diff options
Diffstat (limited to 'book')
52 files changed, 2060 insertions, 3801 deletions
diff --git a/book/.gitignore b/book/.gitignore new file mode 100644 index 0000000..79339e2 --- /dev/null +++ b/book/.gitignore @@ -0,0 +1,2 @@ +# Make sure that mdbook output in repo-root/book/<language>/book is ignored +*/book diff --git a/book/en/book.toml b/book/en/book.toml index 98c5bf3..8a89eeb 100644 --- a/book/en/book.toml +++ b/book/en/book.toml @@ -1,9 +1,22 @@ [book] -authors = ["Jorge Aparicio, Per Lindgren and The Real-Time Interrupt-driven Concurrency developers"] +authors = [ + "The Real-Time Interrupt-driven Concurrency developers", + "Emil Fresk <emil.fresk@gmail.com>", + "Henrik Tjäder <henrik@tjaders.com>", + "Jorge Aparicio <jorge@japaric.io>", + "Per Lindgren <per.lindgren@ltu.se>", +] multilingual = false src = "src" title = "Real-Time Interrupt-driven Concurrency" +[build] +create-missing = false + +[preprocessor.mermaid] +command = "mdbook-mermaid" + [output.html] -git-repository-url = "https://github.com/rtic-rs/cortex-m-rtic" +git-repository-url = "https://github.com/rtic-rs/rtic" git-repository-icon = "fa-github" +additional-js = ["mermaid.min.js", "mermaid-init.js"] diff --git a/book/en/mermaid-init.js b/book/en/mermaid-init.js new file mode 100644 index 0000000..313a6e8 --- /dev/null +++ b/book/en/mermaid-init.js @@ -0,0 +1 @@ +mermaid.initialize({startOnLoad:true}); diff --git a/book/en/mermaid.min.js b/book/en/mermaid.min.js new file mode 100644 index 0000000..8c7ea4e --- /dev/null +++ b/book/en/mermaid.min.js @@ -0,0 +1,1282 @@ +/* MIT Licensed. Copyright (c) 2014 - 2022 Knut Sveidqvist */ +/* For license information please see https://github.com/mermaid-js/mermaid/blob/v9.2.2/LICENSE */ +(function(jr,wn){typeof exports=="object"&&typeof module<"u"?module.exports=wn():typeof define=="function"&&define.amd?define(wn):(jr=typeof globalThis<"u"?globalThis:jr||self,jr.mermaid=wn())})(this,function(){"use strict";var Ost=Object.defineProperty;var Fst=(jr,wn,fn)=>wn in jr?Ost(jr,wn,{enumerable:!0,configurable:!0,writable:!0,value:fn}):jr[wn]=fn;var vl=(jr,wn,fn)=>(Fst(jr,typeof wn!="symbol"?wn+"":wn,fn),fn);var jr=typeof globalThis<"u"?globalThis:typeof window<"u"?window:typeof global<"u"?global:typeof self<"u"?self:{};function wn(t){var e=t.default;if(typeof e=="function"){var r=function(){return e.apply(this,arguments)};r.prototype=e.prototype}else r={};return Object.defineProperty(r,"__esModule",{value:!0}),Object.keys(t).forEach(function(n){var i=Object.getOwnPropertyDescriptor(t,n);Object.defineProperty(r,n,i.get?i:{enumerable:!0,get:function(){return t[n]}})}),r}function fn(t){throw new Error('Could not dynamically require "'+t+'". 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N=Wd(4,ko,4,Xr,Av);T=A*h,f=Pr*A,p=f-(f-A),m=A-p,f=Pr*h,_=f-(f-h),y=h-_,C=m*y-(T-p*_-m*_-p*y),M=v*u,f=Pr*v,p=f-(f-v),m=v-p,f=Pr*u,_=f-(f-u),y=u-_,S=m*y-(M-p*_-m*_-p*y),b=C-S,d=C-b,Xr[0]=C-(b+d)+(d-S),x=T+b,d=x-T,k=T-(x-d)+(b-d),b=k-M,d=k-b,Xr[1]=k-(b+d)+(d-M),R=x+b,d=R-x,Xr[2]=x-(R-d)+(b-d),Xr[3]=R;const z=Wd(N,Av,4,Xr,Mv);T=o*h,f=Pr*o,p=f-(f-o),m=o-p,f=Pr*h,_=f-(f-h),y=h-_,C=m*y-(T-p*_-m*_-p*y),M=l*u,f=Pr*l,p=f-(f-l),m=l-p,f=Pr*u,_=f-(f-u),y=u-_,S=m*y-(M-p*_-m*_-p*y),b=C-S,d=C-b,Xr[0]=C-(b+d)+(d-S),x=T+b,d=x-T,k=T-(x-d)+(b-d),b=k-M,d=k-b,Xr[1]=k-(b+d)+(d-M),R=x+b,d=R-x,Xr[2]=x-(R-d)+(b-d),Xr[3]=R;const X=Wd(z,Mv,4,Xr,Lv);return Lv[X-1]}function oh(t,e,r,n,i,a){const s=(e-a)*(r-i),o=(t-i)*(n-a),l=s-o;if(s===0||o===0||s>0!=o>0)return l;const u=Math.abs(s+o);return Math.abs(l)>=CF*u?l:-MF(t,e,r,n,i,a,u)}const Rv=Math.pow(2,-52),lh=new Uint32Array(512);class ch{static from(e,r=BF,n=DF){const i=e.length,a=new Float64Array(i*2);for(let s=0;s<i;s++){const o=e[s];a[2*s]=r(o),a[2*s+1]=n(o)}return new ch(a)}constructor(e){const r=e.length>>1;if(r>0&&typeof e[0]!="number")throw new Error("Expected coords to contain numbers.");this.coords=e;const n=Math.max(2*r-5,0);this._triangles=new Uint32Array(n*3),this._halfedges=new Int32Array(n*3),this._hashSize=Math.ceil(Math.sqrt(r)),this._hullPrev=new Uint32Array(r),this._hullNext=new Uint32Array(r),this._hullTri=new Uint32Array(r),this._hullHash=new Int32Array(this._hashSize).fill(-1),this._ids=new Uint32Array(r),this._dists=new Float64Array(r),this.update()}update(){const{coords:e,_hullPrev:r,_hullNext:n,_hullTri:i,_hullHash:a}=this,s=e.length>>1;let o=1/0,l=1/0,u=-1/0,h=-1/0;for(let L=0;L<s;L++){const v=e[2*L],B=e[2*L+1];v<o&&(o=v),B<l&&(l=B),v>u&&(u=v),B>h&&(h=B),this._ids[L]=L}const d=(o+u)/2,f=(l+h)/2;let p=1/0,m,_,y;for(let L=0;L<s;L++){const v=Hd(d,f,e[2*L],e[2*L+1]);v<p&&(m=L,p=v)}const b=e[2*m],x=e[2*m+1];p=1/0;for(let L=0;L<s;L++){if(L===m)continue;const v=Hd(b,x,e[2*L],e[2*L+1]);v<p&&v>0&&(_=L,p=v)}let k=e[2*_],T=e[2*_+1],C=1/0;for(let L=0;L<s;L++){if(L===m||L===_)continue;const v=IF(b,x,k,T,e[2*L],e[2*L+1]);v<C&&(y=L,C=v)}let M=e[2*y],S=e[2*y+1];if(C===1/0){for(let B=0;B<s;B++)this._dists[B]=e[2*B]-e[0]||e[2*B+1]-e[1];wo(this._ids,this._dists,0,s-1);const L=new Uint32Array(s);let v=0;for(let B=0,w=-1/0;B<s;B++){const D=this._ids[B];this._dists[D]>w&&(L[v++]=D,w=this._dists[D])}this.hull=L.subarray(0,v),this.triangles=new Uint32Array(0),this.halfedges=new Uint32Array(0);return}if(oh(b,x,k,T,M,S)<0){const L=_,v=k,B=T;_=y,k=M,T=S,y=L,M=v,S=B}const R=NF(b,x,k,T,M,S);this._cx=R.x,this._cy=R.y;for(let L=0;L<s;L++)this._dists[L]=Hd(e[2*L],e[2*L+1],R.x,R.y);wo(this._ids,this._dists,0,s-1),this._hullStart=m;let A=3;n[m]=r[y]=_,n[_]=r[m]=y,n[y]=r[_]=m,i[m]=0,i[_]=1,i[y]=2,a.fill(-1),a[this._hashKey(b,x)]=m,a[this._hashKey(k,T)]=_,a[this._hashKey(M,S)]=y,this.trianglesLen=0,this._addTriangle(m,_,y,-1,-1,-1);for(let L=0,v,B;L<this._ids.length;L++){const w=this._ids[L],D=e[2*w],N=e[2*w+1];if(L>0&&Math.abs(D-v)<=Rv&&Math.abs(N-B)<=Rv||(v=D,B=N,w===m||w===_||w===y))continue;let z=0;for(let $=0,lt=this._hashKey(D,N);$<this._hashSize&&(z=a[(lt+$)%this._hashSize],!(z!==-1&&z!==n[z]));$++);z=r[z];let X=z,ct;for(;ct=n[X],oh(D,N,e[2*X],e[2*X+1],e[2*ct],e[2*ct+1])>=0;)if(X=ct,X===z){X=-1;break}if(X===-1)continue;let J=this._addTriangle(X,w,n[X],-1,-1,i[X]);i[w]=this._legalize(J+2),i[X]=J,A++;let Y=n[X];for(;ct=n[Y],oh(D,N,e[2*Y],e[2*Y+1],e[2*ct],e[2*ct+1])<0;)J=this._addTriangle(Y,w,ct,i[w],-1,i[Y]),i[w]=this._legalize(J+2),n[Y]=Y,A--,Y=ct;if(X===z)for(;ct=r[X],oh(D,N,e[2*ct],e[2*ct+1],e[2*X],e[2*X+1])<0;)J=this._addTriangle(ct,w,X,-1,i[X],i[ct]),this._legalize(J+2),i[ct]=J,n[X]=X,A--,X=ct;this._hullStart=r[w]=X,n[X]=r[Y]=w,n[w]=Y,a[this._hashKey(D,N)]=w,a[this._hashKey(e[2*X],e[2*X+1])]=X}this.hull=new Uint32Array(A);for(let L=0,v=this._hullStart;L<A;L++)this.hull[L]=v,v=n[v];this.triangles=this._triangles.subarray(0,this.trianglesLen),this.halfedges=this._halfedges.subarray(0,this.trianglesLen)}_hashKey(e,r){return Math.floor(LF(e-this._cx,r-this._cy)*this._hashSize)%this._hashSize}_legalize(e){const{_triangles:r,_halfedges:n,coords:i}=this;let a=0,s=0;for(;;){const o=n[e],l=e-e%3;if(s=l+(e+2)%3,o===-1){if(a===0)break;e=lh[--a];continue}const u=o-o%3,h=l+(e+1)%3,d=u+(o+2)%3,f=r[s],p=r[e],m=r[h],_=r[d];if(RF(i[2*f],i[2*f+1],i[2*p],i[2*p+1],i[2*m],i[2*m+1],i[2*_],i[2*_+1])){r[e]=_,r[o]=f;const b=n[d];if(b===-1){let k=this._hullStart;do{if(this._hullTri[k]===d){this._hullTri[k]=e;break}k=this._hullPrev[k]}while(k!==this._hullStart)}this._link(e,b),this._link(o,n[s]),this._link(s,d);const x=u+(o+1)%3;a<lh.length&&(lh[a++]=x)}else{if(a===0)break;e=lh[--a]}}return s}_link(e,r){this._halfedges[e]=r,r!==-1&&(this._halfedges[r]=e)}_addTriangle(e,r,n,i,a,s){const o=this.trianglesLen;return this._triangles[o]=e,this._triangles[o+1]=r,this._triangles[o+2]=n,this._link(o,i),this._link(o+1,a),this._link(o+2,s),this.trianglesLen+=3,o}}function LF(t,e){const r=t/(Math.abs(t)+Math.abs(e));return(e>0?3-r:1+r)/4}function Hd(t,e,r,n){const i=t-r,a=e-n;return i*i+a*a}function RF(t,e,r,n,i,a,s,o){const l=t-s,u=e-o,h=r-s,d=n-o,f=i-s,p=a-o,m=l*l+u*u,_=h*h+d*d,y=f*f+p*p;return l*(d*y-_*p)-u*(h*y-_*f)+m*(h*p-d*f)<0}function IF(t,e,r,n,i,a){const s=r-t,o=n-e,l=i-t,u=a-e,h=s*s+o*o,d=l*l+u*u,f=.5/(s*u-o*l),p=(u*h-o*d)*f,m=(s*d-l*h)*f;return p*p+m*m}function NF(t,e,r,n,i,a){const s=r-t,o=n-e,l=i-t,u=a-e,h=s*s+o*o,d=l*l+u*u,f=.5/(s*u-o*l),p=t+(u*h-o*d)*f,m=e+(s*d-l*h)*f;return{x:p,y:m}}function wo(t,e,r,n){if(n-r<=20)for(let i=r+1;i<=n;i++){const a=t[i],s=e[a];let o=i-1;for(;o>=r&&e[t[o]]>s;)t[o+1]=t[o--];t[o+1]=a}else{const i=r+n>>1;let a=r+1,s=n;Ul(t,i,a),e[t[r]]>e[t[n]]&&Ul(t,r,n),e[t[a]]>e[t[n]]&&Ul(t,a,n),e[t[r]]>e[t[a]]&&Ul(t,r,a);const o=t[a],l=e[o];for(;;){do a++;while(e[t[a]]<l);do s--;while(e[t[s]]>l);if(s<a)break;Ul(t,a,s)}t[r+1]=t[s],t[s]=o,n-a+1>=s-r?(wo(t,e,a,n),wo(t,e,r,s-1)):(wo(t,e,r,s-1),wo(t,e,a,n))}}function Ul(t,e,r){const n=t[e];t[e]=t[r],t[r]=n}function BF(t){return t[0]}function DF(t){return t[1]}const Iv=1e-6;class ws{constructor(){this._x0=this._y0=this._x1=this._y1=null,this._=""}moveTo(e,r){this._+=`M${this._x0=this._x1=+e},${this._y0=this._y1=+r}`}closePath(){this._x1!==null&&(this._x1=this._x0,this._y1=this._y0,this._+="Z")}lineTo(e,r){this._+=`L${this._x1=+e},${this._y1=+r}`}arc(e,r,n){e=+e,r=+r,n=+n;const i=e+n,a=r;if(n<0)throw new Error("negative radius");this._x1===null?this._+=`M${i},${a}`:(Math.abs(this._x1-i)>Iv||Math.abs(this._y1-a)>Iv)&&(this._+="L"+i+","+a),n&&(this._+=`A${n},${n},0,1,1,${e-n},${r}A${n},${n},0,1,1,${this._x1=i},${this._y1=a}`)}rect(e,r,n,i){this._+=`M${this._x0=this._x1=+e},${this._y0=this._y1=+r}h${+n}v${+i}h${-n}Z`}value(){return this._||null}}class Gd{constructor(){this._=[]}moveTo(e,r){this._.push([e,r])}closePath(){this._.push(this._[0].slice())}lineTo(e,r){this._.push([e,r])}value(){return this._.length?this._:null}}class Nv{constructor(e,[r,n,i,a]=[0,0,960,500]){if(!((i=+i)>=(r=+r))||!((a=+a)>=(n=+n)))throw new Error("invalid bounds");this.delaunay=e,this._circumcenters=new Float64Array(e.points.length*2),this.vectors=new Float64Array(e.points.length*2),this.xmax=i,this.xmin=r,this.ymax=a,this.ymin=n,this._init()}update(){return this.delaunay.update(),this._init(),this}_init(){const{delaunay:{points:e,hull:r,triangles:n},vectors:i}=this,a=this.circumcenters=this._circumcenters.subarray(0,n.length/3*2);for(let p=0,m=0,_=n.length,y,b;p<_;p+=3,m+=2){const x=n[p]*2,k=n[p+1]*2,T=n[p+2]*2,C=e[x],M=e[x+1],S=e[k],R=e[k+1],A=e[T],L=e[T+1],v=S-C,B=R-M,w=A-C,D=L-M,N=(v*D-B*w)*2;if(Math.abs(N)<1e-9){let z=1e9;const X=n[0]*2;z*=Math.sign((e[X]-C)*D-(e[X+1]-M)*w),y=(C+A)/2-z*D,b=(M+L)/2+z*w}else{const z=1/N,X=v*v+B*B,ct=w*w+D*D;y=C+(D*X-B*ct)*z,b=M+(v*ct-w*X)*z}a[m]=y,a[m+1]=b}let s=r[r.length-1],o,l=s*4,u,h=e[2*s],d,f=e[2*s+1];i.fill(0);for(let p=0;p<r.length;++p)s=r[p],o=l,u=h,d=f,l=s*4,h=e[2*s],f=e[2*s+1],i[o+2]=i[l]=d-f,i[o+3]=i[l+1]=h-u}render(e){const r=e==null?e=new ws:void 0,{delaunay:{halfedges:n,inedges:i,hull:a},circumcenters:s,vectors:o}=this;if(a.length<=1)return null;for(let h=0,d=n.length;h<d;++h){const f=n[h];if(f<h)continue;const p=Math.floor(h/3)*2,m=Math.floor(f/3)*2,_=s[p],y=s[p+1],b=s[m],x=s[m+1];this._renderSegment(_,y,b,x,e)}let l,u=a[a.length-1];for(let h=0;h<a.length;++h){l=u,u=a[h];const d=Math.floor(i[u]/3)*2,f=s[d],p=s[d+1],m=l*4,_=this._project(f,p,o[m+2],o[m+3]);_&&this._renderSegment(f,p,_[0],_[1],e)}return r&&r.value()}renderBounds(e){const r=e==null?e=new ws:void 0;return e.rect(this.xmin,this.ymin,this.xmax-this.xmin,this.ymax-this.ymin),r&&r.value()}renderCell(e,r){const n=r==null?r=new ws:void 0,i=this._clip(e);if(i===null||!i.length)return;r.moveTo(i[0],i[1]);let a=i.length;for(;i[0]===i[a-2]&&i[1]===i[a-1]&&a>1;)a-=2;for(let s=2;s<a;s+=2)(i[s]!==i[s-2]||i[s+1]!==i[s-1])&&r.lineTo(i[s],i[s+1]);return r.closePath(),n&&n.value()}*cellPolygons(){const{delaunay:{points:e}}=this;for(let r=0,n=e.length/2;r<n;++r){const i=this.cellPolygon(r);i&&(i.index=r,yield i)}}cellPolygon(e){const r=new Gd;return this.renderCell(e,r),r.value()}_renderSegment(e,r,n,i,a){let s;const o=this._regioncode(e,r),l=this._regioncode(n,i);o===0&&l===0?(a.moveTo(e,r),a.lineTo(n,i)):(s=this._clipSegment(e,r,n,i,o,l))&&(a.moveTo(s[0],s[1]),a.lineTo(s[2],s[3]))}contains(e,r,n){return r=+r,r!==r||(n=+n,n!==n)?!1:this.delaunay._step(e,r,n)===e}*neighbors(e){const r=this._clip(e);if(r)for(const n of this.delaunay.neighbors(e)){const i=this._clip(n);if(i){t:for(let a=0,s=r.length;a<s;a+=2)for(let o=0,l=i.length;o<l;o+=2)if(r[a]==i[o]&&r[a+1]==i[o+1]&&r[(a+2)%s]==i[(o+l-2)%l]&&r[(a+3)%s]==i[(o+l-1)%l]){yield 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Array(3).concat("ef8a62f7f7f767a9cf","ca0020f4a58292c5de0571b0","ca0020f4a582f7f7f792c5de0571b0","b2182bef8a62fddbc7d1e5f067a9cf2166ac","b2182bef8a62fddbc7f7f7f7d1e5f067a9cf2166ac","b2182bd6604df4a582fddbc7d1e5f092c5de4393c32166ac","b2182bd6604df4a582fddbc7f7f7f7d1e5f092c5de4393c32166ac","67001fb2182bd6604df4a582fddbc7d1e5f092c5de4393c32166ac053061","67001fb2182bd6604df4a582fddbc7f7f7f7d1e5f092c5de4393c32166ac053061").map(Ee);const GU=We(o7);var l7=new Array(3).concat("ef8a62ffffff999999","ca0020f4a582bababa404040","ca0020f4a582ffffffbababa404040","b2182bef8a62fddbc7e0e0e09999994d4d4d","b2182bef8a62fddbc7ffffffe0e0e09999994d4d4d","b2182bd6604df4a582fddbc7e0e0e0bababa8787874d4d4d","b2182bd6604df4a582fddbc7ffffffe0e0e0bababa8787874d4d4d","67001fb2182bd6604df4a582fddbc7e0e0e0bababa8787874d4d4d1a1a1a","67001fb2182bd6604df4a582fddbc7ffffffe0e0e0bababa8787874d4d4d1a1a1a").map(Ee);const jU=We(l7);var c7=new Array(3).concat("fc8d59ffffbf91bfdb","d7191cfdae61abd9e92c7bb6","d7191cfdae61ffffbfabd9e92c7bb6","d73027fc8d59fee090e0f3f891bfdb4575b4","d73027fc8d59fee090ffffbfe0f3f891bfdb4575b4","d73027f46d43fdae61fee090e0f3f8abd9e974add14575b4","d73027f46d43fdae61fee090ffffbfe0f3f8abd9e974add14575b4","a50026d73027f46d43fdae61fee090e0f3f8abd9e974add14575b4313695","a50026d73027f46d43fdae61fee090ffffbfe0f3f8abd9e974add14575b4313695").map(Ee);const $U=We(c7);var u7=new Array(3).concat("fc8d59ffffbf91cf60","d7191cfdae61a6d96a1a9641","d7191cfdae61ffffbfa6d96a1a9641","d73027fc8d59fee08bd9ef8b91cf601a9850","d73027fc8d59fee08bffffbfd9ef8b91cf601a9850","d73027f46d43fdae61fee08bd9ef8ba6d96a66bd631a9850","d73027f46d43fdae61fee08bffffbfd9ef8ba6d96a66bd631a9850","a50026d73027f46d43fdae61fee08bd9ef8ba6d96a66bd631a9850006837","a50026d73027f46d43fdae61fee08bffffbfd9ef8ba6d96a66bd631a9850006837").map(Ee);const XU=We(u7);var h7=new Array(3).concat("fc8d59ffffbf99d594","d7191cfdae61abdda42b83ba","d7191cfdae61ffffbfabdda42b83ba","d53e4ffc8d59fee08be6f59899d5943288bd","d53e4ffc8d59fee08bffffbfe6f59899d5943288bd","d53e4ff46d43fdae61fee08be6f598abdda466c2a53288bd","d53e4ff46d43fdae61fee08bffffbfe6f598abdda466c2a53288bd","9e0142d53e4ff46d43fdae61fee08be6f598abdda466c2a53288bd5e4fa2","9e0142d53e4ff46d43fdae61fee08bffffbfe6f598abdda466c2a53288bd5e4fa2").map(Ee);const KU=We(h7);var f7=new Array(3).concat("e5f5f999d8c92ca25f","edf8fbb2e2e266c2a4238b45","edf8fbb2e2e266c2a42ca25f006d2c","edf8fbccece699d8c966c2a42ca25f006d2c","edf8fbccece699d8c966c2a441ae76238b45005824","f7fcfde5f5f9ccece699d8c966c2a441ae76238b45005824","f7fcfde5f5f9ccece699d8c966c2a441ae76238b45006d2c00441b").map(Ee);const ZU=We(f7);var d7=new Array(3).concat("e0ecf49ebcda8856a7","edf8fbb3cde38c96c688419d","edf8fbb3cde38c96c68856a7810f7c","edf8fbbfd3e69ebcda8c96c68856a7810f7c","edf8fbbfd3e69ebcda8c96c68c6bb188419d6e016b","f7fcfde0ecf4bfd3e69ebcda8c96c68c6bb188419d6e016b","f7fcfde0ecf4bfd3e69ebcda8c96c68c6bb188419d810f7c4d004b").map(Ee);const QU=We(d7);var p7=new Array(3).concat("e0f3dba8ddb543a2ca","f0f9e8bae4bc7bccc42b8cbe","f0f9e8bae4bc7bccc443a2ca0868ac","f0f9e8ccebc5a8ddb57bccc443a2ca0868ac","f0f9e8ccebc5a8ddb57bccc44eb3d32b8cbe08589e","f7fcf0e0f3dbccebc5a8ddb57bccc44eb3d32b8cbe08589e","f7fcf0e0f3dbccebc5a8ddb57bccc44eb3d32b8cbe0868ac084081").map(Ee);const JU=We(p7);var g7=new Array(3).concat("fee8c8fdbb84e34a33","fef0d9fdcc8afc8d59d7301f","fef0d9fdcc8afc8d59e34a33b30000","fef0d9fdd49efdbb84fc8d59e34a33b30000","fef0d9fdd49efdbb84fc8d59ef6548d7301f990000","fff7ecfee8c8fdd49efdbb84fc8d59ef6548d7301f990000","fff7ecfee8c8fdd49efdbb84fc8d59ef6548d7301fb300007f0000").map(Ee);const tW=We(g7);var y7=new 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Array(3).concat("e5f5e0a1d99b31a354","edf8e9bae4b374c476238b45","edf8e9bae4b374c47631a354006d2c","edf8e9c7e9c0a1d99b74c47631a354006d2c","edf8e9c7e9c0a1d99b74c47641ab5d238b45005a32","f7fcf5e5f5e0c7e9c0a1d99b74c47641ab5d238b45005a32","f7fcf5e5f5e0c7e9c0a1d99b74c47641ab5d238b45006d2c00441b").map(Ee);const uW=We(E7);var C7=new Array(3).concat("f0f0f0bdbdbd636363","f7f7f7cccccc969696525252","f7f7f7cccccc969696636363252525","f7f7f7d9d9d9bdbdbd969696636363252525","f7f7f7d9d9d9bdbdbd969696737373525252252525","fffffff0f0f0d9d9d9bdbdbd969696737373525252252525","fffffff0f0f0d9d9d9bdbdbd969696737373525252252525000000").map(Ee);const hW=We(C7);var S7=new Array(3).concat("efedf5bcbddc756bb1","f2f0f7cbc9e29e9ac86a51a3","f2f0f7cbc9e29e9ac8756bb154278f","f2f0f7dadaebbcbddc9e9ac8756bb154278f","f2f0f7dadaebbcbddc9e9ac8807dba6a51a34a1486","fcfbfdefedf5dadaebbcbddc9e9ac8807dba6a51a34a1486","fcfbfdefedf5dadaebbcbddc9e9ac8807dba6a51a354278f3f007d").map(Ee);const fW=We(S7);var A7=new Array(3).concat("fee0d2fc9272de2d26","fee5d9fcae91fb6a4acb181d","fee5d9fcae91fb6a4ade2d26a50f15","fee5d9fcbba1fc9272fb6a4ade2d26a50f15","fee5d9fcbba1fc9272fb6a4aef3b2ccb181d99000d","fff5f0fee0d2fcbba1fc9272fb6a4aef3b2ccb181d99000d","fff5f0fee0d2fcbba1fc9272fb6a4aef3b2ccb181da50f1567000d").map(Ee);const dW=We(A7);var M7=new Array(3).concat("fee6cefdae6be6550d","feeddefdbe85fd8d3cd94701","feeddefdbe85fd8d3ce6550da63603","feeddefdd0a2fdae6bfd8d3ce6550da63603","feeddefdd0a2fdae6bfd8d3cf16913d948018c2d04","fff5ebfee6cefdd0a2fdae6bfd8d3cf16913d948018c2d04","fff5ebfee6cefdd0a2fdae6bfd8d3cf16913d94801a636037f2704").map(Ee);const pW=We(M7);function gW(t){return t=Math.max(0,Math.min(1,t)),"rgb("+Math.max(0,Math.min(255,Math.round(-4.54-t*(35.34-t*(2381.73-t*(6402.7-t*(7024.72-t*2710.57)))))))+", "+Math.max(0,Math.min(255,Math.round(32.49+t*(170.73+t*(52.82-t*(131.46-t*(176.58-t*67.37)))))))+", 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r=t.match(Df.re);if(!r)return;const[,n,i,a,s,o]=r;return Bf.set({h:Df._hue2deg(n),s:ke.channel.clamp.s(parseFloat(i)),l:ke.channel.clamp.l(parseFloat(a)),a:s?ke.channel.clamp.a(o?parseFloat(s)/100:parseFloat(s)):1},t)},stringify:t=>{const{h:e,s:r,l:n,a:i}=t;return i<1?`hsla(${ke.lang.round(e)}, ${ke.lang.round(r)}%, ${ke.lang.round(n)}%, ${i})`:`hsl(${ke.lang.round(e)}, ${ke.lang.round(r)}%, 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${ke.lang.round(n)})`}},Pf=Wk,ia={format:{keyword:Uk,hex:Cc,rgb:Pf,rgba:Pf,hsl:Of,hsla:Of},parse:t=>{if(typeof t!="string")return t;const e=Cc.parse(t)||Pf.parse(t)||Of.parse(t)||Uk.parse(t);if(e)return e;throw new Error(`Unsupported color format: "${t}"`)},stringify:t=>!t.changed&&t.color?t.color:t.type.is(zr.HSL)||t.data.r===void 0?Of.stringify(t):t.a<1||!Number.isInteger(t.r)||!Number.isInteger(t.g)||!Number.isInteger(t.b)?Pf.stringify(t):Cc.stringify(t)},Hk=(t,e)=>{const r=ia.parse(t);for(const n in e)r[n]=ke.channel.clamp[n](e[n]);return ia.stringify(r)},Sc=(t,e,r=0,n=1)=>{if(typeof t!="number")return Hk(t,{a:e});const i=Bf.set({r:ke.channel.clamp.r(t),g:ke.channel.clamp.g(e),b:ke.channel.clamp.b(r),a:ke.channel.clamp.a(n)});return ia.stringify(i)},Gk=(t,e,r)=>{const n=ia.parse(t),i=n[e],a=ke.channel.clamp[e](i+r);return i!==a&&(n[e]=a),ia.stringify(n)},ae=(t,e)=>Gk(t,"l",e),ge=(t,e)=>Gk(t,"l",-e),_t=(t,e)=>{const r=ia.parse(t),n={};for(const i in e)!e[i]||(n[i]=r[i]+e[i]);return Hk(t,n)},uG=(t,e,r=50)=>{const{r:n,g:i,b:a,a:s}=ia.parse(t),{r:o,g:l,b:u,a:h}=ia.parse(e),d=r/100,f=d*2-1,p=s-h,_=((f*p===-1?f:(f+p)/(1+f*p))+1)/2,y=1-_,b=n*_+o*y,x=i*_+l*y,k=a*_+u*y,T=s*d+h*(1-d);return Sc(b,x,k,T)},Yt=(t,e=100)=>{const r=ia.parse(t);return r.r=255-r.r,r.g=255-r.g,r.b=255-r.b,uG(r,t,e)},ln=(t,e)=>e?_t(t,{s:-40,l:10}):_t(t,{s:-40,l:-10}),qf="#ffffff",Vf="#f2f2f2";class hG{constructor(){this.background="#f4f4f4",this.darkMode=!1,this.primaryColor="#fff4dd",this.noteBkgColor="#fff5ad",this.noteTextColor="#333",this.THEME_COLOR_LIMIT=12,this.fontFamily='"trebuchet ms", verdana, arial, sans-serif',this.fontSize="16px"}updateColors(){if(this.primaryTextColor=this.primaryTextColor||(this.darkMode?"#eee":"#333"),this.secondaryColor=this.secondaryColor||_t(this.primaryColor,{h:-120}),this.tertiaryColor=this.tertiaryColor||_t(this.primaryColor,{h:180,l:5}),this.primaryBorderColor=this.primaryBorderColor||ln(this.primaryColor,this.darkMode),this.secondaryBorderColor=this.secondaryBorderColor||ln(this.secondaryColor,this.darkMode),this.tertiaryBorderColor=this.tertiaryBorderColor||ln(this.tertiaryColor,this.darkMode),this.noteBorderColor=this.noteBorderColor||ln(this.noteBkgColor,this.darkMode),this.noteBkgColor=this.noteBkgColor||"#fff5ad",this.noteTextColor=this.noteTextColor||"#333",this.secondaryTextColor=this.secondaryTextColor||Yt(this.secondaryColor),this.tertiaryTextColor=this.tertiaryTextColor||Yt(this.tertiaryColor),this.lineColor=this.lineColor||Yt(this.background),this.textColor=this.textColor||this.primaryTextColor,this.nodeBkg=this.nodeBkg||this.primaryColor,this.mainBkg=this.mainBkg||this.primaryColor,this.nodeBorder=this.nodeBorder||this.primaryBorderColor,this.clusterBkg=this.clusterBkg||this.tertiaryColor,this.clusterBorder=this.clusterBorder||this.tertiaryBorderColor,this.defaultLinkColor=this.defaultLinkColor||this.lineColor,this.titleColor=this.titleColor||this.tertiaryTextColor,this.edgeLabelBackground=this.edgeLabelBackground||(this.darkMode?ge(this.secondaryColor,30):this.secondaryColor),this.nodeTextColor=this.nodeTextColor||this.primaryTextColor,this.actorBorder=this.actorBorder||this.primaryBorderColor,this.actorBkg=this.actorBkg||this.mainBkg,this.actorTextColor=this.actorTextColor||this.primaryTextColor,this.actorLineColor=this.actorLineColor||"grey",this.labelBoxBkgColor=this.labelBoxBkgColor||this.actorBkg,this.signalColor=this.signalColor||this.textColor,this.signalTextColor=this.signalTextColor||this.textColor,this.labelBoxBorderColor=this.labelBoxBorderColor||this.actorBorder,this.labelTextColor=this.labelTextColor||this.actorTextColor,this.loopTextColor=this.loopTextColor||this.actorTextColor,this.activationBorderColor=this.activationBorderColor||ge(this.secondaryColor,10),this.activationBkgColor=this.activationBkgColor||this.secondaryColor,this.sequenceNumberColor=this.sequenceNumberColor||Yt(this.lineColor),this.sectionBkgColor=this.sectionBkgColor||this.tertiaryColor,this.altSectionBkgColor=this.altSectionBkgColor||"white",this.sectionBkgColor=this.sectionBkgColor||this.secondaryColor,this.sectionBkgColor2=this.sectionBkgColor2||this.primaryColor,this.excludeBkgColor=this.excludeBkgColor||"#eeeeee",this.taskBorderColor=this.taskBorderColor||this.primaryBorderColor,this.taskBkgColor=this.taskBkgColor||this.primaryColor,this.activeTaskBorderColor=this.activeTaskBorderColor||this.primaryColor,this.activeTaskBkgColor=this.activeTaskBkgColor||ae(this.primaryColor,23),this.gridColor=this.gridColor||"lightgrey",this.doneTaskBkgColor=this.doneTaskBkgColor||"lightgrey",this.doneTaskBorderColor=this.doneTaskBorderColor||"grey",this.critBorderColor=this.critBorderColor||"#ff8888",this.critBkgColor=this.critBkgColor||"red",this.todayLineColor=this.todayLineColor||"red",this.taskTextColor=this.taskTextColor||this.textColor,this.taskTextOutsideColor=this.taskTextOutsideColor||this.textColor,this.taskTextLightColor=this.taskTextLightColor||this.textColor,this.taskTextColor=this.taskTextColor||this.primaryTextColor,this.taskTextDarkColor=this.taskTextDarkColor||this.textColor,this.taskTextClickableColor=this.taskTextClickableColor||"#003163",this.personBorder=this.personBorder||this.primaryBorderColor,this.personBkg=this.personBkg||this.mainBkg,this.transitionColor=this.transitionColor||this.lineColor,this.transitionLabelColor=this.transitionLabelColor||this.textColor,this.stateLabelColor=this.stateLabelColor||this.stateBkg||this.primaryTextColor,this.stateBkg=this.stateBkg||this.mainBkg,this.labelBackgroundColor=this.labelBackgroundColor||this.stateBkg,this.compositeBackground=this.compositeBackground||this.background||this.tertiaryColor,this.altBackground=this.altBackground||this.tertiaryColor,this.compositeTitleBackground=this.compositeTitleBackground||this.mainBkg,this.compositeBorder=this.compositeBorder||this.nodeBorder,this.innerEndBackground=this.nodeBorder,this.errorBkgColor=this.errorBkgColor||this.tertiaryColor,this.errorTextColor=this.errorTextColor||this.tertiaryTextColor,this.transitionColor=this.transitionColor||this.lineColor,this.specialStateColor=this.lineColor,this.cScale0=this.cScale0||this.primaryColor,this.cScale1=this.cScale1||this.secondaryColor,this.cScale2=this.cScale2||this.tertiaryColor,this.cScale3=this.cScale3||_t(this.primaryColor,{h:30}),this.cScale4=this.cScale4||_t(this.primaryColor,{h:60}),this.cScale5=this.cScale5||_t(this.primaryColor,{h:90}),this.cScale6=this.cScale6||_t(this.primaryColor,{h:120}),this.cScale7=this.cScale7||_t(this.primaryColor,{h:150}),this.cScale8=this.cScale8||_t(this.primaryColor,{h:210,l:150}),this.cScale9=this.cScale9||_t(this.primaryColor,{h:270}),this.cScale10=this.cScale10||_t(this.primaryColor,{h:300}),this.cScale11=this.cScale11||_t(this.primaryColor,{h:330}),this.darkMode)for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScale"+e]=ge(this["cScale"+e],75);else for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScale"+e]=ge(this["cScale"+e],25);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleInv"+e]=this["cScaleInv"+e]||Yt(this["cScale"+e]);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this.darkMode?this["cScalePeer"+e]=this["cScalePeer"+e]||ae(this["cScale"+e],10):this["cScalePeer"+e]=this["cScalePeer"+e]||ge(this["cScale"+e],10);this.scaleLabelColor=this.scaleLabelColor||this.labelTextColor;for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleLabel"+e]=this["cScaleLabel"+e]||this.scaleLabelColor;this.classText=this.classText||this.textColor,this.fillType0=this.fillType0||this.primaryColor,this.fillType1=this.fillType1||this.secondaryColor,this.fillType2=this.fillType2||_t(this.primaryColor,{h:64}),this.fillType3=this.fillType3||_t(this.secondaryColor,{h:64}),this.fillType4=this.fillType4||_t(this.primaryColor,{h:-64}),this.fillType5=this.fillType5||_t(this.secondaryColor,{h:-64}),this.fillType6=this.fillType6||_t(this.primaryColor,{h:128}),this.fillType7=this.fillType7||_t(this.secondaryColor,{h:128}),this.pie1=this.pie1||this.primaryColor,this.pie2=this.pie2||this.secondaryColor,this.pie3=this.pie3||this.tertiaryColor,this.pie4=this.pie4||_t(this.primaryColor,{l:-10}),this.pie5=this.pie5||_t(this.secondaryColor,{l:-10}),this.pie6=this.pie6||_t(this.tertiaryColor,{l:-10}),this.pie7=this.pie7||_t(this.primaryColor,{h:60,l:-10}),this.pie8=this.pie8||_t(this.primaryColor,{h:-60,l:-10}),this.pie9=this.pie9||_t(this.primaryColor,{h:120,l:0}),this.pie10=this.pie10||_t(this.primaryColor,{h:60,l:-20}),this.pie11=this.pie11||_t(this.primaryColor,{h:-60,l:-20}),this.pie12=this.pie12||_t(this.primaryColor,{h:120,l:-10}),this.pieTitleTextSize=this.pieTitleTextSize||"25px",this.pieTitleTextColor=this.pieTitleTextColor||this.taskTextDarkColor,this.pieSectionTextSize=this.pieSectionTextSize||"17px",this.pieSectionTextColor=this.pieSectionTextColor||this.textColor,this.pieLegendTextSize=this.pieLegendTextSize||"17px",this.pieLegendTextColor=this.pieLegendTextColor||this.taskTextDarkColor,this.pieStrokeColor=this.pieStrokeColor||"black",this.pieStrokeWidth=this.pieStrokeWidth||"2px",this.pieOpacity=this.pieOpacity||"0.7",this.requirementBackground=this.requirementBackground||this.primaryColor,this.requirementBorderColor=this.requirementBorderColor||this.primaryBorderColor,this.requirementBorderSize=this.requirementBorderSize||this.primaryBorderColor,this.requirementTextColor=this.requirementTextColor||this.primaryTextColor,this.relationColor=this.relationColor||this.lineColor,this.relationLabelBackground=this.relationLabelBackground||(this.darkMode?ge(this.secondaryColor,30):this.secondaryColor),this.relationLabelColor=this.relationLabelColor||this.actorTextColor,this.git0=this.git0||this.primaryColor,this.git1=this.git1||this.secondaryColor,this.git2=this.git2||this.tertiaryColor,this.git3=this.git3||_t(this.primaryColor,{h:-30}),this.git4=this.git4||_t(this.primaryColor,{h:-60}),this.git5=this.git5||_t(this.primaryColor,{h:-90}),this.git6=this.git6||_t(this.primaryColor,{h:60}),this.git7=this.git7||_t(this.primaryColor,{h:120}),this.darkMode?(this.git0=ae(this.git0,25),this.git1=ae(this.git1,25),this.git2=ae(this.git2,25),this.git3=ae(this.git3,25),this.git4=ae(this.git4,25),this.git5=ae(this.git5,25),this.git6=ae(this.git6,25),this.git7=ae(this.git7,25)):(this.git0=ge(this.git0,25),this.git1=ge(this.git1,25),this.git2=ge(this.git2,25),this.git3=ge(this.git3,25),this.git4=ge(this.git4,25),this.git5=ge(this.git5,25),this.git6=ge(this.git6,25),this.git7=ge(this.git7,25)),this.gitInv0=this.gitInv0||Yt(this.git0),this.gitInv1=this.gitInv1||Yt(this.git1),this.gitInv2=this.gitInv2||Yt(this.git2),this.gitInv3=this.gitInv3||Yt(this.git3),this.gitInv4=this.gitInv4||Yt(this.git4),this.gitInv5=this.gitInv5||Yt(this.git5),this.gitInv6=this.gitInv6||Yt(this.git6),this.gitInv7=this.gitInv7||Yt(this.git7),this.branchLabelColor=this.branchLabelColor||(this.darkMode?"black":this.labelTextColor),this.gitBranchLabel0=this.gitBranchLabel0||this.branchLabelColor,this.gitBranchLabel1=this.gitBranchLabel1||this.branchLabelColor,this.gitBranchLabel2=this.gitBranchLabel2||this.branchLabelColor,this.gitBranchLabel3=this.gitBranchLabel3||this.branchLabelColor,this.gitBranchLabel4=this.gitBranchLabel4||this.branchLabelColor,this.gitBranchLabel5=this.gitBranchLabel5||this.branchLabelColor,this.gitBranchLabel6=this.gitBranchLabel6||this.branchLabelColor,this.gitBranchLabel7=this.gitBranchLabel7||this.branchLabelColor,this.tagLabelColor=this.tagLabelColor||this.primaryTextColor,this.tagLabelBackground=this.tagLabelBackground||this.primaryColor,this.tagLabelBorder=this.tagBorder||this.primaryBorderColor,this.tagLabelFontSize=this.tagLabelFontSize||"10px",this.commitLabelColor=this.commitLabelColor||this.secondaryTextColor,this.commitLabelBackground=this.commitLabelBackground||this.secondaryColor,this.commitLabelFontSize=this.commitLabelFontSize||"10px",this.attributeBackgroundColorOdd=this.attributeBackgroundColorOdd||qf,this.attributeBackgroundColorEven=this.attributeBackgroundColorEven||Vf}calculate(e){if(typeof e!="object"){this.updateColors();return}const r=Object.keys(e);r.forEach(n=>{this[n]=e[n]}),this.updateColors(),r.forEach(n=>{this[n]=e[n]})}}const fG=t=>{const e=new hG;return e.calculate(t),e};class dG{constructor(){this.background="#333",this.primaryColor="#1f2020",this.secondaryColor=ae(this.primaryColor,16),this.tertiaryColor=_t(this.primaryColor,{h:-160}),this.primaryBorderColor=Yt(this.background),this.secondaryBorderColor=ln(this.secondaryColor,this.darkMode),this.tertiaryBorderColor=ln(this.tertiaryColor,this.darkMode),this.primaryTextColor=Yt(this.primaryColor),this.secondaryTextColor=Yt(this.secondaryColor),this.tertiaryTextColor=Yt(this.tertiaryColor),this.lineColor=Yt(this.background),this.textColor=Yt(this.background),this.mainBkg="#1f2020",this.secondBkg="calculated",this.mainContrastColor="lightgrey",this.darkTextColor=ae(Yt("#323D47"),10),this.lineColor="calculated",this.border1="#81B1DB",this.border2=Sc(255,255,255,.25),this.arrowheadColor="calculated",this.fontFamily='"trebuchet ms", verdana, arial, sans-serif',this.fontSize="16px",this.labelBackground="#181818",this.textColor="#ccc",this.THEME_COLOR_LIMIT=12,this.nodeBkg="calculated",this.nodeBorder="calculated",this.clusterBkg="calculated",this.clusterBorder="calculated",this.defaultLinkColor="calculated",this.titleColor="#F9FFFE",this.edgeLabelBackground="calculated",this.actorBorder="calculated",this.actorBkg="calculated",this.actorTextColor="calculated",this.actorLineColor="calculated",this.signalColor="calculated",this.signalTextColor="calculated",this.labelBoxBkgColor="calculated",this.labelBoxBorderColor="calculated",this.labelTextColor="calculated",this.loopTextColor="calculated",this.noteBorderColor="calculated",this.noteBkgColor="#fff5ad",this.noteTextColor="calculated",this.activationBorderColor="calculated",this.activationBkgColor="calculated",this.sequenceNumberColor="black",this.sectionBkgColor=ge("#EAE8D9",30),this.altSectionBkgColor="calculated",this.sectionBkgColor2="#EAE8D9",this.taskBorderColor=Sc(255,255,255,70),this.taskBkgColor="calculated",this.taskTextColor="calculated",this.taskTextLightColor="calculated",this.taskTextOutsideColor="calculated",this.taskTextClickableColor="#003163",this.activeTaskBorderColor=Sc(255,255,255,50),this.activeTaskBkgColor="#81B1DB",this.gridColor="calculated",this.doneTaskBkgColor="calculated",this.doneTaskBorderColor="grey",this.critBorderColor="#E83737",this.critBkgColor="#E83737",this.taskTextDarkColor="calculated",this.todayLineColor="#DB5757",this.personBorder="calculated",this.personBkg="calculated",this.labelColor="calculated",this.errorBkgColor="#a44141",this.errorTextColor="#ddd"}updateColors(){this.secondBkg=ae(this.mainBkg,16),this.lineColor=this.mainContrastColor,this.arrowheadColor=this.mainContrastColor,this.nodeBkg=this.mainBkg,this.nodeBorder=this.border1,this.clusterBkg=this.secondBkg,this.clusterBorder=this.border2,this.defaultLinkColor=this.lineColor,this.edgeLabelBackground=ae(this.labelBackground,25),this.actorBorder=this.border1,this.actorBkg=this.mainBkg,this.actorTextColor=this.mainContrastColor,this.actorLineColor=this.mainContrastColor,this.signalColor=this.mainContrastColor,this.signalTextColor=this.mainContrastColor,this.labelBoxBkgColor=this.actorBkg,this.labelBoxBorderColor=this.actorBorder,this.labelTextColor=this.mainContrastColor,this.loopTextColor=this.mainContrastColor,this.noteBorderColor=this.secondaryBorderColor,this.noteBkgColor=this.secondBkg,this.noteTextColor=this.secondaryTextColor,this.activationBorderColor=this.border1,this.activationBkgColor=this.secondBkg,this.altSectionBkgColor=this.background,this.taskBkgColor=ae(this.mainBkg,23),this.taskTextColor=this.darkTextColor,this.taskTextLightColor=this.mainContrastColor,this.taskTextOutsideColor=this.taskTextLightColor,this.gridColor=this.mainContrastColor,this.doneTaskBkgColor=this.mainContrastColor,this.taskTextDarkColor=this.darkTextColor,this.transitionColor=this.transitionColor||this.lineColor,this.transitionLabelColor=this.transitionLabelColor||this.textColor,this.stateLabelColor=this.stateLabelColor||this.stateBkg||this.primaryTextColor,this.stateBkg=this.stateBkg||this.mainBkg,this.labelBackgroundColor=this.labelBackgroundColor||this.stateBkg,this.compositeBackground=this.compositeBackground||this.background||this.tertiaryColor,this.altBackground=this.altBackground||"#555",this.compositeTitleBackground=this.compositeTitleBackground||this.mainBkg,this.compositeBorder=this.compositeBorder||this.nodeBorder,this.innerEndBackground=this.primaryBorderColor,this.specialStateColor="#f4f4f4",this.errorBkgColor=this.errorBkgColor||this.tertiaryColor,this.errorTextColor=this.errorTextColor||this.tertiaryTextColor,this.fillType0=this.primaryColor,this.fillType1=this.secondaryColor,this.fillType2=_t(this.primaryColor,{h:64}),this.fillType3=_t(this.secondaryColor,{h:64}),this.fillType4=_t(this.primaryColor,{h:-64}),this.fillType5=_t(this.secondaryColor,{h:-64}),this.fillType6=_t(this.primaryColor,{h:128}),this.fillType7=_t(this.secondaryColor,{h:128}),this.cScale1=this.cScale1||"#0b0000",this.cScale2=this.cScale2||"#4d1037",this.cScale3=this.cScale3||"#3f5258",this.cScale4=this.cScale4||"#4f2f1b",this.cScale5=this.cScale5||"#6e0a0a",this.cScale6=this.cScale6||"#3b0048",this.cScale7=this.cScale7||"#995a01",this.cScale8=this.cScale8||"#154706",this.cScale9=this.cScale9||"#161722",this.cScale10=this.cScale10||"#00296f",this.cScale11=this.cScale11||"#01629c",this.cScale12=this.cScale12||"#010029",this.cScale0=this.cScale0||this.primaryColor,this.cScale1=this.cScale1||this.secondaryColor,this.cScale2=this.cScale2||this.tertiaryColor,this.cScale3=this.cScale3||_t(this.primaryColor,{h:30}),this.cScale4=this.cScale4||_t(this.primaryColor,{h:60}),this.cScale5=this.cScale5||_t(this.primaryColor,{h:90}),this.cScale6=this.cScale6||_t(this.primaryColor,{h:120}),this.cScale7=this.cScale7||_t(this.primaryColor,{h:150}),this.cScale8=this.cScale8||_t(this.primaryColor,{h:210}),this.cScale9=this.cScale9||_t(this.primaryColor,{h:270}),this.cScale10=this.cScale10||_t(this.primaryColor,{h:300}),this.cScale11=this.cScale11||_t(this.primaryColor,{h:330});for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleInv"+e]=this["cScaleInv"+e]||Yt(this["cScale"+e]);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScalePeer"+e]=this["cScalePeer"+e]||ae(this["cScale"+e],10);this.scaleLabelColor=this.scaleLabelColor||(this.darkMode?"black":this.labelTextColor);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleLabel"+e]=this["cScaleLabel"+e]||this.scaleLabelColor;for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["pie"+e]=this["cScale"+e];this.pieTitleTextSize=this.pieTitleTextSize||"25px",this.pieTitleTextColor=this.pieTitleTextColor||this.taskTextDarkColor,this.pieSectionTextSize=this.pieSectionTextSize||"17px",this.pieSectionTextColor=this.pieSectionTextColor||this.textColor,this.pieLegendTextSize=this.pieLegendTextSize||"17px",this.pieLegendTextColor=this.pieLegendTextColor||this.taskTextDarkColor,this.pieStrokeColor=this.pieStrokeColor||"black",this.pieStrokeWidth=this.pieStrokeWidth||"2px",this.pieOpacity=this.pieOpacity||"0.7",this.classText=this.primaryTextColor,this.requirementBackground=this.requirementBackground||this.primaryColor,this.requirementBorderColor=this.requirementBorderColor||this.primaryBorderColor,this.requirementBorderSize=this.requirementBorderSize||this.primaryBorderColor,this.requirementTextColor=this.requirementTextColor||this.primaryTextColor,this.relationColor=this.relationColor||this.lineColor,this.relationLabelBackground=this.relationLabelBackground||(this.darkMode?ge(this.secondaryColor,30):this.secondaryColor),this.relationLabelColor=this.relationLabelColor||this.actorTextColor,this.git0=ae(this.secondaryColor,20),this.git1=ae(this.pie2||this.secondaryColor,20),this.git2=ae(this.pie3||this.tertiaryColor,20),this.git3=ae(this.pie4||_t(this.primaryColor,{h:-30}),20),this.git4=ae(this.pie5||_t(this.primaryColor,{h:-60}),20),this.git5=ae(this.pie6||_t(this.primaryColor,{h:-90}),10),this.git6=ae(this.pie7||_t(this.primaryColor,{h:60}),10),this.git7=ae(this.pie8||_t(this.primaryColor,{h:120}),20),this.gitInv0=this.gitInv0||Yt(this.git0),this.gitInv1=this.gitInv1||Yt(this.git1),this.gitInv2=this.gitInv2||Yt(this.git2),this.gitInv3=this.gitInv3||Yt(this.git3),this.gitInv4=this.gitInv4||Yt(this.git4),this.gitInv5=this.gitInv5||Yt(this.git5),this.gitInv6=this.gitInv6||Yt(this.git6),this.gitInv7=this.gitInv7||Yt(this.git7),this.tagLabelColor=this.tagLabelColor||this.primaryTextColor,this.tagLabelBackground=this.tagLabelBackground||this.primaryColor,this.tagLabelBorder=this.tagBorder||this.primaryBorderColor,this.tagLabelFontSize=this.tagLabelFontSize||"10px",this.commitLabelColor=this.commitLabelColor||this.secondaryTextColor,this.commitLabelBackground=this.commitLabelBackground||this.secondaryColor,this.commitLabelFontSize=this.commitLabelFontSize||"10px",this.attributeBackgroundColorOdd=this.attributeBackgroundColorOdd||ae(this.background,12),this.attributeBackgroundColorEven=this.attributeBackgroundColorEven||ae(this.background,2)}calculate(e){if(typeof e!="object"){this.updateColors();return}const r=Object.keys(e);r.forEach(n=>{this[n]=e[n]}),this.updateColors(),r.forEach(n=>{this[n]=e[n]})}}const pG=t=>{const e=new dG;return e.calculate(t),e};class gG{constructor(){this.background="#f4f4f4",this.primaryColor="#ECECFF",this.secondaryColor=_t(this.primaryColor,{h:120}),this.secondaryColor="#ffffde",this.tertiaryColor=_t(this.primaryColor,{h:-160}),this.primaryBorderColor=ln(this.primaryColor,this.darkMode),this.secondaryBorderColor=ln(this.secondaryColor,this.darkMode),this.tertiaryBorderColor=ln(this.tertiaryColor,this.darkMode),this.primaryTextColor=Yt(this.primaryColor),this.secondaryTextColor=Yt(this.secondaryColor),this.tertiaryTextColor=Yt(this.tertiaryColor),this.lineColor=Yt(this.background),this.textColor=Yt(this.background),this.background="white",this.mainBkg="#ECECFF",this.secondBkg="#ffffde",this.lineColor="#333333",this.border1="#9370DB",this.border2="#aaaa33",this.arrowheadColor="#333333",this.fontFamily='"trebuchet ms", verdana, arial, sans-serif',this.fontSize="16px",this.labelBackground="#e8e8e8",this.textColor="#333",this.THEME_COLOR_LIMIT=12,this.nodeBkg="calculated",this.nodeBorder="calculated",this.clusterBkg="calculated",this.clusterBorder="calculated",this.defaultLinkColor="calculated",this.titleColor="calculated",this.edgeLabelBackground="calculated",this.actorBorder="calculated",this.actorBkg="calculated",this.actorTextColor="black",this.actorLineColor="grey",this.signalColor="calculated",this.signalTextColor="calculated",this.labelBoxBkgColor="calculated",this.labelBoxBorderColor="calculated",this.labelTextColor="calculated",this.loopTextColor="calculated",this.noteBorderColor="calculated",this.noteBkgColor="#fff5ad",this.noteTextColor="calculated",this.activationBorderColor="#666",this.activationBkgColor="#f4f4f4",this.sequenceNumberColor="white",this.sectionBkgColor="calculated",this.altSectionBkgColor="calculated",this.sectionBkgColor2="calculated",this.excludeBkgColor="#eeeeee",this.taskBorderColor="calculated",this.taskBkgColor="calculated",this.taskTextLightColor="calculated",this.taskTextColor=this.taskTextLightColor,this.taskTextDarkColor="calculated",this.taskTextOutsideColor=this.taskTextDarkColor,this.taskTextClickableColor="calculated",this.activeTaskBorderColor="calculated",this.activeTaskBkgColor="calculated",this.gridColor="calculated",this.doneTaskBkgColor="calculated",this.doneTaskBorderColor="calculated",this.critBorderColor="calculated",this.critBkgColor="calculated",this.todayLineColor="calculated",this.sectionBkgColor=Sc(102,102,255,.49),this.altSectionBkgColor="white",this.sectionBkgColor2="#fff400",this.taskBorderColor="#534fbc",this.taskBkgColor="#8a90dd",this.taskTextLightColor="white",this.taskTextColor="calculated",this.taskTextDarkColor="black",this.taskTextOutsideColor="calculated",this.taskTextClickableColor="#003163",this.activeTaskBorderColor="#534fbc",this.activeTaskBkgColor="#bfc7ff",this.gridColor="lightgrey",this.doneTaskBkgColor="lightgrey",this.doneTaskBorderColor="grey",this.critBorderColor="#ff8888",this.critBkgColor="red",this.todayLineColor="red",this.personBorder="calculated",this.personBkg="calculated",this.labelColor="black",this.errorBkgColor="#552222",this.errorTextColor="#552222",this.updateColors()}updateColors(){this.cScale0=this.cScale0||this.primaryColor,this.cScale1=this.cScale1||this.secondaryColor,this.cScale2=this.cScale2||this.tertiaryColor,this.cScale3=this.cScale3||_t(this.primaryColor,{h:30}),this.cScale4=this.cScale4||_t(this.primaryColor,{h:60}),this.cScale5=this.cScale5||_t(this.primaryColor,{h:90}),this.cScale6=this.cScale6||_t(this.primaryColor,{h:120}),this.cScale7=this.cScale7||_t(this.primaryColor,{h:150}),this.cScale8=this.cScale8||_t(this.primaryColor,{h:210}),this.cScale9=this.cScale9||_t(this.primaryColor,{h:270}),this.cScale10=this.cScale10||_t(this.primaryColor,{h:300}),this.cScale11=this.cScale11||_t(this.primaryColor,{h:330}),this["cScalePeer"+1]=this["cScalePeer"+1]||ge(this.secondaryColor,45),this["cScalePeer"+2]=this["cScalePeer"+2]||ge(this.tertiaryColor,40);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScale"+e]=ge(this["cScale"+e],10),this["cScalePeer"+e]=this["cScalePeer"+e]||ge(this["cScale"+e],25);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleInv"+e]=this["cScaleInv"+e]||_t(this["cScale"+e],{h:180});if(this.scaleLabelColor=this.scaleLabelColor!=="calculated"&&this.scaleLabelColor?this.scaleLabelColor:this.labelTextColor,this.labelTextColor!