler queue has no remaining actions with the same async id,\n // cancel the requested animation frame and set the scheduled flag to\n // undefined so the next AnimationFrameAction will request its own.\n const { actions } = scheduler;\n if (id != null && actions[actions.length - 1]?.id !== id) {\n animationFrameProvider.cancelAnimationFrame(id as number);\n scheduler._scheduled = undefined;\n }\n // Return undefined so the action knows to request a new async id if it's rescheduled.\n return undefined;\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n public flush(action?: AsyncAction): void {\n this._active = true;\n // The async id that effects a call to flush is stored in _scheduled.\n // Before executing an action, it's necessary to check the action's async\n // id to determine whether it's supposed to be executed in the current\n // flush.\n // Previous implementations of this method used a count to determine this,\n // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n // are removed from the actions array and that can shift actions that are\n // scheduled to be executed in a subsequent flush into positions at which\n // they are executed within the current flush.\n const flushId = this._scheduled;\n this._scheduled = undefined;\n\n const { actions } = this;\n let error: any;\n action = action || actions.shift()!;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n this._active = false;\n\n if (error) {\n while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * Perform task when `window.requestAnimationFrame` would fire\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html:
\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n * div.style.height = height + \"px\";\n *\n * this.schedule(height + 1); // `this` references currently executing Action,\n * // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * Just emits 'complete', and nothing else.\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n * next: () => console.log('Next'),\n * complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n * mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n return new Observable((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last(arr: T[]): T | undefined {\n return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = ((x: any): x is ArrayLike => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike {\n return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable {\n return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable(obj: any): obj is AsyncIterable {\n return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n // TODO: We should create error codes that can be looked up, so this can be less verbose.\n return new TypeError(\n `You provided ${\n input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n );\n}\n", "export function getSymbolIterator(): symbol {\n if (typeof Symbol !== 'function' || !Symbol.iterator) {\n return '@@iterator' as any;\n }\n\n return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable {\n return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator(readableStream: ReadableStreamLike): AsyncGenerator {\n const reader = readableStream.getReader();\n try {\n while (true) {\n const { value, done } = await reader.read();\n if (done) {\n return;\n }\n yield value!;\n }\n } finally {\n reader.releaseLock();\n }\n}\n\nexport function isReadableStreamLike(obj: any): obj is ReadableStreamLike {\n // We don't want to use instanceof checks because they would return\n // false for instances from another Realm, like an