=="calculated"){this.cScaleLabel0=this.cScaleLabel0||Yt(this.labelTextColor),this.cScaleLabel3=this.cScaleLabel3||Yt(this.labelTextColor);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleLabel"+e]=this["cScaleLabel"+e]||this.labelTextColor}this.nodeBkg=this.mainBkg,this.nodeBorder=this.border1,this.clusterBkg=this.secondBkg,this.clusterBorder=this.border2,this.defaultLinkColor=this.lineColor,this.titleColor=this.textColor,this.edgeLabelBackground=this.labelBackground,this.actorBorder=ae(this.border1,23),this.actorBkg=this.mainBkg,this.labelBoxBkgColor=this.actorBkg,this.signalColor=this.textColor,this.signalTextColor=this.textColor,this.labelBoxBorderColor=this.actorBorder,this.labelTextColor=this.actorTextColor,this.loopTextColor=this.actorTextColor,this.noteBorderColor=this.border2,this.noteTextColor=this.actorTextColor,this.taskTextColor=this.taskTextLightColor,this.taskTextOutsideColor=this.taskTextDarkColor,this.transitionColor=this.transitionColor||this.lineColor,this.transitionLabelColor=this.transitionLabelColor||this.textColor,this.stateLabelColor=this.stateLabelColor||this.stateBkg||this.primaryTextColor,this.stateBkg=this.stateBkg||this.mainBkg,this.labelBackgroundColor=this.labelBackgroundColor||this.stateBkg,this.compositeBackground=this.compositeBackground||this.background||this.tertiaryColor,this.altBackground=this.altBackground||"#f0f0f0",this.compositeTitleBackground=this.compositeTitleBackground||this.mainBkg,this.compositeBorder=this.compositeBorder||this.nodeBorder,this.innerEndBackground=this.nodeBorder,this.specialStateColor=this.lineColor,this.errorBkgColor=this.errorBkgColor||this.tertiaryColor,this.errorTextColor=this.errorTextColor||this.tertiaryTextColor,this.transitionColor=this.transitionColor||this.lineColor,this.classText=this.primaryTextColor,this.fillType0=this.primaryColor,this.fillType1=this.secondaryColor,this.fillType2=_t(this.primaryColor,{h:64}),this.fillType3=_t(this.secondaryColor,{h:64}),this.fillType4=_t(this.primaryColor,{h:-64}),this.fillType5=_t(this.secondaryColor,{h:-64}),this.fillType6=_t(this.primaryColor,{h:128}),this.fillType7=_t(this.secondaryColor,{h:128}),this.pie1=this.pie1||this.primaryColor,this.pie2=this.pie2||this.secondaryColor,this.pie3=this.pie3||_t(this.tertiaryColor,{l:-40}),this.pie4=this.pie4||_t(this.primaryColor,{l:-10}),this.pie5=this.pie5||_t(this.secondaryColor,{l:-30}),this.pie6=this.pie6||_t(this.tertiaryColor,{l:-20}),this.pie7=this.pie7||_t(this.primaryColor,{h:60,l:-20}),this.pie8=this.pie8||_t(this.primaryColor,{h:-60,l:-40}),this.pie9=this.pie9||_t(this.primaryColor,{h:120,l:-40}),this.pie10=this.pie10||_t(this.primaryColor,{h:60,l:-40}),this.pie11=this.pie11||_t(this.primaryColor,{h:-90,l:-40}),this.pie12=this.pie12||_t(this.primaryColor,{h:120,l:-30}),this.pieTitleTextSize=this.pieTitleTextSize||"25px",this.pieTitleTextColor=this.pieTitleTextColor||this.taskTextDarkColor,this.pieSectionTextSize=this.pieSectionTextSize||"17px",this.pieSectionTextColor=this.pieSectionTextColor||this.textColor,this.pieLegendTextSize=this.pieLegendTextSize||"17px",this.pieLegendTextColor=this.pieLegendTextColor||this.taskTextDarkColor,this.pieStrokeColor=this.pieStrokeColor||"black",this.pieStrokeWidth=this.pieStrokeWidth||"2px",this.pieOpacity=this.pieOpacity||"0.7",this.requirementBackground=this.requirementBackground||this.primaryColor,this.requirementBorderColor=this.requirementBorderColor||this.primaryBorderColor,this.requirementBorderSize=this.requirementBorderSize||this.primaryBorderColor,this.requirementTextColor=this.requirementTextColor||this.primaryTextColor,this.relationColor=this.relationColor||this.lineColor,this.relationLabelBackground=this.relationLabelBackground||this.labelBackground,this.relationLabelColor=this.relationLabelColor||this.actorTextColor,this.git0=this.git0||this.primaryColor,this.git1=this.git1||this.secondaryColor,this.git2=this.git2||this.tertiaryColor,this.git3=this.git3||_t(this.primaryColor,{h:-30}),this.git4=this.git4||_t(this.primaryColor,{h:-60}),this.git5=this.git5||_t(this.primaryColor,{h:-90}),this.git6=this.git6||_t(this.primaryColor,{h:60}),this.git7=this.git7||_t(this.primaryColor,{h:120}),this.darkMode?(this.git0=ae(this.git0,25),this.git1=ae(this.git1,25),this.git2=ae(this.git2,25),this.git3=ae(this.git3,25),this.git4=ae(this.git4,25),this.git5=ae(this.git5,25),this.git6=ae(this.git6,25),this.git7=ae(this.git7,25)):(this.git0=ge(this.git0,25),this.git1=ge(this.git1,25),this.git2=ge(this.git2,25),this.git3=ge(this.git3,25),this.git4=ge(this.git4,25),this.git5=ge(this.git5,25),this.git6=ge(this.git6,25),this.git7=ge(this.git7,25)),this.gitInv0=this.gitInv0||ge(Yt(this.git0),25),this.gitInv1=this.gitInv1||Yt(this.git1),this.gitInv2=this.gitInv2||Yt(this.git2),this.gitInv3=this.gitInv3||Yt(this.git3),this.gitInv4=this.gitInv4||Yt(this.git4),this.gitInv5=this.gitInv5||Yt(this.git5),this.gitInv6=this.gitInv6||Yt(this.git6),this.gitInv7=this.gitInv7||Yt(this.git7),this.gitBranchLabel0=this.gitBranchLabel0||Yt(this.labelTextColor),this.gitBranchLabel1=this.gitBranchLabel1||this.labelTextColor,this.gitBranchLabel2=this.gitBranchLabel2||this.labelTextColor,this.gitBranchLabel3=this.gitBranchLabel3||Yt(this.labelTextColor),this.gitBranchLabel4=this.gitBranchLabel4||this.labelTextColor,this.gitBranchLabel5=this.gitBranchLabel5||this.labelTextColor,this.gitBranchLabel6=this.gitBranchLabel6||this.labelTextColor,this.gitBranchLabel7=this.gitBranchLabel7||this.labelTextColor,this.tagLabelColor=this.tagLabelColor||this.primaryTextColor,this.tagLabelBackground=this.tagLabelBackground||this.primaryColor,this.tagLabelBorder=this.tagBorder||this.primaryBorderColor,this.tagLabelFontSize=this.tagLabelFontSize||"10px",this.commitLabelColor=this.commitLabelColor||this.secondaryTextColor,this.commitLabelBackground=this.commitLabelBackground||this.secondaryColor,this.commitLabelFontSize=this.commitLabelFontSize||"10px",this.attributeBackgroundColorOdd=this.attributeBackgroundColorOdd||qf,this.attributeBackgroundColorEven=this.attributeBackgroundColorEven||Vf}calculate(e){if(typeof e!="object"){this.updateColors();return}const r=Object.keys(e);r.forEach(n=>{this[n]=e[n]}),this.updateColors(),r.forEach(n=>{this[n]=e[n]})}}const yG=t=>{const e=new gG;return e.calculate(t),e};class mG{constructor(){this.background="#f4f4f4",this.primaryColor="#cde498",this.secondaryColor="#cdffb2",this.background="white",this.mainBkg="#cde498",this.secondBkg="#cdffb2",this.lineColor="green",this.border1="#13540c",this.border2="#6eaa49",this.arrowheadColor="green",this.fontFamily='"trebuchet ms", verdana, arial, sans-serif',this.fontSize="16px",this.tertiaryColor=ae("#cde498",10),this.primaryBorderColor=ln(this.primaryColor,this.darkMode),this.secondaryBorderColor=ln(this.secondaryColor,this.darkMode),this.tertiaryBorderColor=ln(this.tertiaryColor,this.darkMode),this.primaryTextColor=Yt(this.primaryColor),this.secondaryTextColor=Yt(this.secondaryColor),this.tertiaryTextColor=Yt(this.primaryColor),this.lineColor=Yt(this.background),this.textColor=Yt(this.background),this.THEME_COLOR_LIMIT=12,this.nodeBkg="calculated",this.nodeBorder="calculated",this.clusterBkg="calculated",this.clusterBorder="calculated",this.defaultLinkColor="calculated",this.titleColor="#333",this.edgeLabelBackground="#e8e8e8",this.actorBorder="calculated",this.actorBkg="calculated",this.actorTextColor="black",this.actorLineColor="grey",this.signalColor="#333",this.signalTextColor="#333",this.labelBoxBkgColor="calculated",this.labelBoxBorderColor="#326932",this.labelTextColor="calculated",this.loopTextColor="calculated",this.noteBorderColor="calculated",this.noteBkgColor="#fff5ad",this.noteTextColor="calculated",this.activationBorderColor="#666",this.activationBkgColor="#f4f4f4",this.sequenceNumberColor="white",this.sectionBkgColor="#6eaa49",this.altSectionBkgColor="white",this.sectionBkgColor2="#6eaa49",this.excludeBkgColor="#eeeeee",this.taskBorderColor="calculated",this.taskBkgColor="#487e3a",this.taskTextLightColor="white",this.taskTextColor="calculated",this.taskTextDarkColor="black",this.taskTextOutsideColor="calculated",this.taskTextClickableColor="#003163",this.activeTaskBorderColor="calculated",this.activeTaskBkgColor="calculated",this.gridColor="lightgrey",this.doneTaskBkgColor="lightgrey",this.doneTaskBorderColor="grey",this.critBorderColor="#ff8888",this.critBkgColor="red",this.todayLineColor="red",this.personBorder="calculated",this.personBkg="calculated",this.labelColor="black",this.errorBkgColor="#552222",this.errorTextColor="#552222"}updateColors(){this.cScale0=this.cScale0||this.primaryColor,this.cScale1=this.cScale1||this.secondaryColor,this.cScale2=this.cScale2||this.tertiaryColor,this.cScale3=this.cScale3||_t(this.primaryColor,{h:30}),this.cScale4=this.cScale4||_t(this.primaryColor,{h:60}),this.cScale5=this.cScale5||_t(this.primaryColor,{h:90}),this.cScale6=this.cScale6||_t(this.primaryColor,{h:120}),this.cScale7=this.cScale7||_t(this.primaryColor,{h:150}),this.cScale8=this.cScale8||_t(this.primaryColor,{h:210}),this.cScale9=this.cScale9||_t(this.primaryColor,{h:270}),this.cScale10=this.cScale10||_t(this.primaryColor,{h:300}),this.cScale11=this.cScale11||_t(this.primaryColor,{h:330}),this["cScalePeer"+1]=this["cScalePeer"+1]||ge(this.secondaryColor,45),this["cScalePeer"+2]=this["cScalePeer"+2]||ge(this.tertiaryColor,40);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScale"+e]=ge(this["cScale"+e],10),this["cScalePeer"+e]=this["cScalePeer"+e]||ge(this["cScale"+e],25);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleInv"+e]=this["cScaleInv"+e]||_t(this["cScale"+e],{h:180});this.scaleLabelColor=this.scaleLabelColor!=="calculated"&&this.scaleLabelColor?this.scaleLabelColor:this.labelTextColor;for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleLabel"+e]=this["cScaleLabel"+e]||this.scaleLabelColor;this.nodeBkg=this.mainBkg,this.nodeBorder=this.border1,this.clusterBkg=this.secondBkg,this.clusterBorder=this.border2,this.defaultLinkColor=this.lineColor,this.actorBorder=ge(this.mainBkg,20),this.actorBkg=this.mainBkg,this.labelBoxBkgColor=this.actorBkg,this.labelTextColor=this.actorTextColor,this.loopTextColor=this.actorTextColor,this.noteBorderColor=this.border2,this.noteTextColor=this.actorTextColor,this.taskBorderColor=this.border1,this.taskTextColor=this.taskTextLightColor,this.taskTextOutsideColor=this.taskTextDarkColor,this.activeTaskBorderColor=this.taskBorderColor,this.activeTaskBkgColor=this.mainBkg,this.transitionColor=this.transitionColor||this.lineColor,this.transitionLabelColor=this.transitionLabelColor||this.textColor,this.stateLabelColor=this.stateLabelColor||this.stateBkg||this.primaryTextColor,this.stateBkg=this.stateBkg||this.mainBkg,this.labelBackgroundColor=this.labelBackgroundColor||this.stateBkg,this.compositeBackground=this.compositeBackground||this.background||this.tertiaryColor,this.altBackground=this.altBackground||"#f0f0f0",this.compositeTitleBackground=this.compositeTitleBackground||this.mainBkg,this.compositeBorder=this.compositeBorder||this.nodeBorder,this.innerEndBackground=this.primaryBorderColor,this.specialStateColor=this.lineColor,this.errorBkgColor=this.errorBkgColor||this.tertiaryColor,this.errorTextColor=this.errorTextColor||this.tertiaryTextColor,this.transitionColor=this.transitionColor||this.lineColor,this.classText=this.primaryTextColor,this.fillType0=this.primaryColor,this.fillType1=this.secondaryColor,this.fillType2=_t(this.primaryColor,{h:64}),this.fillType3=_t(this.secondaryColor,{h:64}),this.fillType4=_t(this.primaryColor,{h:-64}),this.fillType5=_t(this.secondaryColor,{h:-64}),this.fillType6=_t(this.primaryColor,{h:128}),this.fillType7=_t(this.secondaryColor,{h:128}),this.pie1=this.pie1||this.primaryColor,this.pie2=this.pie2||this.secondaryColor,this.pie3=this.pie3||this.tertiaryColor,this.pie4=this.pie4||_t(this.primaryColor,{l:-30}),this.pie5=this.pie5||_t(this.secondaryColor,{l:-30}),this.pie6=this.pie6||_t(this.tertiaryColor,{h:40,l:-40}),this.pie7=this.pie7||_t(this.primaryColor,{h:60,l:-10}),this.pie8=this.pie8||_t(this.primaryColor,{h:-60,l:-10}),this.pie9=this.pie9||_t(this.primaryColor,{h:120,l:0}),this.pie10=this.pie10||_t(this.primaryColor,{h:60,l:-50}),this.pie11=this.pie11||_t(this.primaryColor,{h:-60,l:-50}),this.pie12=this.pie12||_t(this.primaryColor,{h:120,l:-50}),this.pieTitleTextSize=this.pieTitleTextSize||"25px",this.pieTitleTextColor=this.pieTitleTextColor||this.taskTextDarkColor,this.pieSectionTextSize=this.pieSectionTextSize||"17px",this.pieSectionTextColor=this.pieSectionTextColor||this.textColor,this.pieLegendTextSize=this.pieLegendTextSize||"17px",this.pieLegendTextColor=this.pieLegendTextColor||this.taskTextDarkColor,this.pieStrokeColor=this.pieStrokeColor||"black",this.pieStrokeWidth=this.pieStrokeWidth||"2px",this.pieOpacity=this.pieOpacity||"0.7",this.requirementBackground=this.requirementBackground||this.primaryColor,this.requirementBorderColor=this.requirementBorderColor||this.primaryBorderColor,this.requirementBorderSize=this.requirementBorderSize||this.primaryBorderColor,this.requirementTextColor=this.requirementTextColor||this.primaryTextColor,this.relationColor=this.relationColor||this.lineColor,this.relationLabelBackground=this.relationLabelBackground||this.edgeLabelBackground,this.relationLabelColor=this.relationLabelColor||this.actorTextColor,this.git0=this.git0||this.primaryColor,this.git1=this.git1||this.secondaryColor,this.git2=this.git2||this.tertiaryColor,this.git3=this.git3||_t(this.primaryColor,{h:-30}),this.git4=this.git4||_t(this.primaryColor,{h:-60}),this.git5=this.git5||_t(this.primaryColor,{h:-90}),this.git6=this.git6||_t(this.primaryColor,{h:60}),this.git7=this.git7||_t(this.primaryColor,{h:120}),this.darkMode?(this.git0=ae(this.git0,25),this.git1=ae(this.git1,25),this.git2=ae(this.git2,25),this.git3=ae(this.git3,25),this.git4=ae(this.git4,25),this.git5=ae(this.git5,25),this.git6=ae(this.git6,25),this.git7=ae(this.git7,25)):(this.git0=ge(this.git0,25),this.git1=ge(this.git1,25),this.git2=ge(this.git2,25),this.git3=ge(this.git3,25),this.git4=ge(this.git4,25),this.git5=ge(this.git5,25),this.git6=ge(this.git6,25),this.git7=ge(this.git7,25)),this.gitInv0=this.gitInv0||Yt(this.git0),this.gitInv1=this.gitInv1||Yt(this.git1),this.gitInv2=this.gitInv2||Yt(this.git2),this.gitInv3=this.gitInv3||Yt(this.git3),this.gitInv4=this.gitInv4||Yt(this.git4),this.gitInv5=this.gitInv5||Yt(this.git5),this.gitInv6=this.gitInv6||Yt(this.git6),this.gitInv7=this.gitInv7||Yt(this.git7),this.tagLabelColor=this.tagLabelColor||this.primaryTextColor,this.tagLabelBackground=this.tagLabelBackground||this.primaryColor,this.tagLabelBorder=this.tagBorder||this.primaryBorderColor,this.tagLabelFontSize=this.tagLabelFontSize||"10px",this.commitLabelColor=this.commitLabelColor||this.secondaryTextColor,this.commitLabelBackground=this.commitLabelBackground||this.secondaryColor,this.commitLabelFontSize=this.commitLabelFontSize||"10px",this.attributeBackgroundColorOdd=this.attributeBackgroundColorOdd||qf,this.attributeBackgroundColorEven=this.attributeBackgroundColorEven||Vf}calculate(e){if(typeof e!="object"){this.updateColors();return}const r=Object.keys(e);r.forEach(n=>{this[n]=e[n]}),this.updateColors(),r.forEach(n=>{this[n]=e[n]})}}const bG=t=>{const e=new mG;return e.calculate(t),e};class _G{constructor(){this.primaryColor="#eee",this.contrast="#707070",this.secondaryColor=ae(this.contrast,55),this.background="#ffffff",this.tertiaryColor=_t(this.primaryColor,{h:-160}),this.primaryBorderColor=ln(this.primaryColor,this.darkMode),this.secondaryBorderColor=ln(this.secondaryColor,this.darkMode),this.tertiaryBorderColor=ln(this.tertiaryColor,this.darkMode),this.primaryTextColor=Yt(this.primaryColor),this.secondaryTextColor=Yt(this.secondaryColor),this.tertiaryTextColor=Yt(this.tertiaryColor),this.lineColor=Yt(this.background),this.textColor=Yt(this.background),this.mainBkg="#eee",this.secondBkg="calculated",this.lineColor="#666",this.border1="#999",this.border2="calculated",this.note="#ffa",this.text="#333",this.critical="#d42",this.done="#bbb",this.arrowheadColor="#333333",this.fontFamily='"trebuchet ms", verdana, arial, sans-serif',this.fontSize="16px",this.THEME_COLOR_LIMIT=12,this.nodeBkg="calculated",this.nodeBorder="calculated",this.clusterBkg="calculated",this.clusterBorder="calculated",this.defaultLinkColor="calculated",this.titleColor="calculated",this.edgeLabelBackground="white",this.actorBorder="calculated",this.actorBkg="calculated",this.actorTextColor="calculated",this.actorLineColor="calculated",this.signalColor="calculated",this.signalTextColor="calculated",this.labelBoxBkgColor="calculated",this.labelBoxBorderColor="calculated",this.labelTextColor="calculated",this.loopTextColor="calculated",this.noteBorderColor="calculated",this.noteBkgColor="calculated",this.noteTextColor="calculated",this.activationBorderColor="#666",this.activationBkgColor="#f4f4f4",this.sequenceNumberColor="white",this.sectionBkgColor="calculated",this.altSectionBkgColor="white",this.sectionBkgColor2="calculated",this.excludeBkgColor="#eeeeee",this.taskBorderColor="calculated",this.taskBkgColor="calculated",this.taskTextLightColor="white",this.taskTextColor="calculated",this.taskTextDarkColor="calculated",this.taskTextOutsideColor="calculated",this.taskTextClickableColor="#003163",this.activeTaskBorderColor="calculated",this.activeTaskBkgColor="calculated",this.gridColor="calculated",this.doneTaskBkgColor="calculated",this.doneTaskBorderColor="calculated",this.critBkgColor="calculated",this.critBorderColor="calculated",this.todayLineColor="calculated",this.personBorder="calculated",this.personBkg="calculated",this.labelColor="black",this.errorBkgColor="#552222",this.errorTextColor="#552222"}updateColors(){this.secondBkg=ae(this.contrast,55),this.border2=this.contrast,this.cScale0=this.cScale0||"#555",this.cScale1=this.cScale1||"#F4F4F4",this.cScale2=this.cScale2||"#555",this.cScale3=this.cScale3||"#BBB",this.cScale4=this.cScale4||"#777",this.cScale5=this.cScale5||"#999",this.cScale6=this.cScale6||"#DDD",this.cScale7=this.cScale7||"#FFF",this.cScale8=this.cScale8||"#DDD",this.cScale9=this.cScale9||"#BBB",this.cScale10=this.cScale10||"#999",this.cScale11=this.cScale11||"#777";for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleInv"+e]=this["cScaleInv"+e]||Yt(this["cScale"+e]);for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this.darkMode?this["cScalePeer"+e]=this["cScalePeer"+e]||ae(this["cScale"+e],10):this["cScalePeer"+e]=this["cScalePeer"+e]||ge(this["cScale"+e],10);this.scaleLabelColor=this.scaleLabelColor||(this.darkMode?"black":this.labelTextColor),this.cScaleLabel0=this.cScaleLabel0||this.cScale1,this.cScaleLabel2=this.cScaleLabel2||this.cScale1;for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["cScaleLabel"+e]=this["cScaleLabel"+e]||this.scaleLabelColor;this.nodeBkg=this.mainBkg,this.nodeBorder=this.border1,this.clusterBkg=this.secondBkg,this.clusterBorder=this.border2,this.defaultLinkColor=this.lineColor,this.titleColor=this.text,this.actorBorder=ae(this.border1,23),this.actorBkg=this.mainBkg,this.actorTextColor=this.text,this.actorLineColor=this.lineColor,this.signalColor=this.text,this.signalTextColor=this.text,this.labelBoxBkgColor=this.actorBkg,this.labelBoxBorderColor=this.actorBorder,this.labelTextColor=this.text,this.loopTextColor=this.text,this.noteBorderColor="#999",this.noteBkgColor="#666",this.noteTextColor="#fff",this.sectionBkgColor=ae(this.contrast,30),this.sectionBkgColor2=ae(this.contrast,30),this.taskBorderColor=ge(this.contrast,10),this.taskBkgColor=this.contrast,this.taskTextColor=this.taskTextLightColor,this.taskTextDarkColor=this.text,this.taskTextOutsideColor=this.taskTextDarkColor,this.activeTaskBorderColor=this.taskBorderColor,this.activeTaskBkgColor=this.mainBkg,this.gridColor=ae(this.border1,30),this.doneTaskBkgColor=this.done,this.doneTaskBorderColor=this.lineColor,this.critBkgColor=this.critical,this.critBorderColor=ge(this.critBkgColor,10),this.todayLineColor=this.critBkgColor,this.transitionColor=this.transitionColor||"#000",this.transitionLabelColor=this.transitionLabelColor||this.textColor,this.stateLabelColor=this.stateLabelColor||this.stateBkg||this.primaryTextColor,this.stateBkg=this.stateBkg||this.mainBkg,this.labelBackgroundColor=this.labelBackgroundColor||this.stateBkg,this.compositeBackground=this.compositeBackground||this.background||this.tertiaryColor,this.altBackground=this.altBackground||"#f4f4f4",this.compositeTitleBackground=this.compositeTitleBackground||this.mainBkg,this.stateBorder=this.stateBorder||"#000",this.innerEndBackground=this.primaryBorderColor,this.specialStateColor="#222",this.errorBkgColor=this.errorBkgColor||this.tertiaryColor,this.errorTextColor=this.errorTextColor||this.tertiaryTextColor,this.classText=this.primaryTextColor,this.fillType0=this.primaryColor,this.fillType1=this.secondaryColor,this.fillType2=_t(this.primaryColor,{h:64}),this.fillType3=_t(this.secondaryColor,{h:64}),this.fillType4=_t(this.primaryColor,{h:-64}),this.fillType5=_t(this.secondaryColor,{h:-64}),this.fillType6=_t(this.primaryColor,{h:128}),this.fillType7=_t(this.secondaryColor,{h:128});for(let e=0;e<this.THEME_COLOR_LIMIT;e++)this["pie"+e]=this["cScale"+e];this.pie12=this.pie0,this.pieTitleTextSize=this.pieTitleTextSize||"25px",this.pieTitleTextColor=this.pieTitleTextColor||this.taskTextDarkColor,this.pieSectionTextSize=this.pieSectionTextSize||"17px",this.pieSectionTextColor=this.pieSectionTextColor||this.textColor,this.pieLegendTextSize=this.pieLegendTextSize||"17px",this.pieLegendTextColor=this.pieLegendTextColor||this.taskTextDarkColor,this.pieStrokeColor=this.pieStrokeColor||"black",this.pieStrokeWidth=this.pieStrokeWidth||"2px",this.pieOpacity=this.pieOpacity||"0.7",this.requirementBackground=this.requirementBackground||this.primaryColor,this.requirementBorderColor=this.requirementBorderColor||this.primaryBorderColor,this.requirementBorderSize=this.requirementBorderSize||this.primaryBorderColor,this.requirementTextColor=this.requirementTextColor||this.primaryTextColor,this.relationColor=this.relationColor||this.lineColor,this.relationLabelBackground=this.relationLabelBackground||this.edgeLabelBackground,this.relationLabelColor=this.relationLabelColor||this.actorTextColor,this.git0=ge(this.pie1,25)||this.primaryColor,this.git1=this.pie2||this.secondaryColor,this.git2=this.pie3||this.tertiaryColor,this.git3=this.pie4||_t(this.primaryColor,{h:-30}),this.git4=this.pie5||_t(this.primaryColor,{h:-60}),this.git5=this.pie6||_t(this.primaryColor,{h:-90}),this.git6=this.pie7||_t(this.primaryColor,{h:60}),this.git7=this.pie8||_t(this.primaryColor,{h:120}),this.gitInv0=this.gitInv0||Yt(this.git0),this.gitInv1=this.gitInv1||Yt(this.git1),this.gitInv2=this.gitInv2||Yt(this.git2),this.gitInv3=this.gitInv3||Yt(this.git3),this.gitInv4=this.gitInv4||Yt(this.git4),this.gitInv5=this.gitInv5||Yt(this.git5),this.gitInv6=this.gitInv6||Yt(this.git6),this.gitInv7=this.gitInv7||Yt(this.git7),this.branchLabelColor=this.branchLabelColor||this.labelTextColor,this.gitBranchLabel0=this.branchLabelColor,this.gitBranchLabel1="white",this.gitBranchLabel2=this.branchLabelColor,this.gitBranchLabel3="white",this.gitBranchLabel4=this.branchLabelColor,this.gitBranchLabel5=this.branchLabelColor,this.gitBranchLabel6=this.branchLabelColor,this.gitBranchLabel7=this.branchLabelColor,this.tagLabelColor=this.tagLabelColor||this.primaryTextColor,this.tagLabelBackground=this.tagLabelBackground||this.primaryColor,this.tagLabelBorder=this.tagBorder||this.primaryBorderColor,this.tagLabelFontSize=this.tagLabelFontSize||"10px",this.commitLabelColor=this.commitLabelColor||this.secondaryTextColor,this.commitLabelBackground=this.commitLabelBackground||this.secondaryColor,this.commitLabelFontSize=this.commitLabelFontSize||"10px",this.attributeBackgroundColorOdd=this.attributeBackgroundColorOdd||qf,this.attributeBackgroundColorEven=this.attributeBackgroundColorEven||Vf}calculate(e){if(typeof e!="object"){this.updateColors();return}const r=Object.keys(e);r.forEach(n=>{this[n]=e[n]}),this.updateColors(),r.forEach(n=>{this[n]=e[n]})}}const aa={base:{getThemeVariables:fG},dark:{getThemeVariables:pG},default:{getThemeVariables:yG},forest:{getThemeVariables:bG},neutral:{getThemeVariables:t=>{const e=new _G;return e.calculate(t),e}}},Xa={theme:"default",themeVariables:aa.default.getThemeVariables(),themeCSS:void 0,maxTextSize:5e4,darkMode:!1,fontFamily:'"trebuchet ms", verdana, arial, sans-serif;',logLevel:5,securityLevel:"strict",startOnLoad:!0,arrowMarkerAbsolute:!1,secure:["secure","securityLevel","startOnLoad","maxTextSize"],deterministicIds:!1,deterministicIDSeed:void 0,flowchart:{diagramPadding:8,htmlLabels:!0,nodeSpacing:50,rankSpacing:50,curve:"basis",padding:15,useMaxWidth:!0,defaultRenderer:"dagre-wrapper"},sequence:{hideUnusedParticipants:!1,activationWidth:10,diagramMarginX:50,diagramMarginY:10,actorMargin:50,width:150,height:65,boxMargin:10,boxTextMargin:5,noteMargin:10,messageMargin:35,messageAlign:"center",mirrorActors:!0,forceMenus:!1,bottomMarginAdj:1,useMaxWidth:!0,rightAngles:!1,showSequenceNumbers:!1,actorFontSize:14,actorFontFamily:'"Open Sans", sans-serif',actorFontWeight:400,noteFontSize:14,noteFontFamily:'"trebuchet ms", verdana, arial, sans-serif',noteFontWeight:400,noteAlign:"center",messageFontSize:16,messageFontFamily:'"trebuchet ms", verdana, arial, sans-serif',messageFontWeight:400,wrap:!1,wrapPadding:10,labelBoxWidth:50,labelBoxHeight:20,messageFont:function(){return{fontFamily:this.messageFontFamily,fontSize:this.messageFontSize,fontWeight:this.messageFontWeight}},noteFont:function(){return{fontFamily:this.noteFontFamily,fontSize:this.noteFontSize,fontWeight:this.noteFontWeight}},actorFont:function(){return{fontFamily:this.actorFontFamily,fontSize:this.actorFontSize,fontWeight:this.actorFontWeight}}},gantt:{titleTopMargin:25,barHeight:20,barGap:4,topPadding:50,rightPadding:75,leftPadding:75,gridLineStartPadding:35,fontSize:11,sectionFontSize:11,numberSectionStyles:4,axisFormat:"%Y-%m-%d",useMaxWidth:!0,topAxis:!1,useWidth:void 0},journey:{diagramMarginX:50,diagramMarginY:10,leftMargin:150,width:150,height:50,boxMargin:10,boxTextMargin:5,noteMargin:10,messageMargin:35,messageAlign:"center",bottomMarginAdj:1,useMaxWidth:!0,rightAngles:!1,taskFontSize:14,taskFontFamily:'"Open Sans", sans-serif',taskMargin:50,activationWidth:10,textPlacement:"fo",actorColours:["#8FBC8F","#7CFC00","#00FFFF","#20B2AA","#B0E0E6","#FFFFE0"],sectionFills:["#191970","#8B008B","#4B0082","#2F4F4F","#800000","#8B4513","#00008B"],sectionColours:["#fff"]},class:{arrowMarkerAbsolute:!1,dividerMargin:10,padding:5,textHeight:10,useMaxWidth:!0,defaultRenderer:"dagre-wrapper"},state:{dividerMargin:10,sizeUnit:5,padding:8,textHeight:10,titleShift:-15,noteMargin:10,forkWidth:70,forkHeight:7,miniPadding:2,fontSizeFactor:5.02,fontSize:24,labelHeight:16,edgeLengthFactor:"20",compositTitleSize:35,radius:5,useMaxWidth:!0,defaultRenderer:"dagre-wrapper"},er:{diagramPadding:20,layoutDirection:"TB",minEntityWidth:100,minEntityHeight:75,entityPadding:15,stroke:"gray",fill:"honeydew",fontSize:12,useMaxWidth:!0},pie:{useWidth:void 0,useMaxWidth:!0},requirement:{useWidth:void 0,useMaxWidth:!0,rect_fill:"#f9f9f9",text_color:"#333",rect_border_size:"0.5px",rect_border_color:"#bbb",rect_min_width:200,rect_min_height:200,fontSize:14,rect_padding:10,line_height:20},gitGraph:{diagramPadding:8,nodeLabel:{width:75,height:100,x:-25,y:0},mainBranchName:"main",mainBranchOrder:0,showCommitLabel:!0,showBranches:!0,rotateCommitLabel:!0},c4:{useWidth:void 0,diagramMarginX:50,diagramMarginY:10,c4ShapeMargin:50,c4ShapePadding:20,width:216,height:60,boxMargin:10,useMaxWidth:!0,c4ShapeInRow:4,nextLinePaddingX:0,c4BoundaryInRow:2,personFontSize:14,personFontFamily:'"Open Sans", sans-serif',personFontWeight:"normal",external_personFontSize:14,external_personFontFamily:'"Open Sans", sans-serif',external_personFontWeight:"normal",systemFontSize:14,systemFontFamily:'"Open Sans", sans-serif',systemFontWeight:"normal",external_systemFontSize:14,external_systemFontFamily:'"Open Sans", sans-serif',external_systemFontWeight:"normal",system_dbFontSize:14,system_dbFontFamily:'"Open Sans", sans-serif',system_dbFontWeight:"normal",external_system_dbFontSize:14,external_system_dbFontFamily:'"Open Sans", sans-serif',external_system_dbFontWeight:"normal",system_queueFontSize:14,system_queueFontFamily:'"Open Sans", sans-serif',system_queueFontWeight:"normal",external_system_queueFontSize:14,external_system_queueFontFamily:'"Open Sans", sans-serif',external_system_queueFontWeight:"normal",boundaryFontSize:14,boundaryFontFamily:'"Open Sans", sans-serif',boundaryFontWeight:"normal",messageFontSize:12,messageFontFamily:'"Open Sans", sans-serif',messageFontWeight:"normal",containerFontSize:14,containerFontFamily:'"Open Sans", sans-serif',containerFontWeight:"normal",external_containerFontSize:14,external_containerFontFamily:'"Open Sans", sans-serif',external_containerFontWeight:"normal",container_dbFontSize:14,container_dbFontFamily:'"Open Sans", sans-serif',container_dbFontWeight:"normal",external_container_dbFontSize:14,external_container_dbFontFamily:'"Open Sans", sans-serif',external_container_dbFontWeight:"normal",container_queueFontSize:14,container_queueFontFamily:'"Open Sans", sans-serif',container_queueFontWeight:"normal",external_container_queueFontSize:14,external_container_queueFontFamily:'"Open Sans", sans-serif',external_container_queueFontWeight:"normal",componentFontSize:14,componentFontFamily:'"Open Sans", sans-serif',componentFontWeight:"normal",external_componentFontSize:14,external_componentFontFamily:'"Open Sans", sans-serif',external_componentFontWeight:"normal",component_dbFontSize:14,component_dbFontFamily:'"Open Sans", sans-serif',component_dbFontWeight:"normal",external_component_dbFontSize:14,external_component_dbFontFamily:'"Open Sans", sans-serif',external_component_dbFontWeight:"normal",component_queueFontSize:14,component_queueFontFamily:'"Open Sans", sans-serif',component_queueFontWeight:"normal",external_component_queueFontSize:14,external_component_queueFontFamily:'"Open Sans", sans-serif',external_component_queueFontWeight:"normal",wrap:!0,wrapPadding:10,personFont:function(){return{fontFamily:this.personFontFamily,fontSize:this.personFontSize,fontWeight:this.personFontWeight}},external_personFont:function(){return{fontFamily:this.external_personFontFamily,fontSize:this.external_personFontSize,fontWeight:this.external_personFontWeight}},systemFont:function(){return{fontFamily:this.systemFontFamily,fontSize:this.systemFontSize,fontWeight:this.systemFontWeight}},external_systemFont:function(){return{fontFamily:this.external_systemFontFamily,fontSize:this.external_systemFontSize,fontWeight:this.external_systemFontWeight}},system_dbFont:function(){return{fontFamily:this.system_dbFontFamily,fontSize:this.system_dbFontSize,fontWeight:this.system_dbFontWeight}},external_system_dbFont:function(){return{fontFamily:this.external_system_dbFontFamily,fontSize:this.external_system_dbFontSize,fontWeight:this.external_system_dbFontWeight}},system_queueFont:function(){return{fontFamily:this.system_queueFontFamily,fontSize:this.system_queueFontSize,fontWeight:this.system_queueFontWeight}},external_system_queueFont:function(){return{fontFamily:this.external_system_queueFontFamily,fontSize:this.external_system_queueFontSize,fontWeight:this.external_system_queueFontWeight}},containerFont:function(){return{fontFamily:this.containerFontFamily,fontSize:this.containerFontSize,fontWeight:this.containerFontWeight}},external_containerFont:function(){return{fontFamily:this.external_containerFontFamily,fontSize:this.external_containerFontSize,fontWeight:this.external_containerFontWeight}},container_dbFont:function(){return{fontFamily:this.container_dbFontFamily,fontSize:this.container_dbFontSize,fontWeight:this.container_dbFontWeight}},external_container_dbFont:function(){return{fontFamily:this.external_container_dbFontFamily,fontSize:this.external_container_dbFontSize,fontWeight:this.external_container_dbFontWeight}},container_queueFont:function(){return{fontFamily:this.container_queueFontFamily,fontSize:this.container_queueFontSize,fontWeight:this.container_queueFontWeight}},external_container_queueFont:function(){return{fontFamily:this.external_container_queueFontFamily,fontSize:this.external_container_queueFontSize,fontWeight:this.external_container_queueFontWeight}},componentFont:function(){return{fontFamily:this.componentFontFamily,fontSize:this.componentFontSize,fontWeight:this.componentFontWeight}},external_componentFont:function(){return{fontFamily:this.external_componentFontFamily,fontSize:this.external_componentFontSize,fontWeight:this.external_componentFontWeight}},component_dbFont:function(){return{fontFamily:this.component_dbFontFamily,fontSize:this.component_dbFontSize,fontWeight:this.component_dbFontWeight}},external_component_dbFont:function(){return{fontFamily:this.external_component_dbFontFamily,fontSize:this.external_component_dbFontSize,fontWeight:this.external_component_dbFontWeight}},component_queueFont:function(){return{fontFamily:this.component_queueFontFamily,fontSize:this.component_queueFontSize,fontWeight:this.component_queueFontWeight}},external_component_queueFont:function(){return{fontFamily:this.external_component_queueFontFamily,fontSize:this.external_component_queueFontSize,fontWeight:this.external_component_queueFontWeight}},boundaryFont:function(){return{fontFamily:this.boundaryFontFamily,fontSize:this.boundaryFontSize,fontWeight:this.boundaryFontWeight}},messageFont:function(){return{fontFamily:this.messageFontFamily,fontSize:this.messageFontSize,fontWeight:this.messageFontWeight}},person_bg_color:"#08427B",person_border_color:"#073B6F",external_person_bg_color:"#686868",external_person_border_color:"#8A8A8A",system_bg_color:"#1168BD",system_border_color:"#3C7FC0",system_db_bg_color:"#1168BD",system_db_border_color:"#3C7FC0",system_queue_bg_color:"#1168BD",system_queue_border_color:"#3C7FC0",external_system_bg_color:"#999999",external_system_border_color:"#8A8A8A",external_system_db_bg_color:"#999999",external_system_db_border_color:"#8A8A8A",external_system_queue_bg_color:"#999999",external_system_queue_border_color:"#8A8A8A",container_bg_color:"#438DD5",container_border_color:"#3C7FC0",container_db_bg_color:"#438DD5",container_db_border_color:"#3C7FC0",container_queue_bg_color:"#438DD5",container_queue_border_color:"#3C7FC0",external_container_bg_color:"#B3B3B3",external_container_border_color:"#A6A6A6",external_container_db_bg_color:"#B3B3B3",external_container_db_border_color:"#A6A6A6",external_container_queue_bg_color:"#B3B3B3",external_container_queue_border_color:"#A6A6A6",component_bg_color:"#85BBF0",component_border_color:"#78A8D8",component_db_bg_color:"#85BBF0",component_db_border_color:"#78A8D8",component_queue_bg_color:"#85BBF0",component_queue_border_color:"#78A8D8",external_component_bg_color:"#CCCCCC",external_component_border_color:"#BFBFBF",external_component_db_bg_color:"#CCCCCC",external_component_db_border_color:"#BFBFBF",external_component_queue_bg_color:"#CCCCCC",external_component_queue_border_color:"#BFBFBF"},mindmap:{useMaxWidth:!0,padding:10,maxNodeWidth:200},fontSize:16};Xa.class&&(Xa.class.arrowMarkerAbsolute=Xa.arrowMarkerAbsolute),Xa.gitGraph&&(Xa.gitGraph.arrowMarkerAbsolute=Xa.arrowMarkerAbsolute);const jk=(t,e="")=>Object.keys(t).reduce((r,n)=>Array.isArray(t[n])?r:typeof t[n]=="object"&&t[n]!==null?[...r,e+n,...jk(t[n],"")]:[...r,e+n],[]),vG=jk(Xa,""),xG=/[%]{2}[{]\s*(?:(?:(\w+)\s*:|(\w+))\s*(?:(?:(\w+))|((?:(?![}][%]{2}).|\r?\n)*))?\s*)(?:[}][%]{2})?/gi,kG=/\s*%%.*\n/gm,zf={},Xp=function(t,e){t=t.replace(xG,"").replace(kG,` +`);for(const[r,{detector:n}]of Object.entries(zf))if(n(t,e))return r;throw new Error(`No diagram type detected for text: ${t}`)},$k=(t,e,r)=>{if(zf[t])throw new Error(`Detector with key ${t} already exists`);zf[t]={detector:e,loader:r},H.debug(`Detector with key ${t} added${r?" with loader":""}`)},wG=t=>zf[t].loader,fr=function(t,e,r){const{depth:n,clobber:i}=Object.assign({depth:2,clobber:!1},r);return Array.isArray(e)&&!Array.isArray(t)?(e.forEach(a=>fr(t,a,r)),t):Array.isArray(e)&&Array.isArray(t)?(e.forEach(a=>{t.indexOf(a)===-1&&t.push(a)}),t):typeof t>"u"||n<=0?t!=null&&typeof t=="object"&&typeof e=="object"?Object.assign(t,e):e:(typeof e<"u"&&typeof 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${t.pieLegendTextSize}; + } +`,Iw=t=>` + + marker { + fill: ${t.relationColor}; + stroke: ${t.relationColor}; + } + + marker.cross { + stroke: ${t.lineColor}; + } + + svg { + font-family: ${t.fontFamily}; + font-size: ${t.fontSize}; + } + + .reqBox { + fill: ${t.requirementBackground}; + fill-opacity: 100%; + stroke: ${t.requirementBorderColor}; + stroke-width: ${t.requirementBorderSize}; + } + + .reqTitle, .reqLabel{ + fill: ${t.requirementTextColor}; + } + .reqLabelBox { + fill: ${t.relationLabelBackground}; + fill-opacity: 100%; + } + + .req-title-line { + stroke: ${t.requirementBorderColor}; + stroke-width: ${t.requirementBorderSize}; + } + .relationshipLine { + stroke: ${t.relationColor}; + stroke-width: 1; + } + .relationshipLabel { + fill: ${t.relationLabelColor}; + } + +`,Nw=t=>`.actor { + stroke: ${t.actorBorder}; + fill: ${t.actorBkg}; + } + + text.actor > tspan { + fill: ${t.actorTextColor}; + stroke: none; + } + + .actor-line { + stroke: ${t.actorLineColor}; + } + + .messageLine0 { + stroke-width: 1.5; + stroke-dasharray: none; + stroke: ${t.signalColor}; + } + + .messageLine1 { + stroke-width: 1.5; + stroke-dasharray: 2, 2; + stroke: ${t.signalColor}; + } + + #arrowhead path { + fill: ${t.signalColor}; + stroke: ${t.signalColor}; + } + + .sequenceNumber { + fill: ${t.sequenceNumberColor}; + } + + #sequencenumber { + fill: ${t.signalColor}; + } + + #crosshead path { + fill: ${t.signalColor}; + stroke: ${t.signalColor}; + } + + .messageText { + fill: ${t.signalTextColor}; + stroke: none; + } + + .labelBox { + stroke: ${t.labelBoxBorderColor}; + fill: ${t.labelBoxBkgColor}; + } + + .labelText, .labelText > tspan { + fill: ${t.labelTextColor}; + stroke: none; + } + + .loopText, .loopText > tspan { + fill: ${t.loopTextColor}; + stroke: none; + } + + .loopLine { + stroke-width: 2px; + stroke-dasharray: 2, 2; + stroke: ${t.labelBoxBorderColor}; + fill: ${t.labelBoxBorderColor}; + } + + .note { + //stroke: #decc93; + stroke: ${t.noteBorderColor}; + fill: ${t.noteBkgColor}; + } + + .noteText, .noteText > tspan { + fill: ${t.noteTextColor}; + stroke: none; + } + + .activation0 { + fill: ${t.activationBkgColor}; + stroke: ${t.activationBorderColor}; + } + + .activation1 { + fill: ${t.activationBkgColor}; + stroke: ${t.activationBorderColor}; + } + + .activation2 { + fill: ${t.activationBkgColor}; + stroke: ${t.activationBorderColor}; + } + + .actorPopupMenu { + position: absolute; + } + + .actorPopupMenuPanel { + position: absolute; + fill: ${t.actorBkg}; + box-shadow: 0px 8px 16px 0px rgba(0,0,0,0.2); + filter: drop-shadow(3px 5px 2px rgb(0 0 0 / 0.4)); +} + .actor-man line { + stroke: ${t.actorBorder}; + fill: ${t.actorBkg}; + } + .actor-man circle, line { + stroke: ${t.actorBorder}; + fill: ${t.actorBkg}; + stroke-width: 2px; + } +`,s1=t=>` +defs #statediagram-barbEnd { + fill: ${t.transitionColor}; + stroke: ${t.transitionColor}; + } +g.stateGroup text { + fill: ${t.nodeBorder}; + stroke: none; + font-size: 10px; +} +g.stateGroup text { + fill: ${t.textColor}; + stroke: none; + font-size: 10px; + +} +g.stateGroup .state-title { + font-weight: bolder; + fill: ${t.stateLabelColor}; +} + +g.stateGroup rect { + fill: ${t.mainBkg}; + stroke: ${t.nodeBorder}; +} + +g.stateGroup line { + stroke: ${t.lineColor}; + stroke-width: 1; +} + +.transition { + stroke: ${t.transitionColor}; + stroke-width: 1; + fill: none; +} + +.stateGroup .composit { + fill: ${t.background}; + border-bottom: 1px +} + +.stateGroup .alt-composit { + fill: #e0e0e0; + border-bottom: 1px +} + +.state-note { + stroke: ${t.noteBorderColor}; + fill: ${t.noteBkgColor}; + + text { + fill: ${t.noteTextColor}; + stroke: none; + font-size: 10px; + } +} + +.stateLabel .box { + stroke: none; + stroke-width: 0; + fill: ${t.mainBkg}; + opacity: 0.5; +} + +.edgeLabel .label rect { + fill: ${t.labelBackgroundColor}; + opacity: 0.5; +} +.edgeLabel .label text { + fill: ${t.transitionLabelColor||t.tertiaryTextColor}; +} +.label div .edgeLabel { + color: ${t.transitionLabelColor||t.tertiaryTextColor}; +} + +.stateLabel text { + fill: ${t.stateLabelColor}; + font-size: 10px; + font-weight: bold; +} + +.node circle.state-start { + fill: ${t.specialStateColor}; + stroke: ${t.specialStateColor}; +} + +.node .fork-join { + fill: ${t.specialStateColor}; + stroke: ${t.specialStateColor}; +} + +.node circle.state-end { + fill: ${t.innerEndBackground}; + stroke: ${t.background}; + stroke-width: 1.5 +} +.end-state-inner { + fill: ${t.compositeBackground||t.background}; + // stroke: ${t.background}; + stroke-width: 1.5 +} + +.node rect { + fill: ${t.stateBkg||t.mainBkg}; + stroke: ${t.stateBorder||t.nodeBorder}; + stroke-width: 1px; +} +.node polygon { + fill: ${t.mainBkg}; + stroke: ${t.stateBorder||t.nodeBorder};; + stroke-width: 1px; +} +#statediagram-barbEnd { + fill: ${t.lineColor}; +} + +.statediagram-cluster rect { + fill: ${t.compositeTitleBackground}; + stroke: ${t.stateBorder||t.nodeBorder}; + stroke-width: 1px; +} + +.cluster-label, .nodeLabel { + color: ${t.stateLabelColor}; +} + +.statediagram-cluster rect.outer { + rx: 5px; + ry: 5px; +} +.statediagram-state .divider { + stroke: ${t.stateBorder||t.nodeBorder}; +} + +.statediagram-state .title-state { + rx: 5px; + ry: 5px; +} +.statediagram-cluster.statediagram-cluster .inner { + fill: ${t.compositeBackground||t.background}; +} +.statediagram-cluster.statediagram-cluster-alt .inner { + fill: ${t.altBackground?t.altBackground:"#efefef"}; +} + +.statediagram-cluster .inner { + rx:0; + ry:0; +} + +.statediagram-state rect.basic { + rx: 5px; + ry: 5px; +} +.statediagram-state rect.divider { + stroke-dasharray: 10,10; + fill: ${t.altBackground?t.altBackground:"#efefef"}; +} + +.note-edge { + stroke-dasharray: 5; +} + +.statediagram-note rect { + fill: ${t.noteBkgColor}; + stroke: ${t.noteBorderColor}; + stroke-width: 1px; + rx: 0; + ry: 0; +} +.statediagram-note rect { + fill: ${t.noteBkgColor}; + stroke: ${t.noteBorderColor}; + stroke-width: 1px; + rx: 0; + ry: 0; +} + +.statediagram-note text { + fill: ${t.noteTextColor}; +} + +.statediagram-note .nodeLabel { + color: ${t.noteTextColor}; +} +.statediagram .edgeLabel { + color: red; // ${t.noteTextColor}; +} + +#dependencyStart, #dependencyEnd { + fill: ${t.lineColor}; + stroke: ${t.lineColor}; + stroke-width: 1; +} +`,Bw=t=>`.label { + font-family: 'trebuchet ms', verdana, arial, sans-serif; + font-family: var(--mermaid-font-family); + color: ${t.textColor}; + } + .mouth { + stroke: #666; + } + + line { + stroke: ${t.textColor} + } + + .legend { + fill: ${t.textColor}; + } + + .label text { + fill: #333; + } + .label { + color: ${t.textColor} + } + + .face { + ${t.faceColor?`fill: ${t.faceColor}`:"fill: #FFF8DC"}; + stroke: #999; + } + + .node rect, + .node circle, + .node ellipse, + .node polygon, + .node path { + fill: ${t.mainBkg}; + stroke: ${t.nodeBorder}; + stroke-width: 1px; + } + + .node .label { + text-align: center; + } + .node.clickable { + cursor: pointer; + } + + .arrowheadPath { + fill: ${t.arrowheadColor}; + } + + .edgePath .path { + stroke: ${t.lineColor}; + stroke-width: 1.5px; + } + + .flowchart-link { + stroke: ${t.lineColor}; + fill: none; + } + + .edgeLabel { + background-color: ${t.edgeLabelBackground}; + rect { + opacity: 0.5; + } + text-align: center; + } + + .cluster rect { + } + + .cluster text { + fill: ${t.titleColor}; + } + + div.mermaidTooltip { + position: absolute; + text-align: center; + max-width: 200px; + padding: 2px; + font-family: 'trebuchet ms', verdana, arial, sans-serif; + font-family: var(--mermaid-font-family); + font-size: 12px; + background: ${t.tertiaryColor}; + border: 1px solid ${t.border2}; + border-radius: 2px; + pointer-events: none; + z-index: 100; + } + + .task-type-0, .section-type-0 { + ${t.fillType0?`fill: ${t.fillType0}`:""}; + } + .task-type-1, .section-type-1 { + ${t.fillType0?`fill: ${t.fillType1}`:""}; + } + .task-type-2, .section-type-2 { + ${t.fillType0?`fill: ${t.fillType2}`:""}; + } + .task-type-3, .section-type-3 { + ${t.fillType0?`fill: ${t.fillType3}`:""}; + } + .task-type-4, .section-type-4 { + ${t.fillType0?`fill: ${t.fillType4}`:""}; + } + .task-type-5, .section-type-5 { + ${t.fillType0?`fill: ${t.fillType5}`:""}; + } + .task-type-6, .section-type-6 { + ${t.fillType0?`fill: ${t.fillType6}`:""}; + } + .task-type-7, .section-type-7 { + ${t.fillType0?`fill: ${t.fillType7}`:""}; + } + + .actor-0 { + ${t.actor0?`fill: ${t.actor0}`:""}; + } + .actor-1 { + ${t.actor1?`fill: ${t.actor1}`:""}; + } + .actor-2 { + ${t.actor2?`fill: ${t.actor2}`:""}; + } + .actor-3 { + ${t.actor3?`fill: ${t.actor3}`:""}; + } + .actor-4 { + ${t.actor4?`fill: ${t.actor4}`:""}; + } + .actor-5 { + ${t.actor5?`fill: ${t.actor5}`:""}; + } +`,Dw=t=>`.person { + stroke: ${t.personBorder}; + fill: ${t.personBkg}; + } +`,o1={flowchart:a1,"flowchart-v2":a1,sequence:Nw,gantt:Mw,classDiagram:Nc,"classDiagram-v2":Nc,class:Nc,stateDiagram:s1,state:s1,info:Lw,pie:Rw,er:Sw,error:Aw,journey:Bw,requirement:Iw,c4:Dw},Ow=(t,e,r)=>{let n="";return t in o1&&o1[t]?n=o1[t](r):H.warn(`No theme found for ${t}`),` { + font-family: ${r.fontFamily}; + font-size: ${r.fontSize}; + fill: ${r.textColor} + } + + /* Classes common for multiple diagrams */ + + .error-icon { + fill: ${r.errorBkgColor}; + } + .error-text { + fill: ${r.errorTextColor}; + stroke: ${r.errorTextColor}; + } + + .edge-thickness-normal { + stroke-width: 2px; + } + .edge-thickness-thick { + stroke-width: 3.5px + } + .edge-pattern-solid { + stroke-dasharray: 0; + } + + .edge-pattern-dashed{ + stroke-dasharray: 3; + } + .edge-pattern-dotted { + stroke-dasharray: 2; + } + + .marker { + fill: ${r.lineColor}; + stroke: ${r.lineColor}; + } + .marker.cross { + stroke: ${r.lineColor}; + } + + svg { + font-family: ${r.fontFamily}; + font-size: ${r.fontSize}; + } + + ${n} + + ${e} +`},RX=(t,e)=>{o1[t]=e},Bc=H,IX=D0,Zo=nt,NX=t=>ai(t,Zo()),Fw=i1,Qo={},Lr=(t,e,r)=>{Bc.debug(`Registering diagram ${t}`),Qo[t]&&Bc.warn(`Diagram ${t} already registered.`),Qo[t]=e,r&&$k(t,r),RX(t,e.styles),e.injectUtils&&e.injectUtils(Bc,IX,Zo,NX,Fw),Bc.debug(`Registered diagram ${t}. ${Object.keys(Qo).join(", ")} diagrams registered.`)},Pw=t=>{if(Bc.debug(`Getting diagram ${t}. ${Object.keys(Qo).join(", ")} diagrams registered.`),t in Qo)return Qo[t];throw new qw(t)};class qw extends Error{constructor(e){super(`Diagram ${e} not found.`)}}var hg=function(){var t=function(C,M,S,R){for(S=S||{},R=C.length;R--;S[C[R]]=M);return 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94:A.commit(v[w-4],v[w-6],v[w],v[w-2]);break;case 95:A.commit(v[w-2],v[w-6],v[w-4],v[w]);break;case 96:A.commit(v[w],v[w-6],v[w-4],v[w-2]);break;case 97:A.commit(v[w-2],v[w-6],v[w],v[w-4]);break;case 98:A.commit(v[w],v[w-6],v[w-2],v[w-4]);break;case 99:A.commit(v[w],v[w-4],v[w-2],v[w-6]);break;case 100:A.commit(v[w-2],v[w-4],v[w],v[w-6]);break;case 101:A.commit(v[w],v[w-2],v[w-4],v[w-6]);break;case 102:A.commit(v[w-2],v[w],v[w-4],v[w-6]);break;case 103:A.commit(v[w-4],v[w-2],v[w],v[w-6]);break;case 104:A.commit(v[w-4],v[w],v[w-2],v[w-6]);break;case 105:A.commit(v[w-2],v[w-4],v[w-6],v[w]);break;case 106:A.commit(v[w],v[w-4],v[w-6],v[w-2]);break;case 107:A.commit(v[w-2],v[w],v[w-6],v[w-4]);break;case 108:A.commit(v[w],v[w-2],v[w-6],v[w-4]);break;case 109:A.commit(v[w-4],v[w-2],v[w-6],v[w]);break;case 110:A.commit(v[w-4],v[w],v[w-6],v[w-2]);break;case 111:this.$="";break;case 112:this.$=v[w];break;case 113:this.$=A.commitType.NORMAL;break;case 114:this.$=A.commitType.REVERSE;break;case 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121:A.parseDirective("}%%","close_directive","gitGraph");break}},table:[{3:1,4:2,5:3,6:e,8:r,14:n,46:8,50:i,54:a},{1:[3]},{3:10,4:2,5:3,6:e,8:r,14:n,46:8,50:i,54:a},{3:11,4:2,5:3,6:e,8:r,14:n,46:8,50:i,54:a},{7:12,8:s,9:[1,13],10:[1,14],11:15,14:o},t(l,[2,122]),t(l,[2,123]),t(l,[2,124]),{47:17,51:[1,18]},{51:[2,118]},{1:[2,1]},{1:[2,2]},{8:[1,19]},{7:20,8:s,11:15,14:o},{9:[1,21]},t(u,[2,10],{12:22,13:[1,23]}),t(h,[2,9]),{9:[1,25],48:24,53:d},t([9,53],[2,119]),{1:[2,3]},{8:[1,27]},{7:28,8:s,11:15,14:o},{8:[2,7],14:[1,31],15:29,16:30,17:32,18:33,19:34,20:[1,35],22:[1,36],24:[1,37],25:[1,38],26:39,27:[1,40],29:[1,44],32:[1,43],37:[1,42],40:[1,41]},t(h,[2,8]),t(f,[2,116]),{49:45,52:[1,46]},t(f,[2,121]),{1:[2,4]},{8:[1,47]},t(u,[2,11]),{4:48,8:r,14:n,54:a},t(u,[2,13]),t(p,[2,14]),t(p,[2,15]),t(p,[2,16]),{21:[1,49]},{23:[1,50]},t(p,[2,19]),t(p,[2,20]),t(p,[2,21]),{28:[1,51]},t(p,[2,111],{41:52,33:[1,55],34:[1,57],35:[1,53],38:[1,54],42:[1,56]}),{28:[1,58]},{33:[1,59],35:[1,60]},{28:[1,61]},{48:62,53:d},{53:[2,120]},{1:[2,5]},t(u,[2,12]),t(p,[2,17]),t(p,[2,18]),t(p,[2,22]),t(p,[2,46]),{34:[1,63]},{39:64,43:m,44:_,45:y},{34:[1,68]},{34:[1,69]},t(p,[2,112]),t(p,[2,30],{33:[1,70],35:[1,72],38:[1,71]}),{34:[1,73]},{34:[1,74],36:[1,75]},t(p,[2,23],{30:[1,76]}),t(f,[2,117]),t(p,[2,47],{33:[1,78],38:[1,77],42:[1,79]}),t(p,[2,48],{33:[1,81],35:[1,80],42:[1,82]}),t(b,[2,113]),t(b,[2,114]),t(b,[2,115]),t(p,[2,51],{35:[1,83],38:[1,84],42:[1,85]}),t(p,[2,62],{33:[1,88],35:[1,86],38:[1,87]}),{34:[1,89]},{39:90,43:m,44:_,45:y},{34:[1,91]},t(p,[2,25],{35:[1,92]}),{33:[1,93]},{33:[1,94]},{31:[1,95]},{39:96,43:m,44:_,45:y},{34:[1,97]},{34:[1,98]},{34:[1,99]},{34:[1,100]},{34:[1,101]},{34:[1,102]},{39:103,43:m,44:_,45:y},{34:[1,104]},{34:[1,105]},{39:106,43:m,44:_,45:y},{34:[1,107]},t(p,[2,31],{35:[1,109],38:[1,108]}),t(p,[2,32],{33:[1,111],35:[1,110]}),t(p,[2,33],{33:[1,112],38:[1,113]}),{34:[1,114],36:[1,115]},{34:[1,116]},{34:[1,117]},t(p,[2,24]),t(p,[2,49],{33:[1,118],42:[1,119]}),t(p,[2,53],{38:[1,120],42:[1,121]}),t(p,[2,63],{33:[1,123],38:[1,122]}),t(p,[2,50],{33:[1,124],42:[1,125]}),t(p,[2,55],{35:[1,126],42:[1,127]}),t(p,[2,66],{33:[1,129],35:[1,128]}),t(p,[2,52],{38:[1,130],42:[1,131]}),t(p,[2,54],{35:[1,132],42:[1,133]}),t(p,[2,67],{35:[1,135],38:[1,134]}),t(p,[2,64],{33:[1,137],38:[1,136]}),t(p,[2,65],{33:[1,139],35:[1,138]}),t(p,[2,68],{35:[1,141],38:[1,140]}),{39:142,43:m,44:_,45:y},{34:[1,143]},{34:[1,144]},{34:[1,145]},{34:[1,146]},{39:147,43:m,44:_,45:y},t(p,[2,26]),t(p,[2,27]),t(p,[2,28]),t(p,[2,29]),{34:[1,148]},{34:[1,149]},{39:150,43:m,44:_,45:y},{34:[1,151]},{39:152,43:m,44:_,45:y},{34:[1,153]},{34:[1,154]},{34:[1,155]},{34:[1,156]},{34:[1,157]},{34:[1,158]},{34:[1,159]},{39:160,43:m,44:_,45:y},{34:[1,161]},{34:[1,162]},{34:[1,163]},{39:164,43:m,44:_,45:y},{34:[1,165]},{39:166,43:m,44:_,45:y},{34:[1,167]},{34:[1,168]},{34:[1,169]},{39:170,43:m,44:_,45:y},{34:[1,171]},t(p,[2,37],{35:[1,172]}),t(p,[2,38],{38:[1,173]}),t(p,[2,36],{33:[1,174]}),t(p,[2,39],{35:[1,175]}),t(p,[2,34],{38:[1,176]}),t(p,[2,35],{33:[1,177]}),t(p,[2,60],{42:[1,178]}),t(p,[2,73],{33:[1,179]}),t(p,[2,61],{42:[1,180]}),t(p,[2,84],{38:[1,181]}),t(p,[2,74],{33:[1,182]}),t(p,[2,83],{38:[1,183]}),t(p,[2,59],{42:[1,184]}),t(p,[2,72],{33:[1,185]}),t(p,[2,58],{42:[1,186]}),t(p,[2,78],{35:[1,187]}),t(p,[2,71],{33:[1,188]}),t(p,[2,77],{35:[1,189]}),t(p,[2,57],{42:[1,190]}),t(p,[2,85],{38:[1,191]}),t(p,[2,56],{42:[1,192]}),t(p,[2,79],{35:[1,193]}),t(p,[2,80],{35:[1,194]}),t(p,[2,86],{38:[1,195]}),t(p,[2,70],{33:[1,196]}),t(p,[2,81],{38:[1,197]}),t(p,[2,69],{33:[1,198]}),t(p,[2,75],{35:[1,199]}),t(p,[2,76],{35:[1,200]}),t(p,[2,82],{38:[1,201]}),{34:[1,202]},{39:203,43:m,44:_,45:y},{34:[1,204]},{34:[1,205]},{39:206,43:m,44:_,45:y},{34:[1,207]},{34:[1,208]},{34:[1,209]},{34:[1,210]},{39:211,43:m,44:_,45:y},{34:[1,212]},{39:213,43:m,44:_,45:y},{34:[1,214]},{34:[1,215]},{34:[1,216]},{34:[1,217]},{34:[1,218]},{34:[1,219]},{34:[1,220]},{39:221,43:m,44:_,45:y},{34:[1,222]},{34:[1,223]},{34:[1,224]},{39:225,43:m,44:_,45:y},{34:[1,226]},{39:227,43:m,44:_,45:y},{34:[1,228]},{34:[1,229]},{34:[1,230]},{39:231,43:m,44:_,45:y},t(p,[2,40]),t(p,[2,42]),t(p,[2,41]),t(p,[2,43]),t(p,[2,45]),t(p,[2,44]),t(p,[2,101]),t(p,[2,102]),t(p,[2,99]),t(p,[2,100]),t(p,[2,104]),t(p,[2,103]),t(p,[2,108]),t(p,[2,107]),t(p,[2,106]),t(p,[2,105]),t(p,[2,110]),t(p,[2,109]),t(p,[2,98]),t(p,[2,97]),t(p,[2,96]),t(p,[2,95]),t(p,[2,93]),t(p,[2,94]),t(p,[2,92]),t(p,[2,91]),t(p,[2,90]),t(p,[2,89]),t(p,[2,87]),t(p,[2,88])],defaultActions:{9:[2,118],10:[2,1],11:[2,2],19:[2,3],27:[2,4],46:[2,120],47:[2,5]},parseError:function(M,S){if(S.recoverable)this.trace(M);else{var R=new Error(M);throw R.hash=S,R}},parse:function(M){var S=this,R=[0],A=[],L=[null],v=[],B=this.table,w="",D=0,N=0,z=2,X=1,ct=v.slice.call(arguments,1),J=Object.create(this.lexer),Y={yy:{}};for(var $ in this.yy)Object.prototype.hasOwnProperty.call(this.yy,$)&&(Y.yy[$]=this.yy[$]);J.setInput(M,Y.yy),Y.yy.lexer=J,Y.yy.parser=this,typeof J.yylloc>"u"&&(J.yylloc={});var lt=J.yylloc;v.push(lt);var ut=J.options&&J.options.ranges;typeof Y.yy.parseError=="function"?this.parseError=Y.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;function W(){var P;return P=A.pop()||J.lex()||X,typeof P!="number"&&(P instanceof Array&&(A=P,P=A.pop()),P=S.symbols_[P]||P),P}for(var tt,K,it,Z,V={},Q,q,U,F;;){if(K=R[R.length-1],this.defaultActions[K]?it=this.defaultActions[K]:((tt===null||typeof tt>"u")&&(tt=W()),it=B[K]&&B[K][tt]),typeof it>"u"||!it.length||!it[0]){var j="";F=[];for(Q in B[K])this.terminals_[Q]&&Q>z&&F.push("'"+this.terminals_[Q]+"'");J.showPosition?j="Parse error on line "+(D+1)+`: +`+J.showPosition()+` +Expecting `+F.join(", ")+", got '"+(this.terminals_[tt]||tt)+"'":j="Parse error on line "+(D+1)+": Unexpected "+(tt==X?"end of input":"'"+(this.terminals_[tt]||tt)+"'"),this.parseError(j,{text:J.match,token:this.terminals_[tt]||tt,line:J.yylineno,loc:lt,expected:F})}if(it[0]instanceof Array&&it.length>1)throw new Error("Parse Error: multiple actions possible at state: "+K+", token: "+tt);switch(it[0]){case 1:R.push(tt),L.push(J.yytext),v.push(J.yylloc),R.push(it[1]),tt=null,N=J.yyleng,w=J.yytext,D=J.yylineno,lt=J.yylloc;break;case 2:if(q=this.productions_[it[1]][1],V.$=L[L.length-q],V._$={first_line:v[v.length-(q||1)].first_line,last_line:v[v.length-1].last_line,first_column:v[v.length-(q||1)].first_column,last_column:v[v.length-1].last_column},ut&&(V._$.range=[v[v.length-(q||1)].range[0],v[v.length-1].range[1]]),Z=this.performAction.apply(V,[w,N,D,Y.yy,it[1],L,v].concat(ct)),typeof Z<"u")return Z;q&&(R=R.slice(0,-1*q*2),L=L.slice(0,-1*q),v=v.slice(0,-1*q)),R.push(this.productions_[it[1]][0]),L.push(V.$),v.push(V._$),U=B[R[R.length-2]][R[R.length-1]],R.push(U);break;case 3:return!0}}return!0}},k=function(){var C={EOF:1,parseError:function(S,R){if(this.yy.parser)this.yy.parser.parseError(S,R);else throw new Error(S)},setInput:function(M,S){return this.yy=S||this.yy||{},this._input=M,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var M=this._input[0];this.yytext+=M,this.yyleng++,this.offset++,this.match+=M,this.matched+=M;var S=M.match(/(?:\r\n?|\n).*/g);return S?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),M},unput:function(M){var 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83:this.$="";break}},table:[{3:1,4:2,5:3,6:4,7:e,8:r,9:n,10:i,11:5,12:10,18:a,22:s,25:o,26:l,27:u,28:h},{1:[3]},{1:[2,1]},{1:[2,2]},{3:17,4:2,5:3,6:4,7:e,8:r,9:n,10:i,11:5,12:10,18:a,22:s,25:o,26:l,27:u,28:h},{1:[2,8]},{1:[2,4]},{1:[2,5]},{1:[2,6]},{1:[2,7]},{13:18,19:[1,19]},{15:[1,20]},{15:[1,21]},{15:[1,22]},{15:[1,23]},{15:[1,24]},{19:[2,11]},{1:[2,3]},{14:25,16:[1,26],21:d},t([16,21],[2,12]),{23:28,29:29,30:30,31:31,32:f,33:p,34:m,36:_,38:y,39:58,40:70,42:71,44:b,46:x,47:k,48:T,49:C,50:M,51:S,53:32,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It},{23:79,29:29,30:30,31:31,32:f,33:p,34:m,36:_,38:y,39:58,40:70,42:71,44:b,46:x,47:k,48:T,49:C,50:M,51:S,53:32,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It},{23:80,29:29,30:30,31:31,32:f,33:p,34:m,36:_,38:y,39:58,40:70,42:71,44:b,46:x,47:k,48:T,49:C,50:M,51:S,53:32,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It},{23:81,29:29,30:30,31:31,32:f,33:p,34:m,36:_,38:y,39:58,40:70,42:71,44:b,46:x,47:k,48:T,49:C,50:M,51:S,53:32,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It},{23:82,29:29,30:30,31:31,32:f,33:p,34:m,36:_,38:y,39:58,40:70,42:71,44:b,46:x,47:k,48:T,49:C,50:M,51:S,53:32,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It},{15:[1,83]},{17:84,20:[1,85]},{15:[2,14]},{24:[1,86]},t(Lt,[2,20],{53:32,39:58,40:70,42:71,30:87,44:b,46:x,47:k,48:T,49:C,50:M,51:S,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It}),t(Lt,[2,21]),t(Rt,[2,23],{15:[1,88]}),t(Lt,[2,43],{15:[1,89]}),t(Ct,[2,26]),t(Ct,[2,27]),{35:[1,90]},{37:[1,91]},t(Ct,[2,30]),{45:92,85:93,86:pt,87:mt,89:vt,90:Tt},{45:98,85:93,86:pt,87:mt,89:vt,90:Tt},{45:99,85:93,86:pt,87:mt,89:vt,90:Tt},{45:100,85:93,86:pt,87:mt,89:vt,90:Tt},{45:101,85:93,86:pt,87:mt,89:vt,90:Tt},{45:102,85:93,86:pt,87:mt,89:vt,90:Tt},{45:103,85:93,86:pt,87:mt,89:vt,90:Tt},{45:104,85:93,86:pt,87:mt,89:vt,90:Tt},{45:105,85:93,86:pt,87:mt,89:vt,90:Tt},{45:106,85:93,86:pt,87:mt,89:vt,90:Tt},{45:107,85:93,86:pt,87:mt,89:vt,90:Tt},{45:108,85:93,86:pt,87:mt,89:vt,90:Tt},{45:109,85:93,86:pt,87:mt,89:vt,90:Tt},{45:110,85:93,86:pt,87:mt,89:vt,90:Tt},{45:111,85:93,86:pt,87:mt,89:vt,90:Tt},{45:112,85:93,86:pt,87:mt,89:vt,90:Tt},{45:113,85:93,86:pt,87:mt,89:vt,90:Tt},{45:114,85:93,86:pt,87:mt,89:vt,90:Tt},{45:115,85:93,86:pt,87:mt,89:vt,90:Tt},{45:116,85:93,86:pt,87:mt,89:vt,90:Tt},t(ft,[2,66]),{45:117,85:93,86:pt,87:mt,89:vt,90:Tt},{45:118,85:93,86:pt,87:mt,89:vt,90:Tt},{45:119,85:93,86:pt,87:mt,89:vt,90:Tt},{45:120,85:93,86:pt,87:mt,89:vt,90:Tt},{45:121,85:93,86:pt,87:mt,89:vt,90:Tt},{45:122,85:93,86:pt,87:mt,89:vt,90:Tt},{45:123,85:93,86:pt,87:mt,89:vt,90:Tt},{45:124,85:93,86:pt,87:mt,89:vt,90:Tt},{45:125,85:93,86:pt,87:mt,89:vt,90:Tt},{45:126,85:93,86:pt,87:mt,89:vt,90:Tt},{45:127,85:93,86:pt,87:mt,89:vt,90:Tt},{30:128,39:58,40:70,42:71,44:b,46:x,47:k,48:T,49:C,50:M,51:S,53:32,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It},{15:[1,130],43:[1,129]},{45:131,85:93,86:pt,87:mt,89:vt,90:Tt},{45:132,85:93,86:pt,87:mt,89:vt,90:Tt},{45:133,85:93,86:pt,87:mt,89:vt,90:Tt},{45:134,85:93,86:pt,87:mt,89:vt,90:Tt},{45:135,85:93,86:pt,87:mt,89:vt,90:Tt},{45:136,85:93,86:pt,87:mt,89:vt,90:Tt},{45:137,85:93,86:pt,87:mt,89:vt,90:Tt},{24:[1,138]},{24:[1,139]},{24:[1,140]},{24:[1,141]},t(le,[2,9]),{14:142,21:d},{21:[2,13]},{1:[2,15]},t(Lt,[2,22]),t(Rt,[2,24],{31:31,29:143,32:f,33:p,34:m,36:_,38:y}),t(Lt,[2,44],{29:29,30:30,31:31,53:32,39:58,40:70,42:71,23:144,32:f,33:p,34:m,36:_,38:y,44:b,46:x,47:k,48:T,49:C,50:M,51:S,54:R,55:A,56:L,57:v,58:B,59:w,60:D,61:N,62:z,63:X,64:ct,65:J,66:Y,67:$,68:lt,69:ut,70:W,71:tt,72:K,73:it,74:Z,75:V,76:Q,77:q,78:U,79:F,80:j,81:P,82:et,83:at,84:It}),t(Ct,[2,28]),t(Ct,[2,29]),t(ft,[2,46]),t(Dt,[2,78],{85:93,45:145,86:pt,87:mt,89:vt,90:Tt}),t(Gt,[2,80]),{88:[1,146]},t(Gt,[2,82]),t(Gt,[2,83]),t(ft,[2,47]),t(ft,[2,48]),t(ft,[2,49]),t(ft,[2,50]),t(ft,[2,51]),t(ft,[2,52]),t(ft,[2,53]),t(ft,[2,54]),t(ft,[2,55]),t(ft,[2,56]),t(ft,[2,57]),t(ft,[2,58]),t(ft,[2,59]),t(ft,[2,60]),t(ft,[2,61]),t(ft,[2,62]),t(ft,[2,63]),t(ft,[2,64]),t(ft,[2,65]),t(ft,[2,67]),t(ft,[2,68]),t(ft,[2,69]),t(ft,[2,70]),t(ft,[2,71]),t(ft,[2,72]),t(ft,[2,73]),t(ft,[2,74]),t(ft,[2,75]),t(ft,[2,76]),t(ft,[2,77]),{41:147,52:[1,148]},{15:[1,149]},{43:[1,150]},t($t,[2,35]),t($t,[2,36]),t($t,[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Et=new Error(wt);throw Et.hash=bt,Et}},parse:function(wt){var bt=this,Et=[0],kt=[],Ut=[null],gt=[],he=this.table,yt="",ne=0,ve=0,ye=2,be=1,Te=gt.slice.call(arguments,1),Wt=Object.create(this.lexer),se={yy:{}};for(var me in this.yy)Object.prototype.hasOwnProperty.call(this.yy,me)&&(se.yy[me]=this.yy[me]);Wt.setInput(wt,se.yy),se.yy.lexer=Wt,se.yy.parser=this,typeof Wt.yylloc>"u"&&(Wt.yylloc={});var ue=Wt.yylloc;gt.push(ue);var _a=Wt.options&&Wt.options.ranges;typeof se.yy.parseError=="function"?this.parseError=se.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;function Hr(){var Jt;return Jt=kt.pop()||Wt.lex()||be,typeof Jt!="number"&&(Jt instanceof Array&&(kt=Jt,Jt=kt.pop()),Jt=bt.symbols_[Jt]||Jt),Jt}for(var Ie,oe,Ke,wr,Ge={},Ze,qt,st,At;;){if(oe=Et[Et.length-1],this.defaultActions[oe]?Ke=this.defaultActions[oe]:((Ie===null||typeof Ie>"u")&&(Ie=Hr()),Ke=he[oe]&&he[oe][Ie]),typeof Ke>"u"||!Ke.length||!Ke[0]){var Nt="";At=[];for(Ze in he[oe])this.terminals_[Ze]&&Ze>ye&&At.push("'"+this.terminals_[Ze]+"'");Wt.showPosition?Nt="Parse error on line "+(ne+1)+`: +`+Wt.showPosition()+` +Expecting `+At.join(", ")+", got '"+(this.terminals_[Ie]||Ie)+"'":Nt="Parse error on line "+(ne+1)+": Unexpected "+(Ie==be?"end of input":"'"+(this.terminals_[Ie]||Ie)+"'"),this.parseError(Nt,{text:Wt.match,token:this.terminals_[Ie]||Ie,line:Wt.yylineno,loc:ue,expected:At})}if(Ke[0]instanceof Array&&Ke.length>1)throw new Error("Parse Error: multiple actions possible at state: "+oe+", token: "+Ie);switch(Ke[0]){case 1:Et.push(Ie),Ut.push(Wt.yytext),gt.push(Wt.yylloc),Et.push(Ke[1]),Ie=null,ve=Wt.yyleng,yt=Wt.yytext,ne=Wt.yylineno,ue=Wt.yylloc;break;case 2:if(qt=this.productions_[Ke[1]][1],Ge.$=Ut[Ut.length-qt],Ge._$={first_line:gt[gt.length-(qt||1)].first_line,last_line:gt[gt.length-1].last_line,first_column:gt[gt.length-(qt||1)].first_column,last_column:gt[gt.length-1].last_column},_a&&(Ge._$.range=[gt[gt.length-(qt||1)].range[0],gt[gt.length-1].range[1]]),wr=this.performAction.apply(Ge,[yt,ve,ne,se.yy,Ke[1],Ut,gt].concat(Te)),typeof wr<"u")return wr;qt&&(Et=Et.slice(0,-1*qt*2),Ut=Ut.slice(0,-1*qt),gt=gt.slice(0,-1*qt)),Et.push(this.productions_[Ke[1]][0]),Ut.push(Ge.$),gt.push(Ge._$),st=he[Et[Et.length-2]][Et[Et.length-1]],Et.push(st);break;case 3:return!0}}return!0}},jt=function(){var zt={EOF:1,parseError:function(bt,Et){if(this.yy.parser)this.yy.parser.parseError(bt,Et);else throw new Error(bt)},setInput:function(wt,bt){return this.yy=bt||this.yy||{},this._input=wt,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var wt=this._input[0];this.yytext+=wt,this.yyleng++,this.offset++,this.match+=wt,this.matched+=wt;var bt=wt.match(/(?:\r\n?|\n).*/g);return bt?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),wt},unput:function(wt){var bt=wt.length,Et=wt.split(/(?:\r\n?|\n)/g);this._input=wt+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-bt),this.offset-=bt;var kt=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),Et.length-1&&(this.yylineno-=Et.length-1);var Ut=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:Et?(Et.length===kt.length?this.yylloc.first_column:0)+kt[kt.length-Et.length].length-Et[0].length:this.yylloc.first_column-bt},this.options.ranges&&(this.yylloc.range=[Ut[0],Ut[0]+this.yyleng-bt]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true). +`+this.showPosition(),{text:"",token:null,line:this.yylineno});return this},less:function(wt){this.unput(this.match.slice(wt))},pastInput:function(){var wt=this.matched.substr(0,this.matched.length-this.match.length);return(wt.length>20?"...":"")+wt.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var wt=this.match;return wt.length<20&&(wt+=this._input.substr(0,20-wt.length)),(wt.substr(0,20)+(wt.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var wt=this.pastInput(),bt=new Array(wt.length+1).join("-");return wt+this.upcomingInput()+` +`+bt+"^"},test_match:function(wt,bt){var Et,kt,Ut;if(this.options.backtrack_lexer&&(Ut={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(Ut.yylloc.range=this.yylloc.range.slice(0))),kt=wt[0].match(/(?:\r\n?|\n).*/g),kt&&(this.yylineno+=kt.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:kt?kt[kt.length-1].length-kt[kt.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+wt[0].length},this.yytext+=wt[0],this.match+=wt[0],this.matches=wt,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(wt[0].length),this.matched+=wt[0],Et=this.performAction.call(this,this.yy,this,bt,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),Et)return Et;if(this._backtrack){for(var gt in Ut)this[gt]=Ut[gt];return!1}return!1},next:function(){if(this.done)return this.EOF;this._input||(this.done=!0);var wt,bt,Et,kt;this._more||(this.yytext="",this.match="");for(var Ut=this._currentRules(),gt=0;gt<Ut.length;gt++)if(Et=this._input.match(this.rules[Ut[gt]]),Et&&(!bt||Et[0].length>bt[0].length)){if(bt=Et,kt=gt,this.options.backtrack_lexer){if(wt=this.test_match(Et,Ut[gt]),wt!==!1)return wt;if(this._backtrack){bt=!1;continue}else return!1}else if(!this.options.flex)break}return bt?(wt=this.test_match(bt,Ut[kt]),wt!==!1?wt:!1):this._input===""?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+`. 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55:this.$={type1:"none",type2:"none",lineType:j[et]};break;case 56:this.$=U.relationType.AGGREGATION;break;case 57:this.$=U.relationType.EXTENSION;break;case 58:this.$=U.relationType.COMPOSITION;break;case 59:this.$=U.relationType.DEPENDENCY;break;case 60:this.$=U.relationType.LOLLIPOP;break;case 61:this.$=U.lineType.LINE;break;case 62:this.$=U.lineType.DOTTED_LINE;break;case 63:case 69:this.$=j[et-2],U.setClickEvent(j[et-1],j[et]);break;case 64:case 70:this.$=j[et-3],U.setClickEvent(j[et-2],j[et-1]),U.setTooltip(j[et-2],j[et]);break;case 65:case 73:this.$=j[et-2],U.setLink(j[et-1],j[et]);break;case 66:this.$=j[et-3],U.setLink(j[et-2],j[et-1],j[et]);break;case 67:case 75:this.$=j[et-3],U.setLink(j[et-2],j[et-1]),U.setTooltip(j[et-2],j[et]);break;case 68:case 76:this.$=j[et-4],U.setLink(j[et-3],j[et-2],j[et]),U.setTooltip(j[et-3],j[et-1]);break;case 71:this.$=j[et-3],U.setClickEvent(j[et-2],j[et-1],j[et]);break;case 72:this.$=j[et-4],U.setClickEvent(j[et-3],j[et-2],j[et-1]),U.setTooltip(j[et-3],j[et]);break;case 74:this.$=j[et-3],U.setLink(j[et-2],j[et-1],j[et]);break;case 77:U.setCssClass(j[et-1],j[et]);break}},table:[{3:1,4:2,5:e,6:4,7:5,8:r,9:n,10:i,11:a,12:6,13:11,19:s,23:o},{1:[3]},{1:[2,1]},{1:[2,2]},{1:[2,3]},{3:14,4:2,5:e,6:4,7:5,8:r,9:n,10:i,11:a,12:6,13:11,19:s,23:o},{1:[2,9]},t(l,[2,5]),t(l,[2,6]),t(l,[2,7]),t(l,[2,8]),{14:15,20:[1,16]},{16:[1,17]},{20:[2,12]},{1:[2,4]},{15:18,17:[1,19],22:u},t([17,22],[2,13]),{6:30,7:29,8:r,9:n,10:i,11:a,13:11,19:s,24:21,26:22,27:34,28:43,29:44,31:23,33:24,34:25,35:26,36:27,37:28,38:h,40:d,42:f,43:p,48:m,50:_,51:y,63:b,64:x,66:k,70:T,84:C,85:M,86:S,87:R},{16:[1,49]},{18:50,21:[1,51]},{16:[2,15]},{25:[1,52]},{16:[1,53],25:[2,17]},t(A,[2,25],{32:[1,54]}),t(A,[2,27]),t(A,[2,28]),t(A,[2,29]),t(A,[2,30]),t(A,[2,31]),t(A,[2,32]),t(A,[2,33]),{39:[1,55]},{41:[1,56]},t(A,[2,36]),t(A,[2,44],{52:57,54:60,55:61,32:[1,59],53:[1,58],56:L,57:v,58:B,59:w,60:D,61:N,62:z}),{27:69,28:43,29:44,84:C,85:M,86:S,87:R},t(A,[2,46]),t(A,[2,47]),{28:70,84:C,85:M,86:S},{27:71,28:43,29:44,84:C,85:M,86:S,87:R},{27:72,28:43,29:44,84:C,85:M,86:S,87:R},{27:73,28:43,29:44,84:C,85:M,86:S,87:R},{53:[1,74]},t(X,[2,20],{28:43,29:44,27:75,30:[1,76],84:C,85:M,86:S,87:R}),t(X,[2,21],{30:[1,77]}),t(ct,[2,91]),t(ct,[2,92]),t(ct,[2,93]),t([16,25,30,32,44,45,53,56,57,58,59,60,61,62,67,69],[2,94]),t(J,[2,10]),{15:78,22:u},{22:[2,14]},{1:[2,16]},{6:30,7:29,8:r,9:n,10:i,11:a,13:11,19:s,24:79,25:[2,18],26:22,27:34,28:43,29:44,31:23,33:24,34:25,35:26,36:27,37:28,38:h,40:d,42:f,43:p,48:m,50:_,51:y,63:b,64:x,66:k,70:T,84:C,85:M,86:S,87:R},t(A,[2,26]),t(A,[2,34]),t(A,[2,35]),{27:80,28:43,29:44,53:[1,81],84:C,85:M,86:S,87:R},{52:82,54:60,55:61,56:L,57:v,58:B,59:w,60:D,61:N,62:z},t(A,[2,45]),{55:83,61:N,62:z},t(Y,[2,55],{54:84,56:L,57:v,58:B,59:w,60:D}),t($,[2,56]),t($,[2,57]),t($,[2,58]),t($,[2,59]),t($,[2,60]),t(lt,[2,61]),t(lt,[2,62]),t(A,[2,37],{44:[1,85],45:[1,86]}),{49:[1,87]},{53:[1,88]},{53:[1,89]},{67:[1,90],69:[1,91]},{28:92,84:C,85:M,86:S},t(X,[2,22]),t(X,[2,23]),t(X,[2,24]),{16:[1,93]},{25:[2,19]},t(ut,[2,48]),{27:94,28:43,29:44,84:C,85:M,86:S,87:R},{27:95,28:43,29:44,53:[1,96],84:C,85:M,86:S,87:R},t(Y,[2,54],{54:97,56:L,57:v,58:B,59:w,60:D}),t(Y,[2,53]),{28:98,84:C,85:M,86:S},{46:99,50:W},{27:101,28:43,29:44,84:C,85:M,86:S,87:R},t(A,[2,63],{53:[1,102]}),t(A,[2,65],{53:[1,104],65:[1,103]}),t(A,[2,69],{53:[1,105],68:[1,106]}),t(A,[2,73],{53:[1,108],65:[1,107]}),t(A,[2,77]),t(J,[2,11]),t(ut,[2,50]),t(ut,[2,49]),{27:109,28:43,29:44,84:C,85:M,86:S,87:R},t(Y,[2,52]),t(A,[2,38],{45:[1,110]}),{47:[1,111]},{46:112,47:[2,42],50:W},t(A,[2,41]),t(A,[2,64]),t(A,[2,66]),t(A,[2,67],{65:[1,113]}),t(A,[2,70]),t(A,[2,71],{53:[1,114]}),t(A,[2,74]),t(A,[2,75],{65:[1,115]}),t(ut,[2,51]),{46:116,50:W},t(A,[2,39]),{47:[2,43]},t(A,[2,68]),t(A,[2,72]),t(A,[2,76]),{47:[1,117]},t(A,[2,40])],defaultActions:{2:[2,1],3:[2,2],4:[2,3],6:[2,9],13:[2,12],14:[2,4],20:[2,15],51:[2,14],52:[2,16],79:[2,19],112:[2,43]},parseError:function(V,Q){if(Q.recoverable)this.trace(V);else{var q=new Error(V);throw q.hash=Q,q}},parse:function(V){var Q=this,q=[0],U=[],F=[null],j=[],P=this.table,et="",at=0,It=0,Lt=2,Rt=1,Ct=j.slice.call(arguments,1),pt=Object.create(this.lexer),mt={yy:{}};for(var vt in this.yy)Object.prototype.hasOwnProperty.call(this.yy,vt)&&(mt.yy[vt]=this.yy[vt]);pt.setInput(V,mt.yy),mt.yy.lexer=pt,mt.yy.parser=this,typeof pt.yylloc>"u"&&(pt.yylloc={});var Tt=pt.yylloc;j.push(Tt);var ft=pt.options&&pt.options.ranges;typeof mt.yy.parseError=="function"?this.parseError=mt.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;function le(){var Et;return Et=U.pop()||pt.lex()||Rt,typeof Et!="number"&&(Et instanceof Array&&(U=Et,Et=U.pop()),Et=Q.symbols_[Et]||Et),Et}for(var Dt,Gt,$t,Qt,we={},jt,Ft,zt,wt;;){if(Gt=q[q.length-1],this.defaultActions[Gt]?$t=this.defaultActions[Gt]:((Dt===null||typeof Dt>"u")&&(Dt=le()),$t=P[Gt]&&P[Gt][Dt]),typeof $t>"u"||!$t.length||!$t[0]){var bt="";wt=[];for(jt in P[Gt])this.terminals_[jt]&&jt>Lt&&wt.push("'"+this.terminals_[jt]+"'");pt.showPosition?bt="Parse error on line "+(at+1)+`: +`+pt.showPosition()+` +Expecting `+wt.join(", ")+", got '"+(this.terminals_[Dt]||Dt)+"'":bt="Parse error on line "+(at+1)+": Unexpected "+(Dt==Rt?"end of input":"'"+(this.terminals_[Dt]||Dt)+"'"),this.parseError(bt,{text:pt.match,token:this.terminals_[Dt]||Dt,line:pt.yylineno,loc:Tt,expected:wt})}if($t[0]instanceof Array&&$t.length>1)throw new Error("Parse Error: multiple actions possible at state: "+Gt+", token: "+Dt);switch($t[0]){case 1:q.push(Dt),F.push(pt.yytext),j.push(pt.yylloc),q.push($t[1]),Dt=null,It=pt.yyleng,et=pt.yytext,at=pt.yylineno,Tt=pt.yylloc;break;case 2:if(Ft=this.productions_[$t[1]][1],we.$=F[F.length-Ft],we._$={first_line:j[j.length-(Ft||1)].first_line,last_line:j[j.length-1].last_line,first_column:j[j.length-(Ft||1)].first_column,last_column:j[j.length-1].last_column},ft&&(we._$.range=[j[j.length-(Ft||1)].range[0],j[j.length-1].range[1]]),Qt=this.performAction.apply(we,[et,It,at,mt.yy,$t[1],F,j].concat(Ct)),typeof Qt<"u")return Qt;Ft&&(q=q.slice(0,-1*Ft*2),F=F.slice(0,-1*Ft),j=j.slice(0,-1*Ft)),q.push(this.productions_[$t[1]][0]),F.push(we.$),j.push(we._$),zt=P[q[q.length-2]][q[q.length-1]],q.push(zt);break;case 3:return!0}}return!0}},K=function(){var Z={EOF:1,parseError:function(Q,q){if(this.yy.parser)this.yy.parser.parseError(Q,q);else throw new Error(Q)},setInput:function(V,Q){return this.yy=Q||this.yy||{},this._input=V,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var V=this._input[0];this.yytext+=V,this.yyleng++,this.offset++,this.match+=V,this.matched+=V;var Q=V.match(/(?:\r\n?|\n).*/g);return Q?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),V},unput:function(V){var Q=V.length,q=V.split(/(?:\r\n?|\n)/g);this._input=V+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-Q),this.offset-=Q;var U=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),q.length-1&&(this.yylineno-=q.length-1);var F=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:q?(q.length===U.length?this.yylloc.first_column:0)+U[U.length-q.length].length-q[0].length:this.yylloc.first_column-Q},this.options.ranges&&(this.yylloc.range=[F[0],F[0]+this.yyleng-Q]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true). +`+this.showPosition(),{text:"",token:null,line:this.yylineno});return this},less:function(V){this.unput(this.match.slice(V))},pastInput:function(){var V=this.matched.substr(0,this.matched.length-this.match.length);return(V.length>20?"...":"")+V.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var V=this.match;return V.length<20&&(V+=this._input.substr(0,20-V.length)),(V.substr(0,20)+(V.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var V=this.pastInput(),Q=new Array(V.length+1).join("-");return V+this.upcomingInput()+` +`+Q+"^"},test_match:function(V,Q){var q,U,F;if(this.options.backtrack_lexer&&(F={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(F.yylloc.range=this.yylloc.range.slice(0))),U=V[0].match(/(?:\r\n?|\n).*/g),U&&(this.yylineno+=U.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:U?U[U.length-1].length-U[U.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+V[0].length},this.yytext+=V[0],this.match+=V[0],this.matches=V,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(V[0].length),this.matched+=V[0],q=this.performAction.call(this,this.yy,this,Q,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),q)return q;if(this._backtrack){for(var j in F)this[j]=F[j];return!1}return!1},next:function(){if(this.done)return this.EOF;this._input||(this.done=!0);var V,Q,q,U;this._more||(this.yytext="",this.match="");for(var F=this._currentRules(),j=0;j<F.length;j++)if(q=this._input.match(this.rules[F[j]]),q&&(!Q||q[0].length>Q[0].length)){if(Q=q,U=j,this.options.backtrack_lexer){if(V=this.test_match(q,F[j]),V!==!1)return V;if(this._backtrack){Q=!1;continue}else return!1}else if(!this.options.flex)break}return Q?(V=this.test_match(Q,F[U]),V!==!1?V:!1):this._input===""?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+`. Unrecognized text. +`+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){var Q=this.next();return Q||this.lex()},begin:function(Q){this.conditionStack.push(Q)},popState:function(){var Q=this.conditionStack.length-1;return Q>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(Q){return Q=this.conditionStack.length-1-Math.abs(Q||0),Q>=0?this.conditionStack[Q]:"INITIAL"},pushState:function(Q){this.begin(Q)},stateStackSize:function(){return this.conditionStack.length},options:{},performAction:function(Q,q,U,F){switch(U){case 0:return this.begin("open_directive"),19;case 1:return 8;case 2:return 9;case 3:return 10;case 4:return 11;case 5:return this.begin("type_directive"),20;case 6:return 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y={};return o&&(y.updatedPath=s),y.originalPath=r.points,y},JA=(t,e,r,n)=>{H.info("Graph in recursive render: XXX",cr.json.write(e),n);const i=e.graph().rankdir;H.trace("Dir in recursive render - dir:",i);const a=t.insert("g").attr("class","root");e.nodes()?H.info("Recursive render XXX",e.nodes()):H.info("No nodes found for",e),e.edges().length>0&&H.trace("Recursive edges",e.edge(e.edges()[0]));const s=a.insert("g").attr("class","clusters"),o=a.insert("g").attr("class","edgePaths"),l=a.insert("g").attr("class","edgeLabels"),u=a.insert("g").attr("class","nodes");e.nodes().forEach(function(d){const f=e.node(d);if(typeof n<"u"){const p=JSON.parse(JSON.stringify(n.clusterData));H.info("Setting data for cluster XXX (",d,") ",p,n),e.setNode(n.id,p),e.parent(d)||(H.trace("Setting parent",d,n.id),e.setParent(d,n.id,p))}if(H.info("(Insert) Node XXX"+d+": "+JSON.stringify(e.node(d))),f&&f.clusterNode){H.info("Cluster identified",d,f.width,e.node(d));const 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113:this.$=rt[ot-3],Pt.setLink(rt[ot-3],rt[ot-2],rt[ot]);break;case 108:case 114:this.$=rt[ot-5],Pt.setLink(rt[ot-5],rt[ot-4],rt[ot]),Pt.setTooltip(rt[ot-5],rt[ot-2]);break;case 115:this.$=rt[ot-4],Pt.addVertex(rt[ot-2],void 0,void 0,rt[ot]);break;case 116:case 118:this.$=rt[ot-4],Pt.updateLink(rt[ot-2],rt[ot]);break;case 117:this.$=rt[ot-4],Pt.updateLink([rt[ot-2]],rt[ot]);break;case 119:this.$=rt[ot-8],Pt.updateLinkInterpolate([rt[ot-6]],rt[ot-2]),Pt.updateLink([rt[ot-6]],rt[ot]);break;case 120:this.$=rt[ot-8],Pt.updateLinkInterpolate(rt[ot-6],rt[ot-2]),Pt.updateLink(rt[ot-6],rt[ot]);break;case 121:this.$=rt[ot-6],Pt.updateLinkInterpolate([rt[ot-4]],rt[ot]);break;case 122:this.$=rt[ot-6],Pt.updateLinkInterpolate(rt[ot-4],rt[ot]);break;case 123:case 125:this.$=[rt[ot]];break;case 124:case 126:rt[ot-2].push(rt[ot]),this.$=rt[ot-2];break;case 128:this.$=rt[ot-1]+rt[ot];break;case 150:this.$=rt[ot];break;case 151:this.$=rt[ot-1]+""+rt[ot];break;case 156:this.$="v";break;case 157:this.$="-";break;case 158:this.$={stmt:"dir",value:"TB"};break;case 159:this.$={stmt:"dir",value:"BT"};break;case 160:this.$={stmt:"dir",value:"RL"};break;case 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ce=new Error(Xt);throw ce.hash=ee,ce}},parse:function(Xt){var ee=this,ce=[0],Pt=[],je=[null],rt=[],Ks=this.table,ot="",Gr=0,C0=0,l_=2,S0=1,A0=rt.slice.call(arguments,1),mr=Object.create(this.lexer),Hi={yy:{}};for(var Gi in this.yy)Object.prototype.hasOwnProperty.call(this.yy,Gi)&&(Hi.yy[Gi]=this.yy[Gi]);mr.setInput(Xt,Hi.yy),Hi.yy.lexer=mr,Hi.yy.parser=this,typeof mr.yylloc>"u"&&(mr.yylloc={});var Zs=mr.yylloc;rt.push(Zs);var vu=mr.options&&mr.options.ranges;typeof Hi.yy.parseError=="function"?this.parseError=Hi.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;function M0(){var In;return In=Pt.pop()||mr.lex()||S0,typeof In!="number"&&(In instanceof Array&&(Pt=In,In=Pt.pop()),In=ee.symbols_[In]||In),In}for(var Dr,De,hn,xa,_i={},ka,Rn,xu,yl;;){if(De=ce[ce.length-1],this.defaultActions[De]?hn=this.defaultActions[De]:((Dr===null||typeof Dr>"u")&&(Dr=M0()),hn=Ks[De]&&Ks[De][Dr]),typeof hn>"u"||!hn.length||!hn[0]){var Qs="";yl=[];for(ka in Ks[De])this.terminals_[ka]&&ka>l_&&yl.push("'"+this.terminals_[ka]+"'");mr.showPosition?Qs="Parse error on line "+(Gr+1)+`: +`+mr.showPosition()+` +Expecting `+yl.join(", ")+", got '"+(this.terminals_[Dr]||Dr)+"'":Qs="Parse error on line "+(Gr+1)+": Unexpected "+(Dr==S0?"end of input":"'"+(this.terminals_[Dr]||Dr)+"'"),this.parseError(Qs,{text:mr.match,token:this.terminals_[Dr]||Dr,line:mr.yylineno,loc:Zs,expected:yl})}if(hn[0]instanceof Array&&hn.length>1)throw new Error("Parse Error: multiple actions possible at state: "+De+", token: "+Dr);switch(hn[0]){case 1:ce.push(Dr),je.push(mr.yytext),rt.push(mr.yylloc),ce.push(hn[1]),Dr=null,C0=mr.yyleng,ot=mr.yytext,Gr=mr.yylineno,Zs=mr.yylloc;break;case 2:if(Rn=this.productions_[hn[1]][1],_i.$=je[je.length-Rn],_i._$={first_line:rt[rt.length-(Rn||1)].first_line,last_line:rt[rt.length-1].last_line,first_column:rt[rt.length-(Rn||1)].first_column,last_column:rt[rt.length-1].last_column},vu&&(_i._$.range=[rt[rt.length-(Rn||1)].range[0],rt[rt.length-1].range[1]]),xa=this.performAction.apply(_i,[ot,C0,Gr,Hi.yy,hn[1],je,rt].concat(A0)),typeof xa<"u")return xa;Rn&&(ce=ce.slice(0,-1*Rn*2),je=je.slice(0,-1*Rn),rt=rt.slice(0,-1*Rn)),ce.push(this.productions_[hn[1]][0]),je.push(_i.$),rt.push(_i._$),xu=Ks[ce[ce.length-2]][ce[ce.length-1]],ce.push(xu);break;case 3:return!0}}return!0}},E0=function(){var Ln={EOF:1,parseError:function(ee,ce){if(this.yy.parser)this.yy.parser.parseError(ee,ce);else throw new Error(ee)},setInput:function(Xt,ee){return this.yy=ee||this.yy||{},this._input=Xt,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var Xt=this._input[0];this.yytext+=Xt,this.yyleng++,this.offset++,this.match+=Xt,this.matched+=Xt;var ee=Xt.match(/(?:\r\n?|\n).*/g);return ee?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),Xt},unput:function(Xt){var ee=Xt.length,ce=Xt.split(/(?:\r\n?|\n)/g);this._input=Xt+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-ee),this.offset-=ee;var Pt=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),ce.length-1&&(this.yylineno-=ce.length-1);var je=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:ce?(ce.length===Pt.length?this.yylloc.first_column:0)+Pt[Pt.length-ce.length].length-ce[0].length:this.yylloc.first_column-ee},this.options.ranges&&(this.yylloc.range=[je[0],je[0]+this.yyleng-ee]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true). +`+this.showPosition(),{text:"",token:null,line:this.yylineno});return this},less:function(Xt){this.unput(this.match.slice(Xt))},pastInput:function(){var Xt=this.matched.substr(0,this.matched.length-this.match.length);return(Xt.length>20?"...":"")+Xt.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var Xt=this.match;return Xt.length<20&&(Xt+=this._input.substr(0,20-Xt.length)),(Xt.substr(0,20)+(Xt.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var Xt=this.pastInput(),ee=new Array(Xt.length+1).join("-");return Xt+this.upcomingInput()+` +`+ee+"^"},test_match:function(Xt,ee){var ce,Pt,je;if(this.options.backtrack_lexer&&(je={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(je.yylloc.range=this.yylloc.range.slice(0))),Pt=Xt[0].match(/(?:\r\n?|\n).*/g),Pt&&(this.yylineno+=Pt.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:Pt?Pt[Pt.length-1].length-Pt[Pt.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+Xt[0].length},this.yytext+=Xt[0],this.match+=Xt[0],this.matches=Xt,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(Xt[0].length),this.matched+=Xt[0],ce=this.performAction.call(this,this.yy,this,ee,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),ce)return ce;if(this._backtrack){for(var rt in je)this[rt]=je[rt];return!1}return!1},next:function(){if(this.done)return this.EOF;this._input||(this.done=!0);var Xt,ee,ce,Pt;this._more||(this.yytext="",this.match="");for(var je=this._currentRules(),rt=0;rt<je.length;rt++)if(ce=this._input.match(this.rules[je[rt]]),ce&&(!ee||ce[0].length>ee[0].length)){if(ee=ce,Pt=rt,this.options.backtrack_lexer){if(Xt=this.test_match(ce,je[rt]),Xt!==!1)return Xt;if(this._backtrack){ee=!1;continue}else return!1}else if(!this.options.flex)break}return ee?(Xt=this.test_match(ee,je[Pt]),Xt!==!1?Xt:!1):this._input===""?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+`. 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WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */var An={graphlib:Ort,dagre:fM,intersect:Grt,render:gnt,util:Gn,version:xnt};function RM(t,e,r){const n=e.width,i=e.height,a=(n+i)*.9,s=[{x:a/2,y:0},{x:a,y:-a/2},{x:a/2,y:-a},{x:0,y:-a/2}],o=da(t,a,a,s);return r.intersect=function(l){return An.intersect.polygon(r,s,l)},o}function IM(t,e,r){const i=e.height,a=i/4,s=e.width+2*a,o=[{x:a,y:0},{x:s-a,y:0},{x:s,y:-i/2},{x:s-a,y:-i},{x:a,y:-i},{x:0,y:-i/2}],l=da(t,s,i,o);return r.intersect=function(u){return An.intersect.polygon(r,o,u)},l}function NM(t,e,r){const n=e.width,i=e.height,a=[{x:-i/2,y:0},{x:n,y:0},{x:n,y:-i},{x:-i/2,y:-i},{x:0,y:-i/2}],s=da(t,n,i,a);return r.intersect=function(o){return An.intersect.polygon(r,a,o)},s}function BM(t,e,r){const 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this.yy=o||this.yy||{},this._input=s,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var s=this._input[0];this.yytext+=s,this.yyleng++,this.offset++,this.match+=s,this.matched+=s;var o=s.match(/(?:\r\n?|\n).*/g);return o?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),s},unput:function(s){var o=s.length,l=s.split(/(?:\r\n?|\n)/g);this._input=s+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-o),this.offset-=o;var u=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),l.length-1&&(this.yylineno-=l.length-1);var h=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:l?(l.length===u.length?this.yylloc.first_column:0)+u[u.length-l.length].length-l[0].length:this.yylloc.first_column-o},this.options.ranges&&(this.yylloc.range=[h[0],h[0]+this.yyleng-o]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true). +`+this.showPosition(),{text:"",token:null,line:this.yylineno});return this},less:function(s){this.unput(this.match.slice(s))},pastInput:function(){var s=this.matched.substr(0,this.matched.length-this.match.length);return(s.length>20?"...":"")+s.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var s=this.match;return s.length<20&&(s+=this._input.substr(0,20-s.length)),(s.substr(0,20)+(s.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var s=this.pastInput(),o=new Array(s.length+1).join("-");return s+this.upcomingInput()+` +`+o+"^"},test_match:function(s,o){var l,u,h;if(this.options.backtrack_lexer&&(h={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(h.yylloc.range=this.yylloc.range.slice(0))),u=s[0].match(/(?:\r\n?|\n).*/g),u&&(this.yylineno+=u.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:u?u[u.length-1].length-u[u.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+s[0].length},this.yytext+=s[0],this.match+=s[0],this.matches=s,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(s[0].length),this.matched+=s[0],l=this.performAction.call(this,this.yy,this,o,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),l)return l;if(this._backtrack){for(var d in h)this[d]=h[d];return!1}return!1},next:function(){if(this.done)return this.EOF;this._input||(this.done=!0);var s,o,l,u;this._more||(this.yytext="",this.match="");for(var h=this._currentRules(),d=0;d<h.length;d++)if(l=this._input.match(this.rules[h[d]]),l&&(!o||l[0].length>o[0].length)){if(o=l,u=d,this.options.backtrack_lexer){if(s=this.test_match(l,h[d]),s!==!1)return s;if(this._backtrack){o=!1;continue}else return!1}else if(!this.options.flex)break}return o?(s=this.test_match(o,h[u]),s!==!1?s:!1):this._input===""?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+`. Unrecognized text. +`+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){var o=this.next();return o||this.lex()},begin:function(o){this.conditionStack.push(o)},popState:function(){var o=this.conditionStack.length-1;return o>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(o){return o=this.conditionStack.length-1-Math.abs(o||0),o>=0?this.conditionStack[o]:"INITIAL"},pushState:function(o){this.begin(o)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(o,l,u,h){switch(u){case 0:return 4;case 1:return 9;case 2:return"space";case 3:return 10;case 4:return 6;case 5:return"TXT"}},rules:[/^(?:info\b)/i,/^(?:[\s\n\r]+)/i,/^(?:[\s]+)/i,/^(?:showInfo\b)/i,/^(?:$)/i,/^(?:.)/i],conditions:{INITIAL:{rules:[0,1,2,3,4,5],inclusive:!0}}};return a}();r.lexer=n;function i(){this.yy={}}return i.prototype=r,r.Parser=i,new i}();q4.parser=q4;var iL="",aL=!1;const nit={setMessage:t=>{H.debug("Setting message to: "+t),iL=t},getMessage:()=>iL,setInfo:t=>{aL=t},getInfo:()=>aL,clear:ci},iit={draw:(t,e,r,n)=>{try{H.debug(`Rendering info diagram +`+t);const i=nt().securityLevel;let a;i==="sandbox"&&(a=St("#i"+e));const o=St(i==="sandbox"?a.nodes()[0].contentDocument.body:"body").select("#"+e);o.append("g").append("text").attr("x",100).attr("y",40).attr("class","version").attr("font-size","32px").style("text-anchor","middle").text("v "+r),o.attr("height",100),o.attr("width",400)}catch(i){H.error("Error while rendering info diagram"),H.error(i.message)}}},ait=t=>t.match(/^\s*info/)!==null;var V4=function(){var t=function(M,S,R,A){for(R=R||{},A=M.length;A--;R[M[A]]=S);return R},e=[1,4],r=[1,5],n=[1,6],i=[1,7],a=[1,9],s=[1,11,13,15,17,19,20,26,27,28,29],o=[2,5],l=[1,6,11,13,15,17,19,20,26,27,28,29],u=[26,27,28],h=[2,8],d=[1,18],f=[1,19],p=[1,20],m=[1,21],_=[1,22],y=[1,23],b=[1,28],x=[6,26,27,28,29],k={trace:function(){},yy:{},symbols_:{error:2,start:3,eol:4,directive:5,PIE:6,document:7,showData:8,line:9,statement:10,txt:11,value:12,title:13,title_value:14,acc_title:15,acc_title_value:16,acc_descr:17,acc_descr_value:18,acc_descr_multiline_value:19,section:20,openDirective:21,typeDirective:22,closeDirective:23,":":24,argDirective:25,NEWLINE:26,";":27,EOF:28,open_directive:29,type_directive:30,arg_directive:31,close_directive:32,$accept:0,$end:1},terminals_:{2:"error",6:"PIE",8:"showData",11:"txt",12:"value",13:"title",14:"title_value",15:"acc_title",16:"acc_title_value",17:"acc_descr",18:"acc_descr_value",19:"acc_descr_multiline_value",20:"section",24:":",26:"NEWLINE",27:";",28:"EOF",29:"open_directive",30:"type_directive",31:"arg_directive",32:"close_directive"},productions_:[0,[3,2],[3,2],[3,2],[3,3],[7,0],[7,2],[9,2],[10,0],[10,2],[10,2],[10,2],[10,2],[10,1],[10,1],[10,1],[5,3],[5,5],[4,1],[4,1],[4,1],[21,1],[22,1],[25,1],[23,1]],performAction:function(S,R,A,L,v,B,w){var D=B.length-1;switch(v){case 4:L.setShowData(!0);break;case 7:this.$=B[D-1];break;case 9:L.addSection(B[D-1],L.cleanupValue(B[D]));break;case 10:this.$=B[D].trim(),L.setDiagramTitle(this.$);break;case 11:this.$=B[D].trim(),L.setAccTitle(this.$);break;case 12:case 13:this.$=B[D].trim(),L.setAccDescription(this.$);break;case 14:L.addSection(B[D].substr(8)),this.$=B[D].substr(8);break;case 21:L.parseDirective("%%{","open_directive");break;case 22:L.parseDirective(B[D],"type_directive");break;case 23:B[D]=B[D].trim().replace(/'/g,'"'),L.parseDirective(B[D],"arg_directive");break;case 24:L.parseDirective("}%%","close_directive","pie");break}},table:[{3:1,4:2,5:3,6:e,21:8,26:r,27:n,28:i,29:a},{1:[3]},{3:10,4:2,5:3,6:e,21:8,26:r,27:n,28:i,29:a},{3:11,4:2,5:3,6:e,21:8,26:r,27:n,28:i,29:a},t(s,o,{7:12,8:[1,13]}),t(l,[2,18]),t(l,[2,19]),t(l,[2,20]),{22:14,30:[1,15]},{30:[2,21]},{1:[2,1]},{1:[2,2]},t(u,h,{21:8,9:16,10:17,5:24,1:[2,3],11:d,13:f,15:p,17:m,19:_,20:y,29:a}),t(s,o,{7:25}),{23:26,24:[1,27],32:b},t([24,32],[2,22]),t(s,[2,6]),{4:29,26:r,27:n,28:i},{12:[1,30]},{14:[1,31]},{16:[1,32]},{18:[1,33]},t(u,[2,13]),t(u,[2,14]),t(u,[2,15]),t(u,h,{21:8,9:16,10:17,5:24,1:[2,4],11:d,13:f,15:p,17:m,19:_,20:y,29:a}),t(x,[2,16]),{25:34,31:[1,35]},t(x,[2,24]),t(s,[2,7]),t(u,[2,9]),t(u,[2,10]),t(u,[2,11]),t(u,[2,12]),{23:36,32:b},{32:[2,23]},t(x,[2,17])],defaultActions:{9:[2,21],10:[2,1],11:[2,2],35:[2,23]},parseError:function(S,R){if(R.recoverable)this.trace(S);else{var A=new Error(S);throw A.hash=R,A}},parse:function(S){var R=this,A=[0],L=[],v=[null],B=[],w=this.table,D="",N=0,z=0,X=2,ct=1,J=B.slice.call(arguments,1),Y=Object.create(this.lexer),$={yy:{}};for(var lt in this.yy)Object.prototype.hasOwnProperty.call(this.yy,lt)&&($.yy[lt]=this.yy[lt]);Y.setInput(S,$.yy),$.yy.lexer=Y,$.yy.parser=this,typeof Y.yylloc>"u"&&(Y.yylloc={});var ut=Y.yylloc;B.push(ut);var W=Y.options&&Y.options.ranges;typeof $.yy.parseError=="function"?this.parseError=$.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;function tt(){var et;return et=L.pop()||Y.lex()||ct,typeof et!="number"&&(et instanceof Array&&(L=et,et=L.pop()),et=R.symbols_[et]||et),et}for(var K,it,Z,V,Q={},q,U,F,j;;){if(it=A[A.length-1],this.defaultActions[it]?Z=this.defaultActions[it]:((K===null||typeof K>"u")&&(K=tt()),Z=w[it]&&w[it][K]),typeof Z>"u"||!Z.length||!Z[0]){var P="";j=[];for(q in w[it])this.terminals_[q]&&q>X&&j.push("'"+this.terminals_[q]+"'");Y.showPosition?P="Parse error on line "+(N+1)+`: +`+Y.showPosition()+` +Expecting 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R=S.length,A=S.split(/(?:\r\n?|\n)/g);this._input=S+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-R),this.offset-=R;var L=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),A.length-1&&(this.yylineno-=A.length-1);var v=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:A?(A.length===L.length?this.yylloc.first_column:0)+L[L.length-A.length].length-A[0].length:this.yylloc.first_column-R},this.options.ranges&&(this.yylloc.range=[v[0],v[0]+this.yyleng-R]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. 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52:this.$=q.Relationships.TRACES;break}},table:[{3:1,4:2,6:e,9:4,14:r,16:n,18:i,19:a},{1:[3]},{3:10,4:2,5:[1,9],6:e,9:4,14:r,16:n,18:i,19:a},{5:[1,11]},{10:12,20:[1,13]},{15:[1,14]},{17:[1,15]},t(s,[2,8]),{20:[2,9]},{3:16,4:2,6:e,9:4,14:r,16:n,18:i,19:a},{1:[2,2]},{4:21,5:o,7:17,8:l,9:4,14:r,16:n,18:i,19:a,23:18,24:19,25:20,26:23,32:25,40:u,41:h,42:d,43:f,44:p,45:m,53:_,71:y,72:b},{11:34,12:[1,35],22:x},t([12,22],[2,10]),t(s,[2,6]),t(s,[2,7]),{1:[2,1]},{8:[1,37]},{4:21,5:o,7:38,8:l,9:4,14:r,16:n,18:i,19:a,23:18,24:19,25:20,26:23,32:25,40:u,41:h,42:d,43:f,44:p,45:m,53:_,71:y,72:b},{4:21,5:o,7:39,8:l,9:4,14:r,16:n,18:i,19:a,23:18,24:19,25:20,26:23,32:25,40:u,41:h,42:d,43:f,44:p,45:m,53:_,71:y,72:b},{4:21,5:o,7:40,8:l,9:4,14:r,16:n,18:i,19:a,23:18,24:19,25:20,26:23,32:25,40:u,41:h,42:d,43:f,44:p,45:m,53:_,71:y,72:b},{4:21,5:o,7:41,8:l,9:4,14:r,16:n,18:i,19:a,23:18,24:19,25:20,26:23,32:25,40:u,41:h,42:d,43:f,44:p,45:m,53:_,71:y,72:b},{4:21,5:o,7:42,8:l,9:4,14:r,16:n,18:i,19:a,23:18,24:19,25:20,26:23,32:25,40:u,41:h,42:d,43:f,44:p,45:m,53:_,71:y,72:b},{27:43,71:[1,44],72:[1,45]},{54:46,71:[1,47],72:[1,48]},{60:[1,49],62:[1,50]},t(k,[2,26]),t(k,[2,27]),t(k,[2,28]),t(k,[2,29]),t(k,[2,30]),t(k,[2,31]),t(T,[2,55]),t(T,[2,56]),t(s,[2,4]),{13:51,21:[1,52]},t(s,[2,12]),{1:[2,3]},{8:[2,14]},{8:[2,15]},{8:[2,16]},{8:[2,17]},{8:[2,18]},{28:[1,53]},{28:[2,53]},{28:[2,54]},{28:[1,54]},{28:[2,59]},{28:[2,60]},{61:55,64:C,65:M,66:S,67:R,68:A,69:L,70:v},{61:63,64:C,65:M,66:S,67:R,68:A,69:L,70:v},{11:64,22:x},{22:[2,11]},{5:[1,65]},{5:[1,66]},{62:[1,67]},t(B,[2,46]),t(B,[2,47]),t(B,[2,48]),t(B,[2,49]),t(B,[2,50]),t(B,[2,51]),t(B,[2,52]),{63:[1,68]},t(s,[2,5]),{5:w,29:69,30:D,33:N,35:z,37:X,39:ct},{5:J,39:Y,55:76,56:$,58:lt},{32:81,71:y,72:b},{32:82,71:y,72:b},t(ut,[2,19]),{31:[1,83]},{31:[1,84]},{31:[1,85]},{31:[1,86]},{5:w,29:87,30:D,33:N,35:z,37:X,39:ct},t(ut,[2,25]),t(ut,[2,39]),{31:[1,88]},{31:[1,89]},{5:J,39:Y,55:90,56:$,58:lt},t(ut,[2,43]),t(ut,[2,44]),t(ut,[2,45]),{32:91,71:y,72:b},{34:92,71:[1,93],72:[1,94]},{36:95,46:[1,96],47:[1,97],48:[1,98]},{38:99,49:[1,100],50:[1,101],51:[1,102],52:[1,103]},t(ut,[2,24]),{57:104,71:[1,105],72:[1,106]},{59:107,71:[1,108],72:[1,109]},t(ut,[2,42]),{5:[1,110]},{5:[1,111]},{5:[2,57]},{5:[2,58]},{5:[1,112]},{5:[2,32]},{5:[2,33]},{5:[2,34]},{5:[1,113]},{5:[2,35]},{5:[2,36]},{5:[2,37]},{5:[2,38]},{5:[1,114]},{5:[2,61]},{5:[2,62]},{5:[1,115]},{5:[2,63]},{5:[2,64]},{5:w,29:116,30:D,33:N,35:z,37:X,39:ct},{5:w,29:117,30:D,33:N,35:z,37:X,39:ct},{5:w,29:118,30:D,33:N,35:z,37:X,39:ct},{5:w,29:119,30:D,33:N,35:z,37:X,39:ct},{5:J,39:Y,55:120,56:$,58:lt},{5:J,39:Y,55:121,56:$,58:lt},t(ut,[2,20]),t(ut,[2,21]),t(ut,[2,22]),t(ut,[2,23]),t(ut,[2,40]),t(ut,[2,41])],defaultActions:{8:[2,9],10:[2,2],16:[2,1],37:[2,3],38:[2,14],39:[2,15],40:[2,16],41:[2,17],42:[2,18],44:[2,53],45:[2,54],47:[2,59],48:[2,60],52:[2,11],93:[2,57],94:[2,58],96:[2,32],97:[2,33],98:[2,34],100:[2,35],101:[2,36],102:[2,37],103:[2,38],105:[2,61],106:[2,62],108:[2,63],109:[2,64]},parseError:function(Z,V){if(V.recoverable)this.trace(Z);else{var Q=new Error(Z);throw Q.hash=V,Q}},parse:function(Z){var V=this,Q=[0],q=[],U=[null],F=[],j=this.table,P="",et=0,at=0,It=2,Lt=1,Rt=F.slice.call(arguments,1),Ct=Object.create(this.lexer),pt={yy:{}};for(var mt in this.yy)Object.prototype.hasOwnProperty.call(this.yy,mt)&&(pt.yy[mt]=this.yy[mt]);Ct.setInput(Z,pt.yy),pt.yy.lexer=Ct,pt.yy.parser=this,typeof Ct.yylloc>"u"&&(Ct.yylloc={});var vt=Ct.yylloc;F.push(vt);var Tt=Ct.options&&Ct.options.ranges;typeof pt.yy.parseError=="function"?this.parseError=pt.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;function ft(){var bt;return bt=q.pop()||Ct.lex()||Lt,typeof bt!="number"&&(bt instanceof Array&&(q=bt,bt=q.pop()),bt=V.symbols_[bt]||bt),bt}for(var le,Dt,Gt,$t,Qt={},we,jt,Ft,zt;;){if(Dt=Q[Q.length-1],this.defaultActions[Dt]?Gt=this.defaultActions[Dt]:((le===null||typeof le>"u")&&(le=ft()),Gt=j[Dt]&&j[Dt][le]),typeof Gt>"u"||!Gt.length||!Gt[0]){var wt="";zt=[];for(we in j[Dt])this.terminals_[we]&&we>It&&zt.push("'"+this.terminals_[we]+"'");Ct.showPosition?wt="Parse error on line "+(et+1)+`: +`+Ct.showPosition()+` +Expecting `+zt.join(", ")+", got '"+(this.terminals_[le]||le)+"'":wt="Parse error on line "+(et+1)+": Unexpected "+(le==Lt?"end of input":"'"+(this.terminals_[le]||le)+"'"),this.parseError(wt,{text:Ct.match,token:this.terminals_[le]||le,line:Ct.yylineno,loc:vt,expected:zt})}if(Gt[0]instanceof Array&&Gt.length>1)throw new Error("Parse Error: multiple actions possible at state: "+Dt+", token: "+le);switch(Gt[0]){case 1:Q.push(le),U.push(Ct.yytext),F.push(Ct.yylloc),Q.push(Gt[1]),le=null,at=Ct.yyleng,P=Ct.yytext,et=Ct.yylineno,vt=Ct.yylloc;break;case 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this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:Q?(Q.length===q.length?this.yylloc.first_column:0)+q[q.length-Q.length].length-Q[0].length:this.yylloc.first_column-V},this.options.ranges&&(this.yylloc.range=[U[0],U[0]+this.yyleng-V]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. 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58;case 49:return 60;case 50:return 63;case 51:return 62;case 52:this.begin("string");break;case 53:this.popState();break;case 54:return"qString";case 55:return Q.yytext=Q.yytext.trim(),71}},rules:[/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:title\s[^#\n;]+)/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:(\r?\n)+)/i,/^(?:\s+)/i,/^(?:#[^\n]*)/i,/^(?:%[^\n]*)/i,/^(?:$)/i,/^(?:requirementDiagram\b)/i,/^(?:\{)/i,/^(?:\})/i,/^(?::)/i,/^(?:id\b)/i,/^(?:text\b)/i,/^(?:risk\b)/i,/^(?:verifyMethod\b)/i,/^(?:requirement\b)/i,/^(?:functionalRequirement\b)/i,/^(?:interfaceRequirement\b)/i,/^(?:performanceRequirement\b)/i,/^(?:physicalRequirement\b)/i,/^(?:designConstraint\b)/i,/^(?:low\b)/i,/^(?:medium\b)/i,/^(?:high\b)/i,/^(?:analysis\b)/i,/^(?:demonstration\b)/i,/^(?:inspection\b)/i,/^(?:test\b)/i,/^(?:element\b)/i,/^(?:contains\b)/i,/^(?:copies\b)/i,/^(?:derives\b)/i,/^(?:satisfies\b)/i,/^(?:verifies\b)/i,/^(?:refines\b)/i,/^(?:traces\b)/i,/^(?:type\b)/i,/^(?:docref\b)/i,/^(?:<-)/i,/^(?:->)/i,/^(?:-)/i,/^(?:["])/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:[\w][^\r\n\{\<\>\-\=]*)/i],conditions:{acc_descr_multiline:{rules:[11,12],inclusive:!1},acc_descr:{rules:[9],inclusive:!1},acc_title:{rules:[7],inclusive:!1},close_directive:{rules:[],inclusive:!1},arg_directive:{rules:[3,4],inclusive:!1},type_directive:{rules:[2,3],inclusive:!1},open_directive:{rules:[1],inclusive:!1},unqString:{rules:[],inclusive:!1},token:{rules:[],inclusive:!1},string:{rules:[53,54],inclusive:!1},INITIAL:{rules:[0,5,6,8,10,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,55],inclusive:!0}}};return 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P=F.length-1;switch(U){case 4:return q.apply(F[P]),F[P];case 5:this.$=[];break;case 6:F[P-1].push(F[P]),this.$=F[P-1];break;case 7:case 8:this.$=F[P];break;case 9:this.$=[];break;case 12:F[P-3].type="addParticipant",F[P-3].description=q.parseMessage(F[P-1]),this.$=F[P-3];break;case 13:F[P-1].type="addParticipant",this.$=F[P-1];break;case 14:F[P-3].type="addActor",F[P-3].description=q.parseMessage(F[P-1]),this.$=F[P-3];break;case 15:F[P-1].type="addActor",this.$=F[P-1];break;case 17:this.$={type:"sequenceIndex",sequenceIndex:Number(F[P-2]),sequenceIndexStep:Number(F[P-1]),sequenceVisible:!0,signalType:q.LINETYPE.AUTONUMBER};break;case 18:this.$={type:"sequenceIndex",sequenceIndex:Number(F[P-1]),sequenceIndexStep:1,sequenceVisible:!0,signalType:q.LINETYPE.AUTONUMBER};break;case 19:this.$={type:"sequenceIndex",sequenceVisible:!1,signalType:q.LINETYPE.AUTONUMBER};break;case 20:this.$={type:"sequenceIndex",sequenceVisible:!0,signalType:q.LINETYPE.AUTONUMBER};break;case 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50:this.$=[F[P-1],{type:"addALink",actor:F[P-1].actor,text:F[P]}];break;case 51:this.$=[F[P-1],{type:"addProperties",actor:F[P-1].actor,text:F[P]}];break;case 52:this.$=[F[P-1],{type:"addDetails",actor:F[P-1].actor,text:F[P]}];break;case 55:this.$=[F[P-2],F[P]];break;case 56:this.$=F[P];break;case 57:this.$=q.PLACEMENT.LEFTOF;break;case 58:this.$=q.PLACEMENT.RIGHTOF;break;case 59:this.$=[F[P-4],F[P-1],{type:"addMessage",from:F[P-4].actor,to:F[P-1].actor,signalType:F[P-3],msg:F[P]},{type:"activeStart",signalType:q.LINETYPE.ACTIVE_START,actor:F[P-1]}];break;case 60:this.$=[F[P-4],F[P-1],{type:"addMessage",from:F[P-4].actor,to:F[P-1].actor,signalType:F[P-3],msg:F[P]},{type:"activeEnd",signalType:q.LINETYPE.ACTIVE_END,actor:F[P-4]}];break;case 61:this.$=[F[P-3],F[P-1],{type:"addMessage",from:F[P-3].actor,to:F[P-1].actor,signalType:F[P-2],msg:F[P]}];break;case 62:this.$={type:"addParticipant",actor:F[P]};break;case 63:this.$=q.LINETYPE.SOLID_OPEN;break;case 64:this.$=q.LINETYPE.DOTTED_OPEN;break;case 65:this.$=q.LINETYPE.SOLID;break;case 66:this.$=q.LINETYPE.DOTTED;break;case 67:this.$=q.LINETYPE.SOLID_CROSS;break;case 68:this.$=q.LINETYPE.DOTTED_CROSS;break;case 69:this.$=q.LINETYPE.SOLID_POINT;break;case 70:this.$=q.LINETYPE.DOTTED_POINT;break;case 71:this.$=q.parseMessage(F[P].trim().substring(1));break;case 72:q.parseDirective("%%{","open_directive");break;case 73:q.parseDirective(F[P],"type_directive");break;case 74:F[P]=F[P].trim().replace(/'/g,'"'),q.parseDirective(F[P],"arg_directive");break;case 75:q.parseDirective("}%%","close_directive","sequence");break}},table:[{3:1,4:e,5:r,6:4,7:n,11:6,79:i},{1:[3]},{3:8,4:e,5:r,6:4,7:n,11:6,79:i},{3:9,4:e,5:r,6:4,7:n,11:6,79:i},{3:10,4:e,5:r,6:4,7:n,11:6,79:i},t([1,4,5,16,20,22,25,26,32,33,34,36,38,39,41,42,43,45,47,49,53,58,59,60,61,69,79],a,{8:11}),{12:12,80:[1,13]},{80:[2,72]},{1:[2,1]},{1:[2,2]},{1:[2,3]},{1:[2,4],4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,41:k,42:T,43:C,45:M,47:S,49:R,53:A,58:L,59:v,60:B,61:w,69:D,79:i},{13:49,14:[1,50],82:N},t([14,82],[2,73]),t(z,[2,6]),{6:41,10:52,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,41:k,42:T,43:C,45:M,47:S,49:R,53:A,58:L,59:v,60:B,61:w,69:D,79:i},t(z,[2,8]),t(z,[2,9]),{17:53,69:D},{17:54,69:D},{5:[1,55]},{5:[1,58],23:[1,56],24:[1,57]},{17:59,69:D},{17:60,69:D},{5:[1,61]},{5:[1,62]},{5:[1,63]},{5:[1,64]},{5:[1,65]},t(z,[2,28]),t(z,[2,29]),{35:[1,66]},{37:[1,67]},t(z,[2,32]),{19:[1,68]},{19:[1,69]},{19:[1,70]},{19:[1,71]},{19:[1,72]},{19:[1,73]},{19:[1,74]},t(z,[2,40]),{66:75,70:[1,76],71:[1,77],72:[1,78],73:[1,79],74:[1,80],75:[1,81],76:[1,82],77:[1,83]},{54:84,56:[1,85],64:[1,86],65:[1,87]},{17:88,69:D},{17:89,69:D},{17:90,69:D},{17:91,69:D},t([5,18,63,70,71,72,73,74,75,76,77,78],[2,62]),{5:[1,92]},{15:93,81:[1,94]},{5:[2,75]},t(z,[2,7]),{5:[1,96],18:[1,95]},{5:[1,98],18:[1,97]},t(z,[2,16]),{5:[1,100],23:[1,99]},{5:[1,101]},t(z,[2,20]),{5:[1,102]},{5:[1,103]},t(z,[2,23]),t(z,[2,24]),t(z,[2,25]),t(z,[2,26]),t(z,[2,27]),t(z,[2,30]),t(z,[2,31]),t(X,a,{8:104}),t(X,a,{8:105}),t(X,a,{8:106}),t(ct,a,{44:107,8:108}),t(J,a,{46:109,8:110}),t(Y,a,{48:111,8:112}),t(X,a,{8:113}),{17:116,67:[1,114],68:[1,115],69:D},t($,[2,63]),t($,[2,64]),t($,[2,65]),t($,[2,66]),t($,[2,67]),t($,[2,68]),t($,[2,69]),t($,[2,70]),{17:117,69:D},{17:119,57:118,69:D},{69:[2,57]},{69:[2,58]},{55:120,78:lt},{55:122,78:lt},{55:123,78:lt},{55:124,78:lt},t(ut,[2,10]),{13:125,82:N},{82:[2,74]},{19:[1,126]},t(z,[2,13]),{19:[1,127]},t(z,[2,15]),{5:[1,128]},t(z,[2,18]),t(z,[2,19]),t(z,[2,21]),t(z,[2,22]),{4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,40:[1,129],41:k,42:T,43:C,45:M,47:S,49:R,53:A,58:L,59:v,60:B,61:w,69:D,79:i},{4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,40:[1,130],41:k,42:T,43:C,45:M,47:S,49:R,53:A,58:L,59:v,60:B,61:w,69:D,79:i},{4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,40:[1,131],41:k,42:T,43:C,45:M,47:S,49:R,53:A,58:L,59:v,60:B,61:w,69:D,79:i},{40:[1,132]},{4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,40:[2,45],41:k,42:T,43:C,45:M,47:S,49:R,52:[1,133],53:A,58:L,59:v,60:B,61:w,69:D,79:i},{40:[1,134]},{4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,40:[2,43],41:k,42:T,43:C,45:M,47:S,49:R,51:[1,135],53:A,58:L,59:v,60:B,61:w,69:D,79:i},{40:[1,136]},{4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,40:[2,41],41:k,42:T,43:C,45:M,47:S,49:R,50:[1,137],53:A,58:L,59:v,60:B,61:w,69:D,79:i},{4:s,5:o,6:41,9:14,10:16,11:6,16:l,17:42,20:u,21:20,22:h,25:d,26:f,27:24,28:25,29:26,30:27,31:28,32:p,33:m,34:_,36:y,38:b,39:x,40:[1,138],41:k,42:T,43:C,45:M,47:S,49:R,53:A,58:L,59:v,60:B,61:w,69:D,79:i},{17:139,69:D},{17:140,69:D},{55:141,78:lt},{55:142,78:lt},{55:143,78:lt},{63:[1,144],78:[2,56]},{5:[2,49]},{5:[2,71]},{5:[2,50]},{5:[2,51]},{5:[2,52]},{5:[1,145]},{5:[1,146]},{5:[1,147]},t(z,[2,17]),t(z,[2,33]),t(z,[2,34]),t(z,[2,35]),t(z,[2,36]),{19:[1,148]},t(z,[2,37]),{19:[1,149]},t(z,[2,38]),{19:[1,150]},t(z,[2,39]),{55:151,78:lt},{55:152,78:lt},{5:[2,61]},{5:[2,47]},{5:[2,48]},{17:153,69:D},t(ut,[2,11]),t(z,[2,12]),t(z,[2,14]),t(ct,a,{8:108,44:154}),t(J,a,{8:110,46:155}),t(Y,a,{8:112,48:156}),{5:[2,59]},{5:[2,60]},{78:[2,55]},{40:[2,46]},{40:[2,44]},{40:[2,42]}],defaultActions:{7:[2,72],8:[2,1],9:[2,2],10:[2,3],51:[2,75],86:[2,57],87:[2,58],94:[2,74],120:[2,49],121:[2,71],122:[2,50],123:[2,51],124:[2,52],141:[2,61],142:[2,47],143:[2,48],151:[2,59],152:[2,60],153:[2,55],154:[2,46],155:[2,44],156:[2,42]},parseError:function(Z,V){if(V.recoverable)this.trace(Z);else{var Q=new Error(Z);throw Q.hash=V,Q}},parse:function(Z){var V=this,Q=[0],q=[],U=[null],F=[],j=this.table,P="",et=0,at=0,It=2,Lt=1,Rt=F.slice.call(arguments,1),Ct=Object.create(this.lexer),pt={yy:{}};for(var mt in this.yy)Object.prototype.hasOwnProperty.call(this.yy,mt)&&(pt.yy[mt]=this.yy[mt]);Ct.setInput(Z,pt.yy),pt.yy.lexer=Ct,pt.yy.parser=this,typeof Ct.yylloc>"u"&&(Ct.yylloc={});var vt=Ct.yylloc;F.push(vt);var Tt=Ct.options&&Ct.options.ranges;typeof pt.yy.parseError=="function"?this.parseError=pt.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;function ft(){var bt;return bt=q.pop()||Ct.lex()||Lt,typeof bt!="number"&&(bt instanceof Array&&(q=bt,bt=q.pop()),bt=V.symbols_[bt]||bt),bt}for(var le,Dt,Gt,$t,Qt={},we,jt,Ft,zt;;){if(Dt=Q[Q.length-1],this.defaultActions[Dt]?Gt=this.defaultActions[Dt]:((le===null||typeof le>"u")&&(le=ft()),Gt=j[Dt]&&j[Dt][le]),typeof Gt>"u"||!Gt.length||!Gt[0]){var wt="";zt=[];for(we in j[Dt])this.terminals_[we]&&we>It&&zt.push("'"+this.terminals_[we]+"'");Ct.showPosition?wt="Parse error on line "+(et+1)+`: +`+Ct.showPosition()+` +Expecting `+zt.join(", ")+", got '"+(this.terminals_[le]||le)+"'":wt="Parse error on line "+(et+1)+": Unexpected "+(le==Lt?"end of input":"'"+(this.terminals_[le]||le)+"'"),this.parseError(wt,{text:Ct.match,token:this.terminals_[le]||le,line:Ct.yylineno,loc:vt,expected:zt})}if(Gt[0]instanceof Array&&Gt.length>1)throw new Error("Parse Error: multiple actions possible at state: "+Dt+", token: "+le);switch(Gt[0]){case 1:Q.push(le),U.push(Ct.yytext),F.push(Ct.yylloc),Q.push(Gt[1]),le=null,at=Ct.yyleng,P=Ct.yytext,et=Ct.yylineno,vt=Ct.yylloc;break;case 2:if(jt=this.productions_[Gt[1]][1],Qt.$=U[U.length-jt],Qt._$={first_line:F[F.length-(jt||1)].first_line,last_line:F[F.length-1].last_line,first_column:F[F.length-(jt||1)].first_column,last_column:F[F.length-1].last_column},Tt&&(Qt._$.range=[F[F.length-(jt||1)].range[0],F[F.length-1].range[1]]),$t=this.performAction.apply(Qt,[P,at,et,pt.yy,Gt[1],U,F].concat(Rt)),typeof $t<"u")return $t;jt&&(Q=Q.slice(0,-1*jt*2),U=U.slice(0,-1*jt),F=F.slice(0,-1*jt)),Q.push(this.productions_[Gt[1]][0]),U.push(Qt.$),F.push(Qt._$),Ft=j[Q[Q.length-2]][Q[Q.length-1]],Q.push(Ft);break;case 3:return!0}}return!0}},tt=function(){var it={EOF:1,parseError:function(V,Q){if(this.yy.parser)this.yy.parser.parseError(V,Q);else throw new Error(V)},setInput:function(Z,V){return this.yy=V||this.yy||{},this._input=Z,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var Z=this._input[0];this.yytext+=Z,this.yyleng++,this.offset++,this.match+=Z,this.matched+=Z;var V=Z.match(/(?:\r\n?|\n).*/g);return V?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),Z},unput:function(Z){var V=Z.length,Q=Z.split(/(?:\r\n?|\n)/g);this._input=Z+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-V),this.offset-=V;var q=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),Q.length-1&&(this.yylineno-=Q.length-1);var U=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:Q?(Q.length===q.length?this.yylloc.first_column:0)+q[q.length-Q.length].length-Q[0].length:this.yylloc.first_column-V},this.options.ranges&&(this.yylloc.range=[U[0],U[0]+this.yyleng-V]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true). +`+this.showPosition(),{text:"",token:null,line:this.yylineno});return this},less:function(Z){this.unput(this.match.slice(Z))},pastInput:function(){var Z=this.matched.substr(0,this.matched.length-this.match.length);return(Z.length>20?"...":"")+Z.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var Z=this.match;return Z.length<20&&(Z+=this._input.substr(0,20-Z.length)),(Z.substr(0,20)+(Z.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var Z=this.pastInput(),V=new Array(Z.length+1).join("-");return Z+this.upcomingInput()+` +`+V+"^"},test_match:function(Z,V){var Q,q,U;if(this.options.backtrack_lexer&&(U={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(U.yylloc.range=this.yylloc.range.slice(0))),q=Z[0].match(/(?:\r\n?|\n).*/g),q&&(this.yylineno+=q.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:q?q[q.length-1].length-q[q.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+Z[0].length},this.yytext+=Z[0],this.match+=Z[0],this.matches=Z,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(Z[0].length),this.matched+=Z[0],Q=this.performAction.call(this,this.yy,this,V,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),Q)return Q;if(this._backtrack){for(var F in U)this[F]=U[F];return!1}return!1},next:function(){if(this.done)return this.EOF;this._input||(this.done=!0);var Z,V,Q,q;this._more||(this.yytext="",this.match="");for(var U=this._currentRules(),F=0;F<U.length;F++)if(Q=this._input.match(this.rules[U[F]]),Q&&(!V||Q[0].length>V[0].length)){if(V=Q,q=F,this.options.backtrack_lexer){if(Z=this.test_match(Q,U[F]),Z!==!1)return Z;if(this._backtrack){V=!1;continue}else return!1}else if(!this.options.flex)break}return V?(Z=this.test_match(V,U[q]),Z!==!1?Z:!1):this._input===""?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+`. Unrecognized text. +`+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){var V=this.next();return V||this.lex()},begin:function(V){this.conditionStack.push(V)},popState:function(){var V=this.conditionStack.length-1;return V>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(V){return V=this.conditionStack.length-1-Math.abs(V||0),V>=0?this.conditionStack[V]:"INITIAL"},pushState:function(V){this.begin(V)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(V,Q,q,U){switch(q){case 0:return this.begin("open_directive"),79;case 1:return this.begin("type_directive"),80;case 2:return this.popState(),this.begin("arg_directive"),14;case 3:return this.popState(),this.popState(),82;case 4:return 81;case 5:return 5;case 6:break;case 7:break;case 8:break;case 9:break;case 10:break;case 11:return 23;case 12:return this.begin("ID"),16;case 13:return this.begin("ID"),20;case 14:return Q.yytext=Q.yytext.trim(),this.begin("ALIAS"),69;case 15:return this.popState(),this.popState(),this.begin("LINE"),18;case 16:return this.popState(),this.popState(),5;case 17:return this.begin("LINE"),39;case 18:return this.begin("LINE"),41;case 19:return this.begin("LINE"),42;case 20:return this.begin("LINE"),43;case 21:return this.begin("LINE"),52;case 22:return this.begin("LINE"),45;case 23:return this.begin("LINE"),51;case 24:return this.begin("LINE"),47;case 25:return this.begin("LINE"),50;case 26:return this.begin("LINE"),49;case 27:return this.popState(),19;case 28:return 40;case 29:return 64;case 30:return 65;case 31:return 58;case 32:return 59;case 33:return 60;case 34:return 61;case 35:return 56;case 36:return 53;case 37:return this.begin("ID"),25;case 38:return this.begin("ID"),26;case 39:return 32;case 40:return 33;case 41:return this.begin("acc_title"),34;case 42:return this.popState(),"acc_title_value";case 43:return this.begin("acc_descr"),36;case 44:return this.popState(),"acc_descr_value";case 45:this.begin("acc_descr_multiline");break;case 46:this.popState();break;case 47:return"acc_descr_multiline_value";case 48:return 7;case 49:return 22;case 50:return 24;case 51:return 63;case 52:return 5;case 53:return Q.yytext=Q.yytext.trim(),69;case 54:return 72;case 55:return 73;case 56:return 70;case 57:return 71;case 58:return 74;case 59:return 75;case 60:return 76;case 61:return 77;case 62:return 78;case 63:return 67;case 64:return 68;case 65:return 5;case 66:return"INVALID"}},rules:[/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:[\n]+)/i,/^(?:\s+)/i,/^(?:((?!\n)\s)+)/i,/^(?:#[^\n]*)/i,/^(?:%(?!\{)[^\n]*)/i,/^(?:[^\}]%%[^\n]*)/i,/^(?:[0-9]+(?=[ 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0,7")},K4=function(){return{x:0,y:0,fill:void 0,anchor:void 0,style:"#666",width:void 0,height:void 0,textMargin:0,rx:0,ry:0,tspan:!0,valign:void 0}},f0=function(){return{x:0,y:0,fill:"#EDF2AE",stroke:"#666",width:100,anchor:"start",height:100,rx:0,ry:0}},TL=function(){function t(i,a,s,o,l,u,h){const d=a.append("text").attr("x",s+l/2).attr("y",o+u/2+5).style("text-anchor","middle").text(i);n(d,h)}function e(i,a,s,o,l,u,h,d){const{actorFontSize:f,actorFontFamily:p,actorFontWeight:m}=d;let _=f&&f.replace?f.replace("px",""):f;const y=i.split(pe.lineBreakRegex);for(let b=0;b<y.length;b++){const x=b*_-_*(y.length-1)/2,k=a.append("text").attr("x",s+l/2).attr("y",o).style("text-anchor","middle").style("font-size",f).style("font-weight",m).style("font-family",p);k.append("tspan").attr("x",s+l/2).attr("dy",x).text(y[b]),k.attr("y",o+u/2).attr("dominant-baseline","central").attr("alignment-baseline","central"),n(k,h)}}function r(i,a,s,o,l,u,h,d){const f=a.append("switch"),m=f.append("foreignObject").attr("x",s).attr("y",o).attr("width",l).attr("height",u).append("xhtml:div").style("display","table").style("height","100%").style("width","100%");m.append("div").style("display","table-cell").style("text-align","center").style("vertical-align","middle").text(i),e(i,f,s,o,l,u,h,d),n(m,h)}function n(i,a){for(const s in a)a.hasOwnProperty(s)&&i.attr(s,a[s])}return function(i){return i.textPlacement==="fo"?r:i.textPlacement==="old"?t:e}}(),eat=function(){function t(i,a,s,o,l,u,h){const d=a.append("text").attr("x",s).attr("y",o).style("text-anchor","start").text(i);n(d,h)}function e(i,a,s,o,l,u,h,d){const{actorFontSize:f,actorFontFamily:p,actorFontWeight:m}=d,_=i.split(pe.lineBreakRegex);for(let y=0;y<_.length;y++){const b=y*f-f*(_.length-1)/2,x=a.append("text").attr("x",s).attr("y",o).style("text-anchor","start").style("font-size",f).style("font-weight",m).style("font-family",p);x.append("tspan").attr("x",s).attr("dy",b).text(_[y]),x.attr("y",o+u/2).attr("dominant-baseline","central").attr("alignment-baseline","central"),n(x,h)}}function r(i,a,s,o,l,u,h,d){const f=a.append("switch"),m=f.append("foreignObject").attr("x",s).attr("y",o).attr("width",l).attr("height",u).append("xhtml:div").style("display","table").style("height","100%").style("width","100%");m.append("div").style("display","table-cell").style("text-align","center").style("vertical-align","middle").text(i),e(i,f,s,o,l,u,h,d),n(m,h)}function n(i,a){for(const s in a)a.hasOwnProperty(s)&&i.attr(s,a[s])}return function(i){return i.textPlacement==="fo"?r:i.textPlacement==="old"?t:e}}(),or={drawRect:h0,drawText:hl,drawLabel:kL,drawActor:Uit,drawPopup:Oit,drawImage:vL,drawEmbeddedImage:xL,anchorElement:Wit,drawActivation:Hit,drawLoop:Git,drawBackgroundRect:jit,insertArrowHead:Zit,insertArrowFilledHead:Qit,insertSequenceNumber:Jit,insertArrowCrossHead:tat,insertDatabaseIcon:$it,insertComputerIcon:Xit,insertClockIcon:Kit,getTextObj:K4,getNoteRect:f0,popupMenu:Fit,popdownMenu:Pit,fixLifeLineHeights:wL,sanitizeUrl:ki};let dt={};const Bt={data:{startx:void 0,stopx:void 0,starty:void 0,stopy:void 0},verticalPos:0,sequenceItems:[],activations:[],models:{getHeight:function(){return Math.max.apply(null,this.actors.length===0?[0]:this.actors.map(t=>t.height||0))+(this.loops.length===0?0:this.loops.map(t=>t.height||0).reduce((t,e)=>t+e))+(this.messages.length===0?0:this.messages.map(t=>t.height||0).reduce((t,e)=>t+e))+(this.notes.length===0?0:this.notes.map(t=>t.height||0).reduce((t,e)=>t+e))},clear:function(){this.actors=[],this.loops=[],this.messages=[],this.notes=[]},addActor:function(t){this.actors.push(t)},addLoop:function(t){this.loops.push(t)},addMessage:function(t){this.messages.push(t)},addNote:function(t){this.notes.push(t)},lastActor:function(){return this.actors[this.actors.length-1]},lastLoop:function(){return this.loops[this.loops.length-1]},lastMessage:function(){return this.messages[this.messages.length-1]},lastNote:function(){return this.notes[this.notes.length-1]},actors:[],loops:[],messages:[],notes:[]},init:function(){this.sequenceItems=[],this.activations=[],this.models.clear(),this.data={startx:void 0,stopx:void 0,starty:void 0,stopy:void 0},this.verticalPos=0,CL(nt())},updateVal:function(t,e,r,n){typeof t[e]>"u"?t[e]=r:t[e]=n(r,t[e])},updateBounds:function(t,e,r,n){const i=this;let a=0;function s(o){return function(u){a++;const h=i.sequenceItems.length-a+1;i.updateVal(u,"starty",e-h*dt.boxMargin,Math.min),i.updateVal(u,"stopy",n+h*dt.boxMargin,Math.max),i.updateVal(Bt.data,"startx",t-h*dt.boxMargin,Math.min),i.updateVal(Bt.data,"stopx",r+h*dt.boxMargin,Math.max),o!=="activation"&&(i.updateVal(u,"startx",t-h*dt.boxMargin,Math.min),i.updateVal(u,"stopx",r+h*dt.boxMargin,Math.max),i.updateVal(Bt.data,"starty",e-h*dt.boxMargin,Math.min),i.updateVal(Bt.data,"stopy",n+h*dt.boxMargin,Math.max))}}this.sequenceItems.forEach(s()),this.activations.forEach(s("activation"))},insert:function(t,e,r,n){const i=Math.min(t,r),a=Math.max(t,r),s=Math.min(e,n),o=Math.max(e,n);this.updateVal(Bt.data,"startx",i,Math.min),this.updateVal(Bt.data,"starty",s,Math.min),this.updateVal(Bt.data,"stopx",a,Math.max),this.updateVal(Bt.data,"stopy",o,Math.max),this.updateBounds(i,s,a,o)},newActivation:function(t,e,r){const n=r[t.from.actor],i=d0(t.from.actor).length||0,a=n.x+n.width/2+(i-1)*dt.activationWidth/2;this.activations.push({startx:a,starty:this.verticalPos+2,stopx:a+dt.activationWidth,stopy:void 0,actor:t.from.actor,anchored:or.anchorElement(e)})},endActivation:function(t){const e=this.activations.map(function(r){return r.actor}).lastIndexOf(t.from.actor);return this.activations.splice(e,1)[0]},createLoop:function(t={message:void 0,wrap:!1,width:void 0},e){return{startx:void 0,starty:this.verticalPos,stopx:void 0,stopy:void 0,title:t.message,wrap:t.wrap,width:t.width,height:0,fill:e}},newLoop:function(t={message:void 0,wrap:!1,width:void 0},e){this.sequenceItems.push(this.createLoop(t,e))},endLoop:function(){return this.sequenceItems.pop()},addSectionToLoop:function(t){const e=this.sequenceItems.pop();e.sections=e.sections||[],e.sectionTitles=e.sectionTitles||[],e.sections.push({y:Bt.getVerticalPos(),height:0}),e.sectionTitles.push(t),this.sequenceItems.push(e)},bumpVerticalPos:function(t){this.verticalPos=this.verticalPos+t,this.data.stopy=this.verticalPos},getVerticalPos:function(){return this.verticalPos},getBounds:function(){return{bounds:this.data,models:this.models}}},rat=function(t,e){Bt.bumpVerticalPos(dt.boxMargin),e.height=dt.boxMargin,e.starty=Bt.getVerticalPos();const r=or.getNoteRect();r.x=e.startx,r.y=e.starty,r.width=e.width||dt.width,r.class="note";const n=t.append("g"),i=or.drawRect(n,r),a=or.getTextObj();a.x=e.startx,a.y=e.starty,a.width=r.width,a.dy="1em",a.text=e.message,a.class="noteText",a.fontFamily=dt.noteFontFamily,a.fontSize=dt.noteFontSize,a.fontWeight=dt.noteFontWeight,a.anchor=dt.noteAlign,a.textMargin=dt.noteMargin,a.valign="center";const s=hl(n,a),o=Math.round(s.map(l=>(l._groups||l)[0][0].getBBox().height).reduce((l,u)=>l+u));i.attr("height",o+2*dt.noteMargin),e.height+=o+2*dt.noteMargin,Bt.bumpVerticalPos(o+2*dt.noteMargin),e.stopy=e.starty+o+2*dt.noteMargin,e.stopx=e.startx+r.width,Bt.insert(e.startx,e.starty,e.stopx,e.stopy),Bt.models.addNote(e)},fl=t=>({fontFamily:t.messageFontFamily,fontSize:t.messageFontSize,fontWeight:t.messageFontWeight}),dl=t=>({fontFamily:t.noteFontFamily,fontSize:t.noteFontSize,fontWeight:t.noteFontWeight}),Z4=t=>({fontFamily:t.actorFontFamily,fontSize:t.actorFontSize,fontWeight:t.actorFontWeight}),nat=function(t,e){Bt.bumpVerticalPos(10);const{startx:r,stopx:n,message:i}=e,a=pe.splitBreaks(i).length,s=Se.calculateTextDimensions(i,fl(dt)),o=s.height/a;e.height+=o,Bt.bumpVerticalPos(o);let l,u=s.height-10;const h=s.width;if(r===n){l=Bt.getVerticalPos()+u,dt.rightAngles||(u+=dt.boxMargin,l=Bt.getVerticalPos()+u),u+=30;const d=Math.max(h/2,dt.width/2);Bt.insert(r-d,Bt.getVerticalPos()-10+u,n+d,Bt.getVerticalPos()+30+u)}else u+=dt.boxMargin,l=Bt.getVerticalPos()+u,Bt.insert(r,l-10,n,l);return Bt.bumpVerticalPos(u),e.height+=u,e.stopy=e.starty+e.height,Bt.insert(e.fromBounds,e.starty,e.toBounds,e.stopy),l},iat=function(t,e,r,n){const{startx:i,stopx:a,starty:s,message:o,type:l,sequenceIndex:u,sequenceVisible:h}=e,d=Se.calculateTextDimensions(o,fl(dt)),f=or.getTextObj();f.x=i,f.y=s+10,f.width=a-i,f.class="messageText",f.dy="1em",f.text=o,f.fontFamily=dt.messageFontFamily,f.fontSize=dt.messageFontSize,f.fontWeight=dt.messageFontWeight,f.anchor=dt.messageAlign,f.valign="center",f.textMargin=dt.wrapPadding,f.tspan=!1,hl(t,f);const p=d.width;let m;i===a?dt.rightAngles?m=t.append("path").attr("d",`M ${i},${r} H ${i+Math.max(dt.width/2,p/2)} V ${r+25} H ${i}`):m=t.append("path").attr("d","M "+i+","+r+" C "+(i+60)+","+(r-10)+" "+(i+60)+","+(r+30)+" "+i+","+(r+20)):(m=t.append("line"),m.attr("x1",i),m.attr("y1",r),m.attr("x2",a),m.attr("y2",r)),l===n.db.LINETYPE.DOTTED||l===n.db.LINETYPE.DOTTED_CROSS||l===n.db.LINETYPE.DOTTED_POINT||l===n.db.LINETYPE.DOTTED_OPEN?(m.style("stroke-dasharray","3, 3"),m.attr("class","messageLine1")):m.attr("class","messageLine0");let _="";dt.arrowMarkerAbsolute&&(_=window.location.protocol+"//"+window.location.host+window.location.pathname+window.location.search,_=_.replace(/\(/g,"\\("),_=_.replace(/\)/g,"\\)")),m.attr("stroke-width",2),m.attr("stroke","none"),m.style("fill","none"),(l===n.db.LINETYPE.SOLID||l===n.db.LINETYPE.DOTTED)&&m.attr("marker-end","url("+_+"#arrowhead)"),(l===n.db.LINETYPE.SOLID_POINT||l===n.db.LINETYPE.DOTTED_POINT)&&m.attr("marker-end","url("+_+"#filled-head)"),(l===n.db.LINETYPE.SOLID_CROSS||l===n.db.LINETYPE.DOTTED_CROSS)&&m.attr("marker-end","url("+_+"#crosshead)"),(h||dt.showSequenceNumbers)&&(m.attr("marker-start","url("+_+"#sequencenumber)"),t.append("text").attr("x",i).attr("y",r+4).attr("font-family","sans-serif").attr("font-size","12px").attr("text-anchor","middle").attr("class","sequenceNumber").text(u))},Q4=function(t,e,r,n,i,a){if(i.hideUnusedParticipants===!0){const u=new Set;a.forEach(h=>{u.add(h.from),u.add(h.to)}),r=r.filter(h=>u.has(h))}let s=0,o=0,l=0;for(let u=0;u<r.length;u++){const h=e[r[u]];h.width=h.width||dt.width,h.height=Math.max(h.height||dt.height,dt.height),h.margin=h.margin||dt.actorMargin,h.x=s+o,h.y=n;const d=or.drawActor(t,h,dt);l=Math.max(l,d),Bt.insert(h.x,n,h.x+h.width,h.height),s+=h.width,o+=h.margin,Bt.models.addActor(h)}Bt.bumpVerticalPos(l)},EL=function(t,e,r,n){let i=0,a=0;for(let s=0;s<r.length;s++){const o=e[r[s]],l=oat(o),u=or.drawPopup(t,o,l,dt,dt.forceMenus,n);u.height>i&&(i=u.height),u.width+o.x>a&&(a=u.width+o.x)}return{maxHeight:i,maxWidth:a}},CL=function(t){fr(dt,t),t.fontFamily&&(dt.actorFontFamily=dt.noteFontFamily=dt.messageFontFamily=t.fontFamily),t.fontSize&&(dt.actorFontSize=dt.noteFontSize=dt.messageFontSize=t.fontSize),t.fontWeight&&(dt.actorFontWeight=dt.noteFontWeight=dt.messageFontWeight=t.fontWeight)},d0=function(t){return Bt.activations.filter(function(e){return e.actor===t})},SL=function(t,e){const r=e[t],n=d0(t),i=n.reduce(function(s,o){return Math.min(s,o.startx)},r.x+r.width/2),a=n.reduce(function(s,o){return Math.max(s,o.stopx)},r.x+r.width/2);return[i,a]};function Ui(t,e,r,n,i){Bt.bumpVerticalPos(r);let a=n;if(e.id&&e.message&&t[e.id]){const s=t[e.id].width,o=fl(dt);e.message=Se.wrapLabel(`[${e.message}]`,s-2*dt.wrapPadding,o),e.width=s,e.wrap=!0;const l=Se.calculateTextDimensions(e.message,o),u=Math.max(l.height,dt.labelBoxHeight);a=n+u,H.debug(`${u} - ${e.message}`)}i(e),Bt.bumpVerticalPos(a)}const aat=function(t,e,r,n){const{securityLevel:i,sequence:a}=nt();dt=a;let s;i==="sandbox"&&(s=St("#i"+e));const o=St(i==="sandbox"?s.nodes()[0].contentDocument.body:"body"),l=i==="sandbox"?s.nodes()[0].contentDocument:document;Bt.init(),H.debug(n.db);const u=i==="sandbox"?o.select(`[id="${e}"]`):St(`[id="${e}"]`),h=n.db.getActors(),d=n.db.getActorKeys(),f=n.db.getMessages(),p=n.db.getDiagramTitle(),m=sat(h,f,n);dt.height=lat(h,m),or.insertComputerIcon(u),or.insertDatabaseIcon(u),or.insertClockIcon(u),Q4(u,h,d,0,dt,f);const _=hat(f,h,m,n);or.insertArrowHead(u),or.insertArrowCrossHead(u),or.insertArrowFilledHead(u),or.insertSequenceNumber(u);function y(B,w){const D=Bt.endActivation(B);D.starty+18>w&&(D.starty=w-6,w+=12),or.drawActivation(u,D,w,dt,d0(B.from.actor).length),Bt.insert(D.startx,w-10,D.stopx,w)}let b=1,x=1;const k=[];f.forEach(function(B){let w,D,N;switch(B.type){case n.db.LINETYPE.NOTE:D=B.noteModel,rat(u,D);break;case n.db.LINETYPE.ACTIVE_START:Bt.newActivation(B,u,h);break;case n.db.LINETYPE.ACTIVE_END:y(B,Bt.getVerticalPos());break;case n.db.LINETYPE.LOOP_START:Ui(_,B,dt.boxMargin,dt.boxMargin+dt.boxTextMargin,z=>Bt.newLoop(z));break;case n.db.LINETYPE.LOOP_END:w=Bt.endLoop(),or.drawLoop(u,w,"loop",dt),Bt.bumpVerticalPos(w.stopy-Bt.getVerticalPos()),Bt.models.addLoop(w);break;case n.db.LINETYPE.RECT_START:Ui(_,B,dt.boxMargin,dt.boxMargin,z=>Bt.newLoop(void 0,z.message));break;case n.db.LINETYPE.RECT_END:w=Bt.endLoop(),or.drawBackgroundRect(u,w),Bt.models.addLoop(w),Bt.bumpVerticalPos(w.stopy-Bt.getVerticalPos());break;case n.db.LINETYPE.OPT_START:Ui(_,B,dt.boxMargin,dt.boxMargin+dt.boxTextMargin,z=>Bt.newLoop(z));break;case n.db.LINETYPE.OPT_END:w=Bt.endLoop(),or.drawLoop(u,w,"opt",dt),Bt.bumpVerticalPos(w.stopy-Bt.getVerticalPos()),Bt.models.addLoop(w);break;case n.db.LINETYPE.ALT_START:Ui(_,B,dt.boxMargin,dt.boxMargin+dt.boxTextMargin,z=>Bt.newLoop(z));break;case n.db.LINETYPE.ALT_ELSE:Ui(_,B,dt.boxMargin+dt.boxTextMargin,dt.boxMargin,z=>Bt.addSectionToLoop(z));break;case n.db.LINETYPE.ALT_END:w=Bt.endLoop(),or.drawLoop(u,w,"alt",dt),Bt.bumpVerticalPos(w.stopy-Bt.getVerticalPos()),Bt.models.addLoop(w);break;case n.db.LINETYPE.PAR_START:Ui(_,B,dt.boxMargin,dt.boxMargin+dt.boxTextMargin,z=>Bt.newLoop(z));break;case n.db.LINETYPE.PAR_AND:Ui(_,B,dt.boxMargin+dt.boxTextMargin,dt.boxMargin,z=>Bt.addSectionToLoop(z));break;case n.db.LINETYPE.PAR_END:w=Bt.endLoop(),or.drawLoop(u,w,"par",dt),Bt.bumpVerticalPos(w.stopy-Bt.getVerticalPos()),Bt.models.addLoop(w);break;case n.db.LINETYPE.AUTONUMBER:b=B.message.start||b,x=B.message.step||x,B.message.visible?n.db.enableSequenceNumbers():n.db.disableSequenceNumbers();break;case n.db.LINETYPE.CRITICAL_START:Ui(_,B,dt.boxMargin,dt.boxMargin+dt.boxTextMargin,z=>Bt.newLoop(z));break;case n.db.LINETYPE.CRITICAL_OPTION:Ui(_,B,dt.boxMargin+dt.boxTextMargin,dt.boxMargin,z=>Bt.addSectionToLoop(z));break;case n.db.LINETYPE.CRITICAL_END:w=Bt.endLoop(),or.drawLoop(u,w,"critical",dt),Bt.bumpVerticalPos(w.stopy-Bt.getVerticalPos()),Bt.models.addLoop(w);break;case n.db.LINETYPE.BREAK_START:Ui(_,B,dt.boxMargin,dt.boxMargin+dt.boxTextMargin,z=>Bt.newLoop(z));break;case n.db.LINETYPE.BREAK_END:w=Bt.endLoop(),or.drawLoop(u,w,"break",dt),Bt.bumpVerticalPos(w.stopy-Bt.getVerticalPos()),Bt.models.addLoop(w);break;default:try{N=B.msgModel,N.starty=Bt.getVerticalPos(),N.sequenceIndex=b,N.sequenceVisible=n.db.showSequenceNumbers();const z=nat(u,N);k.push({messageModel:N,lineStarty:z}),Bt.models.addMessage(N)}catch(z){H.error("error while drawing message",z)}}[n.db.LINETYPE.SOLID_OPEN,n.db.LINETYPE.DOTTED_OPEN,n.db.LINETYPE.SOLID,n.db.LINETYPE.DOTTED,n.db.LINETYPE.SOLID_CROSS,n.db.LINETYPE.DOTTED_CROSS,n.db.LINETYPE.SOLID_POINT,n.db.LINETYPE.DOTTED_POINT].includes(B.type)&&(b=b+x)}),k.forEach(B=>iat(u,B.messageModel,B.lineStarty,n)),dt.mirrorActors&&(Bt.bumpVerticalPos(dt.boxMargin*2),Q4(u,h,d,Bt.getVerticalPos(),dt,f),Bt.bumpVerticalPos(dt.boxMargin),wL(u,Bt.getVerticalPos()));const T=EL(u,h,d,l),{bounds:C}=Bt.getBounds();H.debug("For line height fix Querying: #"+e+" .actor-line"),Nu("#"+e+" .actor-line").attr("y2",C.stopy);let S=C.stopy-C.starty;S<T.maxHeight&&(S=T.maxHeight);let R=S+2*dt.diagramMarginY;dt.mirrorActors&&(R=R-dt.boxMargin+dt.bottomMarginAdj);let A=C.stopx-C.startx;A<T.maxWidth&&(A=T.maxWidth);const L=A+2*dt.diagramMarginX;p&&u.append("text").text(p).attr("x",(C.stopx-C.startx)/2-2*dt.diagramMarginX).attr("y",-25),li(u,R,L,dt.useMaxWidth);const v=p?40:0;u.attr("viewBox",C.startx-dt.diagramMarginX+" -"+(dt.diagramMarginY+v)+" "+L+" "+(R+v)),bn(n.db,u,e),H.debug("models:",Bt.models)},sat=function(t,e,r){const n={};return e.forEach(function(i){if(t[i.to]&&t[i.from]){const a=t[i.to];if(i.placement===r.db.PLACEMENT.LEFTOF&&!a.prevActor||i.placement===r.db.PLACEMENT.RIGHTOF&&!a.nextActor)return;const s=i.placement!==void 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this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:$?($.length===lt.length?this.yylloc.first_column:0)+lt[lt.length-$.length].length-$[0].length:this.yylloc.first_column-Y},this.options.ranges&&(this.yylloc.range=[ut[0],ut[0]+this.yyleng-Y]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){if(this.options.backtrack_lexer)this._backtrack=!0;else return this.parseError("Lexical error on line "+(this.yylineno+1)+`. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true). +`+this.showPosition(),{text:"",token:null,line:this.yylineno});return this},less:function(J){this.unput(this.match.slice(J))},pastInput:function(){var J=this.matched.substr(0,this.matched.length-this.match.length);return(J.length>20?"...":"")+J.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var J=this.match;return J.length<20&&(J+=this._input.substr(0,20-J.length)),(J.substr(0,20)+(J.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var J=this.pastInput(),Y=new Array(J.length+1).join("-");return J+this.upcomingInput()+` +`+Y+"^"},test_match:function(J,Y){var $,lt,ut;if(this.options.backtrack_lexer&&(ut={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(ut.yylloc.range=this.yylloc.range.slice(0))),lt=J[0].match(/(?:\r\n?|\n).*/g),lt&&(this.yylineno+=lt.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:lt?lt[lt.length-1].length-lt[lt.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+J[0].length},this.yytext+=J[0],this.match+=J[0],this.matches=J,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(J[0].length),this.matched+=J[0],$=this.performAction.call(this,this.yy,this,Y,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),$)return $;if(this._backtrack){for(var W in ut)this[W]=ut[W];return!1}return!1},next:function(){if(this.done)return this.EOF;this._input||(this.done=!0);var J,Y,$,lt;this._more||(this.yytext="",this.match="");for(var ut=this._currentRules(),W=0;W<ut.length;W++)if($=this._input.match(this.rules[ut[W]]),$&&(!Y||$[0].length>Y[0].length)){if(Y=$,lt=W,this.options.backtrack_lexer){if(J=this.test_match($,ut[W]),J!==!1)return J;if(this._backtrack){Y=!1;continue}else return!1}else if(!this.options.flex)break}return Y?(J=this.test_match(Y,ut[lt]),J!==!1?J:!1):this._input===""?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+`. Unrecognized text. +`+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){var Y=this.next();return Y||this.lex()},begin:function(Y){this.conditionStack.push(Y)},popState:function(){var Y=this.conditionStack.length-1;return Y>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(Y){return Y=this.conditionStack.length-1-Math.abs(Y||0),Y>=0?this.conditionStack[Y]:"INITIAL"},pushState:function(Y){this.begin(Y)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(Y,$,lt,ut){switch(lt){case 0:return 41;case 1:return 42;case 2:return 43;case 3:return 44;case 4:return this.begin("open_directive"),50;case 5:return this.begin("type_directive"),51;case 6:return this.popState(),this.begin("arg_directive"),39;case 7:return this.popState(),this.popState(),53;case 8:return 52;case 9:break;case 10:break;case 11:return 5;case 12:break;case 13:break;case 14:break;case 15:break;case 16:return this.pushState("SCALE"),15;case 17:return 16;case 18:this.popState();break;case 19:return this.begin("acc_title"),31;case 20:return this.popState(),"acc_title_value";case 21:return this.begin("acc_descr"),33;case 22:return this.popState(),"acc_descr_value";case 23:this.begin("acc_descr_multiline");break;case 24:this.popState();break;case 25:return"acc_descr_multiline_value";case 26:this.pushState("STATE");break;case 27:return this.popState(),$.yytext=$.yytext.slice(0,-8).trim(),23;case 28:return this.popState(),$.yytext=$.yytext.slice(0,-8).trim(),24;case 29:return this.popState(),$.yytext=$.yytext.slice(0,-10).trim(),25;case 30:return this.popState(),$.yytext=$.yytext.slice(0,-8).trim(),23;case 31:return this.popState(),$.yytext=$.yytext.slice(0,-8).trim(),24;case 32:return this.popState(),$.yytext=$.yytext.slice(0,-10).trim(),25;case 33:return 41;case 34:return 42;case 35:return 43;case 36:return 44;case 37:this.begin("STATE_STRING");break;case 38:return this.popState(),this.pushState("STATE_ID"),"AS";case 39:return this.popState(),"ID";case 40:this.popState();break;case 41:return"STATE_DESCR";case 42:return 17;case 43:this.popState();break;case 44:return this.popState(),this.pushState("struct"),18;case 45:return this.popState(),19;case 46:break;case 47:return this.begin("NOTE"),27;case 48:return this.popState(),this.pushState("NOTE_ID"),48;case 49:return this.popState(),this.pushState("NOTE_ID"),49;case 50:this.popState(),this.pushState("FLOATING_NOTE");break;case 51:return this.popState(),this.pushState("FLOATING_NOTE_ID"),"AS";case 52:break;case 53:return"NOTE_TEXT";case 54:return this.popState(),"ID";case 55:return this.popState(),this.pushState("NOTE_TEXT"),22;case 56:return this.popState(),$.yytext=$.yytext.substr(2).trim(),29;case 57:return this.popState(),$.yytext=$.yytext.slice(0,-8).trim(),29;case 58:return 7;case 59:return 7;case 60:return 14;case 61:return 47;case 62:return 22;case 63:return $.yytext=$.yytext.trim(),12;case 64:return 13;case 65:return 26;case 66:return 5;case 67:return"INVALID"}},rules:[/^(?:.*direction\s+TB[^\n]*)/i,/^(?:.*direction\s+BT[^\n]*)/i,/^(?:.*direction\s+RL[^\n]*)/i,/^(?:.*direction\s+LR[^\n]*)/i,/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:%%(?!\{)[^\n]*)/i,/^(?:[^\}]%%[^\n]*)/i,/^(?:[\n]+)/i,/^(?:[\s]+)/i,/^(?:((?!\n)\s)+)/i,/^(?:#[^\n]*)/i,/^(?:%[^\n]*)/i,/^(?:scale\s+)/i,/^(?:\d+)/i,/^(?:\s+width\b)/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:state\s+)/i,/^(?:.*<<fork>>)/i,/^(?:.*<<join>>)/i,/^(?:.*<<choice>>)/i,/^(?:.*\[\[fork\]\])/i,/^(?:.*\[\[join\]\])/i,/^(?:.*\[\[choice\]\])/i,/^(?:.*direction\s+TB[^\n]*)/i,/^(?:.*direction\s+BT[^\n]*)/i,/^(?:.*direction\s+RL[^\n]*)/i,/^(?:.*direction\s+LR[^\n]*)/i,/^(?:["])/i,/^(?:\s*as\s+)/i,/^(?:[^\n\{]*)/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:[^\n\s\{]+)/i,/^(?:\n)/i,/^(?:\{)/i,/^(?:\})/i,/^(?:[\n])/i,/^(?:note\s+)/i,/^(?:left of\b)/i,/^(?:right of\b)/i,/^(?:")/i,/^(?:\s*as\s*)/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:[^\n]*)/i,/^(?:\s*[^:\n\s\-]+)/i,/^(?:\s*:[^:\n;]+)/i,/^(?:[\s\S]*?end note\b)/i,/^(?:stateDiagram\s+)/i,/^(?:stateDiagram-v2\s+)/i,/^(?:hide empty description\b)/i,/^(?:\[\*\])/i,/^(?:[^:\n\s\-\{]+)/i,/^(?:\s*:[^:\n;]+)/i,/^(?:-->)/i,/^(?:--)/i,/^(?:$)/i,/^(?:.)/i],conditions:{LINE:{rules:[13,14],inclusive:!1},close_directive:{rules:[13,14],inclusive:!1},arg_directive:{rules:[7,8,13,14],inclusive:!1},type_directive:{rules:[6,7,13,14],inclusive:!1},open_directive:{rules:[5,13,14],inclusive:!1},struct:{rules:[13,14,26,33,34,35,36,45,46,47,61,62,63,64,65],inclusive:!1},FLOATING_NOTE_ID:{rules:[54],inclusive:!1},FLOATING_NOTE:{rules:[51,52,53],inclusive:!1},NOTE_TEXT:{rules:[56,57],inclusive:!1},NOTE_ID:{rules:[55],inclusive:!1},NOTE:{rules:[48,49,50],inclusive:!1},acc_descr_multiline:{rules:[24,25],inclusive:!1},acc_descr:{rules:[22],inclusive:!1},acc_title:{rules:[20],inclusive:!1},SCALE:{rules:[17,18],inclusive:!1},ALIAS:{rules:[],inclusive:!1},STATE_ID:{rules:[39],inclusive:!1},STATE_STRING:{rules:[40,41],inclusive:!1},FORK_STATE:{rules:[],inclusive:!1},STATE:{rules:[13,14,27,28,29,30,31,32,37,38,42,43,44],inclusive:!1},ID:{rules:[13,14],inclusive:!1},INITIAL:{rules:[0,1,2,3,4,9,10,11,12,14,15,16,19,21,23,26,44,47,58,59,60,61,62,63,64,66,67],inclusive:!0}}};return ct}();N.lexer=z;function X(){this.yy={}}return X.prototype=N,N.Parser=X,new X}();p0.parser=p0;const fat=(t,e)=>{var r;return((r=e==null?void 0:e.state)==null?void 0:r.defaultRenderer)==="dagre-wrapper"?!1:t.match(/^\s*stateDiagram/)!==null},dat=(t,e)=>{var r;return!!(t.match(/^\s*stateDiagram-v2/)!==null||t.match(/^\s*stateDiagram/)&&((r=e==null?void 0:e.state)==null?void 0:r.defaultRenderer)==="dagre-wrapper")},g0=t=>JSON.parse(JSON.stringify(t));let y0=[];const pat=function(t,e,r){Xe.parseDirective(this,t,e,r)},gat=t=>{H.info("Setting root doc",t),y0=t},yat=()=>y0,m0=(t,e,r)=>{if(e.stmt==="relation")m0(t,e.state1,!0),m0(t,e.state2,!1);else if(e.stmt==="state"&&e.id==="[*]"&&(e.id=r?t.id+"_start":t.id+"_end",e.start=r),e.doc){const n=[];let i=0,a=[];for(i=0;i<e.doc.length;i++)if(e.doc[i].type==="divider"){const s=g0(e.doc[i]);s.doc=g0(a),n.push(s),a=[]}else a.push(e.doc[i]);if(n.length>0&&a.length>0){const s={stmt:"state",id:ow(),type:"divider",doc:g0(a)};n.push(g0(s)),e.doc=n}e.doc.forEach(s=>m0(e,s,!0))}},mat=()=>(m0({id:"root"},{id:"root",doc:y0},!0),{id:"root",doc:y0}),bat=t=>{let e;t.doc?e=t.doc:e=t,H.info(e),LL(!0),H.info("Extract",e),e.forEach(r=>{r.stmt==="state"&&_0(r.id,r.type,r.doc,r.description,r.note),r.stmt==="relation"&&RL(r.state1.id,r.state2.id,r.description)})},ML=()=>({relations:[],states:{},documents:{}});let pu={root:ML()},Wr=pu.root,b0=0;const _0=function(t,e,r,n,i){typeof Wr.states[t]>"u"?Wr.states[t]={id:t,descriptions:[],type:e,doc:r,note:i}:(Wr.states[t].doc||(Wr.states[t].doc=r),Wr.states[t].type||(Wr.states[t].type=e)),n&&(H.info("Adding state ",t,n),typeof n=="string"&&IL(t,n.trim()),typeof n=="object"&&n.forEach(a=>IL(t,a.trim()))),i&&(Wr.states[t].note=i,Wr.states[t].note.text=pe.sanitizeText(Wr.states[t].note.text,nt()))},LL=function(t){pu={root:ML()},Wr=pu.root,Wr=pu.root,b0=0,BL=[],t||ci()},_at=function(t){return Wr.states[t]},vat=function(){return Wr.states},xat=function(){H.info("Documents = ",pu)},kat=function(){return Wr.relations},RL=function(t,e,r){let n=t,i=e,a="default",s="default";t==="[*]"&&(b0++,n="start"+b0,a="start"),e==="[*]"&&(i="end"+b0,s="end"),_0(n,a),_0(i,s),Wr.relations.push({id1:n,id2:i,title:pe.sanitizeText(r,nt())})},IL=function(t,e){const r=Wr.states[t];let n=e;n[0]===":"&&(n=n.substr(1).trim()),r.descriptions.push(pe.sanitizeText(n,nt()))},wat=function(t){return t.substring(0,1)===":"?t.substr(2).trim():t.trim()},Tat={LINE:0,DOTTED_LINE:1};let NL=0;const Eat=()=>(NL++,"divider-id-"+NL);let BL=[];const Cat=()=>BL;let DL="TB";const ma={parseDirective:pat,getConfig:()=>nt().state,addState:_0,clear:LL,getState:_at,getStates:vat,getRelations:kat,getClasses:Cat,getDirection:()=>DL,addRelation:RL,getDividerId:Eat,setDirection:t=>{DL=t},cleanupLabel:wat,lineType:Tat,relationType:{AGGREGATION:0,EXTENSION:1,COMPOSITION:2,DEPENDENCY:3},logDocuments:xat,getRootDoc:yat,setRootDoc:gat,getRootDocV2:mat,extract:bat,trimColon:t=>t&&t[0]===":"?t.substr(1).trim():t.trim(),getAccTitle:ui,setAccTitle:Yn,getAccDescription:fi,setAccDescription:hi},Sat=t=>t.append("circle").attr("class","start-state").attr("r",nt().state.sizeUnit).attr("cx",nt().state.padding+nt().state.sizeUnit).attr("cy",nt().state.padding+nt().state.sizeUnit),Aat=t=>t.append("line").style("stroke","grey").style("stroke-dasharray","3").attr("x1",nt().state.textHeight).attr("class","divider").attr("x2",nt().state.textHeight*2).attr("y1",0).attr("y2",0),Mat=(t,e)=>{const r=t.append("text").attr("x",2*nt().state.padding).attr("y",nt().state.textHeight+2*nt().state.padding).attr("font-size",nt().state.fontSize).attr("class","state-title").text(e.id),n=r.node().getBBox();return t.insert("rect",":first-child").attr("x",nt().state.padding).attr("y",nt().state.padding).attr("width",n.width+2*nt().state.padding).attr("height",n.height+2*nt().state.padding).attr("rx",nt().state.radius),r},Lat=(t,e)=>{const r=function(f,p,m){const _=f.append("tspan").attr("x",2*nt().state.padding).text(p);m||_.attr("dy",nt().state.textHeight)},i=t.append("text").attr("x",2*nt().state.padding).attr("y",nt().state.textHeight+1.3*nt().state.padding).attr("font-size",nt().state.fontSize).attr("class","state-title").text(e.descriptions[0]).node().getBBox(),a=i.height,s=t.append("text").attr("x",nt().state.padding).attr("y",a+nt().state.padding*.4+nt().state.dividerMargin+nt().state.textHeight).attr("class","state-description");let o=!0,l=!0;e.descriptions.forEach(function(f){o||(r(s,f,l),l=!1),o=!1});const u=t.append("line").attr("x1",nt().state.padding).attr("y1",nt().state.padding+a+nt().state.dividerMargin/2).attr("y2",nt().state.padding+a+nt().state.dividerMargin/2).attr("class","descr-divider"),h=s.node().getBBox(),d=Math.max(h.width,i.width);return u.attr("x2",d+3*nt().state.padding),t.insert("rect",":first-child").attr("x",nt().state.padding).attr("y",nt().state.padding).attr("width",d+2*nt().state.padding).attr("height",h.height+a+2*nt().state.padding).attr("rx",nt().state.radius),t},Rat=(t,e,r)=>{const n=nt().state.padding,i=2*nt().state.padding,a=t.node().getBBox(),s=a.width,o=a.x,l=t.append("text").attr("x",0).attr("y",nt().state.titleShift).attr("font-size",nt().state.fontSize).attr("class","state-title").text(e.id),h=l.node().getBBox().width+i;let d=Math.max(h,s);d===s&&(d=d+i);let f;const p=t.node().getBBox();e.doc,f=o-n,h>s&&(f=(s-d)/2+n),Math.abs(o-p.x)<n&&h>s&&(f=o-(h-s)/2);const m=1-nt().state.textHeight;return t.insert("rect",":first-child").attr("x",f).attr("y",m).attr("class",r?"alt-composit":"composit").attr("width",d).attr("height",p.height+nt().state.textHeight+nt().state.titleShift+1).attr("rx","0"),l.attr("x",f+n),h<=s&&l.attr("x",o+(d-i)/2-h/2+n),t.insert("rect",":first-child").attr("x",f).attr("y",nt().state.titleShift-nt().state.textHeight-nt().state.padding).attr("width",d).attr("height",nt().state.textHeight*3).attr("rx",nt().state.radius),t.insert("rect",":first-child").attr("x",f).attr("y",nt().state.titleShift-nt().state.textHeight-nt().state.padding).attr("width",d).attr("height",p.height+3+2*nt().state.textHeight).attr("rx",nt().state.radius),t},Iat=t=>(t.append("circle").attr("class","end-state-outer").attr("r",nt().state.sizeUnit+nt().state.miniPadding).attr("cx",nt().state.padding+nt().state.sizeUnit+nt().state.miniPadding).attr("cy",nt().state.padding+nt().state.sizeUnit+nt().state.miniPadding),t.append("circle").attr("class","end-state-inner").attr("r",nt().state.sizeUnit).attr("cx",nt().state.padding+nt().state.sizeUnit+2).attr("cy",nt().state.padding+nt().state.sizeUnit+2)),Nat=(t,e)=>{let r=nt().state.forkWidth,n=nt().state.forkHeight;if(e.parentId){let i=r;r=n,n=i}return t.append("rect").style("stroke","black").style("fill","black").attr("width",r).attr("height",n).attr("x",nt().state.padding).attr("y",nt().state.padding)},Bat=(t,e,r,n)=>{let i=0;const a=n.append("text");a.style("text-anchor","start"),a.attr("class","noteText");let s=t.replace(/\r\n/g,"<br/>");s=s.replace(/\n/g,"<br/>");const o=s.split(pe.lineBreakRegex);let l=1.25*nt().state.noteMargin;for(const u of o){const h=u.trim();if(h.length>0){const d=a.append("tspan");d.text(h),l===0&&(l+=d.node().getBBox().height),i+=l,d.attr("x",e+nt().state.noteMargin),d.attr("y",r+i+1.25*nt().state.noteMargin)}}return{textWidth:a.node().getBBox().width,textHeight:i}},Dat=(t,e)=>{e.attr("class","state-note");const r=e.append("rect").attr("x",0).attr("y",nt().state.padding),n=e.append("g"),{textWidth:i,textHeight:a}=Bat(t,0,0,n);return r.attr("height",a+2*nt().state.noteMargin),r.attr("width",i+nt().state.noteMargin*2),r},OL=function(t,e){const r=e.id,n={id:r,label:e.id,width:0,height:0},i=t.append("g").attr("id",r).attr("class","stateGroup");e.type==="start"&&Sat(i),e.type==="end"&&Iat(i),(e.type==="fork"||e.type==="join")&&Nat(i,e),e.type==="note"&&Dat(e.note.text,i),e.type==="divider"&&Aat(i),e.type==="default"&&e.descriptions.length===0&&Mat(i,e),e.type==="default"&&e.descriptions.length>0&&Lat(i,e);const a=i.node().getBBox();return n.width=a.width+2*nt().state.padding,n.height=a.height+2*nt().state.padding,n};let FL=0;const Oat=function(t,e,r){const n=function(l){switch(l){case ma.relationType.AGGREGATION:return"aggregation";case ma.relationType.EXTENSION:return"extension";case ma.relationType.COMPOSITION:return"composition";case ma.relationType.DEPENDENCY:return"dependency"}};e.points=e.points.filter(l=>!Number.isNaN(l.y));const i=e.points,a=Ua().x(function(l){return l.x}).y(function(l){return 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\ No newline at end of file diff --git a/book/en/src/by-example.md b/book/en/src/by-example.md index 419a4ba..a2e5b27 100644 --- a/book/en/src/by-example.md +++ b/book/en/src/by-example.md @@ -1,14 +1,15 @@ # RTIC by example -This part of the book introduces the Real-Time Interrupt-driven Concurrency (RTIC) framework -to new users by walking them through examples of increasing complexity. +This part of the book introduces the RTIC framework to new users by walking them through examples of increasing complexity. All examples in this part of the book are accessible at the [GitHub repository][repoexamples]. The examples are runnable on QEMU (emulating a Cortex M3 target), thus no special hardware required to follow along. -[repoexamples]: https://github.com/rtic-rs/cortex-m-rtic/tree/master/examples +[repoexamples]: https://github.com/rtic-rs/rtic/tree/master/examples + +## Running an example To run the examples with QEMU you will need the `qemu-system-arm` program. Check [the embedded Rust book] for instructions on how to set up an @@ -28,11 +29,12 @@ $ cargo run --target thumbv7m-none-eabi --example locals Yields this output: ``` console -{{#include ../../../ci/expected/locals.run}} +{{#include ../../../rtic/ci/expected/locals.run}} ``` > **NOTE**: You can choose target device by passing a target > triple to cargo (e.g. `cargo run --example init --target thumbv7m-none-eabi`) or > configure a default target in `.cargo/config.toml`. > -> For running the examples, we use a Cortex M3 emulated in QEMU, so the target is `thumbv7m-none-eabi`.
\ No newline at end of file +> For running the examples, we (typically) use a Cortex M3 emulated in QEMU, so the target is `thumbv7m-none-eabi`. +> Since the M3 architecture is backwards compatible to the M0/M0+ architecture, you may also use the `thumbv6m-none-eabi`, in case you want to inspect generated assembly code for the M0/M0+ architecture. diff --git a/book/en/src/by-example/app.md b/book/en/src/by-example/app.md index 2c6aca7..0d977a1 100644 --- a/book/en/src/by-example/app.md +++ b/book/en/src/by-example/app.md @@ -2,19 +2,25 @@ ## Requirements on the `app` attribute -All RTIC applications use the [`app`] attribute (`#[app(..)]`). This attribute -only applies to a `mod`-item containing the RTIC application. The `app` -attribute has a mandatory `device` argument that takes a *path* as a value. -This must be a full path pointing to a -*peripheral access crate* (PAC) generated using [`svd2rust`] **v0.14.x** or -newer. +All RTIC applications use the [`app`] attribute (`#[app(..)]`). This attribute only applies to a `mod`-item containing the RTIC application. The `app` attribute has a mandatory `device` argument that takes a *path* as a value. This must be a full path pointing to a *peripheral access crate* (PAC) generated using [`svd2rust`] **v0.14.x** or newer. -The `app` attribute will expand into a suitable entry point and thus replaces -the use of the [`cortex_m_rt::entry`] attribute. +The `app` attribute will expand into a suitable entry point and thus replaces the use of the [`cortex_m_rt::entry`] attribute. -[`app`]: ../../../api/cortex_m_rtic_macros/attr.app.html +[`app`]: ../../../api/rtic_macros/attr.app.html [`svd2rust`]: https://crates.io/crates/svd2rust -[`cortex_m_rt::entry`]: ../../../api/cortex_m_rt_macros/attr.entry.html +[`cortex_m_rt::entry`]: https://docs.rs/cortex-m-rt-macros/latest/cortex_m_rt_macros/attr.entry.html + +## Structure and zero-cost concurrency + +An RTIC `app` is an executable system model for single-core applications, declaring a set of `local` and `shared` resources operated on by a set of `init`, `idle`, *hardware* and *software* tasks. In short the `init` task runs before any other task returning the set of `local` and `shared` resources. Tasks run preemptively based on their associated static priority, `idle` has the lowest priority (and can be used for background work, and/or to put the system to sleep until woken by some event). Hardware tasks are bound to underlying hardware interrupts, while software tasks are scheduled by asynchronous executors (one for each software task priority). + +At compile time the task/resource model is analyzed under the Stack Resource Policy (SRP) and executable code generated with the following outstanding properties: + +- guaranteed race-free resource access and deadlock-free execution on a single-shared stack + - hardware task scheduling is performed directly by the hardware, and + - software task scheduling is performed by auto generated async executors tailored to the application. + +Overall, the generated code infers no additional overhead in comparison to a hand-written implementation, thus in Rust terms RTIC offers a zero-cost abstraction to concurrency. ## An RTIC application example @@ -22,5 +28,5 @@ To give a flavour of RTIC, the following example contains commonly used features In the following sections we will go through each feature in detail. ``` rust -{{#include ../../../../examples/common.rs}} +{{#include ../../../../rtic/examples/common.rs}} ``` diff --git a/book/en/src/by-example/app_idle.md b/book/en/src/by-example/app_idle.md index 537902a..cbfd7ba 100644 --- a/book/en/src/by-example/app_idle.md +++ b/book/en/src/by-example/app_idle.md @@ -1,52 +1,53 @@ # The background task `#[idle]` -A function marked with the `idle` attribute can optionally appear in the -module. This becomes the special *idle task* and must have signature -`fn(idle::Context) -> !`. +A function marked with the `idle` attribute can optionally appear in the module. This becomes the special *idle task* and must have signature `fn(idle::Context) -> !`. -When present, the runtime will execute the `idle` task after `init`. Unlike -`init`, `idle` will run *with interrupts enabled* and must never return, -as the `-> !` function signature indicates. +When present, the runtime will execute the `idle` task after `init`. Unlike `init`, `idle` will run *with interrupts enabled* and must never return, as the `-> !` function signature indicates. [The Rust type `!` means “never”][nevertype]. [nevertype]: https://doc.rust-lang.org/core/primitive.never.html -Like in `init`, locally declared resources will have `'static` lifetimes that -are safe to access. +Like in `init`, locally declared resources will have `'static` lifetimes that are safe to access. The example below shows that `idle` runs after `init`. ``` rust -{{#include ../../../../examples/idle.rs}} +{{#include ../../../../rtic/examples/idle.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example idle -{{#include ../../../../ci/expected/idle.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/idle.run}} ``` By default, the RTIC `idle` task does not try to optimize for any specific targets. -A common useful optimization is to enable the [SLEEPONEXIT] and allow the MCU -to enter sleep when reaching `idle`. +A common useful optimization is to enable the [SLEEPONEXIT] and allow the MCU to enter sleep when reaching `idle`. ->**Caution** some hardware unless configured disables the debug unit during sleep mode. +>**Caution**: some hardware unless configured disables the debug unit during sleep mode. > >Consult your hardware specific documentation as this is outside the scope of RTIC. The following example shows how to enable sleep by setting the -[`SLEEPONEXIT`][SLEEPONEXIT] and providing a custom `idle` task replacing the -default [`nop()`][NOP] with [`wfi()`][WFI]. +[`SLEEPONEXIT`][SLEEPONEXIT] and providing a custom `idle` task replacing the default [`nop()`][NOP] with [`wfi()`][WFI]. [SLEEPONEXIT]: https://developer.arm.com/docs/100737/0100/power-management/sleep-mode/sleep-on-exit-bit [WFI]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/WFI [NOP]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/NOP ``` rust -{{#include ../../../../examples/idle-wfi.rs}} +{{#include ../../../../rtic/examples/idle-wfi.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example idle-wfi -{{#include ../../../../ci/expected/idle-wfi.run}} ``` + +``` console +{{#include ../../../../rtic/ci/expected/idle-wfi.run}} +``` + +> **Notice**: The `idle` task cannot be used together with *software* tasks running at priority zero. The reason is that `idle` is running as a non-returning Rust function at priority zero. Thus there would be no way for an executor at priority zero to give control to *software* tasks at the same priority. diff --git a/book/en/src/by-example/app_init.md b/book/en/src/by-example/app_init.md index 5bf6200..fb37387 100644 --- a/book/en/src/by-example/app_init.md +++ b/book/en/src/by-example/app_init.md @@ -1,35 +1,31 @@ # App initialization and the `#[init]` task An RTIC application requires an `init` task setting up the system. The corresponding `init` function must have the -signature `fn(init::Context) -> (Shared, Local, init::Monotonics)`, where `Shared` and `Local` are resource -structures defined by the user. +signature `fn(init::Context) -> (Shared, Local)`, where `Shared` and `Local` are resource structures defined by the user. -The `init` task executes after system reset, [after an optionally defined `pre-init` code section][pre-init] and an always occurring internal RTIC -initialization. +The `init` task executes after system reset, [after an optionally defined `pre-init` code section][pre-init] and an always occurring internal RTIC initialization. [pre-init]: https://docs.rs/cortex-m-rt/latest/cortex_m_rt/attr.pre_init.html -[pre-init]: https://docs.rs/cortex-m-rt/latest/cortex_m_rt/attr.pre_init.html - -The `init` and optional `pre-init` tasks runs *with interrupts disabled* and have exclusive access to Cortex-M (the -`bare_metal::CriticalSection` token is available as `cs`). +The `init` and optional `pre-init` tasks runs *with interrupts disabled* and have exclusive access to Cortex-M (the `bare_metal::CriticalSection` token is available as `cs`). Device specific peripherals are available through the `core` and `device` fields of `init::Context`. ## Example -The example below shows the types of the `core`, `device` and `cs` fields, and showcases the use of a `local` -variable with `'static` lifetime. -Such variables can be delegated from the `init` task to other tasks of the RTIC application. +The example below shows the types of the `core`, `device` and `cs` fields, and showcases the use of a `local` variable with `'static` lifetime. Such variables can be delegated from the `init` task to other tasks of the RTIC application. The `device` field is only available when the `peripherals` argument is set to the default value `true`. In the rare case you want to implement an ultra-slim application you can explicitly set `peripherals` to `false`. ``` rust -{{#include ../../../../examples/init.rs}} +{{#include ../../../../rtic/examples/init.rs}} ``` Running the example will print `init` to the console and then exit the QEMU process. ``` console $ cargo run --target thumbv7m-none-eabi --example init -{{#include ../../../../ci/expected/init.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/init.run}} ``` diff --git a/book/en/src/by-example/app_minimal.md b/book/en/src/by-example/app_minimal.md index d0ff40a..714f543 100644 --- a/book/en/src/by-example/app_minimal.md +++ b/book/en/src/by-example/app_minimal.md @@ -3,5 +3,22 @@ This is the smallest possible RTIC application: ``` rust -{{#include ../../../../examples/smallest.rs}} +{{#include ../../../../rtic/examples/smallest.rs}} ``` + +RTIC is designed with resource efficiency in mind. RTIC itself does not rely on any dynamic memory allocation, thus RAM requirement is dependent only on the application. The flash memory footprint is below 1kB including the interrupt vector table. + +For a minimal example you can expect something like: +``` console +$ cargo size --example smallest --target thumbv7m-none-eabi --release +``` + +``` console +Finished release [optimized] target(s) in 0.07s + text data bss dec hex filename + 924 0 0 924 39c smallest +``` + +<!-- --- + +Technically, RTIC will generate a statically allocated future for each *software* task (holding the execution context, including the `Context` struct and stack allocated variables). Futures associated to the same static priority will share an asynchronous stack during execution. --> diff --git a/book/en/src/by-example/app_priorities.md b/book/en/src/by-example/app_priorities.md index 8cee749..9d27658 100644 --- a/book/en/src/by-example/app_priorities.md +++ b/book/en/src/by-example/app_priorities.md @@ -4,23 +4,18 @@ The `priority` argument declares the static priority of each `task`. -For Cortex-M, tasks can have priorities in the range `1..=(1 << NVIC_PRIO_BITS)` -where `NVIC_PRIO_BITS` is a constant defined in the `device` crate. +For Cortex-M, tasks can have priorities in the range `1..=(1 << NVIC_PRIO_BITS)` where `NVIC_PRIO_BITS` is a constant defined in the `device` crate. -Omitting the `priority` argument the task priority defaults to `1`. -The `idle` task has a non-configurable static priority of `0`, the lowest priority. +Omitting the `priority` argument the task priority defaults to `1`. The `idle` task has a non-configurable static priority of `0`, the lowest priority. > A higher number means a higher priority in RTIC, which is the opposite from what > Cortex-M does in the NVIC peripheral. > Explicitly, this means that number `10` has a **higher** priority than number `9`. -The highest static priority task takes precedence when more than one -task are ready to execute. +The highest static priority task takes precedence when more than one task are ready to execute. The following scenario demonstrates task prioritization: -Spawning a higher priority task A during execution of a lower priority task B suspends -task B. Task A has higher priority thus preempting task B which gets suspended -until task A completes execution. Thus, when task A completes task B resumes execution. +Spawning a higher priority task A during execution of a lower priority task B suspends task B. Task A has higher priority thus preempting task B which gets suspended until task A completes execution. Thus, when task A completes task B resumes execution. ```text Task Priority @@ -39,23 +34,19 @@ Task Priority The following example showcases the priority based scheduling of tasks: ``` rust -{{#include ../../../../examples/preempt.rs}} +{{#include ../../../../rtic/examples/preempt.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example preempt -{{#include ../../../../ci/expected/preempt.run}} +{{#include ../../../../rtic/ci/expected/preempt.run}} ``` -Note that the task `bar` does *not* preempt task `baz` because its priority -is the *same* as `baz`'s. The higher priority task `bar` runs before `foo` -when `baz`returns. When `bar` returns `foo` can resume. +Note that the task `bar` does *not* preempt task `baz` because its priority is the *same* as `baz`'s. The higher priority task `bar` runs before `foo` when `baz`returns. When `bar` returns `foo` can resume. -One more note about priorities: choosing a priority higher than what the device -supports will result in a compilation error. +One more note about priorities: choosing a priority higher than what the device supports will result in a compilation error. The error is cryptic due to limitations in the Rust language, if `priority = 9` for task `uart0_interrupt` in `example/common.rs` this looks like: -The error is cryptic due to limitations in the Rust language -if `priority = 9` for task `uart0_interrupt` in `example/common.rs` this looks like: +The error is cryptic due to limitations in the Rust language if `priority = 9` for task `uart0_interrupt` in `example/common.rs` this looks like: ```text error[E0080]: evaluation of constant value failed @@ -68,5 +59,4 @@ if `priority = 9` for task `uart0_interrupt` in `example/common.rs` this looks l ``` -The error message incorrectly points to the starting point of the macro, but at least the -value subtracted (in this case 9) will suggest which task causes the error. +The error message incorrectly points to the starting point of the macro, but at least the value subtracted (in this case 9) will suggest which task causes the error. diff --git a/book/en/src/by-example/app_task.md b/book/en/src/by-example/app_task.md index d83f1ff..b2731f6 100644 --- a/book/en/src/by-example/app_task.md +++ b/book/en/src/by-example/app_task.md @@ -1,3 +1,5 @@ +<!-- Should probably be removed --> + # Defining tasks with `#[task]` Tasks, defined with `#[task]`, are the main mechanism of getting work done in RTIC. diff --git a/book/en/src/by-example/channel.md b/book/en/src/by-example/channel.md new file mode 100644 index 0000000..c020870 --- /dev/null +++ b/book/en/src/by-example/channel.md @@ -0,0 +1,126 @@ +# Communication over channels. + +Channels can be used to communicate data between running *software* tasks. The channel is essentially a wait queue, allowing tasks with multiple producers and a single receiver. A channel is constructed in the `init` task and backed by statically allocated memory. Send and receive endpoints are distributed to *software* tasks: + +``` rust +... +const CAPACITY: usize = 5; +#[init] + fn init(_: init::Context) -> (Shared, Local) { + let (s, r) = make_channel!(u32, CAPACITY); + receiver::spawn(r).unwrap(); + sender1::spawn(s.clone()).unwrap(); + sender2::spawn(s.clone()).unwrap(); + ... +``` + +In this case the channel holds data of `u32` type with a capacity of 5 elements. + +## Sending data + +The `send` method post a message on the channel as shown below: + +``` rust +#[task] +async fn sender1(_c: sender1::Context, mut sender: Sender<'static, u32, CAPACITY>) { + hprintln!("Sender 1 sending: 1"); + sender.send(1).await.unwrap(); +} +``` + +## Receiving data + +The receiver can `await` incoming messages: + +``` rust +#[task] +async fn receiver(_c: receiver::Context, mut receiver: Receiver<'static, u32, CAPACITY>) { + while let Ok(val) = receiver.recv().await { + hprintln!("Receiver got: {}", val); + ... + } +} +``` + +Channels are implemented using a small (global) *Critical Section* (CS) for protection against race-conditions. The user must provide an CS implementation. Compiling the examples given the `--features test-critical-section` gives one possible implementation. + +For a complete example: + +``` rust +{{#include ../../../../rtic/examples/async-channel.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example async-channel --features test-critical-section +``` + +``` console +{{#include ../../../../rtic/ci/expected/async-channel.run}} +``` + +Also sender endpoint can be awaited. In case the channel capacity has not yet been reached, `await`-ing the sender can progress immediately, while in the case the capacity is reached, the sender is blocked until there is free space in the queue. In this way data is never lost. + +In the following example the `CAPACITY` has been reduced to 1, forcing sender tasks to wait until the data in the channel has been received. + +``` rust +{{#include ../../../../rtic/examples/async-channel-done.rs}} +``` + +Looking at the output, we find that `Sender 2` will wait until the data sent by `Sender 1` as been received. + +> **NOTICE** *Software* tasks at the same priority are executed asynchronously to each other, thus **NO** strict order can be assumed. (The presented order here applies only to the current implementation, and may change between RTIC framework releases.) + +``` console +$ cargo run --target thumbv7m-none-eabi --example async-channel-done --features test-critical-section +{{#include ../../../../rtic/ci/expected/async-channel-done.run}} +``` + +## Error handling + +In case all senders have been dropped `await`-ing on an empty receiver channel results in an error. This allows to gracefully implement different types of shutdown operations. + +``` rust +{{#include ../../../../rtic/examples/async-channel-no-sender.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example async-channel-no-sender --features test-critical-section +``` + +``` console +{{#include ../../../../rtic/ci/expected/async-channel-no-sender.run}} +``` + +Similarly, `await`-ing on a send channel results in an error in case the receiver has been dropped. This allows to gracefully implement application level error handling. + +The resulting error returns the data back to the sender, allowing the sender to take appropriate action (e.g., storing the data to later retry sending it). + +``` rust +{{#include ../../../../rtic/examples/async-channel-no-receiver.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example async-channel-no-receiver --features test-critical-section +``` + +``` console +{{#include ../../../../rtic/ci/expected/async-channel-no-receiver.run}} +``` + + + +## Try API + +In cases you wish the sender to proceed even in case the channel is full. To that end, a `try_send` API is provided. + +``` rust +{{#include ../../../../rtic/examples/async-channel-try.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example async-channel-try --features test-critical-section +``` + +``` console +{{#include ../../../../rtic/ci/expected/async-channel-try.run}} +```
\ No newline at end of file diff --git a/book/en/src/by-example/delay.md b/book/en/src/by-example/delay.md new file mode 100644 index 0000000..f286363 --- /dev/null +++ b/book/en/src/by-example/delay.md @@ -0,0 +1,127 @@ +# Tasks with delay + +A convenient way to express *miniminal* timing requirements is by means of delaying progression. + +This can be achieved by instantiating a monotonic timer: + +``` rust +... +rtic_monotonics::make_systick_handler!(); + +#[init] +fn init(cx: init::Context) -> (Shared, Local) { + hprintln!("init"); + + Systick::start(cx.core.SYST, 12_000_000); + ... +``` + +A *software* task can `await` the delay to expire: + +``` rust +#[task] +async fn foo(_cx: foo::Context) { + ... + Systick::delay(100.millis()).await; + ... +} + +``` + +Technically, the timer queue is implemented as a list based priority queue, where list-nodes are statically allocated as part of the underlying task `Future`. Thus, the timer queue is infallible at run-time (its size and allocation is determined at compile time). + +Similarly the channels implementation, the timer-queue implementation relies on a global *Critical Section* (CS) for race protection. For the examples a CS implementation is provided by adding `--features test-critical-section` to the build options. + +For a complete example: + +``` rust +{{#include ../../../../rtic/examples/async-delay.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example async-delay --features test-critical-section +``` + +``` console +{{#include ../../../../rtic/ci/expected/async-delay.run}} +``` + +## Timeout + +Rust `Futures` (underlying Rust `async`/`await`) are composable. This makes it possible to `select` in between `Futures` that have completed. + +A common use case is transactions with associated timeout. In the examples shown below, we introduce a fake HAL device which performs some transaction. We have modelled the time it takes based on the input parameter (`n`) as `350ms + n * 100ms)`. + +Using the `select_biased` macro from the `futures` crate it may look like this: + +``` rust +// Call hal with short relative timeout using `select_biased` +select_biased! { + v = hal_get(1).fuse() => hprintln!("hal returned {}", v), + _ = Systick::delay(200.millis()).fuse() => hprintln!("timeout", ), // this will finish first +} +``` + +Assuming the `hal_get` will take 450ms to finish, a short timeout of 200ms will expire. + +``` rust +// Call hal with long relative timeout using `select_biased` +select_biased! { + v = hal_get(1).fuse() => hprintln!("hal returned {}", v), // hal finish first + _ = Systick::delay(1000.millis()).fuse() => hprintln!("timeout", ), +} +``` + +By extending the timeout to 1000ms, the `hal_get` will finish first. + +Using `select_biased` any number of futures can be combined, so its very powerful. However, as the timeout pattern is frequently used, it is directly supported by the RTIC [rtc-monotonics] and [rtic-time] crates. The second example from above using `timeout_after`: + +``` rust +// Call hal with long relative timeout using monotonic `timeout_after` +match Systick::timeout_after(1000.millis(), hal_get(1)).await { + Ok(v) => hprintln!("hal returned {}", v), + _ => hprintln!("timeout"), +} +``` + +In cases you want exact control over time without drift. For this purpose we can use exact points in time using `Instance`, and spans of time using `Duration`. Operations on the `Instance` and `Duration` types are given by the [fugit] crate. + +[fugit]: https://crates.io/crates/fugit + +``` rust +// get the current time instance +let mut instant = Systick::now(); + +// do this 3 times +for n in 0..3 { + // absolute point in time without drift + instant += 1000.millis(); + Systick::delay_until(instant).await; + + // absolute point it time for timeout + let timeout = instant + 500.millis(); + hprintln!("now is {:?}, timeout at {:?}", Systick::now(), timeout); + + match Systick::timeout_at(timeout, hal_get(n)).await { + Ok(v) => hprintln!("hal returned {} at time {:?}", v, Systick::now()), + _ => hprintln!("timeout"), + } +} +``` + +`instant = Systick::now()` gives the baseline (i.e., the absolute current point in time). We want to call `hal_get` after 1000ms relative to this absolute point in time. This can be accomplished by `Systick::delay_until(instant).await;`. We define the absolute point in time for the `timeout`, and call `Systick::timeout_at(timeout, hal_get(n)).await`. For the first loop iteration `n == 0`, and the `hal_get` will take 350ms (and finishes before the timeout). For the second iteration `n == 1`, and `hal_get` will take 450ms (and again succeeds to finish before the timeout). For the third iteration `n == 2` (`hal_get` will take 5500ms to finish). In this case we will run into a timeout. + + +The complete example: + +``` rust +{{#include ../../../../rtic/examples/async-timeout.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example async-timeout --features test-critical-section +``` + +``` console +{{#include ../../../../rtic/ci/expected/async-timeout.run}} +``` diff --git a/book/en/src/by-example/hardware_tasks.md b/book/en/src/by-example/hardware_tasks.md index 2d405d3..75dd1a4 100644 --- a/book/en/src/by-example/hardware_tasks.md +++ b/book/en/src/by-example/hardware_tasks.md @@ -1,39 +1,32 @@ # Hardware tasks -At its core RTIC is using a hardware interrupt controller ([ARM NVIC on cortex-m][NVIC]) -to schedule and start execution of tasks. All tasks except `pre-init`, `#[init]` and `#[idle]` -run as interrupt handlers. +At its core RTIC is using a hardware interrupt controller ([ARM NVIC on cortex-m][NVIC]) to schedule and start execution of tasks. All tasks except `pre-init`, `#[init]` and `#[idle]` run as interrupt handlers. Hardware tasks are explicitly bound to interrupt handlers. -To bind a task to an interrupt, use the `#[task]` attribute argument `binds = InterruptName`. -This task then becomes the interrupt handler for this hardware interrupt vector. +To bind a task to an interrupt, use the `#[task]` attribute argument `binds = InterruptName`. This task then becomes the interrupt handler for this hardware interrupt vector. -All tasks bound to an explicit interrupt are called *hardware tasks* since they -start execution in reaction to a hardware event. +All tasks bound to an explicit interrupt are called *hardware tasks* since they start execution in reaction to a hardware event. -Specifying a non-existing interrupt name will cause a compilation error. The interrupt names -are commonly defined by [PAC or HAL][pacorhal] crates. +Specifying a non-existing interrupt name will cause a compilation error. The interrupt names are commonly defined by [PAC or HAL][pacorhal] crates. -Any available interrupt vector should work. Specific devices may bind -specific interrupt priorities to specific interrupt vectors outside -user code control. See for example the -[nRF “softdevice”](https://github.com/rtic-rs/cortex-m-rtic/issues/434). +Any available interrupt vector should work. Specific devices may bind specific interrupt priorities to specific interrupt vectors outside user code control. See for example the [nRF “softdevice”](https://github.com/rtic-rs/rtic/issues/434). -Beware of using interrupt vectors that are used internally by hardware features; -RTIC is unaware of such hardware specific details. +Beware of using interrupt vectors that are used internally by hardware features; RTIC is unaware of such hardware specific details. [pacorhal]: https://docs.rust-embedded.org/book/start/registers.html [NVIC]: https://developer.arm.com/documentation/100166/0001/Nested-Vectored-Interrupt-Controller/NVIC-functional-description/NVIC-interrupts -The example below demonstrates the use of the `#[task(binds = InterruptName)]` attribute to declare a -hardware task bound to an interrupt handler. +The example below demonstrates the use of the `#[task(binds = InterruptName)]` attribute to declare a hardware task bound to an interrupt handler. ``` rust -{{#include ../../../../examples/hardware.rs}} +{{#include ../../../../rtic/examples/hardware.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example hardware -{{#include ../../../../ci/expected/hardware.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/hardware.run}} ``` diff --git a/book/en/src/by-example/resources.md b/book/en/src/by-example/resources.md index 30089d3..0bf5d11 100644 --- a/book/en/src/by-example/resources.md +++ b/book/en/src/by-example/resources.md @@ -1,176 +1,155 @@ # Resource usage -The RTIC framework manages shared and task local resources allowing persistent data -storage and safe accesses without the use of `unsafe` code. +The RTIC framework manages shared and task local resources allowing persistent data storage and safe accesses without the use of `unsafe` code. -RTIC resources are visible only to functions declared within the `#[app]` module and the framework -gives the user complete control (on a per-task basis) over resource accessibility. +RTIC resources are visible only to functions declared within the `#[app]` module and the framework gives the user complete control (on a per-task basis) over resource accessibility. -Declaration of system-wide resources is done by annotating **two** `struct`s within the `#[app]` module -with the attribute `#[local]` and `#[shared]`. -Each field in these structures corresponds to a different resource (identified by field name). -The difference between these two sets of resources will be covered below. +Declaration of system-wide resources is done by annotating **two** `struct`s within the `#[app]` module with the attribute `#[local]` and `#[shared]`. Each field in these structures corresponds to a different resource (identified by field name). The difference between these two sets of resources will be covered below. -Each task must declare the resources it intends to access in its corresponding metadata attribute -using the `local` and `shared` arguments. Each argument takes a list of resource identifiers. -The listed resources are made available to the context under the `local` and `shared` fields of the -`Context` structure. +Each task must declare the resources it intends to access in its corresponding metadata attribute using the `local` and `shared` arguments. Each argument takes a list of resource identifiers. The listed resources are made available to the context under the `local` and `shared` fields of the `Context` structure. -The `init` task returns the initial values for the system-wide (`#[shared]` and `#[local]`) -resources, and the set of initialized timers used by the application. The monotonic timers will be -further discussed in [Monotonic & `spawn_{at/after}`](./monotonic.md). +The `init` task returns the initial values for the system-wide (`#[shared]` and `#[local]`) resources. + +<!-- and the set of initialized timers used by the application. The monotonic timers will be +further discussed in [Monotonic & `spawn_{at/after}`](./monotonic.md). --> ## `#[local]` resources -`#[local]` resources are locally accessible to a specific task, meaning that only that task can -access the resource and does so without locks or critical sections. This allows for the resources, -commonly drivers or large objects, to be initialized in `#[init]` and then be passed to a specific -task. +`#[local]` resources are locally accessible to a specific task, meaning that only that task can access the resource and does so without locks or critical sections. This allows for the resources, commonly drivers or large objects, to be initialized in `#[init]` and then be passed to a specific task. -Thus, a task `#[local]` resource can only be accessed by one singular task. -Attempting to assign the same `#[local]` resource to more than one task is a compile-time error. +Thus, a task `#[local]` resource can only be accessed by one singular task. Attempting to assign the same `#[local]` resource to more than one task is a compile-time error. -Types of `#[local]` resources must implement a [`Send`] trait as they are being sent from `init` -to a target task, crossing a thread boundary. +Types of `#[local]` resources must implement a [`Send`] trait as they are being sent from `init` to a target task, crossing a thread boundary. [`Send`]: https://doc.rust-lang.org/stable/core/marker/trait.Send.html -The example application shown below contains two tasks where each task has access to its own -`#[local]` resource; the `idle` task has its own `#[local]` as well. +The example application shown below contains three tasks `foo`, `bar` and `idle`, each having access to its own `#[local]` resource. ``` rust -{{#include ../../../../examples/locals.rs}} +{{#include ../../../../rtic/examples/locals.rs}} ``` Running the example: ``` console $ cargo run --target thumbv7m-none-eabi --example locals -{{#include ../../../../ci/expected/locals.run}} ``` -Local resources in `#[init]` and `#[idle]` have `'static` -lifetimes. This is safe since both tasks are not re-entrant. +``` console +{{#include ../../../../rtic/ci/expected/locals.run}} +``` + +Local resources in `#[init]` and `#[idle]` have `'static` lifetimes. This is safe since both tasks are not re-entrant. ### Task local initialized resources -Local resources can also be specified directly in the resource claim like so: -`#[task(local = [my_var: TYPE = INITIAL_VALUE, ...])]`; this allows for creating locals which do no need to be -initialized in `#[init]`. +Local resources can also be specified directly in the resource claim like so: `#[task(local = [my_var: TYPE = INITIAL_VALUE, ...])]`; this allows for creating locals which do no need to be initialized in `#[init]`. -Types of `#[task(local = [..])]` resources have to be neither [`Send`] nor [`Sync`] as they -are not crossing any thread boundary. +Types of `#[task(local = [..])]` resources have to be neither [`Send`] nor [`Sync`] as they are not crossing any thread boundary. [`Sync`]: https://doc.rust-lang.org/stable/core/marker/trait.Sync.html In the example below the different uses and lifetimes are shown: ``` rust -{{#include ../../../../examples/declared_locals.rs}} +{{#include ../../../../rtic/examples/declared_locals.rs}} ``` -<!-- ``` console -$ cargo run --target thumbv7m-none-eabi --example declared_locals -{{#include ../../../../ci/expected/declared_locals.run}} -``` --> +You can run the application, but as the example is designed merely to showcase the lifetime properties there is no output (it suffices to build the application). + +``` console +$ cargo build --target thumbv7m-none-eabi --example declared_locals +``` +<!-- {{#include ../../../../rtic/ci/expected/declared_locals.run}} --> ## `#[shared]` resources and `lock` -Critical sections are required to access `#[shared]` resources in a data race-free manner and to -achieve this the `shared` field of the passed `Context` implements the [`Mutex`] trait for each -shared resource accessible to the task. This trait has only one method, [`lock`], which runs its -closure argument in a critical section. +Critical sections are required to access `#[shared]` resources in a data race-free manner and to achieve this the `shared` field of the passed `Context` implements the [`Mutex`] trait for each shared resource accessible to the task. This trait has only one method, [`lock`], which runs its closure argument in a critical section. [`Mutex`]: ../../../api/rtic/trait.Mutex.html [`lock`]: ../../../api/rtic/trait.Mutex.html#method.lock -The critical section created by the `lock` API is based on dynamic priorities: it temporarily -raises the dynamic priority of the context to a *ceiling* priority that prevents other tasks from -preempting the critical section. This synchronization protocol is known as the -[Immediate Ceiling Priority Protocol (ICPP)][icpp], and complies with -[Stack Resource Policy (SRP)][srp] based scheduling of RTIC. +The critical section created by the `lock` API is based on dynamic priorities: it temporarily raises the dynamic priority of the context to a *ceiling* priority that prevents other tasks from preempting the critical section. This synchronization protocol is known as the [Immediate Ceiling Priority Protocol (ICPP)][icpp], and complies with [Stack Resource Policy (SRP)][srp] based scheduling of RTIC. [icpp]: https://en.wikipedia.org/wiki/Priority_ceiling_protocol [srp]: https://en.wikipedia.org/wiki/Stack_Resource_Policy -In the example below we have three interrupt handlers with priorities ranging from one to three. -The two handlers with the lower priorities contend for a `shared` resource and need to succeed in locking the -resource in order to access its data. The highest priority handler, which does not access the `shared` -resource, is free to preempt a critical section created by the lowest priority handler. +In the example below we have three interrupt handlers with priorities ranging from one to three. The two handlers with the lower priorities contend for a `shared` resource and need to succeed in locking the resource in order to access its data. The highest priority handler, which does not access the `shared` resource, is free to preempt a critical section created by the lowest priority handler. ``` rust -{{#include ../../../../examples/lock.rs}} +{{#include ../../../../rtic/examples/lock.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example lock -{{#include ../../../../ci/expected/lock.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/lock.run}} ``` Types of `#[shared]` resources have to be [`Send`]. ## Multi-lock -As an extension to `lock`, and to reduce rightward drift, locks can be taken as tuples. The -following examples show this in use: +As an extension to `lock`, and to reduce rightward drift, locks can be taken as tuples. The following examples show this in use: ``` rust -{{#include ../../../../examples/multilock.rs}} +{{#include ../../../../rtic/examples/multilock.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example multilock -{{#include ../../../../ci/expected/multilock.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/multilock.run}} ``` ## Only shared (`&-`) access -By default, the framework assumes that all tasks require exclusive access (`&mut-`) to resources, -but it is possible to specify that a task only requires shared access (`&-`) to a resource using the -`&resource_name` syntax in the `shared` list. +By default, the framework assumes that all tasks require exclusive mutable access (`&mut-`) to resources, but it is possible to specify that a task only requires shared access (`&-`) to a resource using the `&resource_name` syntax in the `shared` list. -The advantage of specifying shared access (`&-`) to a resource is that no locks are required to -access the resource even if the resource is contended by more than one task running at different -priorities. The downside is that the task only gets a shared reference (`&-`) to the resource, -limiting the operations it can perform on it, but where a shared reference is enough this approach -reduces the number of required locks. In addition to simple immutable data, this shared access can -be useful where the resource type safely implements interior mutability, with appropriate locking -or atomic operations of its own. +The advantage of specifying shared access (`&-`) to a resource is that no locks are required to access the resource even if the resource is contended by more than one task running at different priorities. The downside is that the task only gets a shared reference (`&-`) to the resource, limiting the operations it can perform on it, but where a shared reference is enough this approach reduces the number of required locks. In addition to simple immutable data, this shared access can be useful where the resource type safely implements interior mutability, with appropriate locking or atomic operations of its own. -Note that in this release of RTIC it is not possible to request both exclusive access (`&mut-`) -and shared access (`&-`) to the *same* resource from different tasks. Attempting to do so will -result in a compile error. +Note that in this release of RTIC it is not possible to request both exclusive access (`&mut-`) and shared access (`&-`) to the *same* resource from different tasks. Attempting to do so will result in a compile error. -In the example below a key (e.g. a cryptographic key) is loaded (or created) at runtime and then -used from two tasks that run at different priorities without any kind of lock. +In the example below a key (e.g. a cryptographic key) is loaded (or created) at runtime (returned by `init`) and then used from two tasks that run at different priorities without any kind of lock. ``` rust -{{#include ../../../../examples/only-shared-access.rs}} +{{#include ../../../../rtic/examples/only-shared-access.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example only-shared-access -{{#include ../../../../ci/expected/only-shared-access.run}} ``` -## Lock-free resource access of shared resources +``` console +{{#include ../../../../rtic/ci/expected/only-shared-access.run}} +``` + +## Lock-free access of shared resources + +A critical section is *not* required to access a `#[shared]` resource that's only accessed by tasks running at the *same* priority. In this case, you can opt out of the `lock` API by adding the `#[lock_free]` field-level attribute to the resource declaration (see example below). -A critical section is *not* required to access a `#[shared]` resource that's only accessed by tasks -running at the *same* priority. In this case, you can opt out of the `lock` API by adding the -`#[lock_free]` field-level attribute to the resource declaration (see example below). Note that -this is merely a convenience to reduce needless resource locking code, because even if the +<!-- Note that this is merely a convenience to reduce needless resource locking code, because even if the `lock` API is used, at runtime the framework will **not** produce a critical section due to how -the underlying resource-ceiling preemption works. +the underlying resource-ceiling preemption works. --> -Also worth noting: using `#[lock_free]` on resources shared by -tasks running at different priorities will result in a *compile-time* error -- not using the `lock` -API would be a data race in that case. +To adhere to the Rust [aliasing] rule, a resource may be either accessed through multiple immutable references or a singe mutable reference (but not both at the same time). + +[aliasing]: https://doc.rust-lang.org/nomicon/aliasing.html + +Using `#[lock_free]` on resources shared by tasks running at different priorities will result in a *compile-time* error -- not using the `lock` API would violate the aforementioned alias rule. Similarly, for each priority there can be only a single *software* task accessing a shared resource (as an `async` task may yield execution to other *software* or *hardware* tasks running at the same priority). However, under this single-task restriction, we make the observation that the resource is in effect no longer `shared` but rather `local`. Thus, using a `#[lock_free]` shared resource will result in a *compile-time* error -- where applicable, use a `#[local]` resource instead. ``` rust -{{#include ../../../../examples/lock-free.rs}} +{{#include ../../../../rtic/examples/lock-free.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example lock-free -{{#include ../../../../ci/expected/lock-free.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/lock-free.run}} ``` diff --git a/book/en/src/by-example/software_tasks.md b/book/en/src/by-example/software_tasks.md index 8ee185b..0efc57b 100644 --- a/book/en/src/by-example/software_tasks.md +++ b/book/en/src/by-example/software_tasks.md @@ -1,47 +1,111 @@ # Software tasks & spawn -The RTIC concept of a software task shares a lot with that of [hardware tasks](./hardware_tasks.md) -with the core difference that a software task is not explicitly bound to a specific -interrupt vector, but rather bound to a “dispatcher” interrupt vector running -at the intended priority of the software task (see below). +The RTIC concept of a software task shares a lot with that of [hardware tasks](./hardware_tasks.md) with the core difference that a software task is not explicitly bound to a specific +interrupt vector, but rather bound to a “dispatcher” interrupt vector running at the intended priority of the software task (see below). -Thus, software tasks are tasks which are not *directly* bound to an interrupt vector. +Similarly to *hardware* tasks, the `#[task]` attribute used on a function declare it as a task. The absence of a `binds = InterruptName` argument to the attribute declares the function as a *software task*. -The `#[task]` attributes used on a function determine if it is -software tasks, specifically the absence of a `binds = InterruptName` -argument to the attribute definition. +The static method `task_name::spawn()` spawns (starts) a software task and given that there are no higher priority tasks running the task will start executing directly. -The static method `task_name::spawn()` spawns (schedules) a software -task by registering it with a specific dispatcher. If there are no -higher priority tasks available to the scheduler (which serves a set -of dispatchers), the task will start executing directly. +The *software* task itself is given as an `async` Rust function, which allows the user to optionally `await` future events. This allows to blend reactive programming (by means of *hardware* tasks) with sequential programming (by means of *software* tasks). -All software tasks at the same priority level share an interrupt handler bound to their dispatcher. -What differentiates software and hardware tasks is the usage of either a dispatcher or a bound interrupt vector. +Whereas, *hardware* tasks are assumed to run-to-completion (and return), *software* tasks may be started (`spawned`) once and run forever, with the side condition that any loop (execution path) is broken by at least one `await` (yielding operation). -The interrupt vectors used as dispatchers cannot be used by hardware tasks. +All *software* tasks at the same priority level shares an interrupt handler acting as an async executor dispatching the software tasks. -Availability of a set of “free” (not in use by hardware tasks) and usable interrupt vectors allows the framework -to dispatch software tasks via dedicated interrupt handlers. +This list of dispatchers, `dispatchers = [FreeInterrupt1, FreeInterrupt2, ...]` is an argument to the `#[app]` attribute, where you define the set of free and usable interrupts. -This set of dispatchers, `dispatchers = [FreeInterrupt1, FreeInterrupt2, ...]` is an -argument to the `#[app]` attribute. +Each interrupt vector acting as dispatcher gets assigned to one priority level meaning that the list of dispatchers need to cover all priority levels used by software tasks. -Each interrupt vector acting as dispatcher gets assigned to a unique priority level meaning that -the list of dispatchers needs to cover all priority levels used by software tasks. +Example: The `dispatchers =` argument needs to have at least 3 entries for an application using three different priorities for software tasks. -Example: The `dispatchers =` argument needs to have at least 3 entries for an application using -three different priorities for software tasks. - -The framework will give a compilation error if there are not enough dispatchers provided. +The framework will give a compilation error if there are not enough dispatchers provided, or if a clash occurs between the list of dispatchers and interrupts bound to *hardware* tasks. See the following example: ``` rust -{{#include ../../../../examples/spawn.rs}} +{{#include ../../../../rtic/examples/spawn.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example spawn -{{#include ../../../../ci/expected/spawn.run}} ``` + +``` console +{{#include ../../../../rtic/ci/expected/spawn.run}} +``` +You may `spawn` a *software* task again, given that it has run-to-completion (returned). + +In the below example, we `spawn` the *software* task `foo` from the `idle` task. Since the default priority of the *software* task is 1 (higher than `idle`), the dispatcher will execute `foo` (preempting `idle`). Since `foo` runs-to-completion. It is ok to `spawn` the `foo` task again. + +Technically the async executor will `poll` the `foo` *future* which in this case leaves the *future* in a *completed* state. + +``` rust +{{#include ../../../../rtic/examples/spawn_loop.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example spawn_loop +``` + +``` console +{{#include ../../../../rtic/ci/expected/spawn_loop.run}} +``` + +An attempt to `spawn` an already spawned task (running) task will result in an error. Notice, the that the error is reported before the `foo` task is actually run. This is since, the actual execution of the *software* task is handled by the dispatcher interrupt (`SSIO`), which is not enabled until we exit the `init` task. (Remember, `init` runs in a critical section, i.e. all interrupts being disabled.) + +Technically, a `spawn` to a *future* that is not in *completed* state is considered an error. + +``` rust +{{#include ../../../../rtic/examples/spawn_err.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example spawn_err +``` + +``` console +{{#include ../../../../rtic/ci/expected/spawn_err.run}} +``` + +## Passing arguments +You can also pass arguments at spawn as follows. + +``` rust +{{#include ../../../../rtic/examples/spawn_arguments.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example spawn_arguments +``` + +``` console +{{#include ../../../../rtic/ci/expected/spawn_arguments.run}} +``` + +## Priority zero tasks + +In RTIC tasks run preemptively to each other, with priority zero (0) the lowest priority. You can use priority zero tasks for background work, without any strict real-time requirements. + +Conceptually, one can see such tasks as running in the `main` thread of the application, thus the resources associated are not required the [Send] bound. + +[Send]: https://doc.rust-lang.org/nomicon/send-and-sync.html + + +``` rust +{{#include ../../../../rtic/examples/zero-prio-task.rs}} +``` + +``` console +$ cargo run --target thumbv7m-none-eabi --example zero-prio-task +``` + +``` console +{{#include ../../../../rtic/ci/expected/zero-prio-task.run}} +``` + +> **Notice**: *software* task at zero priority cannot co-exist with the [idle] task. The reason is that `idle` is running as a non-returning Rust function at priority zero. Thus there would be no way for an executor at priority zero to give control to *software* tasks at the same priority. + +--- + +Application side safety: Technically, the RTIC framework ensures that `poll` is never executed on any *software* task with *completed* future, thus adhering to the soundness rules of async Rust. diff --git a/book/en/src/by-example/starting_a_project.md b/book/en/src/by-example/starting_a_project.md index fe7be57..86d7e71 100644 --- a/book/en/src/by-example/starting_a_project.md +++ b/book/en/src/by-example/starting_a_project.md @@ -3,13 +3,15 @@ A recommendation when starting a RTIC project from scratch is to follow RTIC's [`defmt-app-template`]. -If you are targeting ARMv6-M or ARMv8-M-base architecture, check out the section [Target Architecture](../internals/targets.md) for more information on hardware limitations to be aware of. +If you are targeting ARMv6-M or ARMv8-M-base architecture, check out the section [Target Architecture](../internals/targets.md) for more information on hardware limitations to be aware of. [`defmt-app-template`]: https://github.com/rtic-rs/defmt-app-template This will give you an RTIC application with support for RTT logging with [`defmt`] and stack overflow protection using [`flip-link`]. There is also a multitude of examples provided by the community: +For inspiration, you may look at the below resources. For now, they cover RTIC v1.x, but will be updated with RTIC v2.x examples over time. + - [`rtic-examples`] - Multiple projects - [https://github.com/kalkyl/f411-rtic](https://github.com/kalkyl/f411-rtic) - ... More to come diff --git a/book/en/src/by-example/tips_destructureing.md b/book/en/src/by-example/tips_destructureing.md index 4637b48..ab27987 100644 --- a/book/en/src/by-example/tips_destructureing.md +++ b/book/en/src/by-example/tips_destructureing.md @@ -1,14 +1,15 @@ # Resource de-structure-ing Destructuring task resources might help readability if a task takes multiple -resources. -Here are two examples on how to split up the resource struct: +resources. Here are two examples on how to split up the resource struct: ``` rust -{{#include ../../../../examples/destructure.rs}} +{{#include ../../../../rtic/examples/destructure.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example destructure -{{#include ../../../../ci/expected/destructure.run}} +``` +``` console +{{#include ../../../../rtic/ci/expected/destructure.run}} ``` diff --git a/book/en/src/by-example/tips_from_ram.md b/book/en/src/by-example/tips_from_ram.md index fc47803..f6b2173 100644 --- a/book/en/src/by-example/tips_from_ram.md +++ b/book/en/src/by-example/tips_from_ram.md @@ -1,33 +1,28 @@ # Running tasks from RAM -The main goal of moving the specification of RTIC applications to attributes in -RTIC v0.4.0 was to allow inter-operation with other attributes. For example, the -`link_section` attribute can be applied to tasks to place them in RAM; this can +The main goal of moving the specification of RTIC applications to attributes in RTIC v0.4.0 was to allow inter-operation with other attributes. For example, the `link_section` attribute can be applied to tasks to place them in RAM; this can improve performance in some cases. -> **IMPORTANT**: In general, the `link_section`, `export_name` and `no_mangle` -> attributes are powerful but also easy to misuse. Incorrectly using any of -> these attributes can cause undefined behavior; you should always prefer to use -> safe, higher level attributes around them like `cortex-m-rt`'s `interrupt` and -> `exception` attributes. +> **IMPORTANT**: In general, the `link_section`, `export_name` and `no_mangle` attributes are powerful but also easy to misuse. Incorrectly using any of these attributes can cause undefined behavior; you should always prefer to use safe, higher level attributes around them like `cortex-m-rt`'s `interrupt` and `exception` attributes. > -> In the particular case of RAM functions there's no -> safe abstraction for it in `cortex-m-rt` v0.6.5 but there's an [RFC] for -> adding a `ramfunc` attribute in a future release. +> In the particular case of RAM functions there's no safe abstraction for it in `cortex-m-rt` v0.6.5 but there's an [RFC] for adding a `ramfunc` attribute in a future release. [RFC]: https://github.com/rust-embedded/cortex-m-rt/pull/100 The example below shows how to place the higher priority task, `bar`, in RAM. ``` rust -{{#include ../../../../examples/ramfunc.rs}} +{{#include ../../../../rtic/examples/ramfunc.rs}} ``` Running this program produces the expected output. ``` console $ cargo run --target thumbv7m-none-eabi --example ramfunc -{{#include ../../../../ci/expected/ramfunc.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/ramfunc.run}} ``` One can look at the output of `cargo-nm` to confirm that `bar` ended in RAM @@ -35,10 +30,16 @@ One can look at the output of `cargo-nm` to confirm that `bar` ended in RAM ``` console $ cargo nm --example ramfunc --release | grep ' foo::' -{{#include ../../../../ci/expected/ramfunc.run.grep.foo}} ``` ``` console -$ cargo nm --example ramfunc --release | grep ' bar::' -{{#include ../../../../ci/expected/ramfunc.run.grep.bar}} +{{#include ../../../../rtic/ci/expected/ramfunc.run.grep.foo}} +``` + +``` console +$ cargo nm --example ramfunc --target thumbv7m-none-eabi --release | grep '*bar::' +``` + +``` console +{{#include ../../../../rtic/ci/expected/ramfunc.run.grep.bar}} ``` diff --git a/book/en/src/by-example/tips_indirection.md b/book/en/src/by-example/tips_indirection.md index 567a5e7..0de14a6 100644 --- a/book/en/src/by-example/tips_indirection.md +++ b/book/en/src/by-example/tips_indirection.md @@ -1,31 +1,26 @@ # Using indirection for faster message passing -Message passing always involves copying the payload from the sender into a -static variable and then from the static variable into the receiver. Thus -sending a large buffer, like a `[u8; 128]`, as a message involves two expensive +Message passing always involves copying the payload from the sender into a static variable and then from the static variable into the receiver. Thus sending a large buffer, like a `[u8; 128]`, as a message involves two expensive `memcpy`s. -Indirection can minimize message passing overhead: -instead of sending the buffer by value, one can send an owning pointer into the -buffer. +Indirection can minimize message passing overhead: instead of sending the buffer by value, one can send an owning pointer into the buffer. -One can use a global memory allocator to achieve indirection (`alloc::Box`, -`alloc::Rc`, etc.), which requires using the nightly channel as of Rust v1.37.0, -or one can use a statically allocated memory pool like [`heapless::Pool`]. +One can use a global memory allocator to achieve indirection (`alloc::Box`, `alloc::Rc`, etc.), which requires using the nightly channel as of Rust v1.37.0, or one can use a statically allocated memory pool like [`heapless::Pool`]. [`heapless::Pool`]: https://docs.rs/heapless/0.5.0/heapless/pool/index.html -As this example of approach goes completely outside of RTIC resource -model with shared and local the program would rely on the correctness -of the memory allocator, in this case `heapless::pool`. +As this example of approach goes completely outside of RTIC resource model with shared and local the program would rely on the correctness of the memory allocator, in this case `heapless::pool`. Here's an example where `heapless::Pool` is used to "box" buffers of 128 bytes. ``` rust -{{#include ../../../../examples/pool.rs}} +{{#include ../../../../rtic/examples/pool.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example pool -{{#include ../../../../ci/expected/pool.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/pool.run}} ``` diff --git a/book/en/src/by-example/tips_monotonic_impl.md b/book/en/src/by-example/tips_monotonic_impl.md index 7c3449b..57b0a01 100644 --- a/book/en/src/by-example/tips_monotonic_impl.md +++ b/book/en/src/by-example/tips_monotonic_impl.md @@ -1,35 +1,29 @@ # Implementing a `Monotonic` timer for scheduling -The framework is flexible because it can use any timer which has compare-match and optionally -supporting overflow interrupts for scheduling. -The single requirement to make a timer usable with RTIC is implementing the -[`rtic_monotonic::Monotonic`] trait. - -Implementing time counting that supports large time spans is generally **difficult**, in RTIC 0.5 -implementing time handling was a common problem. -Moreover, the relation between time and timers used for scheduling was difficult to understand. - -For RTIC 1.0 we instead assume the user has a time library, e.g. [`fugit`] or [`embedded_time`], -as the basis for all time-based operations when implementing `Monotonic`. -These libraries make it much easier to correctly implement the `Monotonic` trait, allowing the use of +The framework is flexible because it can use any timer which has compare-match and optionally supporting overflow interrupts for scheduling. The single requirement to make a timer usable with RTIC is implementing the [`rtic-time::Monotonic`] trait. + +For RTIC 1.0 and 2.0 we instead assume the user has a time library, e.g. [`fugit`] or [`embedded_time`], as the basis for all time-based operations when implementing `Monotonic`. These libraries make it much easier to correctly implement the `Monotonic` trait, allowing the use of almost any timer in the system for scheduling. -The trait documents the requirements for each method, -and for inspiration here is a list of `Monotonic` implementations: +The trait documents the requirements for each method, and for inspiration +there is a reference implementation based on the `SysTick` timer available on all ARM Cortex M MCUs. + +- [`Systick based`], runs at a fixed interrupt (tick) rate - with some overhead but simple and provides support for large time spans + +Here is a list of `Monotonic` implementations for RTIC 1.0: - [`STM32F411 series`], implemented for the 32-bit timers - [`Nordic nRF52 series Timer`], implemented for the 32-bit timers - [`Nordic nRF52 series RTC`], implemented for the RTCs -- [`Systick based`], runs at a fixed interrupt (tick) rate - with some overhead but simple and with support for large time spans - [`DWT and Systick based`], a more efficient (tickless) implementation - requires both `SysTick` and `DWT`, supports both high resolution and large time spans If you know of more implementations feel free to add them to this list. -[`rtic_monotonic::Monotonic`]: https://docs.rs/rtic-monotonic/ +[`rtic_time::Monotonic`]: https://docs.rs/rtic_time/ [`fugit`]: https://docs.rs/fugit/ [`embedded_time`]: https://docs.rs/embedded_time/ [`STM32F411 series`]: https://github.com/kalkyl/f411-rtic/blob/a696fce7d6d19fda2356c37642c4d53547982cca/src/mono.rs [`Nordic nRF52 series Timer`]: https://github.com/kalkyl/nrf-play/blob/47f4410d4e39374c18ff58dc17c25159085fb526/src/mono.rs [`Nordic nRF52 series RTC`]: https://gist.github.com/korken89/fe94a475726414dd1bce031c76adc3dd -[`Systick based`]: https://github.com/rtic-rs/systick-monotonic +[`Systick based`]: https://github.com/rtic-monotonics [`DWT and Systick based`]: https://github.com/rtic-rs/dwt-systick-monotonic diff --git a/book/en/src/by-example/tips_static_lifetimes.md b/book/en/src/by-example/tips_static_lifetimes.md index dadd9c9..0eaa59f 100644 --- a/book/en/src/by-example/tips_static_lifetimes.md +++ b/book/en/src/by-example/tips_static_lifetimes.md @@ -2,23 +2,22 @@ In `#[init]` and `#[idle]` `local` resources have `'static` lifetime. -Useful when pre-allocating and/or splitting resources between tasks, drivers -or some other object. -This comes in handy when drivers, such as USB drivers, need to allocate memory and -when using splittable data structures such as [`heapless::spsc::Queue`]. +Useful when pre-allocating and/or splitting resources between tasks, drivers or some other object. This comes in handy when drivers, such as USB drivers, need to allocate memory and when using splittable data structures such as [`heapless::spsc::Queue`]. -In the following example two different tasks share a [`heapless::spsc::Queue`] -for lock-free access to the shared queue. +In the following example two different tasks share a [`heapless::spsc::Queue`] for lock-free access to the shared queue. [`heapless::spsc::Queue`]: https://docs.rs/heapless/0.7.5/heapless/spsc/struct.Queue.html ``` rust -{{#include ../../../../examples/static.rs}} +{{#include ../../../../rtic/examples/static.rs}} ``` Running this program produces the expected output. ``` console $ cargo run --target thumbv7m-none-eabi --example static -{{#include ../../../../ci/expected/static.run}} +``` + +``` console +{{#include ../../../../rtic/ci/expected/static.run}} ``` diff --git a/book/en/src/by-example/tips_view_code.md b/book/en/src/by-example/tips_view_code.md index 736b7ac..b4a9066 100644 --- a/book/en/src/by-example/tips_view_code.md +++ b/book/en/src/by-example/tips_view_code.md @@ -1,21 +1,19 @@ # Inspecting generated code -`#[rtic::app]` is a procedural macro that produces support code. If for some -reason you need to inspect the code generated by this macro you have two -options: +`#[rtic::app]` is a procedural macro that produces support code. If for some reason you need to inspect the code generated by this macro you have two options: -You can inspect the file `rtic-expansion.rs` inside the `target` directory. This -file contains the expansion of the `#[rtic::app]` item (not your whole program!) -of the *last built* (via `cargo build` or `cargo check`) RTIC application. The -expanded code is not pretty printed by default, so you'll want to run `rustfmt` -on it before you read it. +You can inspect the file `rtic-expansion.rs` inside the `target` directory. This file contains the expansion of the `#[rtic::app]` item (not your whole program!) of the *last built* (via `cargo build` or `cargo check`) RTIC application. The expanded code is not pretty printed by default, so you'll want to run `rustfmt` on it before you read it. ``` console -$ cargo build --example foo +$ cargo build --example smallest --target thumbv7m-none-eabi +``` +``` console $ rustfmt target/rtic-expansion.rs +``` -tail target/rtic-expansion.rs +``` console +$ tail target/rtic-expansion.rs ``` ``` rust @@ -36,13 +34,14 @@ mod app { } ``` -Or, you can use the [`cargo-expand`] sub-command. This sub-command will expand -*all* the macros, including the `#[rtic::app]` attribute, and modules in your -crate and print the output to the console. +Or, you can use the [`cargo-expand`] sub-command. This sub-command will expand *all* the macros, including the `#[rtic::app]` attribute, and modules in your crate and print the output to the console. [`cargo-expand`]: https://crates.io/crates/cargo-expand ``` console # produces the same output as before +``` + +``` console cargo expand --example smallest | tail ``` diff --git a/book/en/src/internals/targets.md b/book/en/src/internals/targets.md index 04fd592..3562eef 100644 --- a/book/en/src/internals/targets.md +++ b/book/en/src/internals/targets.md @@ -1,13 +1,13 @@ # Target Architecture -While RTIC can currently target all Cortex-m devices there are some key architecure differences that -users should be aware of. Namely the absence of Base Priority Mask Register (`BASEPRI`) which lends +While RTIC can currently target all Cortex-m devices there are some key architecture differences that +users should be aware of. Namely, the absence of Base Priority Mask Register (`BASEPRI`) which lends itself exceptionally well to the hardware priority ceiling support used in RTIC, in the ARMv6-M and ARMv8-M-base architectures, which forces RTIC to use source masking instead. For each implementation of lock and a detailed commentary of pros and cons, see the implementation of [lock in src/export.rs][src_export]. -[src_export]: https://github.com/rtic-rs/cortex-m-rtic/blob/master/src/export.rs +[src_export]: https://github.com/rtic-rs/rtic/blob/master/src/export.rs These differences influence how critical sections are realized, but functionality should be the same except that ARMv6-M/ARMv8-M-base cannot have tasks with shared resources bound to exception @@ -29,7 +29,7 @@ Table 1 below shows a list of Cortex-m processors and which type of critical sec ## Priority Ceiling -This implementation is covered in depth by the [Critical Sections][critical_sections] page of this book. +This is covered by the [Resources][resources] page of this book. ## Source Masking @@ -55,17 +55,14 @@ with B. ``` At time *t1*, task B locks the shared resource by selectively disabling (using the NVIC) all other -tasks which have a priority equal to or less than any task which shares resouces with B. In effect -this creates a virtual priority ceiling, miroring the `BASEPRI` approach described in the -[Critical Sections][critical_Sections] page. Task A is one such task that shares resources with +tasks which have a priority equal to or less than any task which shares resources with B. In effect +this creates a virtual priority ceiling, mirroring the `BASEPRI` approach. Task A is one such task that shares resources with task B. At time *t2*, task A is either spawned by task B or becomes pending through an interrupt condition, but does not yet preempt task B even though its priority is greater. This is because the -NVIC is preventing it from starting due to task A being being disabled. At time *t3*, task B +NVIC is preventing it from starting due to task A being disabled. At time *t3*, task B releases the lock by re-enabling the tasks in the NVIC. Because task A was pending and has a higher priority than task B, it immediately preempts task B and is free to use the shared resource without risk of data race conditions. At time *t4*, task A completes and returns the execution context to B. Since source masking relies on use of the NVIC, core exception sources such as HardFault, SVCall, PendSV, and SysTick cannot share data with other tasks. - -[critical_sections]: https://github.com/rtic-rs/cortex-m-rtic/blob/master/book/en/src/internals/critical-sections.md diff --git a/book/en/src/preface.md b/book/en/src/preface.md index 6041dfe..5cba633 100644 --- a/book/en/src/preface.md +++ b/book/en/src/preface.md @@ -1,7 +1,7 @@ <div align="center"><img width="300" height="300" src="RTIC.svg"></div> <div style="font-size: 6em; font-weight: bolder;" align="center">RTIC</div> -<h1 align="center">Real-Time Interrupt-driven Concurrency</h1> +<h1 align="center">The hardware accelerated Rust RTOS</h1> <p align="center">A concurrency framework for building real-time systems</p> @@ -10,29 +10,152 @@ This book contains user level documentation for the Real-Time Interrupt-driven Concurrency (RTIC) framework. The API reference is available [here](../../api/). -Formerly known as Real-Time For the Masses. +This is the documentation for RTIC v2.x. -<!--There is a translation of this book in [Russian].--> +Older releases: +[RTIC v1.x](/1.0) | [RTIC v0.5.x (unsupported)](/0.5) | [RTFM v0.4.x (unsupported)](/0.4) -<!--[Russian]: ../ru/index.html--> - -This is the documentation of v1.0.x of RTIC; for the documentation of version - -* v0.5.x go [here](/0.5). -* v0.4.x go [here](/0.4). +{{#include ../../../README.md:7:12}} ## Is RTIC an RTOS? -A common question is whether RTIC is an RTOS or not, and depending on your background the -answer may vary. From RTIC's developers point of view; RTIC is a hardware accelerated -RTOS that utilizes the NVIC in Cortex-M MCUs to perform scheduling, rather than the more -classical software kernel. +A common question is whether RTIC is an RTOS or not, and depending on your background the answer may vary. From RTIC's developers point of view; RTIC is a hardware accelerated RTOS that utilizes the hardware such as the NVIC on Cortex-M MCUs, CLIC on RISC-V etc. to perform scheduling, rather than the more classical software kernel. Another common view from the community is that RTIC is a concurrency framework as there is no software kernel and that it relies on external HALs. ---- +## RTIC - The Past, current and Future + +This section gives a background to the RTIC model. Feel free to skip to section [RTIC the model](preface.md#rtic-the-model) for a TL;DR. + +The RTIC framework takes the outset from real-time systems research at Luleå University of Technology (LTU) Sweden. RTIC is inspired by the concurrency model of the [Timber] language, the [RTFM-SRP] based scheduler, the [RTFM-core] language and [Abstract Timer] implementation. For a full list of related research see [TODO]. + +[Timber]: https://timber-lang.org/ +[RTFM-SRP]: https://www.diva-portal.org/smash/get/diva2:1005680/FULLTEXT01.pdf +[RTFM-core]: https://ltu.diva-portal.org/smash/get/diva2:1013248/FULLTEXT01.pdf +[Abstract Timer]: https://ltu.diva-portal.org/smash/get/diva2:1013030/FULLTEXT01.pdf + +## Stack Resource Policy based Scheduling + +[Stack Resource Policy (SRP)][SRP] based concurrency and resource management is at heart of the RTIC framework. The SRP model itself extends on [Priority Inheritance Protocols], and provides a set of outstanding properties for single core scheduling. To name a few: + +- preemptive deadlock and race-free scheduling +- resource efficiency + - tasks execute on a single shared stack + - tasks run-to-completion with wait free access to shared resources +- predictable scheduling, with bounded priority inversion by a single (named) critical section +- theoretical underpinning amenable to static analysis (e.g., for task response times and overall schedulability) + +SRP comes with a set of system-wide requirements: +- each task is associated a static priority, +- tasks execute on a single-core, +- tasks must be run-to-completion, and +- resources must be claimed/locked in LIFO order. + +[SRP]: https://link.springer.com/article/10.1007/BF00365393 +[Priority Inheritance Protocols]: https://ieeexplore.ieee.org/document/57058 + +## SRP analysis + +SRP based scheduling requires the set of static priority tasks and their access to shared resources to be known in order to compute a static *ceiling* (𝝅) for each resource. The static resource *ceiling* 𝝅(r) reflects the maximum static priority of any task that accesses the resource `r`. + +### Example + +Assume two tasks `A` (with priority `p(A) = 2`) and `B` (with priority `p(B) = 4`) both accessing the shared resource `R`. The static ceiling of `R` is 4 (computed from `𝝅(R) = max(p(A) = 2, p(B) = 4) = 4`). + +A graph representation of the example: + +```mermaid +graph LR + A["p(A) = 2"] --> R + B["p(A) = 4"] --> R + R["𝝅(R) = 4"] +``` + +## RTIC the hardware accelerated real-time scheduler + +SRP itself is compatible with both dynamic and static priority scheduling. For the implementation of RTIC we leverage on the underlying hardware for accelerated static priority scheduling. + +In the case of the `ARM Cortex-M` architecture, each interrupt vector entry `v[i]` is associated a function pointer (`v[i].fn`), and a static priority (`v[i].priority`), an enabled- (`v[i].enabled`) and a pending-bit (`v[i].pending`). + +An interrupt `i` is scheduled (run) by the hardware under the conditions: +1. is `pended` and `enabled` and has a priority higher than the (optional `BASEPRI`) register, and +1. has the highest priority among interrupts meeting 1. + +The first condition (1) can be seen a filter allowing RTIC to take control over which tasks should be allowed to start (and which should be prevented from starting). + +The SPR model for single-core static scheduling on the other hand states that a task should be scheduled (run) under the conditions: +1. it is `requested` to run and has a static priority higher than the current system ceiling (𝜫) +1. it has the highest static priority among tasks meeting 1. + +The similarities are striking and it is not by chance/luck/coincidence. The hardware was cleverly designed with real-time scheduling in mind. + +In order to map the SRP scheduling onto the hardware we need to take a closer look at the system ceiling (𝜫). Under SRP 𝜫 is computed as the maximum priority ceiling of the currently held resources, and will thus change dynamically during the system operation. + +## Example + +Assume the task model above. Starting from an idle system, 𝜫 is 0, (no task is holding any resource). Assume that `A` is requested for execution, it will immediately be scheduled. Assume that `A` claims (locks) the resource `R`. During the claim (lock of `R`) any request `B` will be blocked from starting (by 𝜫 = `max(𝝅(R) = 4) = 4`, `p(B) = 4`, thus SRP scheduling condition 1 is not met). + +## Mapping + +The mapping of static priority SRP based scheduling to the Cortex M hardware is straightforward: + +- each task `t` are mapped to an interrupt vector index `i` with a corresponding function `v[i].fn = t` and given the static priority `v[i].priority = p(t)`. +- the current system ceiling is mapped to the `BASEPRI` register or implemented through masking the interrupt enable bits accordingly. + +## Example + +For the running example, a snapshot of the ARM Cortex M [Nested Vectored Interrupt Controller (NVIC)][NVIC] may have the following configuration (after task `A` has been pended for execution.) + +| Index | Fn | Priority | Enabled | Pended | +| ----- | --- | -------- | ------- | ------ | +| 0 | A | 2 | true | true | +| 1 | B | 4 | true | false | + +[NVIC]: https://developer.arm.com/documentation/ddi0337/h/nested-vectored-interrupt-controller/about-the-nvic + +(As discussed later, the assignment of interrupt and exception vectors is up to the user.) + + +A claim (lock(r)) will change the current system ceiling (𝜫) and can be implemented as a *named* critical section: + - old_ceiling = 𝜫, 𝜫 = 𝝅(r) + - execute code within critical section + - old_ceiling = 𝜫 + +This amounts to a resource protection mechanism requiring only two machine instructions on enter and one on exit the critical section for managing the `BASEPRI` register. For architectures lacking `BASEPRI`, we can implement the system ceiling through a set of machine instructions for disabling/enabling interrupts on entry/exit for the named critical section. The number of machine instructions vary depending on the number of mask registers that needs to be updated (a single machine operation can operate on up to 32 interrupts, so for the M0/M0+ architecture a single instruction suffice). RTIC will determine the ceiling values and masking constants at compile time, thus all operations is in Rust terms zero-cost. + +In this way RTIC fuses SRP based preemptive scheduling with a zero-cost hardware accelerated implementation, resulting in "best in class" guarantees and performance. + +Given that the approach is dead simple, how come SRP and hardware accelerated scheduling is not adopted by any other mainstream RTOS? + +The answer is simple, the commonly adopted threading model does not lend itself well to static analysis - there is no known way to extract the task/resource dependencies from the source code at compile time (thus ceilings cannot be efficiently computed and the LIFO resource locking requirement cannot be ensured). Thus, SRP based scheduling is in the general case out of reach for any thread based RTOS. + +## RTIC into the Future + +Asynchronous programming in various forms are getting increased popularity and language support. Rust natively provides an `async`/`await` API for cooperative multitasking and the compiler generates the necessary boilerplate for storing and retrieving execution contexts (i.e., managing the set of local variables that spans each `await`). + +The Rust standard library provides collections for dynamically allocated data-structures which are useful to manage execution contexts at run-time. However, in the setting of resource constrained real-time systems, dynamic allocations are problematic (both regarding performance and reliability - Rust runs into a *panic* on an out-of-memory condition). Thus, static allocation is the preferable approach! + +RTIC provides a mechanism for `async`/`await` that relies solely on static allocations. However, the implementation relies on the `#![feature(type_alias_impl_trait)]` (TAIT) which is undergoing stabilization (thus RTIC v2.x currently requires a *nightly* toolchain). Technically, using TAIT, the compiler determines the size of each execution context allowing static allocation. + +From a modelling perspective `async/await` lifts the run-to-completion requirement of SRP, and each section of code between two yield points (`await`s) can be seen as an individual task. The compiler will reject any attempt to `await` while holding a resource (not doing so would break the strict LIFO requirement on resource usage under SRP). + +So with the technical stuff out of the way, what does `async/await` bring to the table? + +The answer is - improved ergonomics! A recurring use case is to have task perform a sequence of requests and then await their results in order to progress. Without `async`/`await` the programmer would be forced to split the task into individual sub-tasks and maintain some sort of state encoding (and manually progress by selecting sub-task). Using `async/await` each yield point (`await`) essentially represents a state, and the progression mechanism is built automatically for you at compile time by means of `Futures`. + +Rust `async`/`await` support is still incomplete and/or under development (e.g., there are no stable way to express `async` closures, precluding use in iterator patterns). Nevertheless, Rust `async`/`await` is production ready and covers most common use cases. + +An important property is that futures are composable, thus you can await either, all, or any combination of possible futures (allowing e.g., timeouts and/or asynchronous errors to be promptly handled). For more details and examples see Section [todo]. + +## RTIC the model + +An RTIC `app` is a declarative and executable system model for single-core applications, defining a set of (`local` and `shared`) resources operated on by a set of (`init`, `idle`, *hardware* and *software*) tasks. In short the `init` task runs before any other task returning a set of resources (`local` and `shared`). Tasks run preemptively based on their associated static priority, `idle` has the lowest priority (and can be used for background work, and/or to put the system to sleep until woken by some event). Hardware tasks are bound to underlying hardware interrupts, while software tasks are scheduled by asynchronous executors (one for each software task priority). + +At compile time the task/resource model is analyzed under SRP and executable code generated with the following outstanding properties: -{{#include ../../../README.md:7:47}} +- guaranteed race-free resource access and deadlock-free execution on a single-shared stack (thanks to SRP) + - hardware task scheduling is performed directly by the hardware, and + - software task scheduling is performed by auto generated async executors tailored to the application. -{{#include ../../../README.md:48:}} +The RTIC API design ensures that both SRP requirements and Rust soundness rules are upheld at all times, thus the executable model is correct by construction. Overall, the generated code infers no additional overhead in comparison to a handwritten implementation, thus in Rust terms RTIC offers a zero-cost abstraction to concurrency. diff --git a/book/en/src/rtic_vs.md b/book/en/src/rtic_vs.md new file mode 100644 index 0000000..454b239 --- /dev/null +++ b/book/en/src/rtic_vs.md @@ -0,0 +1,33 @@ +# RTIC vs. the world + +RTIC aims to provide the lowest level of abstraction needed for developing robust and reliable embedded software. + +It provides a minimal set of required mechanisms for safe sharing of mutable resources among interrupts and asynchronously executing tasks. The scheduling primitives leverages on the underlying hardware for unparalleled performance and predictability, in effect RTIC provides in Rust terms a zero-cost abstraction to concurrent real-time programming. + + + +## Comparison regarding safety and security + +Comparing RTIC to traditional a Real-Time Operating System (RTOS) is hard. Firstly, a traditional RTOS typically comes with no guarantees regarding system safety, even the most hardened kernels like the formally verified [seL4] kernel. Their claims to integrity, confidentiality, and availability regards only the kernel itself (under additional assumptions its configuration and environment). They even state: + +"An OS kernel, verified or not, does not automatically make a system secure. In fact, any system, no matter how secure, can be used in insecure ways." - [seL4 FAQ][sel4faq] + +[sel4faq]: https://docs.sel4.systems/projects/sel4/frequently-asked-questions.html + +[seL4]: https://sel4.systems/ + +### Security by design + +In the world of information security we commonly find: + +- confidentiality, protecting the information from being exposed to an unauthorized party, +- integrity, referring to accuracy and completeness of data, and +- availability, referring to data being accessible to authorized users. + +Obviously, a traditional OS can guarantee neither confidentiality nor integrity, as both requires the security critical code to be trusted. Regarding availability, this typically boils down to the usage of system resources. Any OS that allows for dynamic allocation of resources, relies on that the application correctly handles allocations/de-allocations, and cases of allocation failures. + +Thus their claim is correct, security is completely out of hands for the OS, the best we can hope for is that it does not add further vulnerabilities. + +RTIC on the other hand holds your back. The declarative system wide model gives you a static set of tasks and resources, with precise control over what data is shared and between which parties. Moreover, Rust as a programming language comes with strong properties regarding integrity (compile time aliasing, mutability and lifetime guarantees, together with ensured data validity). + +Using RTIC these properties propagate to the system wide model, without interference of other applications running. The RTIC kernel is internally infallible without any need of dynamically allocated data.
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- [Создание нового проекта](./by-example/new.md) - - [Советы и хитрости](./by-example/tips.md) -- [Инструкции по миграции](./migration.md) - - [v0.5.x на v1.0.x](./migration/migration_v5.md) - - [v0.4.x на v0.5.x](./migration/migration_v4.md) - - [RTFM на RTIC](./migration/migration_rtic.md) -- [Под капотом](./internals.md) - - [Настройка прерываний](./internals/interrupt-configuration.md) - - [Нереентерабельнось](./internals/non-reentrancy.md) - - [Контроль доступа](./internals/access.md) - - [Поздние ресурсы](./internals/late-resources.md) - - [Критические секции](./internals/critical-sections.md) - - [Анализ приоритетов](./internals/ceilings.md) - - [Программные задачи](./internals/tasks.md) - - [Очередь таймера](./internals/timer-queue.md) diff --git a/book/ru/src/by-example.md b/book/ru/src/by-example.md deleted file mode 100644 index 027716f..0000000 --- a/book/ru/src/by-example.md +++ /dev/null @@ -1,23 +0,0 @@ -# RTIC в примерах - -В этой части книги фреймворк Real-Time Interrupt-driven Concurrency (RTIC) представляется -новым пользователям путем прохода по примерам от простых к более сложным. - -Все примеры в этой части книги можно найти в [репозитарии] проекта. -Большинство из них можно пройти, запустив их на эмуляторе QEMU без специального оборудования. - -[репозитарии]: https://github.com/rtic-rs/cortex-m-rtic - -Для запуска примеров на вашем ПК, вам понадобится программа `qemu-system-arm`. -В [the embedded Rust book] есть инструкции по настройке среды для эмбеддед разработке, -в том числе QEMU. - -[the embedded Rust book]: https://rust-embedded.github.io/book/intro/install.html - -## Примеры из реальной жизни - -Ниже представлены примеры использования RTIC (RTFM) в реальных проектах. - -### RTFM V0.4.2 - -- [etrombly/sandbox](https://github.com/etrombly/sandbox/tree/41d423bcdd0d8e42fd46b79771400a8ca349af55). Аппаратный дзэн-сад, рисующий картинки на песке. Картинки передаются по последовательному порту с помощью G-кода. diff --git a/book/ru/src/by-example/app.md b/book/ru/src/by-example/app.md deleted file mode 100644 index 5259bfa..0000000 --- a/book/ru/src/by-example/app.md +++ /dev/null @@ -1,161 +0,0 @@ -# Атрибут `app` - -Это простейшая из возможных программ на RTIC: - -``` rust -{{#include ../../../../examples/smallest.rs}} -``` - -Все программы на RTIC используют атрибут [`app`] (`#[app(..)]`). Этот атрибут -должен применяться к элементу `mod`. Атрибут `app` имеет обязательный аргумент `device`, -который принимает *путь* как значение. Это должен быть полный путь, указывающий на -*крейт доступа к периферии* (PAC), сгенерированный с помощью [`svd2rust`] версии **v0.14.x** -или новее. Более подробно в разделе [Создание нового проекта](./new.md). - -Атрибут `app` будет раскрыт в подходящую точку входа программы, поэтому -атрибут [`cortex_m_rt::entry`] не нужен. - -[`app`]: ../../../api/cortex_m_rtic_macros/attr.app.html -[`svd2rust`]: https://crates.io/crates/svd2rust -[`cortex_m_rt::entry`]: ../../../api/cortex_m_rt_macros/attr.entry.html - -## `init` - -Внутри модуля `app` атрибут ожидает найти функцию инициализации, помеченную -атрибутом `init`. Эта функция должна иметь сигнатуру -`fn(init::Context) (-> init::LateResources, init::Monotonics)`. - -Эта функция инициализации будет первой частью программы, выполняемой при запуске. -Функция `init` будет запущена *с отключенными прерываниями* и будет иметь эксклюзивный доступ -к Cortex-M, в котором токен `bare_metal::CriticalSection` доступен как `cs`. -Опционально, устройство-специфичные периферия доступна через поля `core` и `device` структуры -`init::Context`. - -`static mut` переменные, определенные в начале `init` будут преобразованы в -`&'static mut` ссылки, безопасные для доступа. Обратите внимание, данная возможность может -быть удалена в следующем релизе, см. `task_local` ресурсы. - -[`rtic::Peripherals`]: ../../api/rtic/struct.Peripherals.html - -Пример ниже показывает типы полей `core`, `device` и `cs`, и демонстрирует -безопасный доступ к `static mut` переменной. Поле `device` доступно только -когда аргумент `peripherals` установлен в `true` (по умолчанию). -В редких случаях, когда вы захотите создать приложение с минимальным потреблением ресурсов, -можно явно установить `peripherals` в `false`. - -``` rust -{{#include ../../../../examples/init.rs}} -``` - -Запуск примера напечатате `init` в консоли, а затем завершит процесс QEMU. - -``` console -$ cargo run --example init -{{#include ../../../../ci/expected/init.run}} -``` - -> **ПРИМЕЧАНИЕ**: Не забывайте указывать выбранное вами целевое устройство, передавая параметр target -> в cargo (например `cargo run --example init --target thumbv7m-none-eabi`) или -> настроив устройство, используемое по умолчанию для сборки примеров в `.cargo/config.toml`. -> В нашем случае используется Cortex M3, эмулируемый с помощью QEMU, поэтому пишем `thumbv7m-none-eabi`. -> Смотрите [`Создание нового проекта`](./new.md) для большей информации. - -## `idle` - -Функцию, помеченную атрибутом `idle` может опционально добавить в модуль. -Эта функция используется как специальная *задача ожидания* и должна иметь сигнатуру -`fn(idle::Context) - > !`. - -Если она присутствует, задача `idle` будет запущена после `init`. В отличие от -`init`, `idle` будет запущена *с включенными прерываниями* и она не может вернуть результат, -а значит должна работать вечно. - -Как и в `init`, `static mut` переменные будут трансформированы в `&'static mut` ссылки, -безопасные для доступа. Обратите внимание, данная возможность может -быть удалена в следующем релизе, см. `task_local` ресурсы. - -Пример ниже показывает, что `idle` запускается после `init`. - -**Примечание:** Цикл `loop {}` в функци ожидания не может быть пустым, так как это сломает -микроконтроллер, из-за того, что LLVM компилирует пустые циклы в инструкцию `UDF` в release mode. -Чтобы избежать неопределенного поведения, цикл должен включать "side-effect" -путем вставки ассемблерной инструкции (например, `WFI`) или ключевого слова `continue`. - -``` rust -{{#include ../../../../examples/idle.rs}} -``` - -``` console -$ cargo run --example idle -{{#include ../../../../ci/expected/idle.run}} -``` - -## Аппаратные задачи - -Чтобы объявить обработчик прерывания, фреймворк предоставляет атрибут `#[task]`, -который можно применять к функциям. Этот атрибут берет аргумент `binds`, чье значение - -это имя прерывания, которому будет назначен обработчик; -функция, декорированная этим атрибутом становится обработчиком прерывания. -В фреймворке такие типы задач именуются *аппаратными*, потому что они начинают -выполняться в ответ на аппаратное событие. - -Пример ниже демонстрирует использование атрибута `#[task]`, чтобы объявить -обработчик прерывания. Как и в случае с `#[init]` и `#[idle]` локальные `static -mut` переменные безопасны для использования с аппаратной задачей. - -``` rust -{{#include ../../../../examples/hardware.rs}} -``` - -``` console -$ cargo run --example hardware -{{#include ../../../../ci/expected/hardware.run}} -``` - -До сих пор все программы на RTIC, которые мы видели, не отличались от программ, -которые можно написать, используя лишь крейт `cortex-m-rt`. С этого момента мы -начинаем представлять возможности, уникальные для RTIC. - -## Приоритеты - -Статический приоритет каждого обработчика можно оределить в атрибуте `task`, используя -аргумент `priority`. Задачи могут иметь приоритет в диапазоне `1..=(1 << NVIC_PRIO_BITS)`, -где `NVIC_PRIO_BITS` - это константа, определенная в крейте `устройства`. -Когда аргумент `priority` не указан, предполагается, что приоритет равен `1`. -Задача `idle` имеет ненастраиваемый приоритет `0`, наименьший из возможных. - -> Более высокое значение означает более высокий приоритет в RTIC, что противоположно тому, -> что указано в периферии NVIC Cortex-M. -> Точнее, это значит, что число `10` обозначает приоритет **выше**, чем число `9`. - -Когда несколько задач готовы к запуску, задача с самым большим статическим -приоритетом будет запущена первой. Приоритезацию задач можно рассматривать по -такому сценарию: сигнал прерывания приходит во время выполнения задачи с низким приоритетом; -сигнал переключает задачу с высоким приоритетом в режим ожидания. -Разница в приоритетах приводи к тому, что задача с высоким приоритетом вытесняет задачу с низким: -выполнение задачи с низким приоритетом замораживается и задача с высоким приоритетом выполняется, -пока не будет завершена. Как только задача с высоким приоритетом будет остановлена, -продолжится выполнение задачи с низким приоритетом. - -Следующий пример демонстрирует диспетчеризацию на основе приоритетов задач. - -``` rust -{{#include ../../../../examples/preempt.rs}} -``` - -``` console -$ cargo run --example preempt -{{#include ../../../../ci/expected/preempt.run}} -``` - -Заметьте, что задача `gpiob` *не* вытесняет задачу `gpioc`, потому что ее приоритет -*такой же*, как и у `gpioc`. Однако, как только `gpioc` возвращает результат, -выполненяется задача `gpiob`, как более приоритетная по сравнению с `gpioa`. -Выполнение `gpioa` возобновляется только после выхода из `gpiob`. - -Еще одно замечание по поводу приоритетов: выбор приоритета большего, чем поддерживает устройство -(а именно `1 << NVIC_PRIO_BITS`) приведет к ошибке компиляции. -Из-за ограничений языка, сообщение об ошибке далеко от понимания: -вам скажут что-то похожее на "evaluation of constant value failed", а указатель на ошибку -*не* покажет на проблемное значение прерывания -- -мы извиняемся за это! diff --git a/book/ru/src/by-example/new.md b/book/ru/src/by-example/new.md deleted file mode 100644 index 0ff8d98..0000000 --- a/book/ru/src/by-example/new.md +++ /dev/null @@ -1,84 +0,0 @@ -# Создание нового проекта - -Теперь, когда Вы изучили основные возможности фреймворка RTIC, Вы можете -попробовать его использовать на Вашем оборудовании следуя этим инструкциям. - -1. Создайте экземпляр из шаблона [`cortex-m-quickstart`]. - -[`cortex-m-quickstart`]: https://github.com/rust-embedded/cortex-m-quickstart#cortex-m-quickstart - -``` console -$ # например используя `cargo-generate` -$ cargo generate \ - --git https://github.com/rust-embedded/cortex-m-quickstart \ - --name app - -$ # следуйте остальным инструкциям -``` - -2. Добавьте крейт доступа к периферии (PAC), сгенерированный с помощью[`svd2rust`] - **v0.14.x**, или крейт отладочной платы, у которой в зависимостях один из таких PAC'ов. - Убедитесь, что опция `rt` крейта включена. - -[`svd2rust`]: https://crates.io/crates/svd2rust - -В этом примере я буду использовать крейт устройства [`lm3s6965`]. -Эта библиотека не имеет Cargo-опции `rt`; эта опция всегда включена. - -[`lm3s6965`]: https://crates.io/crates/lm3s6965 - -Этот крейт устройства предоставляет линковочный скрипт с макетом памяти -целевого устройства, поэтому `memory.x` и `build.rs` нужно удалить. - -``` console -$ cargo add lm3s6965 --vers 0.1.3 - -$ rm memory.x build.rs -``` - -3. Добавьте крейт `cortex-m-rtic` как зависимость. - -``` console -$ cargo add cortex-m-rtic --allow-prerelease -``` - -4. Напишите свою RTIC программу. - -Здесь я буду использовать пример `init` из крейта `cortex-m-rtic`. - -Примеры находтся в папке `examples`, а содержание `init.rs` показано здесь: - -``` console -{{#include ../../../../examples/init.rs}} -``` - -Пример `init` использует устройство `lm3s6965`. Не забудьте настроить аргумент `device` -в атрибуте макроса app так, чтобы он соответствовал пути к PAC-крейту, если он отличается, -а также добавить перифериб и другие аргументы если необходимо. -Несмотря на то, что в программе могут использоваться псевдонимы типов, -здесь необходимо указать полный путь (из корня крейта). Для многих устройств, -есть общий подход в крейтах реализации HAL (с псевдонимом `hal`) и крейтах поддержки -отладочных плат реекспортиорвать PAC как `pac`, что приводит нас к образцу, аналогичному -приведенному ниже: - -```rust -use abcd123_hal as hal; -//... - -#[rtic::app(device = crate::hal::pac, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)] -mod app { /*...*/ } -``` - -Пример `init` также зависит от крейта `panic-semihosting`: - -``` console -$ cargo add panic-semihosting -``` - -5. Соберите его, загрузите в микроконтроллер и запустите. - -``` console -$ # ПРИМЕЧАНИЕ: Я раскомментировал опцию `runner` в `.cargo/config.toml` -$ cargo run -{{#include ../../../../ci/expected/init.run}} -``` diff --git a/book/ru/src/by-example/resources.md b/book/ru/src/by-example/resources.md deleted file mode 100644 index ed8904b..0000000 --- a/book/ru/src/by-example/resources.md +++ /dev/null @@ -1,140 +0,0 @@ -# Ресурсы - -Фреймворк предоставляет абстракцию для разделения данных между любыми контекстами, -с которыми мы встречались в предыдущей главе (задачами-обработчиками, `init` и `idle`): ресурсы. - -Ресурсы - это данные, видимые только функциями, определенными внутри модуля `#[app]`. -Фреймворк дает пользователю полный контроль за тем, какой контекст может -получить доступ к какому ресурсу. - -Все ресурсы определены в *двух* структурах внутри модуля `#[app]`. -Каждое поле этих структур соответствует отдельному ресурсу. -Одна `struct`-ура должна быть аннотирована атрибутом `#[local]`. -Другая `struct`-ура должна быть аннотирована атрибутом `#[shared]`. -Разница между этими двумя множествами ресурсов будет описана познее. - -Каждый контекс (задача-обработчик, `init` или `idle`) должен указать ресурсы, к которым -он намерен обращаться, в соответсятвующем ему атрибуте с метаданными, используя -либо аргумент `local`, либо `shared`. Этот аргумент принимает список имен ресурсов в качестве значения. -Перечисленные ресурсы становятся доступны в контексте через поля `local` и `shared` структуры `Context`. - -Во время выполнения при выходе из функции `#[init]` все ресурсы инициализированы. -Функция `#[init]` должна возвращать начальные значения для всех ресурсов; -отсюда следует, что тип возвращаемого ею значения включает типы -структур `#[shared]` и `#[local]`. -Поскольку ресурсы инициализированы в ходе функции `#[init]`, к ним нельзя -получить доступ внетри функции `#[init]`. - -Пример программы, показанной ниже содержит два обработчика прерывания. -Каждый обработчик имеет доступ к его собственному `#[local]` ресурсу. - -``` rust -{{#include ../../../../examples/resource.rs}} -``` - -``` console -$ cargo run --example resource -{{#include ../../../../ci/expected/resource.run}} -``` - -К ресурсу `#[local]` нельзя получить доступ извне задачи к которой он -привязан атрибутом `#[task]`. -Попытка обращения к одному и тому же ресурсу `#[local]` из более чем одной -задачи - ошибка компиляции. - -## `lock` - -Критические секции необходимы для доступа к ресурсам `#[shared]` таким образом, -чтобы избежать гонок данных. - -Поле `shared`, передаваемого `Context` реализует трейт [`Mutex`] для каждого разделяемого -ресурса, доступного задаче. - -Единственный метод этого трейта, [`lock`], запускает свой аргумент-замыкание в критической секции. - -[`Mutex`]: ../../../api/rtic/trait.Mutex.html -[`lock`]: ../../../api/rtic/trait.Mutex.html#method.lock - -Критическая секция, создаваемая интерфейсом `lock` основана на динамических приоритетах: -она временно повышает динамический приоритет контекста до *максимального* приоритета, -что не дает другим задачам возможности вытеснить критическую секцию. -Этот протокол синхронизации известен как [Протокол немедленного максимального приоритета -(ICPP)][icpp], и компилируется диспетчером RTIC с [Политикой ресурсов стека(SRP)][srp]. - -[icpp]: https://en.wikipedia.org/wiki/Priority_ceiling_protocol -[srp]: https://en.wikipedia.org/wiki/Stack_Resource_Policy - -В примере ниже у нас есть три обработчика прерываний с приоритетами от одного до трех. -Два из обработчиков с более низким приоритетом соревнуются за ресурс `shared`, -поэтому должны блокировать доступа к данным ресурса. -Обработчик с наивысшим приоритетом, который не имеет доступа к ресурсу `shared`, -может свободно вытеснять критическую секцию, созданную обработчиком с низким приоритетом. - -``` rust -{{#include ../../../../examples/lock.rs}} -``` - -``` console -$ cargo run --example lock -{{#include ../../../../ci/expected/lock.run}} -``` - -## Множественное блокировка - -Это расширение к `lock`, чтобы уменьшить количесво отступов, блокируемые ресурсы можно объединять в кортежи. -Следующий пример это демонстрирует: - -``` rust -{{#include ../../../../examples/multilock.rs}} -``` - -## Только разделяемый (`&-`) доступ - -По-умолчанию фреймворк предполагает, что все задачи требуют эксклюзивный доступ (`&mut-`) к ресурсам, -но возможно указать, что задаче достаточен разделяемый доступ (`&-`) к ресурсы с помощью синтакисиса -`&resource_name` в списке `resources`. - -Преимущество указания разделяемого досупа (`&-`) к ресурсу в том, что для доступа к ресурсу -не нужна блокировка, даже если за ресурс соревнуются несколько задач, запускаемые с -разными приоритетами. Недостаток в том, что задача получает только разделяемую ссылку (`&-`) -на ресурс, и ограничена операциями, возможными с ней, но там, где разделяемой ссылки достаточно, -такой подход уменьшает количесво требуемых блокировок. -В дополнение к простым неизменяемым данным, такой разделяемый доступ может быть полезен для -ресурсов, безопасно реализующих внутреннюю мутабельность с самоблокировкой или атомарными операциями. - -Заметьте, что в этом релизе RTIC невозможно запросить и эксклюзивный доступ (`&mut-`) -и разделяемый (`&-`) для *одного и того же* ресурса из различных задач. -Попытка это сделать приведет к ошибке компиляции. - -В примере ниже ключ (например криптографический ключ) загружается (или создается) во время выполнения, -а затем используется двумя задачами, запускаемымы с различным приоритетом без каких-либо блокировок. - -``` rust -{{#include ../../../../examples/only-shared-access.rs}} -``` - -``` console -$ cargo run --example only-shared-access -{{#include ../../../../ci/expected/only-shared-access.run}} -``` - -## Неблокируемый доступ к изменяемым ресурсам - -Критическая секция *не* требуется для доступа к ресурсу `#[shared]`, -к которому обращаются только из задач с *одинаковым* приоритетом. -В этом случае вы можете избежать `lock` API, добавив атрибут поля `#[lock_free]` при объявдении ресурса (смотреть пример ниже). -Заметьте, что это лишь для удобства: даже если вы используете `lock` API, -во время выполнения фреймворк *не* создаст критическую секцию. -Еще одно ценное замечание: использование `#[lock_free]` на ресурсах, -разделяемых задачами, запускаемыми с разными приоритетами -приведет к ошибке *компиляции* -- не импользование `lock` API может -привести к гонке данных в этом случае. - -``` rust -{{#include ../../../../examples/lock-free.rs}} -``` - -``` console -$ cargo run --example lock-free -{{#include ../../../../ci/expected/lock-free.run}} -```
\ No newline at end of file diff --git a/book/ru/src/by-example/tasks.md b/book/ru/src/by-example/tasks.md deleted file mode 100644 index 3c99d00..0000000 --- a/book/ru/src/by-example/tasks.md +++ /dev/null @@ -1,116 +0,0 @@ -# Программные задачи - -В дополнение к аппаратным задачам, вызываемым в ответ на аппаратные события, -RTIC также поддерживает *программные* задачи, которые могут порождаться -приложением из любого контекста выполнения. - -Программным задачам можно также назначать приоритет и, под капотом, они -диспетчеризуются обработчиками прерываний. RTIC требует, чтобы свободные -прерывания, были указаны в аргументе `dispatchers` модуля `app`, если используются -программные задачи; часть из этих свободных прерываний будут использованы для -управления программными задачами. Преимущество программных задач над аппаратными -в том, что множество задач можно назначить на один обработчик прерывания. - -Программные задачи также определяются атрибутом `task`, но аргумент `binds` опускается. - -Пример ниже демонстрирует три программные задачи, запускаемых 2-х разных приоритетах. -Три программные задачи привязаны к 2-м обработчикам прерываний. - -``` rust -{{#include ../../../../examples/task.rs}} -``` - -``` console -$ cargo run --example task -{{#include ../../../../ci/expected/task.run}} -``` - -## Передача сообщений - -Другое преимущество программной задачи в том, что задачам можно передать сообщения -в момент их запуска. Тип передаваемого сообщения должен быть определен в сигнатуре -задачи-обработчика. - -Пример ниже демонстрирует три задачи, две из которых ожидают сообщение. - -``` rust -{{#include ../../../../examples/message.rs}} -``` - -``` console -$ cargo run --example message -{{#include ../../../../ci/expected/message.run}} -``` - -## Вместимость - -RTIC *не* производит никакого рода аллокаций памяти в куче. -Память, необходимая для размещения сообщения резервируется статически. -По-умолчанию фреймворк минимизирует выделение памяти программой таким образом, -что каждая задача имеет "вместимость" для сообщения равную 1: -это значит, что не более одного сообщения можно передать задаче перед тем, как -у нее появится возможность к запуску. Это значение по-умолчанию можно -изменить для каждой задачи, используя аргумент `capacity`. -Этот аргумент принимает положительное целое, которое определяет как много -сообщений буфер сообщений задачи может хранить. - -Пример ниже устанавливает вместимость программной задачи `foo` равной 4. -Если вместимость не установить, второй вызов `spawn.foo` в `UART0` приведет к ошибке (панике). - -``` rust -{{#include ../../../../examples/capacity.rs}} -``` - -``` console -$ cargo run --example capacity -{{#include ../../../../ci/expected/capacity.run}} -``` - -## Обработка ошибок - -Интерфейс `spawn` возвращает вариант `Err`, если для размещения сообщения нет места. -В большинстве сценариев возникающие ошибки обрабатываются одним из двух способов: - -- Паника, с помощью `unwrap`, `expect`, и т.п. Этот метод используется, чтобы обнаружить - ошибку программиста (например bug) выбора вместительности, которая оказалась недостаточна. - Когда эта паника встречается во время тестирования, выбирается большая вместительность, - и перекомпиляция программы может решить проблему, но иногда достаточно окунуться глубже - и провести анализ времени выполнения программы, чтобы выяснить, может ли платформа - обрабатывать пиковые нагрузки, или процессор необходимо заменить на более быстрый. - -- Игнорирование результата. В программах реального времени, как и в обычных, может быть - нормальным иногда терять данные, или не получать ответ на некоторые события в пиковых ситуациях. - В таких сценариях может быть допустимо игнорирование ошибки вызова `spawn`. - -Следует отметить, что повторная попытка вызова `spawn` обычно неверный подход, поскольку -такая операция на практике вероятно никогда не завершится успешно. -Так как у нас есть только переключения контекста на задачи с *более высоким* приоритетом, -повторение вызова `spawn` на задаче с низким приоритом никогда не позволит планировщику -вызвать задачу, что значит, что буфер никогда не будет очищен. Такая ситуация отражена в -следующем наброске: - -``` rust -#[rtic::app(..)] -mod app { - #[init(spawn = [foo, bar])] - fn init(cx: init::Context) { - cx.spawn.foo().unwrap(); - cx.spawn.bar().unwrap(); - } - - #[task(priority = 2, spawn = [bar])] - fn foo(cx: foo::Context) { - // .. - - // программа зависнет здесь - while cx.spawn.bar(payload).is_err() { - // повтор попытки вызова spawn, если произошла ошибка - } - } - - #[task(priority = 1)] - fn bar(cx: bar::Context, payload: i32) { - // .. - } -} -``` diff --git a/book/ru/src/by-example/timer-queue.md b/book/ru/src/by-example/timer-queue.md deleted file mode 100644 index c8818d7..0000000 --- a/book/ru/src/by-example/timer-queue.md +++ /dev/null @@ -1,108 +0,0 @@ -# Очередь таймера - -В отличие от интерфейса `spawn`, который немедленно передает программную задачу -планировщику для немедленного запуска, интерфейс `schedule` можно использовать -для планирования задачи к запуске через какое-то время в будущем. - -Чтобы использовать интерфейс `schedule`, предварительно должен быть определен -монотонный таймер с помощью аргумента `monotonic` атрибута `#[app]`. -Этот аргумент принимает путь к типу, реализующему трейт [`Monotonic`]. -Ассоциированный тип, `Instant`, этого трейта представляет метку времени в соответствущих -единицах измерения и широко используется в интерфейсе `schedule` -- предлагается смоделировать -этот тип позднее [один из таких есть в стандартной библиотеке][std-instant]. - -Хотя это не отражено в определении трейта (из-за ограничений системы типов / трейтов), -разница двух `Instant`ов должна возвращать какой-то тип `Duration` (см. [`core::time::Duration`]) -и этот `Duration` должен реализовывать трейт `TryInto<u32>`. -Реализация этого трейта должна конвертировать значение `Duration`, которое -использует какую-то определенную единицу измерения времени, в единицы измерения "тактов системного таймера -(SYST)". Результат преобразований должен быть 32-битным целым. -Если результат не соответствует 32-битному целому, тогда операция должна возвращать ошибку любого типа. - -[`Monotonic`]: ../../../api/rtic/trait.Monotonic.html -[std-instant]: https://doc.rust-lang.org/std/time/struct.Instant.html -[`core::time::Duration`]: https://doc.rust-lang.org/core/time/struct.Duration.html - -Для целевых платформ ARMv7+ крейт `rtic` предоставляет реализацию `Monotonic`, основанную на -встроенном CYCle CouNTer (CYCCNT). Заметьте, что это 32-битный таймер, работающий на -частоте центрального процессора, и поэтому не подходит для отслеживания интервалов времени в секундах. - -Когда планируется задача, (определенный пользователем) `Instant`, в который задача должна быть -выполнена, должен передаваться в качестве первого аргумента вызова `schedule`. - -К тому же, выбранный `monotonic` таймер, необходимо сконфигурировать и инициализировать в -фазе работы `#[init]`. Заметьте, что *также* касается случая использования `CYCCNT`, -предоставляемого крейтом `cortex-m-rtic`. - -Пример ниже планирует к выполнению две задачи из `init`: `foo` и `bar`. `foo` запланирована -к запуску через 8 миллионов циклов в будущем. Далее, `bar` запланировано запустить через -4 миллиона циклов в будущем. Таким образом, `bar` запустится до `foo`, так как и запланировано. - -> **DF:YJ**: Примеры, использующие интерфейс `schedule` или абстракцию `Instant` -> **не будут** правильно работать на эмуляторе QEMU, поскольку счетчик циклов Cortex-M -> функционально не был реализован в `qemu-system-arm`. - -``` rust -{{#include ../../../../examples/schedule.rs}} -``` - -Запусе программы на реальном оборудовании создает следующий вывод в консоли: - -``` text -{{#include ../../../../ci/expected/schedule.run}} -``` - -Когда интерфейс `schedule` используется, среда исполнения использует внутри -обработчик прерываний `SysTick` и периферию системного таймера (`SYST`), поэтому ни -тот ни другой нельзя использовать в программе. Это гарантируется изменением типа -`init::Context.core` с `cortex_m::Peripherals` на `rtic::Peripherals`. -Последняя структура содержит все поля из предыдущей кроме `SYST`. - -## Периодические задачи - -Программные задачи имеют доступ к моменту времени `Instant`, в который они были запланированы -на выполнение переменной `scheduled`. Эта информация и интерфейс `schedule` можно использовать, -чтобы реализовать периодические задачи, как показано ниже. - -``` rust -{{#include ../../../../examples/periodic.rs}} -``` - -Это вывод, создаваемый примером. Заметьте, что здесь пристствует небольшой дрейф / колебания -даже несмотря на то, что `schedule.foo` была вызвана в *конце* `foo`. Использование -`Instant::now` вместо `scheduled` вызвало бы дрейф / колебания. - -``` text -{{#include ../../../../ci/expected/periodic.run}} -``` - -## Базовое время - -Для задач, вызываемых из `init` мы имеем точную информацию о их `scheduled` времени. -Для аппаратных задач такого времени нет, поскольку они асинхронны по природе. -Для аппаратных задач среда исполнения предоставляет время запуска (`start`), которое отражает -время, в которое обработчик прерывания будет запущен. - -Заметьте, что `start` **не** равно времени прихода события, которое вызывает задачу. -В зависимости от приоритета задачи и загрузки системы, время `start` может сильно отдалиться от -времени прихода события. - -Какое по вашему мнению будет значение `scheduled` для программных задач, которые вызываются через -`spawn` вместо планирования? Ответ в том, что вызываемые задачи наследуют -*базовое* время того контекста, который их вызывает. Базовое время аппаратных задач - -это их время `start`, базовое время программных задач - их время `scheduled`, а -базовое время `init` - время старта системы, или нулевое -(`Instant::zero()`). `idle` на самом деле не имеет базового времени, но задачи вызываемые из нее, -используют `Instant::now()` в качестве базового. - -Пример ниже демонстрирует разные смыслы *базового времени*. - -``` rust -{{#include ../../../../examples/baseline.rs}} -``` - -Запуск программы на реальном оборудовании приведет к следующему выводу в консоли: - -``` text -{{#include ../../../../ci/expected/baseline.run}} -``` diff --git a/book/ru/src/by-example/tips.md b/book/ru/src/by-example/tips.md deleted file mode 100644 index 7d4fc2f..0000000 --- a/book/ru/src/by-example/tips.md +++ /dev/null @@ -1,175 +0,0 @@ -# Советы и хитрости - -Полные примеры для RTIC смотрите в репозитарии [rtic-examples][rtic-examples]. - -[rtic-examples]: https://github.com/rtic-rs/rtic-examples - -## Обобщенное программирование (Generics) - -Все объекты, предоставляющие ресурысы реализуют трейт `rtic::Mutex`. -Если ресурс не реализует его, можно обернуть его в новый тип [`rtic::Exclusive`], -который реализует трейт `Mutex`. С помощью этого нового типа -можно написать обобщенную функцию, которая работает с обобщенным ресурсом и -вызывать его из различных задач, чтобы производить однотипные операции над -похожим множеством ресурсов. -Вот один такой пример: - -[`rtic::Exclusive`]: ../../../api/rtic/struct.Exclusive.html - -``` rust -{{#include ../../../../examples/generics.rs}} -``` - -``` console -$ cargo run --example generics -{{#include ../../../../ci/expected/generics.run}} -``` - -## Условная компиляция - -Вы можете использовать условную компиляцию (`#[cfg]`) на ресурсах (полях структуры -`#[resources] struct Resources`) и задачах (элементах `fn`). -Эффект использования атрибутов `#[cfg]` в том, что ресурс/ задача -будут *не* доступны в соответствующих структурах `Context` если условие не выполняется. - -В примере ниже выводится сообщение каждый раз, когда вызывается задача `foo`, но только -если программы скомпилирова с профилем `dev`. - -``` rust -{{#include ../../../../examples/cfg.rs}} -``` - -``` console -$ cargo run --example cfg --release - -$ cargo run --example cfg -{{#include ../../../../ci/expected/cfg.run}} -``` - -## Запуск задач из ОЗУ - -Главной целью переноса описания программы на RTIC в атрибуты в -RTIC v0.4.x была возможность взаимодействия с другими атрибутами. -Напримерe, атрибут `link_section` можно применять к задачам, чтобы разместить -их в ОЗУ; это может улучшить производительность в некоторых случаях. - -> **ВАЖНО**: Обычно атрибуты `link_section`, `export_name` и `no_mangle` -> очень мощные, но их легко использовать неправильно. Неверное использование -> любого из этих атрибутов может вызвать неопределенное поведение; -> Вам следует всегда предпочитать использование безопасных, высокоуровневых -> атрибутов вместо них, таких как атрибуты `interrupt` и `exception` -> из `cortex-m-rt`. -> -> В особых функций, размещаемых в ОЗУ нет безопасной абстракции в `cortex-m-rt` -> v0.6.5 но создано [RFC] для добавления атрибута `ramfunc` в будущем релизе. - -[RFC]: https://github.com/rust-embedded/cortex-m-rt/pull/100 - -В примере ниже показано как разместить высокоприоритетную задачу `bar` в ОЗУ. - -``` rust -{{#include ../../../../examples/ramfunc.rs}} -``` - -Запуск этой программы создаст ожидаемый вывод. - -``` console -$ cargo run --example ramfunc -{{#include ../../../../ci/expected/ramfunc.run}} -``` - -Можно посмотреть на вывод `cargo-nm`, чтобы убедиться, что `bar` расположен в ОЗУ -(`0x2000_0000`), тогда как `foo` расположен во Flash (`0x0000_0000`). - -``` console -$ cargo nm --example ramfunc --release | grep ' foo::' -{{#include ../../../../ci/expected/ramfunc.run.grep.foo}} -``` - -``` console -$ cargo nm --example ramfunc --release | grep ' bar::' -{{#include ../../../../ci/expected/ramfunc.run.grep.bar}} -``` - -## Обходной путь для быстрой передачи сообщений - -Передача сообщений всегда вызывает копирование от отправителя в -статическую переменную, а затем из статической переменной получателю. -Таким образом, при передаче большого буфера, например `[u8; 128]`, передача сообщения -вызывает два дорогих вызова `memcpy`. Чтобы минимизировать накладные расходы на передачу -сообщения, можно использовать обходной путь: вместо передачи буфера по значению, -можно передавать владеющий указатель на буфер. - -Можно использовать глобальный аллокатор, чтобы реализовать данный трюк (`alloc::Box`, -`alloc::Rc`, и т.п.), либо использовать статически аллоцируемый пул памяти, например [`heapless::Pool`]. - -[`heapless::Pool`]: https://docs.rs/heapless/0.5.0/heapless/pool/index.html - -Здесь приведен пример использования `heapless::Pool` для "упаковки" буфера из 128 байт. - -``` rust -{{#include ../../../../examples/pool.rs}} -``` - -``` console -$ cargo run --example pool -{{#include ../../../../ci/expected/pool.run}} -``` - -## Инспектирование раскрываемого кода - -`#[rtic::app]` - это процедурный макрос, который создает код. -Если по какой-то причине вам нужно увидеть код, сгенерированный этим макросом, -у вас есть два пути: - -Вы можете изучить файл `rtic-expansion.rs` внутри папки `target`. Этот файл -содержит элемент `#[rtic::app]` в раскрытом виде (не всю вашу программу!) -из *последней сборки* (с помощью `cargo build` или `cargo check`) RTIC программы. -Раскрытый код не отформатирован по-умолчанию, но вы можете запустить `rustfmt` -на нем перед тем, как читать. - -``` console -$ cargo build --example foo - -$ rustfmt target/rtic-expansion.rs - -$ tail target/rtic-expansion.rs -``` - -``` rust -#[doc = r" Implementation details"] -mod app { - #[doc = r" Always include the device crate which contains the vector table"] - use lm3s6965 as _; - #[no_mangle] - unsafe extern "C" fn main() -> ! { - rtic::export::interrupt::disable(); - let mut core: rtic::export::Peripherals = core::mem::transmute(()); - core.SCB.scr.modify(|r| r | 1 << 1); - rtic::export::interrupt::enable(); - loop { - rtic::export::wfi() - } - } -} -``` - -Или, вы можете использовать подкоманду [`cargo-expand`]. Она раскроет -*все* макросы, включая атрибут `#[rtic::app]`, и модули в вашем крейте и -напечатает вывод в консоль. - -[`cargo-expand`]: https://crates.io/crates/cargo-expand - -``` console -$ # создаст такой же вывод, как выше -$ cargo expand --example smallest | tail -``` - -## Деструктуризация ресурса - -Если задача требует нескольких ресурсов, разбиение структуры ресурсов -может улучшить читабельность. Вот два примера того, как это можно сделать: - -``` rust -{{#include ../../../../examples/destructure.rs}} -``` diff --git a/book/ru/src/by-example/types-send-sync.md b/book/ru/src/by-example/types-send-sync.md deleted file mode 100644 index 755a379..0000000 --- a/book/ru/src/by-example/types-send-sync.md +++ /dev/null @@ -1,49 +0,0 @@ -# Типы, Send и Sync - -Каждая функция в модуле `app` принимает структуру `Context` в качесте первого параметра. -Все поля этих структур имеют предсказуемые, неанонимные типы, -поэтому вы можете написать обычные функции, принимающие их как аргументы. - -Справочник по API определяет как эти типы генерируются на основе входных данных. -Вы можете также сгенерировать документацию к вашему крейту программы (`cargo doc --bin <name>`); -в документации вы найдете структуры `Context` (например `init::Context` и -`idle::Context`). - -Пример ниже показывает различные типы, сгенерированные атрибутом `app`. - -``` rust -{{#include ../../../../examples/types.rs}} -``` - -## `Send` - -[`Send`] - это маркерный трейт для "типов, которые можно передавать через границы -потоков", как это определено в `core`. В контексте RTIC трейт `Send` необходим -только там, где возможна передача значения между задачами, запускаемыми на -*разных* приоритетах. Это возникает в нескольких случаях: при передаче сообщений, -в разделяемых `static mut` ресурсах и при инициализации поздних ресурсов. - -[`Send`]: https://doc.rust-lang.org/core/marker/trait.Send.html - -Атрибут `app` проверит, что `Send` реализован, где необходимо, поэтому вам не -стоит волноваться об этом. В настоящий момент все передаваемые типы в RTIC должны быть `Send`, но -это ограничение возможно будет ослаблено в будущем. - -## `Sync` - -Аналогично, [`Sync`] - маркерный трейт для "типов, на которые можно безопасно разделять между потоками", -как это определено в `core`. В контексте RTIC типаж `Sync` необходим только там, -где возможно для двух или более задач, запускаемых на разных приоритетах получить разделяемую ссылку (`&-`) на -ресурс. Это возникает только (`&-`) ресурсах с разделяемым доступом. - -[`Sync`]: https://doc.rust-lang.org/core/marker/trait.Sync.html - -Атрибут `app` проверит, что `Sync` реализован, где необходимо, но важно знать, -где ограничение `Sync` не требуется: в (`&-`) ресурсах с разделяемым доступом, за которые -соперничают задачи с *одинаковым* приоритетом. - -В примере ниже показано, где можно использовать типы, не реализующие `Sync`. - -``` rust -{{#include ../../../../examples/not-sync.rs}} -``` diff --git a/book/ru/src/internals.md b/book/ru/src/internals.md deleted file mode 100644 index 48495b0..0000000 --- a/book/ru/src/internals.md +++ /dev/null @@ -1,14 +0,0 @@ -# Под капотом - -**Этот раздел в настоящий момент находится в разработке, -он появится снова, когда будет завершен** - -Этот раздел описывает внутренности фреймворка RTIC на *высоком уровне*. -Низкоуровневые детали, такие как парсинг и генерация кода, выполняемые процедурным макросом -(`#[app]`) объясняться не будут. Внимание будет сосредоточено на анализе -спецификации пользователя и структурах данных, используемых на этапе выполнения. - -Мы настоятельно рекомендуем вам прочитать раздел о [конкуренции] в embedonomicon -перед тем, как погружаться в материал. - -[конкуренции]: https://github.com/rust-embedded/embedonomicon/pull/48 diff --git a/book/ru/src/internals/access.md b/book/ru/src/internals/access.md deleted file mode 100644 index ea073a4..0000000 --- a/book/ru/src/internals/access.md +++ /dev/null @@ -1,158 +0,0 @@ -# Контроль доступа - -Одна из основ RTIC - контроль доступа. Контроль того, какая часть программы -может получить доступ к какой статической переменной - инструмент обеспечения -безопасности памяти. - -Статические переменные используются для разделения состояний между обработчиками -прерываний, или между обработчиком прерывания и нижним контекстом выполнения, `main`. -В обычном Rust коде трудно обеспечить гранулированный контроль за тем, какие функции -могут получать доступ к статическим переменным, поскольку к статическим переменным -можно получить доступ из любой функции, находящейся в той же области видимости, -в которой они определены. Модули дают частичный контроль над доступом -к статическим переменным, но они недостаточно гибкие. - -Чтобы добиться полного контроля за тем, что задачи могут получить доступ -только к статическим переменным (ресурсам), которые им были указаны в RTIC атрибуте, -фреймворк RTIC производит трансформацию структуры кода. -Эта трансформация состоит из размещения ресурсов (статических переменных), определенных -пользователем *внутри* модуля, а пользовательского кода *вне* модуля. -Это делает невозможным обращение пользовательского кода к статическим переменным. - -Затем доступ к ресурсам предоставляется каждой задаче с помощью структуры `Resources`, -чьи поля соответствуют ресурсам, к которым получает доступ задача. -Есть лишь одна такая структура на задачу и структура `Resources` инициализируется -либо уникальной ссылкой (`&mut-`) на статическую переменную, либо с помощью прокси-ресурса (см. -раздел [критические секции](critical-sections.html)). - -Код ниже - пример разных трансформаций структуры кода, происходящих за сценой: - -``` rust -#[rtic::app(device = ..)] -mod app { - static mut X: u64: 0; - static mut Y: bool: 0; - - #[init(resources = [Y])] - fn init(c: init::Context) { - // .. пользовательский код .. - } - - #[interrupt(binds = UART0, resources = [X])] - fn foo(c: foo::Context) { - // .. пользовательский код .. - } - - #[interrupt(binds = UART1, resources = [X, Y])] - fn bar(c: bar::Context) { - // .. пользовательский код .. - } - - // .. -} -``` - -Фреймворк создает код, подобный этому: - -``` rust -fn init(c: init::Context) { - // .. пользовательский код .. -} - -fn foo(c: foo::Context) { - // .. пользовательский код .. -} - -fn bar(c: bar::Context) { - // .. пользовательский код .. -} - -// Публичное API -pub mod init { - pub struct Context<'a> { - pub resources: Resources<'a>, - // .. - } - - pub struct Resources<'a> { - pub Y: &'a mut bool, - } -} - -pub mod foo { - pub struct Context<'a> { - pub resources: Resources<'a>, - // .. - } - - pub struct Resources<'a> { - pub X: &'a mut u64, - } -} - -pub mod bar { - pub struct Context<'a> { - pub resources: Resources<'a>, - // .. - } - - pub struct Resources<'a> { - pub X: &'a mut u64, - pub Y: &'a mut bool, - } -} - -/// Детали реализации -mod app { - // все, что внутри этого модуля спрятано от пользовательского кода - - static mut X: u64 = 0; - static mut Y: bool = 0; - - // настоящая точка входа в программу - unsafe fn main() -> ! { - interrupt::disable(); - - // .. - - // вызов пользовательского кода; передача ссылок на статические переменные - init(init::Context { - resources: init::Resources { - X: &mut X, - }, - // .. - }); - - // .. - - interrupt::enable(); - - // .. - } - - // обработчик прерывания,с которым связан `foo` - #[no_mangle] - unsafe fn UART0() { - // вызов пользовательского кода; передача ссылок на статические переменные - foo(foo::Context { - resources: foo::Resources { - X: &mut X, - }, - // .. - }); - } - - // обработчик прерывания,с которым связан `bar` - #[no_mangle] - unsafe fn UART1() { - // вызов пользовательского кода; передача ссылок на статические переменные - bar(bar::Context { - resources: bar::Resources { - X: &mut X, - Y: &mut Y, - }, - // .. - }); - } -} -``` diff --git a/book/ru/src/internals/ceilings.md b/book/ru/src/internals/ceilings.md deleted file mode 100644 index df9901a..0000000 --- a/book/ru/src/internals/ceilings.md +++ /dev/null @@ -1,92 +0,0 @@ -# Анализ приоритетов - -*Поиск максимального приоритета* ресурса (*ceiling*) - поиск динамического -приоритета, который любая задача должна иметь, чтобы безопасно работать с -памятью ресурсов. Анализ приоритетов - относительно прост, -но критичен для безопасности памяти RTIC программ. - -Для расчета максимального приоритета ресурса мы должны сначала составить -список задач, имеющих доступ к ресурсу -- так как фреймворк RTIC -форсирует контроль доступа к ресурсам на этапе компиляции, он -также имеет доступ к этой информации на этапе компиляции. -Максимальный приоритет ресурса - просто наивысший логический приоритет -среди этих задач. - -`init` и `idle` не настоящие задачи, но у них есть доступ к ресурсам, -поэтому они должны учитываться при анализе приоритетов. -`idle` учитывается как задача, имеющая логический приоритет `0`, -в то время как `init` полностью исключается из анализа -- -причина этому в том, что `init` никогда не использует (не нуждается) критические -секции для доступа к статическим переменным. - -В предыдущем разделе мы показывали, что разделяемые ресусы -могут быть представлены уникальными ссылками (`&mut-`) или скрываться за -прокси в зависимости от того, имеет ли задача к ним доступ. -Какой из вариантов представляется задаче зависит от приоритета задачи и -максимального приоритета ресурса. -Если приоритет задачи такой же, как максимальный приоритет ресурса, тогда -задача получает уникальную ссылку (`&mut-`) на память ресурса, -в противном случае задача получает прокси -- это также касается `idle`. -`init` особеннвй: он всегда получает уникальные ссылки (`&mut-`) на ресурсы. - -Пример для иллюстрации анализа приоритетов: - -``` rust -#[rtic::app(device = ..)] -mod app { - struct Resources { - // доступен из `foo` (prio = 1) и `bar` (prio = 2) - // -> CEILING = 2 - #[init(0)] - x: u64, - - // доступен из `idle` (prio = 0) - // -> CEILING = 0 - #[init(0)] - y: u64, - } - - #[init(resources = [x])] - fn init(c: init::Context) { - // уникальная ссылка, потому что это `init` - let x: &mut u64 = c.resources.x; - - // уникальная ссылка, потому что это `init` - let y: &mut u64 = c.resources.y; - - // .. - } - - // PRIORITY = 0 - #[idle(resources = [y])] - fn idle(c: idle::Context) -> ! { - // уникальная ссылка, потому что - // приоритет (0) == максимальному приоритету ресурса (0) - let y: &'static mut u64 = c.resources.y; - - loop { - // .. - } - } - - #[interrupt(binds = UART0, priority = 1, resources = [x])] - fn foo(c: foo::Context) { - // прокси-ресурс, потому что - // приоритет задач (1) < максимальному приоритету ресурса (2) - let x: resources::x = c.resources.x; - - // .. - } - - #[interrupt(binds = UART1, priority = 2, resources = [x])] - fn bar(c: foo::Context) { - // уникальная ссылка, потому что - // приоритет задачи (2) == максимальному приоритету ресурса (2) - let x: &mut u64 = c.resources.x; - - // .. - } - - // .. -} -``` diff --git a/book/ru/src/internals/critical-sections.md b/book/ru/src/internals/critical-sections.md deleted file mode 100644 index e4c3d0a..0000000 --- a/book/ru/src/internals/critical-sections.md +++ /dev/null @@ -1,521 +0,0 @@ -# Критические секции - -Когда ресурсы (статические переменные) разделяются между двумя или более задачами, -которые выполняются с разными приоритетами, некая форма запрета изменений -необходима, чтобы изменять память без гонки данных. В RTIC мы используем -основанные на приоритетах критические секции, чтобы гарантировать запрет изменений -(см. [Протокол немедленного максимального приоритета][icpp]). - -[icpp]: https://en.wikipedia.org/wiki/Priority_ceiling_protocol - -Критическия секция состоит во временном увеличении *динамического* приоритета задачи. -Пока задача находится в критической секции, все другие задачи, которые могут -послать запрос переменной *не могут запуститься*. - -Насколько большим должен быть динамический приориткт, чтобы гарантировать запрет изменений -определенного ресурса? [Анализ приоритетов](ceilings.html) отвечает на этот вопрос -и будет обсужден в следующем разделе. В этом разделе мы сфокусируемся -на реализации критической секции. - -## Прокси-ресурсы - -Для упрощения, давайте взглянем на ресурс, разделяемый двумя задачами, -запускаемыми с разными приоритетами. Очевидно, что одна задача может вытеснить -другую; чтобы предотвратить гонку данных задача с *низким приоритетом* должна -использовать критическую секцию, когда необходимо изменять разделяемую память. -С другой стороны, высокоприоритетная задача может напрямую изменять -разделяемую память, поскольку не может быть вытеснена низкоприоритетной задачей. -Чтобы заставить использовать критическую секцию на задаче с низким приоритетом, -мы предоставляем *прокси-ресурсы*, в которых мы отдаем уникальную ссылку -(`&mut-`) высокоприоритетной задаче. - -Пример ниже показывает разные типы, передаваемые каждой задаче: - -``` rust -#[rtic::app(device = ..)] -mut app { - struct Resources { - #[init(0)] - x: u64, - } - - #[interrupt(binds = UART0, priority = 1, resources = [x])] - fn foo(c: foo::Context) { - // прокси-ресурс - let mut x: resources::x = c.resources.x; - - x.lock(|x: &mut u64| { - // критическая секция - *x += 1 - }); - } - - #[interrupt(binds = UART1, priority = 2, resources = [x])] - fn bar(c: bar::Context) { - let mut x: &mut u64 = c.resources.x; - - *x += 1; - } - - // .. -} -``` - -Теперь давайте посмотрим. как эти типы создаются фреймворком. - -``` rust -fn foo(c: foo::Context) { - // .. пользовательский код .. -} - -fn bar(c: bar::Context) { - // .. пользовательский код .. -} - -pub mod resources { - pub struct x { - // .. - } -} - -pub mod foo { - pub struct Resources { - pub x: resources::x, - } - - pub struct Context { - pub resources: Resources, - // .. - } -} - -pub mod bar { - pub struct Resources<'a> { - pub x: &'a mut u64, - } - - pub struct Context { - pub resources: Resources, - // .. - } -} - -mod app { - static mut x: u64 = 0; - - impl rtic::Mutex for resources::x { - type T = u64; - - fn lock<R>(&mut self, f: impl FnOnce(&mut u64) -> R) -> R { - // мы рассмотрим это детально позднее - } - } - - #[no_mangle] - unsafe fn UART0() { - foo(foo::Context { - resources: foo::Resources { - x: resources::x::new(/* .. */), - }, - // .. - }) - } - - #[no_mangle] - unsafe fn UART1() { - bar(bar::Context { - resources: bar::Resources { - x: &mut x, - }, - // .. - }) - } -} -``` - -## `lock` - -Теперь давайте рассмотрим непосредственно критическую секцию. В этом примере мы должны -увеличить динамический приоритет минимум до `2`, чтобы избежать гонки данных. -В архитектуре Cortex-M динамический приоритет можно изменить записью в регистр `BASEPRI`. - -Семантика регистра `BASEPRI` такова: - -- Запись `0` в `BASEPRI` отключает его функциональность. -- Запись ненулевого значения в `BASEPRI` изменяет уровень приоритета, требуемого для - вытеснения прерывания. Однако, это имеет эффект, только когда записываемое значение - *меньше*, чем уровень приоритета текущего контекста выполнения, но обращаем внимание, что - более низкий уровень аппаратного приоритета означает более высокий логический приоритет - -Таким образом, динамический приоритет в любой момент времени может быть рассчитан как - -``` rust -dynamic_priority = max(hw2logical(BASEPRI), hw2logical(static_priority)) -``` - -Где `static_priority` - приоритет, запрограммированный в NVIC для текущего прерывания, -или логический `0`, когда текущий контекств - это `idle`. - -В этом конкретном примере мы можем реализовать критическую секцию так: - -> **ПРИМЕЧАНИЕ:** это упрощенная реализация - -``` rust -impl rtic::Mutex for resources::x { - type T = u64; - - fn lock<R, F>(&mut self, f: F) -> R - where - F: FnOnce(&mut u64) -> R, - { - unsafe { - // начать критическую секцию: увеличить динамический приоритет до `2` - asm!("msr BASEPRI, 192" : : : "memory" : "volatile"); - - // запустить пользовательский код в критической секции - let r = f(&mut x); - - // окончить критическую секцию: восстановить динамический приоритет до статического значения (`1`) - asm!("msr BASEPRI, 0" : : : "memory" : "volatile"); - - r - } - } -} -``` - -В данном случае важно указать `"memory"` в блоке `asm!`. -Это не даст компилятору менять местами операции вокруг него. -Это важно, поскольку доступ к переменной `x` вне критической секции привело бы -к гонке данных. - -Важно отметить, что сигнатура метода `lock` препятствет его вложенным вызовам. -Это необходимо для безопасности памяти, так как вложенные вызовы привели бы -к созданию множественных уникальных ссылок (`&mut-`) на `x`, ломая правила заимствования Rust. -Смотреть ниже: - -``` rust -#[interrupt(binds = UART0, priority = 1, resources = [x])] -fn foo(c: foo::Context) { - // resource proxy - let mut res: resources::x = c.resources.x; - - res.lock(|x: &mut u64| { - res.lock(|alias: &mut u64| { - //~^ ошибка: `res` уже был заимствован уникально (`&mut-`) - // .. - }); - }); -} -``` - -## Вложенность - -Вложенные вызовы `lock` на *том же* ресурсе должны отклоняться компилятором -для безопасности памяти, однако вложенные вызовы `lock` на *разных* ресурсах - -нормальная операция. В этом случае мы хотим убедиться, что вложенные критические секции -никогда не приведут к понижению динамического приоритета, так как это плохо, -и мы хотим оптимизировать несколько записей в регистр `BASEPRI` и compiler fences. -Чтобы справиться с этим, мы проследим динамический приоритет задачи, с помощью стековой -переменной и используем ее, чтобы решить, записывать `BASEPRI` или нет. -На практике, стековая переменная будет соптимизирована компилятором, но все еще -будет предоставлять информацию компилятору. - -Рассмотрим такую программу: - -``` rust -#[rtic::app(device = ..)] -mod app { - struct Resources { - #[init(0)] - x: u64, - #[init(0)] - y: u64, - } - - #[init] - fn init() { - rtic::pend(Interrupt::UART0); - } - - #[interrupt(binds = UART0, priority = 1, resources = [x, y])] - fn foo(c: foo::Context) { - let mut x = c.resources.x; - let mut y = c.resources.y; - - y.lock(|y| { - *y += 1; - - *x.lock(|x| { - x += 1; - }); - - *y += 1; - }); - - // середина - - x.lock(|x| { - *x += 1; - - y.lock(|y| { - *y += 1; - }); - - *x += 1; - }) - } - - #[interrupt(binds = UART1, priority = 2, resources = [x])] - fn bar(c: foo::Context) { - // .. - } - - #[interrupt(binds = UART2, priority = 3, resources = [y])] - fn baz(c: foo::Context) { - // .. - } - - // .. -} -``` - -Код, сгенерированный фреймворком, выглядит так: - -``` rust -// опущено: пользовательский код - -pub mod resources { - pub struct x<'a> { - priority: &'a Cell<u8>, - } - - impl<'a> x<'a> { - pub unsafe fn new(priority: &'a Cell<u8>) -> Self { - x { priority } - } - - pub unsafe fn priority(&self) -> &Cell<u8> { - self.priority - } - } - - // repeat for `y` -} - -pub mod foo { - pub struct Context { - pub resources: Resources, - // .. - } - - pub struct Resources<'a> { - pub x: resources::x<'a>, - pub y: resources::y<'a>, - } -} - -mod app { - use cortex_m::register::basepri; - - #[no_mangle] - unsafe fn UART1() { - // статический приоритет прерывания (определено пользователем) - const PRIORITY: u8 = 2; - - // сделать снимок BASEPRI - let initial = basepri::read(); - - let priority = Cell::new(PRIORITY); - bar(bar::Context { - resources: bar::Resources::new(&priority), - // .. - }); - - // вернуть BASEPRI значение из снимка, сделанного ранее - basepri::write(initial); // то же, что и `asm!` блок, виденный ранее - } - - // так же для `UART0` / `foo` и `UART2` / `baz` - - impl<'a> rtic::Mutex for resources::x<'a> { - type T = u64; - - fn lock<R>(&mut self, f: impl FnOnce(&mut u64) -> R) -> R { - unsafe { - // определение максимального приоритет ресурса - const CEILING: u8 = 2; - - let current = self.priority().get(); - if current < CEILING { - // увеличить динамический приоритет - self.priority().set(CEILING); - basepri::write(logical2hw(CEILING)); - - let r = f(&mut y); - - // восстановить динамический приоритет - basepri::write(logical2hw(current)); - self.priority().set(current); - - r - } else { - // динамический приоритет достаточно высок - f(&mut y) - } - } - } - } - - // повторить для ресурса `y` -} -``` - -Наконец, компилятор оптимизирует функцию `foo` во что-то наподобие такого: - -``` rust -fn foo(c: foo::Context) { - // ПРИМЕЧАНИЕ: BASEPRI содержит значение `0` (значение сброса) в этот момент - - // увеличить динамический приоритет до `3` - unsafe { basepri::write(160) } - - // две операции над `y` объединены в одну - y += 2; - - // BASEPRI не изменяется для доступа к `x`, потому что динамический приоритет достаточно высок - x += 1; - - // уменьшить (восстановить) динамический приоритет до `1` - unsafe { basepri::write(224) } - - // средина - - // увеличить динамический приоритет до `2` - unsafe { basepri::write(192) } - - x += 1; - - // увеличить динамический приоритет до `3` - unsafe { basepri::write(160) } - - y += 1; - - // уменьшить (восстановить) динамический приоритет до `2` - unsafe { basepri::write(192) } - - // ПРИМЕЧАНИЕ: было вы правильно объединить эту операцию над `x` с предыдущей, но - // compiler fences грубые и предотвращают оптимизацию - x += 1; - - // уменьшить (восстановить) динамический приоритет до `1` - unsafe { basepri::write(224) } - - // ПРИМЕЧАНИЕ: BASEPRI содержит значение `224` в этот момент - // обработчик UART0 восстановит значение `0` перед завершением -} -``` - -## Инвариант BASEPRI - -Инвариант, который фреймворк RTIC должен сохранять в том, что значение -BASEPRI в начале обработчика *прерывания* должно быть таким же, как и при выходе -из него. BASEPRI может изменяться в процессе выполнения обработчика прерывания, -но но выполнения обработчика прерывания в начале и конце не должно вызвать -наблюдаемого изменения BASEPRI. - -Этот инвариант нужен, чтобы избежать уеличения динамического приоритета до значений, -при которых обработчик не сможет быть вытеснен. Лучше всего это видно на следующем примере: - -``` rust -#[rtic::app(device = ..)] -mod app { - struct Resources { - #[init(0)] - x: u64, - } - - #[init] - fn init() { - // `foo` запустится сразу после завершения `init` - rtic::pend(Interrupt::UART0); - } - - #[task(binds = UART0, priority = 1)] - fn foo() { - // BASEPRI равен `0` в этот момент; динамический приоритет равен `1` - - // `bar` вытеснит `foo` в этот момент - rtic::pend(Interrupt::UART1); - - // BASEPRI равен `192` в этот момент (из-за бага); динамический приоритет равен `2` - // эта функция возвращается в `idle` - } - - #[task(binds = UART1, priority = 2, resources = [x])] - fn bar() { - // BASEPRI равен `0` (динамический приоритет = 2) - - x.lock(|x| { - // BASEPRI увеличен до `160` (динамический приоритет = 3) - - // .. - }); - - // BASEPRI восстановлен до `192` (динамический приоритет = 2) - } - - #[idle] - fn idle() -> ! { - // BASEPRI равен `192` (из-за бага); динамический приоритет = 2 - - // это не оказывает эффекта, из-за значени BASEPRI - // задача `foo` не будет выполнена снова никогда - rtic::pend(Interrupt::UART0); - - loop { - // .. - } - } - - #[task(binds = UART2, priority = 3, resources = [x])] - fn baz() { - // .. - } - -} -``` - -ВАЖНО: давайте например мы *забудем* восстановить `BASEPRI` в `UART1` -- из-за -какого нибудь бага в генераторе кода RTIC. - -``` rust -// код, сгенерированный RTIC - -mod app { - // .. - - #[no_mangle] - unsafe fn UART1() { - // статический приоритет этого прерывания (определен пользователем) - const PRIORITY: u8 = 2; - - // сделать снимок BASEPRI - let initial = basepri::read(); - - let priority = Cell::new(PRIORITY); - bar(bar::Context { - resources: bar::Resources::new(&priority), - // .. - }); - - // БАГ: ЗАБЫЛИ восстановить BASEPRI на значение из снимка - basepri::write(initial); - } -} -``` - -В результате, `idle` запустится на динамическом приоритете `2` и на самом деле -система больше никогда не перейдет на динамический приоритет ниже `2`. -Это не компромис для безопасности памяти программы, а влияет на диспетчеризацию задач: -в этом конкретном случае задачи с приоритетом `1` никогда не получат шанс на запуск. diff --git a/book/ru/src/internals/interrupt-configuration.md b/book/ru/src/internals/interrupt-configuration.md deleted file mode 100644 index 5631b37..0000000 --- a/book/ru/src/internals/interrupt-configuration.md +++ /dev/null @@ -1,72 +0,0 @@ -# Настройка прерываний - -Прерывания - это основа работы программ на RTIC. Правильно настроить приоритеты -прерываний и убедиться, что они не изменяются во время выполнения обязательно -для безопасной работы программы. - -Фреймворк RTIC представляет приоритеты прерываний, как нечто, что должно быть определено -на этапе компиляции. Однако, статическая настройка должна быть зашита в соответствующие регистры -в процессе инициализации программы. Настройка прерываний происходит до запуска функции `init`. - -Этот пример дает представление о коде, запускаемом фреймворком RTIC: - -``` rust -#[rtic::app(device = lm3s6965)] -mod app { - #[init] - fn init(c: init::Context) { - // .. пользовательский код .. - } - - #[idle] - fn idle(c: idle::Context) -> ! { - // .. пользовательский код .. - } - - #[interrupt(binds = UART0, priority = 2)] - fn foo(c: foo::Context) { - // .. пользовательский код .. - } -} -``` - -Фреймворк генерирует точку входа в программу, которая выглядит примерно так: - -``` rust -// настоящая точку входа в программу -#[no_mangle] -unsafe fn main() -> ! { - // преобразует логические приоритеты в аппаратные / NVIC приоритеты - fn logical2hw(priority: u8) -> u8 { - use lm3s6965::NVIC_PRIO_BITS; - - // NVIC кодирует приоритеты верхними битами - // большие значения обозначают меньший приоритет - ((1 << NVIC_PRIORITY_BITS) - priority) << (8 - NVIC_PRIO_BITS) - } - - cortex_m::interrupt::disable(); - - let mut core = cortex_m::Peripheral::steal(); - - core.NVIC.enable(Interrupt::UART0); - - // значение, определенное пользователем - let uart0_prio = 2; - - // проверка на этапе компиляции, что определенный приоритет входит в поддерживаемый диапазон - let _ = [(); (1 << NVIC_PRIORITY_BITS) - (uart0_prio as usize)]; - - core.NVIC.set_priority(Interrupt::UART0, logical2hw(uart0_prio)); - - // вызов пользовательского кода - init(/* .. */); - - // .. - - cortex_m::interrupt::enable(); - - // вызов пользовательского кода - idle(/* .. */) -} -``` diff --git a/book/ru/src/internals/late-resources.md b/book/ru/src/internals/late-resources.md deleted file mode 100644 index 146c438..0000000 --- a/book/ru/src/internals/late-resources.md +++ /dev/null @@ -1,113 +0,0 @@ -# Поздние ресурсы - -Некоторые ресурсы инициализируются во время выполнения после завершения функции `init`. -Важно то, что ресурсы (статические переменные) полностью инициализируются -до того, как задачи смогут запуститься, вот почему они должны быть инициализированы -пока прерывания отключены. - -Ниже показан пример кода, генерируемого фреймворком для инициализации позних ресурсов. - -``` rust -#[rtic::app(device = ..)] -mod app { - struct Resources { - x: Thing, - } - - #[init] - fn init() -> init::LateResources { - // .. - - init::LateResources { - x: Thing::new(..), - } - } - - #[task(binds = UART0, resources = [x])] - fn foo(c: foo::Context) { - let x: &mut Thing = c.resources.x; - - x.frob(); - - // .. - } - - // .. -} -``` - -Код, генерируемы фреймворком выглядит примерно так: - -``` rust -fn init(c: init::Context) -> init::LateResources { - // .. пользовательский код .. -} - -fn foo(c: foo::Context) { - // .. пользовательский код .. -} - -// Public API -pub mod init { - pub struct LateResources { - pub x: Thing, - } - - // .. -} - -pub mod foo { - pub struct Resources<'a> { - pub x: &'a mut Thing, - } - - pub struct Context<'a> { - pub resources: Resources<'a>, - // .. - } -} - -/// Детали реализации -mod app { - // неинициализированная статическая переменная - static mut x: MaybeUninit<Thing> = MaybeUninit::uninit(); - - #[no_mangle] - unsafe fn main() -> ! { - cortex_m::interrupt::disable(); - - // .. - - let late = init(..); - - // инициализация поздних ресурсов - x.as_mut_ptr().write(late.x); - - cortex_m::interrupt::enable(); //~ compiler fence - - // исключения, прерывания и задачи могут вытеснить `main` в этой точке - - idle(..) - } - - #[no_mangle] - unsafe fn UART0() { - foo(foo::Context { - resources: foo::Resources { - // `x` уже инициализирована к этому моменту - x: &mut *x.as_mut_ptr(), - }, - // .. - }) - } -} -``` - -Важная деталь здесь то, что `interrupt::enable` ведет себя как *барьер компиляции*, который не дает компилятору переставить запись в `X` *после* -`interrupt::enable`. Если бы компилятор мог делать такие перестановки появились -бы гонки данных между этой записью и любой операцией `foo`, взаимодействующей с `X`. - -Архитектурам с более сложным конвейером инструкций нужен барьер памяти -(`atomic::fence`) вместо compiler fence для полной очистки операции записи -перед включением прерываний. Архитектура ARM Cortex-M не нуждается в барьере памяти -в одноядерном контексте. diff --git a/book/ru/src/internals/non-reentrancy.md b/book/ru/src/internals/non-reentrancy.md deleted file mode 100644 index 98eb00f..0000000 --- a/book/ru/src/internals/non-reentrancy.md +++ /dev/null @@ -1,79 +0,0 @@ -# Нереентерабельность - -В RTIC задачи-обработчики *не* могут использоваться повторно. Переиспользование задачи-обработчика -может сломать правила заимствования Rust и привести к *неопределенному поведению*. -Задача-обработчик теоретически может быть переиспользована одним из двух способов: программно или аппаратно. - -## Программно - -Чтобы переиспользовать задачу-обработчик программно, назначенный ей обработчик прерывания -должен быть вызван с помощью FFI (смотрите пример ниже). FFI требует `unsafe` код, -что уменьшает желание конечных пользователей вызывать обработчик прерывания. - -``` rust -#[rtic::app(device = ..)] -mod app { - #[init] - fn init(c: init::Context) { .. } - - #[interrupt(binds = UART0)] - fn foo(c: foo::Context) { - static mut X: u64 = 0; - - let x: &mut u64 = X; - - // .. - - //~ `bar` может вытеснить `foo` в этом месте - - // .. - } - - #[interrupt(binds = UART1, priority = 2)] - fn bar(c: foo::Context) { - extern "C" { - fn UART0(); - } - - // этот обработчик прерывания вызовет задачу-обработчик `foo`, что сломает - // ссылку на статическую переменную `X` - unsafe { UART0() } - } -} -``` - -Фреймворк RTIC должен сгенерировать код обработчика прерывания, который вызывает -определенные пользователем задачи-обработчики. Мы аккуратны в том, чтобы обеспечить -невозможность вызова этих обработчиков из пользовательского кода. - -Пример выше раскрывается в: - -``` rust -fn foo(c: foo::Context) { - // .. пользовательский код .. -} - -fn bar(c: bar::Context) { - // .. пользовательский код .. -} - -mod app { - // все в этом блоке невидимо для пользовательского кода - - #[no_mangle] - unsafe fn USART0() { - foo(..); - } - - #[no_mangle] - unsafe fn USART1() { - bar(..); - } -} -``` - -## Аппаратно - -Обработчик прерывания также может быть вызван без программного вмешательства. -Это может произойти, если один обработчик будет назначен двум или более прерываниям -в векторе прерываний, но синтаксиса для такого рода функциональности в RTIC нет. diff --git a/book/ru/src/internals/tasks.md b/book/ru/src/internals/tasks.md deleted file mode 100644 index 01380ba..0000000 --- a/book/ru/src/internals/tasks.md +++ /dev/null @@ -1,399 +0,0 @@ -# Программные задачи - -RTIC поддерживает программные и аппаратные задачи. Каждая аппаратная задача -назначается на отдельный обработчик прерывания. С другой стороны, несколько -программных задач могут управляться одним обработчиком прерывания -- -это сделано, чтобы минимизировать количество обработчиков прерывания, -используемых фреймворком. - -Фреймворк группирует задачи, для которых вызывается `spawn` по уровню приоритета, -и генерирует один *диспетчер задачи* для каждого уровня приоритета. -Каждый диспетчер запускается на отдельном обработчике прерывания, -а приоритет этого обработчика прерывания устанавливается так, чтобы соответствовать -уровню приоритета задач, управляемых диспетчером. - -Каждый диспетчер задач хранит *очередь* задач, *готовых* к выполнению; -эта очередь называется *очередью готовности*. Вызов программной задачи состоит -из добавления записи в очередь и вызова прерывания, который запускает соответствующий -диспетчер задач. Каждая запись в эту очередь содержит метку (`enum`), -которая идентифицирует задачу, которую необходимо выполнить и *указатель* -на сообщение, передаваемое задаче. - -Очередь готовности - неблокируемая очередь типа SPSC (один производитель - один потребитель). -Диспетчер задач владеет конечным потребителем в очереди; конечным производителем -считается ресурс, за который соперничают задачи, которые могут вызывать (`spawn`) другие задачи. - -## Дисметчер задач - -Давайте сначала глянем на код, генерируемый фреймворком для диспетчеризации задач. -Рассмотрим пример: - -``` rust -#[rtic::app(device = ..)] -mod app { - // .. - - #[interrupt(binds = UART0, priority = 2, spawn = [bar, baz])] - fn foo(c: foo::Context) { - foo.spawn.bar().ok(); - - foo.spawn.baz(42).ok(); - } - - #[task(capacity = 2, priority = 1)] - fn bar(c: bar::Context) { - // .. - } - - #[task(capacity = 2, priority = 1, resources = [X])] - fn baz(c: baz::Context, input: i32) { - // .. - } - - extern "C" { - fn UART1(); - } -} -``` - -Фреймворк создает следующий диспетчер задач, состоящий из обработчика прерывания и очереди готовности: - -``` rust -fn bar(c: bar::Context) { - // .. пользовательский код .. -} - -mod app { - use heapless::spsc::Queue; - use cortex_m::register::basepri; - - struct Ready<T> { - task: T, - // .. - } - - /// вызываемые (`spawn`) задачи, выполняющиеся с уровнем приоритета `1` - enum T1 { - bar, - baz, - } - - // очередь готовности диспетчера задач - // `5-1=4` - представляет собой емкость этой очереди - static mut RQ1: Queue<Ready<T1>, 5> = Queue::new(); - - // обработчик прерывания, выбранный для диспетчеризации задач с приоритетом `1` - #[no_mangle] - unsafe UART1() { - // приоритет данного обработчика прерывания - const PRIORITY: u8 = 1; - - let snapshot = basepri::read(); - - while let Some(ready) = RQ1.split().1.dequeue() { - match ready.task { - T1::bar => { - // **ПРИМЕЧАНИЕ** упрощенная реализация - - // используется для отслеживания динамического приоритета - let priority = Cell::new(PRIORITY); - - // вызов пользовательского кода - bar(bar::Context::new(&priority)); - } - - T1::baz => { - // рассмотрим `baz` позднее - } - } - } - - // инвариант BASEPRI - basepri::write(snapshot); - } -} -``` - -## Вызов задачи - -Интерфейс `spawn` предоставлен пользователю как методы структурв `Spawn`. -Для каждой задачи существует своя структура `Spawn`. - -Код `Spawn`, генерируемый фреймворком для предыдущего примера выглядит так: - -``` rust -mod foo { - // .. - - pub struct Context<'a> { - pub spawn: Spawn<'a>, - // .. - } - - pub struct Spawn<'a> { - // отслеживает динамический приоритет задачи - priority: &'a Cell<u8>, - } - - impl<'a> Spawn<'a> { - // `unsafe` и спрятано, поскольку сы не хотит, чтобы пользователь вмешивался сюда - #[doc(hidden)] - pub unsafe fn priority(&self) -> &Cell<u8> { - self.priority - } - } -} - -mod app { - // .. - - // Поиск максимального приоритета для конечного производителя `RQ1` - const RQ1_CEILING: u8 = 2; - - // используется, чтобы отследить сколько еще сообщений для `bar` можно поставить в очередь - // `3-1=2` - емкость задачи `bar`; максимум 2 экземпляра можно добавить в очередь - // эта очередь заполняется фреймворком до того, как запустится `init` - static mut bar_FQ: Queue<(), 3> = Queue::new(); - - // Поиск максимального приоритета для конечного потребителя `bar_FQ` - const bar_FQ_CEILING: u8 = 2; - - // приоритет-ориентированная критическая секция - // - // это запускае переданное замыкание `f` с динамическим приоритетом не ниже - // `ceiling` - fn lock(priority: &Cell<u8>, ceiling: u8, f: impl FnOnce()) { - // .. - } - - impl<'a> foo::Spawn<'a> { - /// Вызывает задачу `bar` - pub fn bar(&self) -> Result<(), ()> { - unsafe { - match lock(self.priority(), bar_FQ_CEILING, || { - bar_FQ.split().1.dequeue() - }) { - Some(()) => { - lock(self.priority(), RQ1_CEILING, || { - // помещаем задачу в очередь готовности - RQ1.split().1.enqueue_unchecked(Ready { - task: T1::bar, - // .. - }) - }); - - // вызываем прерывание, которое запускает диспетчер задач - rtic::pend(Interrupt::UART0); - } - - None => { - // достигнута максимальная вместительность; неудачный вызов - Err(()) - } - } - } - } - } -} -``` - -Использование `bar_FQ` для ограничения числа задач `bar`, которые могут бы вызваны, -может показаться искусственным, но это будет иметь больше смысла, когда мы поговорим -о вместительности задач. - -## Сообщения - -Мы пропустили, как на самом деле работает передача сообщений, поэтому давайте вернемся -к реализации `spawn`, но в этот раз для задачи `baz`, которая принимает сообщение типа `u64`. - -``` rust -fn baz(c: baz::Context, input: u64) { - // .. пользовательский код .. -} - -mod app { - // .. - - // Теперь мы покажем все содержимое структуры `Ready` - struct Ready { - task: Task, - // индекс сообщения; используется с буфером `INPUTS` - index: u8, - } - - // память, зарезервированная для хранения сообщений, переданных `baz` - static mut baz_INPUTS: [MaybeUninit<u64>; 2] = - [MaybeUninit::uninit(), MaybeUninit::uninit()]; - - // список свободной памяти: используется для отслеживания свободных ячеек в массиве `baz_INPUTS` - // эта очередь инициализируется значениями `0` и `1` перед запуском `init` - static mut baz_FQ: Queue<u8, 3> = Queue::new(); - - // Поиск максимального приоритета для конечного потребителя `baz_FQ` - const baz_FQ_CEILING: u8 = 2; - - impl<'a> foo::Spawn<'a> { - /// Spawns the `baz` task - pub fn baz(&self, message: u64) -> Result<(), u64> { - unsafe { - match lock(self.priority(), baz_FQ_CEILING, || { - baz_FQ.split().1.dequeue() - }) { - Some(index) => { - // ПРИМЕЧАНИЕ: `index` - владеющий указатель на ячейку буфера - baz_INPUTS[index as usize].write(message); - - lock(self.priority(), RQ1_CEILING, || { - // помещаем задачу в очередь готовности - RQ1.split().1.enqueue_unchecked(Ready { - task: T1::baz, - index, - }); - }); - - // вызываем прерывание, которое запускает диспетчер задач - rtic::pend(Interrupt::UART0); - } - - None => { - // достигнута максимальная вместительность; неудачный вызов - Err(message) - } - } - } - } - } -} -``` - -А теперь давайте взглянем на настоящую реализацию диспетчера задач: - -``` rust -mod app { - // .. - - #[no_mangle] - unsafe UART1() { - const PRIORITY: u8 = 1; - - let snapshot = basepri::read(); - - while let Some(ready) = RQ1.split().1.dequeue() { - match ready.task { - Task::baz => { - // ПРИМЕЧАНИЕ: `index` - владеющий указатель на ячейку буфера - let input = baz_INPUTS[ready.index as usize].read(); - - // сообщение было прочитано, поэтому можно вернуть ячейку обратно - // чтобы освободить очередь - // (диспетчер задач имеет эксклюзивный доступ к - // последнему элементу очереди) - baz_FQ.split().0.enqueue_unchecked(ready.index); - - let priority = Cell::new(PRIORITY); - baz(baz::Context::new(&priority), input) - } - - Task::bar => { - // выглядит также как ветка для `baz` - } - - } - } - - // инвариант BASEPRI - basepri::write(snapshot); - } -} -``` - -`INPUTS` плюс `FQ`, список свободной памяти равняется эффективному пулу памяти. -Однако, вместо того *список свободной памяти* (связный список), чтобы отслеживать -пустые ячейки в буфере `INPUTS`, мы используем SPSC очередь; это позволяет нам -уменьшить количество критических секций. -На самом деле благодаря этому выбору код диспетчера задач неблокируемый. - -## Вместительность очереди - -Фреймворк RTIC использует несколько очередей, такие как очереди готовности и -списки свободной памяти. Когда список свободной памяти пуст, попытка выызова -(`spawn`) задачи приводит к ошибке; это условие проверяется во время выполнения. -Не все операции, произвожимые фреймворком с этими очередями проверяют их -пустоту / наличие места. Например, возвращение ячейки списка свободной памяти -(см. диспетчер задач) не проверяется, поскольку есть фиксированное количество -таких ячеек циркулирующих в системе, равное вместительности списка свободной памяти. -Аналогично, добавление записи в очередь готовности (см. `Spawn`) не проверяется, -потому что вместительность очереди выбрана фреймворком. - -Пользователи могут задавать вместительность программных задач; -эта вместительность - максимальное количество сообщений, которые можно -послать указанной задаче от задачи более высоким приоритетом до того, -как `spawn` вернет ошибку. Эта определяемая пользователем иместительность - -размер списка свободной памяти задачи (например `foo_FQ`), а также размер массива, -содержащего входные данные для задачи (например `foo_INPUTS`). - -Вместительность очереди готовности (например `RQ1`) вычисляется как *сумма* -вместительностей всех задач, управляемх диспетчером; эта сумма является также -количеством сообщений, которые очередь может хранить в худшем сценарии, когда -все возможные сообщения были посланы до того, как диспетчер задач получает шанс -на запуск. По этой причине получение ячейки списка свободной памяти при любой -операции `spawn` приводит к тому, что очередь готовности еще не заполнена, -поэтому вставка записи в список готовности может пропустить проверку "полна ли очередь?". - -В нашем запущенном примере задача `bar` не принимает входных данных, поэтому -мы можем пропустить проверку как `bar_INPUTS`, так и `bar_FQ` и позволить -пользователю посылать неограниченное число сообщений задаче, но если бы мы сделали это, -было бы невозможно превысить вместительность для `RQ1`, что позволяет нам -пропустить проверку "полна ли очередь?" при вызове задачи `baz`. -В разделе о [очереди таймера](timer-queue.html) мы увидим как -список свободной памяти используется для задач без входных данных. - -## Анализ приоритетов - -Очереди, использемые внутри интерфейса `spawn`, рассматриваются как обычные ресурсы -и для них тоже работает анализ приоритетов. Важно заметить, что это SPSC очереди, -и только один из конечных элементов становится ресурсом; другим конечным элементом -владеет диспетчер задач. - -Рассмотрим следующий пример: - -``` rust -#[rtic::app(device = ..)] -mod app { - #[idle(spawn = [foo, bar])] - fn idle(c: idle::Context) -> ! { - // .. - } - - #[task] - fn foo(c: foo::Context) { - // .. - } - - #[task] - fn bar(c: bar::Context) { - // .. - } - - #[task(priority = 2, spawn = [foo])] - fn baz(c: baz::Context) { - // .. - } - - #[task(priority = 3, spawn = [bar])] - fn quux(c: quux::Context) { - // .. - } -} -``` - -Вот как будет проходить анализ приоритетов: - -- `idle` (prio = 0) и `baz` (prio = 2) соревнуются за конечный потребитель - `foo_FQ`; это приводит к максимальному приоритету `2`. - -- `idle` (prio = 0) и `quux` (prio = 3) соревнуются за конечный потребитель - `bar_FQ`; это приводит к максимальному приоритету `3`. - -- `idle` (prio = 0), `baz` (prio = 2) и `quux` (prio = 3) соревнуются за - конечный производитель `RQ1`; это приводит к максимальному приоритету `3` diff --git a/book/ru/src/internals/timer-queue.md b/book/ru/src/internals/timer-queue.md deleted file mode 100644 index 9f2dc37..0000000 --- a/book/ru/src/internals/timer-queue.md +++ /dev/null @@ -1,372 +0,0 @@ -# Очередь таймера - -Функциональность очередь таймера позволяет пользователю планировать задачи на запуск -в опреленное время в будущем. Неудивительно, что эта функция также реализуется с помощью очереди: -очередь приоритетов, где запланированные задачи сортируются в порядке аозрастания времени. -Эта функция требует таймер, способный устанавливать прерывания истечения времени. -Таймер используется для пуска прерывания, когда настает запланированное время задачи; -в этот момент задача удаляется из очереди таймера и помещается в очередь готовности. - -Давайте посмотрим, как это реализовано в коде. Рассмотрим следующую программу: - -``` rust -#[rtic::app(device = ..)] -mod app { - // .. - - #[task(capacity = 2, schedule = [foo])] - fn foo(c: foo::Context, x: u32) { - // запланировать задачу на повторный запуск через 1 млн. тактов - c.schedule.foo(c.scheduled + Duration::cycles(1_000_000), x + 1).ok(); - } - - extern "C" { - fn UART0(); - } -} -``` - -## `schedule` - -Давайте сначала взглянем на интерфейс `schedule`. - -``` rust -mod foo { - pub struct Schedule<'a> { - priority: &'a Cell<u8>, - } - - impl<'a> Schedule<'a> { - // `unsafe` и спрятано, потому что мы не хотим, чтобы пользовать сюда вмешивался - #[doc(hidden)] - pub unsafe fn priority(&self) -> &Cell<u8> { - self.priority - } - } -} - -mod app { - type Instant = <path::to::user::monotonic::timer as rtic::Monotonic>::Instant; - - // все задачи, которые могут быть запланированы (`schedule`) - enum T { - foo, - } - - struct NotReady { - index: u8, - instant: Instant, - task: T, - } - - // Очередь таймера - двоичная куча (min-heap) задач `NotReady` - static mut TQ: TimerQueue<U2> = ..; - const TQ_CEILING: u8 = 1; - - static mut foo_FQ: Queue<u8, U2> = Queue::new(); - const foo_FQ_CEILING: u8 = 1; - - static mut foo_INPUTS: [MaybeUninit<u32>; 2] = - [MaybeUninit::uninit(), MaybeUninit::uninit()]; - - static mut foo_INSTANTS: [MaybeUninit<Instant>; 2] = - [MaybeUninit::uninit(), MaybeUninit::uninit()]; - - impl<'a> foo::Schedule<'a> { - fn foo(&self, instant: Instant, input: u32) -> Result<(), u32> { - unsafe { - let priority = self.priority(); - if let Some(index) = lock(priority, foo_FQ_CEILING, || { - foo_FQ.split().1.dequeue() - }) { - // `index` - владеющий укачатель на ячейки в этих буферах - foo_INSTANTS[index as usize].write(instant); - foo_INPUTS[index as usize].write(input); - - let nr = NotReady { - index, - instant, - task: T::foo, - }; - - lock(priority, TQ_CEILING, || { - TQ.enqueue_unchecked(nr); - }); - } else { - // Не осталось места, чтобы разместить входные данные / instant - Err(input) - } - } - } - } -} -``` - -Это очень похоже на реализацию `Spawn`. На самом деле одни и те же буфер -`INPUTS` и список сободной памяти (`FQ`) используются совместно интерфейсами -`spawn` и `schedule`. Главное отличие между ними в том, что `schedule` также -размещает `Instant`, момент на который задача запланирована на запуск, -в отдельном буфере (`foo_INSTANTS` в нашем случае). - -`TimerQueue::enqueue_unchecked` делает немного больше работы, чем -просто добавление записи в min-heap: он также вызывает прерывание -системного таймера (`SysTick`), если новая запись оказывается первой в очереди. - -## Системный таймер - -Прерывание системного таймера (`SysTick`) заботится о двух вещах: -передаче задач, которых становятся готовыми из очереди таймера в очередь готовности -и установке прерывания истечения времени, когда наступит запланированное -время следующей задачи. - -Давайте посмотрим на соответствующий код. - -``` rust -mod app { - #[no_mangle] - fn SysTick() { - const PRIORITY: u8 = 1; - - let priority = &Cell::new(PRIORITY); - while let Some(ready) = lock(priority, TQ_CEILING, || TQ.dequeue()) { - match ready.task { - T::foo => { - // переместить эту задачу в очередь готовности `RQ1` - lock(priority, RQ1_CEILING, || { - RQ1.split().0.enqueue_unchecked(Ready { - task: T1::foo, - index: ready.index, - }) - }); - - // вызвать диспетчер задач - rtic::pend(Interrupt::UART0); - } - } - } - } -} -``` - -Выглядит похоже на диспетчер задач, за исключением того, что -вместо запуска готовой задачи, она лишь переносится в очередь готовности, -что ведет к ее запуску с нужным приоритетом. - -`TimerQueue::dequeue` установит новое прерывание истечения времени, если вернет -`None`. Он сязан с `TimerQueue::enqueue_unchecked`, который вызывает это -прерывание; на самом деле, `enqueue_unchecked` передает задачу установки -нового прерывание истечения времени обработчику `SysTick`. - -## Точность и диапазон `cyccnt::Instant` и `cyccnt::Duration` - -RTIC предоставляет реализацию `Monotonic`, основанную на счетчике тактов `DWT` (Data Watchpoint and Trace). `Instant::now` возвращает снимок таймера; эти снимки -DWT (`Instant`ы) используются для сортировки записей в очереди таймера. -Счетчик тактов - 32-битный счетчик, работающий на частоте ядра. -Этот счетчик обнуляется каждые `(1 << 32)` тактов; у нас нет прерывания, -ассоциированног с этим счетчиком, поэтому ничего ужасного не случится, -когда он пройдет оборот. - -Чтобы упорядочить `Instant`ы в очереди, нам нужно сравнить 32-битные целые. -Чтобы учесть обороты, мы используем разницу между двумя `Instant`ами, `a - b`, -и рассматриваем результат как 32-битное знаковое целое. -Если результат меньше нуля, значит `b` более поздний `Instant`; -если результат больше нуля, значит `b` более ранний `Instant`. -Это значит, что планирование задачи на `Instant`, который на `(1 << 31) - 1` тактов -больше, чем запланированное время (`Instant`) первой (самой ранней) записи -в очереди приведет к тому, что задача будет помещена в неправильное -место в очереди. У нас есть несколько debug assertions в коде, чтобы -предотвратить эту пользовательскую ошибку, но этого нельзя избежать, -поскольку пользователь может написать -`(instant + duration_a) + duration_b` и переполнить `Instant`. - -Системный таймер, `SysTick` - 24-битный счетчик также работающий -на частоте процессора. Когда следующая планируемая задача более, чем в -`1 << 24` тактов в будущем, прерывание устанавливается на время в пределах -`1 << 24` тактов. Этот процесс может происходить несколько раз, пока -следующая запланированная задача не будет в диапазоне счетчика `SysTick`. - -Подведем итог, оба `Instant` и `Duration` имеют разрешение 1 такт ядра, и `Duration` эффективно имеет (полуоткрытый) диапазон `0..(1 << 31)` (не включая максимум) тактов ядра. - -## Вместительность очереди - -Вместительность очереди таймера рассчитывается как сумма вместительностей -всех планируемых (`schedule`) задач. Как и в случае очередей готовности, -это значит, что как только мы затребовали пустую ячейку в буфере `INPUTS`, -мы гарантируем, что способны передать задачу в очередь таймера; -это позволяет нам опустить проверки времени выполнения. - -## Приоритет системного таймера - -Приориет системного таймера не может быть установлен пользователем; -он выбирается фреймворком. -Чтобы убедиться, что низкоприоритетные задачи не препятствуют -запуску высокоприоритетных, мы выбираем приоритет системного таймера -максимальным из всех планируемых задач. - -Чтобы понять, почему это нужно, рассмотрим вариант, когда две ранее -запланированные задачи с приоритетами `2` и `3` становятся готовыми в -примерно одинаковое время, но низкоприоритетная задача перемещается -в очередь готовности первой. -Если бы приоритет системного таймера был, например, равен `1`, -тогда после перемещения низкоприоритетной (`2`) задачи, это бы привело -к завершению (из-за того, что приоритет выше приоритета системного таймера) -ожидания выполнения высокоприоритетной задачи (`3`). -Чтобы избежать такого сценария, системный таймер должен работать на -приоритете, равном наивысшему из приоритетов планируемых задач; -в этом примере это `3`. - -## Анализ приоритетов - -Очередь таймера - это ресурс, разделяемый всеми задачами, которые могут -планировать (`schedule`) задачи и обработчиком `SysTick`. -Также интерфейс `schedule` соперничает с интерфейсом `spawn` -за списки свободной памяти. Все это должно уситываться в анализе приоритетов. - -Чтобы проиллюстрировать, рассмотрим следующий пример: - -``` rust -#[rtic::app(device = ..)] -mod app { - #[task(priority = 3, spawn = [baz])] - fn foo(c: foo::Context) { - // .. - } - - #[task(priority = 2, schedule = [foo, baz])] - fn bar(c: bar::Context) { - // .. - } - - #[task(priority = 1)] - fn baz(c: baz::Context) { - // .. - } -} -``` - -Анализ приоритетов происходил бы вот так: - -- `foo` (prio = 3) и `baz` (prio = 1) планируемые задачи, поэтому - `SysTick` должен работать на максимальном из этих двух приоритетов, т.е. `3`. - -- `foo::Spawn` (prio = 3) и `bar::Schedule` (prio = 2) соперничают за - конечный потребитель `baz_FQ`; это приводит к максимальному приоритету `3`. - -- `bar::Schedule` (prio = 2) имеет экслюзивный доступ к - конечному потребителю `foo_FQ`; поэтому максимальный приоритет `foo_FQ` фактически `2`. - -- `SysTick` (prio = 3) и `bar::Schedule` (prio = 2) соперничают за - очередь таймера `TQ`; это приводит к максимальному приоритету `3`. - -- `SysTick` (prio = 3) и `foo::Spawn` (prio = 3) оба имеют неблокируемый - доступ к очереди готовности `RQ3`, что хранит записи `foo`; - поэтому максимальный приоритет `RQ3` фактически `3`. - -- `SysTick` имеет эксклюзивный доступ к очереди готовности `RQ1`, - которая хранит записи `baz`; поэтому максимальный приоритет `RQ1` фактически `3`. - -## Изменения в реализации `spawn` - -Когда интерфейс `schedule` используется, реализация `spawn` немного -изменяется, чтобы отслеживать baseline задач. Как можете видеть в -реализации `schedule` есть буферы `INSTANTS`, используемые, чтобы -хранить время, в которое задача была запланирована навыполнение; -этот `Instant` читается диспетчером задач и передается в пользовательский -код, как часть контекста задачи. - -``` rust -mod app { - // .. - - #[no_mangle] - unsafe UART1() { - const PRIORITY: u8 = 1; - - let snapshot = basepri::read(); - - while let Some(ready) = RQ1.split().1.dequeue() { - match ready.task { - Task::baz => { - let input = baz_INPUTS[ready.index as usize].read(); - // ADDED - let instant = baz_INSTANTS[ready.index as usize].read(); - - baz_FQ.split().0.enqueue_unchecked(ready.index); - - let priority = Cell::new(PRIORITY); - // ИЗМЕНЕНО instant передан как часть контекста задачи - baz(baz::Context::new(&priority, instant), input) - } - - Task::bar => { - // выглядит также как ветка для `baz` - } - - } - } - - // инвариант BASEPRI - basepri::write(snapshot); - } -} -``` - -И наоборот, реализации `spawn` нужно писать значение в буфер `INSTANTS`. -Записанное значение располагается в структуре `Spawn` и это либо -время `start` аппаратной задачи, либо время `scheduled` программной задачи. - -``` rust -mod foo { - // .. - - pub struct Spawn<'a> { - priority: &'a Cell<u8>, - // ADDED - instant: Instant, - } - - impl<'a> Spawn<'a> { - pub unsafe fn priority(&self) -> &Cell<u8> { - &self.priority - } - - // ADDED - pub unsafe fn instant(&self) -> Instant { - self.instant - } - } -} - -mod app { - impl<'a> foo::Spawn<'a> { - /// Spawns the `baz` task - pub fn baz(&self, message: u64) -> Result<(), u64> { - unsafe { - match lock(self.priority(), baz_FQ_CEILING, || { - baz_FQ.split().1.dequeue() - }) { - Some(index) => { - baz_INPUTS[index as usize].write(message); - // ADDED - baz_INSTANTS[index as usize].write(self.instant()); - - lock(self.priority(), RQ1_CEILING, || { - RQ1.split().1.enqueue_unchecked(Ready { - task: Task::foo, - index, - }); - }); - - rtic::pend(Interrupt::UART0); - } - - None => { - // достигнута максимальная вместительность; неудачный вызов - Err(message) - } - } - } - } - } -} -``` diff --git a/book/ru/src/migration.md b/book/ru/src/migration.md deleted file mode 100644 index b7f2fa1..0000000 --- a/book/ru/src/migration.md +++ /dev/null @@ -1,4 +0,0 @@ -# Инструкции по миграции - -В этом разделе описывается как мигрировать между различными версиями RTIC. -Можно также использовать для сравнения версий. diff --git a/book/ru/src/migration/migration_rtic.md b/book/ru/src/migration/migration_rtic.md deleted file mode 100644 index 28813fe..0000000 --- a/book/ru/src/migration/migration_rtic.md +++ /dev/null @@ -1,48 +0,0 @@ -# Миграция с RTFM на RTIC - -В этом разделе описано, как обновить приложение, написанное на RTFM v0.5.x на RTIC той же версии. -Это необходимо из-за переименования фреймворка в соответствии с [RFC #33]. - -**Примечание:** Между RTFM v0.5.3 и RTIC v0.5.3 нет разниц в коде, это исключительно изменение имен. - -[RFC #33]: https://github.com/rtic-rs/rfcs/pull/33 - -## `Cargo.toml` - -Во-первых, зависимость `cortex-m-rtfm` должна быть изменена на `cortex-m-rtic`. - -``` toml -[dependencies] -# измените это -cortex-m-rtfm = "0.5.3" - -# на это -cortex-m-rtic = "0.5.3" -``` - -## Изменения в коде - -Единственное изменение в коде, которое нужно сделать - поменять все ссылки на `rtfm`, -чтобы они указывали на `rtic`: - -``` rust -// -// Измените это -// - -#[rtfm::app(/* .. */, monotonic = rtfm::cyccnt::CYCCNT)] -const APP: () = { - // ... - -}; - -// -// На это -// - -#[rtic::app(/* .. */, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { - // ... - -}; -``` diff --git a/book/ru/src/migration/migration_v4.md b/book/ru/src/migration/migration_v4.md deleted file mode 100644 index 0ff8039..0000000 --- a/book/ru/src/migration/migration_v4.md +++ /dev/null @@ -1,230 +0,0 @@ -# Миграция с v0.4.x на v0.5.0 - -Этот раздел описывает как обновить программы, написанные на RTIC v0.4.x -на версию v0.5.0 фреймворка. - -## `Cargo.toml` - -Во-первых, нужно обновить версию зависимости `cortex-m-rtic` до -`"0.5.0"`. Опцию `timer-queue` нужно удалить. - -``` toml -[dependencies.cortex-m-rtic] -# изменить это -version = "0.4.3" - -# на это -version = "0.5.0" - -# и удалить Cargo feature -features = ["timer-queue"] -# ^^^^^^^^^^^^^ -``` - -## Аргумент `Context` - -Все функции внутри элемента `#[rtic::app]` должны принимать первым аргументом -структуру `Context`. Этот тип `Context` будет содержать переменные, которые были магически -инъецированы в область видимости функции версией v0.4.x фреймворка: -`resources`, `spawn`, `schedule` -- эти переменные станут полями структуры `Context`. -Каждая функция элемента `#[rtic::app]` получит отдельный тип `Context`. - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - // change this - #[task(resources = [x], spawn = [a], schedule = [b])] - fn foo() { - resources.x.lock(|x| /* .. */); - spawn.a(message); - schedule.b(baseline); - } - - // into this - #[task(resources = [x], spawn = [a], schedule = [b])] - fn foo(mut cx: foo::Context) { - // ^^^^^^^^^^^^^^^^^^^^ - - cx.resources.x.lock(|x| /* .. */); - // ^^^ - - cx.spawn.a(message); - // ^^^ - - cx.schedule.b(message, baseline); - // ^^^ - } - - // change this - #[init] - fn init() { - // .. - } - - // into this - #[init] - fn init(cx: init::Context) { - // ^^^^^^^^^^^^^^^^^ - // .. - } - - // .. -}; -``` - -## Ресурсы - -Синтаксис, используемый, для определения ресурсов был изменен с переменных `static mut` -на структуру `Resources`. - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - // измените это - static mut X: u32 = 0; - static mut Y: u32 = (); // поздний ресурс - - // на это - struct Resources { - #[init(0)] // <- начальное значение - X: u32, // ПРИМЕЧАНИЕ: мы предлагаем изменить стиль именования на `snake_case` - - Y: u32, // поздний ресурс - } - - // .. -}; -``` - -## Периферия устройства - -Если ваша программа получала доступ к периферии в `#[init]` через -переменну `device`, вам нужно будет добавить `peripherals = true` в атрибут -`#[rtic::app]`, чтобы и дальше получать доступ к периферии через поле `device` структуры `init::Context`. - -Измените это: - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - #[init] - fn init() { - device.SOME_PERIPHERAL.write(something); - } - - // .. -}; -``` - -На это: - -``` rust -#[rtic::app(/* .. */, peripherals = true)] -// ^^^^^^^^^^^^^^^^^^ -const APP: () = { - #[init] - fn init(cx: init::Context) { - // ^^^^^^^^^^^^^^^^^ - cx.device.SOME_PERIPHERAL.write(something); - // ^^^ - } - - // .. -}; -``` - -## `#[interrupt]` и `#[exception]` - -Атрибуты `#[interrupt]` и `#[exception]` были удалены. Чтобы определять аппаратные задачи в v0.5.x -используте атрибут `#[task]` с аргументом `binds`. - -Измените это: - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - // аппаратные задачи - #[exception] - fn SVCall() { /* .. */ } - - #[interrupt] - fn UART0() { /* .. */ } - - // программные задачи - #[task] - fn foo() { /* .. */ } - - // .. -}; -``` - -На это: - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - #[task(binds = SVCall)] - // ^^^^^^^^^^^^^^ - fn svcall(cx: svcall::Context) { /* .. */ } - // ^^^^^^ мы предлагаем использовать `snake_case` имя здесь - - #[task(binds = UART0)] - // ^^^^^^^^^^^^^ - fn uart0(cx: uart0::Context) { /* .. */ } - - #[task] - fn foo(cx: foo::Context) { /* .. */ } - - // .. -}; -``` - -## `schedule` - -Интерфейс `schedule` больше не требует cargo опции `timer-queue`, которая была удалена. -Чтобы использовать интерфес `schedule`, нужно сначала определить -монотонный тамер, который будет использоваьт среды выполнения, с помощью аргумента `monotonic` -атрибута `#[rtic::app]`. Чтобы продолжить использовать счетчик циклов -(CYCCNT) в качестве монотонного таймера, как было в версии v0.4.x, добавьте -аргумент `monotonic = rtic::cyccnt::CYCCNT` в атрибут `#[rtic::app]`. - -Также были добавлены типы `Duration` и `Instant`, а трейт `U32Ext` был перемещен в модуль `rtic::cyccnt`. -Этот модуль доступен только на устройствах ARMv7-M+. -Удаление `timer-queue` также возвращает периферию `DWT` в структуру периферии ядра, -включить ее в работу можно внутри `init`. - -Измените это: - -``` rust -use rtic::{Duration, Instant, U32Ext}; - -#[rtic::app(/* .. */)] -const APP: () = { - #[task(schedule = [b])] - fn a() { - // .. - } -}; -``` - -На это: - -``` rust -use rtic::cyccnt::{Duration, Instant, U32Ext}; -// ^^^^^^^^ - -#[rtic::app(/* .. */, monotonic = rtic::cyccnt::CYCCNT)] -// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -const APP: () = { - #[init] - fn init(cx: init::Context) { - cx.core.DWT.enable_cycle_counter(); - // опционально, настройка запуска DWT без подключенного отладчика - cx.core.DCB.enable_trace(); - } - #[task(schedule = [b])] - fn a(cx: a::Context) { - // .. - } -}; -``` diff --git a/book/ru/src/migration/migration_v5.md b/book/ru/src/migration/migration_v5.md deleted file mode 100644 index 84bd9fb..0000000 --- a/book/ru/src/migration/migration_v5.md +++ /dev/null @@ -1,365 +0,0 @@ -# Миграция с v0.5.x на v1.0.0 - -Этот раздел описывает как обновиться с версии v0.5.x на v1.0.0 фреймворка RTIC. - -## `Cargo.toml` - увеличьте версию - -Измените версию `cortex-m-rtic` на `"0.6.0"`. - -## `mod` вместо `const` - -С поддержкой атрибутов над модулями трюк с `const APP` теперь не нужен. - -Измените - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - [код здесь] -}; -``` - -на - -``` rust -#[rtic::app(/* .. */)] -mod app { - [код здесь] -} -``` - -Так как теперь используется обычный модуль Rust, это значит, что можно использовать -обычный пользовательский код в этом модуле. -Также это значит, что `use`-выражения для ресурсов, используемые -в пользовательском коде должны быть перемещены внутрь `mod app`, -либо на них можно сослаться с помощью `super`. Например, измените: - -```rust -use some_crate::some_func; - -#[rtic::app(/* .. */)] -const APP: () = { - fn func() { - some_crate::some_func(); - } -}; -``` - -на - -```rust -#[rtic::app(/* .. */)] -mod app { - use some_crate::some_func; - - fn func() { - some_crate::some_func(); - } -} -``` - -или - -```rust -use some_crate::some_func; - -#[rtic::app(/* .. */)] -mod app { - fn func() { - super::some_crate::some_func(); - } -} -``` - -## Перенос диспетчеров из `extern "C"` в аргументы app. - -Измените - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - [код здесь] - - // RTIC требует, чтобы неиспользуемые прерывания были задекларированы в блоке extern, когда - // используются программные задачи; эти свободные прерывания будут использованы для управления - // программными задачами. - extern "C" { - fn SSI0(); - fn QEI0(); - } -}; -``` - -на - -``` rust -#[rtic::app(/* .. */, dispatchers = [SSI0, QEI0])] -mod app { - [код здесь] -} -``` - -Это работает и для ОЗУ-функций, см. examples/ramfunc.rs - - -## Структуры ресурсов - `#[shared]`, `#[local]` - -Ранее ресурсы RTIC должны были размещаться в структуре с именем "Resources": - -``` rust -struct Resources { - // Ресурсы определяются здесь -} -``` - -Начиная с RTIC v1.0.0 структуры ресурсов аннотируются подобно -`#[task]`, `#[init]`, `#[idle]`: аттрибутами `#[shared]` и `#[local]` - -``` rust -#[shared] -struct MySharedResources { - // Разделяемые задачами ресурсы определены здесь -} - -#[local] -struct MyLocalResources { - // Ресурсы, определенные здесь нельзя передавать между задачами; каждый из них локальный для единственной задачи -} -``` - -Эти структуры разработчик может называть по своему желанию. - -## `shared` и `local` аргументы в `#[task]`'ах - -В v1.0.0 ресурсы разделены на `shared` ресурсы и `local` ресурсы. -`#[task]`, `#[init]` и `#[idle]` больше не имеют аргумента `resources`; -они должны использовать аргументы `shared` и `local`. - -В v0.5.x: - -``` rust -struct Resources { - local_to_b: i64, - shared_by_a_and_b: i64, -} - -#[task(resources = [shared_by_a_and_b])] -fn a(_: a::Context) {} - -#[task(resources = [shared_by_a_and_b, local_to_b])] -fn b(_: b::Context) {} -``` - -В v1.0.0: - -``` rust -#[shared] -struct Shared { - shared_by_a_and_b: i64, -} - -#[local] -struct Local { - local_to_b: i64, -} - -#[task(shared = [shared_by_a_and_b])] -fn a(_: a::Context) {} - -#[task(shared = [shared_by_a_and_b], local = [local_to_b])] -fn b(_: b::Context) {} -``` - -## Симметричные блокировки - -Теперь RTIC использует симметричные блокировки, это значит, что метод `lock` нужно использовать для -всех доступов к `shared` ресурсам. Поскольку высокоприоритетные задачи имеют эксклюзивный доступ к ресурсу, -в старом коде можно было следующее: - -``` rust -#[task(priority = 2, resources = [r])] -fn foo(cx: foo::Context) { - cx.resources.r = /* ... */; -} - -#[task(resources = [r])] -fn bar(cx: bar::Context) { - cx.resources.r.lock(|r| r = /* ... */); -} -``` - -С симметричными блокировками нужно вызывать `lock` для обоих задач: - -``` rust -#[task(priority = 2, shared = [r])] -fn foo(cx: foo::Context) { - cx.shared.r.lock(|r| r = /* ... */); -} - -#[task(shared = [r])] -fn bar(cx: bar::Context) { - cx.shared.r.lock(|r| r = /* ... */); -} -``` - -Заметьте, что скорость работы не изменяется благодаря оптимизациям LLVM, которые убирают ненужные блокировки. - -## Неблокирующий доступ к ресурсам - -В RTIC 0.5 к ресурсам разделяемым задачами, запускаемыми с одинаковым -приоритетом, можно получить доступ *без* `lock` API. -Это все еще возможно в 0.6: ресурс `#[shared]` должен быть аннотирован -аттрибутом поля `#[lock_free]`. - -v0.5 код: - -``` rust -struct Resources { - counter: u64, -} - -#[task(resources = [counter])] -fn a(cx: a::Context) { - *cx.resources.counter += 1; -} - -#[task(resources = [counter])] -fn b(cx: b::Context) { - *cx.resources.counter += 1; -} -``` - -v1.0 код: - -``` rust -#[shared] -struct Shared { - #[lock_free] - counter: u64, -} - -#[task(shared = [counter])] -fn a(cx: a::Context) { - *cx.shared.counter += 1; -} - -#[task(shared = [counter])] -fn b(cx: b::Context) { - *cx.shared.counter += 1; -} -``` - -## нет преобразования `static mut` - -`static mut` переменные больше не преобразуются в безопасные `&'static mut` ссылки. -Вместо этого синтаксиса используйте аргумент `local` в `#[init]`. - -v0.5.x code: - -``` rust -#[init] -fn init(_: init::Context) { - static mut BUFFER: [u8; 1024] = [0; 1024]; - let buffer: &'static mut [u8; 1024] = BUFFER; -} -``` - -v1.0.0 code: - -``` rust -#[init(local = [ - buffer: [u8; 1024] = [0; 1024] -// type ^^^^^^^^^^^^ ^^^^^^^^^ initial value -])] -fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { - let buffer: &'static mut [u8; 1024] = cx.local.buffer; - - (Shared {}, Local {}, init::Monotonics()) -} -``` - -## Init всегда возвращает поздние ресурсы - -С целью сделать API более симметричным задача #[init] всегда возвращает поздние ресурсы. - -С этого: - -``` rust -#[rtic::app(device = lm3s6965)] -mod app { - #[init] - fn init(_: init::Context) { - rtic::pend(Interrupt::UART0); - } - - // [еще код] -} -``` - -на это: - - -``` rust -#[rtic::app(device = lm3s6965)] -mod app { - #[shared] - struct MySharedResources {} - - #[local] - struct MyLocalResources {} - - #[init] - fn init(_: init::Context) -> (MySharedResources, MyLocalResources, init::Monotonics) { - rtic::pend(Interrupt::UART0); - - (MySharedResources, MyLocalResources, init::Monotonics()) - } - - // [more code] -} -``` - -## Вызов/планирование откуда угодно - -С этой новой возвожностью, старый код, такой как: - - -``` rust -#[task(spawn = [bar])] -fn foo(cx: foo::Context) { - cx.spawn.bar().unwrap(); -} - -#[task(schedule = [bar])] -fn bar(cx: bar::Context) { - cx.schedule.foo(/* ... */).unwrap(); -} -``` - -Теперь будет выглядеть так: - -``` rust -#[task] -fn foo(_c: foo::Context) { - bar::spawn().unwrap(); -} - -#[task] -fn bar(_c: bar::Context) { - foo::schedule(/* ... */).unwrap(); -} -``` - -Заметьте, что атрибуты `spawn` и `schedule` больше не нужны. - ---- - -## Дополнительно - -### Внешние задачи - -Как программные, так и аппаратные задачи теперь можно определять вне модуля `mod app`. -Ранее это было возможно только путем реализации обертки, вызывающей реализацию задачи. - -Смотреть примеры `examples/extern_binds.rs` и `examples/extern_spawn.rs`. - diff --git a/book/ru/src/preface.md b/book/ru/src/preface.md deleted file mode 100644 index 894b6b4..0000000 --- a/book/ru/src/preface.md +++ /dev/null @@ -1,26 +0,0 @@ -<div align="center"><img width="300" height="300" src="RTIC.svg"></div> -<div style="font-size: 6em; font-weight: bolder;" align="center">RTIC</div> - -<h1 align="center">Real-Time Interrupt-driven Concurrency</h1> - -<p align="center">Конкурентный фреймворк для создания систем реального времени</p> - -# Введение - -Эта книга содержит документацию пользовательского уровня о фреймворке Real-Time Interrupt-driven Concurrency -(RTIC). Справочник по API можно найти [здесь](../../api/). - -Также известен как Real-Time For the Masses. - -<!--Оригинал данного руководства на [английском].--> - -<!--[английском]: ../en/index.html--> - -Это документация по RTIC версии v1.0.x; за документацией по другим версиям: - -* v0.5.x [сюда](/0.5). -* v0.4.x [сюда](/0.4). - -{{#include ../../../README_ru.md:7:45}} - -{{#include ../../../README_ru.md:51:}} |
