.buildinfo

@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 4f9ca19f068de46e5494be6a108c31d9
+tags: 645f666f9bcd5a90fca523b33c5a78b7

.copier/answers.docs.yml

@@ -1,5 +0,0 @@
-# Changes here will be overwritten by Copier; NEVER EDIT MANUALLY
-_commit: v1.0.2
-_src_path: https://git.spirirobotics.com/Spiri/template-docs.git
-author_name: Spiri Robotics
-project_name: spiri-sdk

.env

@@ -1,19 +0,0 @@
-DRONE_SYS_ID=1
-INSTANCE=0
-SERIAL0_PORT=5760
-SITL_PORT=5501
-MAVROS2_PORT=14560
-MAVROS1_PORT=14561
-FDM_PORT_IN=9002
-GSTREAMER_UDP_PORT=5600
-ROS_MASTER_URI="http://0.0.0.0:11311"
-
-
-ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
-WORLD_FILE_NAME="citadel_hill_world.sdf"
-WORLD_NAME="citadel_hill"
-DRONE_MODEL="spiri_mu"
-
-
-SIM_DRONE_COUNT=1
-GCS_PORT=14550

.github/workflows/build-docs.yaml

@@ -1,52 +0,0 @@
-name: Build Docs
-
-on:
-  push:
-
-env:
-  REGISTRY: git.spirirobotics.com
-  IMAGE_NAME: ${{ github.repository }}
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: sphinxdoc/sphinx-latexpdf
-
-    steps:
-    - name: Install sphinx-rtd-theme
-      run: pip install sphinx-rtd-theme myst-parser
-    - name: Install node so that custom actions work.
-      run : apt-get update && apt-get --yes install nodejs git
-
-    - name: Checkout Repository
-      uses: actions/checkout@v4
-
-    - name: Build Docs
-      run: make html latexpdf
-      working-directory: docs  # assuming your documentation is in a 'docs' folder
-
-    - name: Save PDF Artifacts
-      run: mv docs/build/latex/*.pdf ${{ github.workspace }}/docs.pdf
-
-    - name: Compress HTML
-      run: tar -czvf docs_html.tar.gz -C docs/build/html .
-
-    - name: Upload Docs
-      uses: actions/upload-artifact@v3
-      with:
-        name: docs_html.tar.gz
-        path: docs_html.tar.gz
-
-    - name: Upload PDF
-      uses: actions/upload-artifact@v3
-      with:
-        name: docs.pdf
-        path: docs.pdf
-
-    - name: Deploy
-      uses: s0/git-publish-subdir-action@develop
-      env:
-        REPO: http://git-spirirobotics-com-app:3000/Spiri/spiri-sdk.git/
-        BRANCH: gh-pages
-        FOLDER: ./docs/build/html
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -1,3 +0,0 @@
-docs/build/
-.vscode
-*.pyc

README.md

@@ -1,263 +0,0 @@
-# Spiri SDK - Simulated robot
-
-The Spiri SDK consists of a number of components. What you're looking at right now
-is the drone simulation component, which is the core of the SDK.
-
-Spiri Robots run a number of docker containers to achieve their core functionality,
-we try to keep these essential docker containers in one docker compose file. The
-docker compose file you'll find in this repository starts an ardupilot-based UAV simulation
-as well as a ROS master, and mavproxy to tie it together.
-
-To get started you can simply clone this repository and run `docker compose --profile uav-sim up`.
-
-Once the simulated UAV is running you can connect to it with QGroundControl or other
-MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.
-
-There is experimental GUI support you can enable by running `docker compose --profile uav-sim --profile ui up`.
-
-## Creating a new project
-
-We provide project templates you can use for development that integrate seamlessly into
-our simulated robots.
-
-These templates are intended to be used with VSCode.
-
-To get started with our project templates install the [copier](https://copier.readthedocs.io/en/stable/) project
-templating utility.
-
-- [template-service-ros1-catkin](https://git.spirirobotics.com/Spiri/template-service-ros1-catkin)
-
-This template uses the last stable release of ROS1 (ros noetic) and supports python and c++ programming
-languages.
-
-ROS1 is considered end of life. It's recomended to use a ROS2 template instead
-
-- ROS2 template
-
-We're working on it...
-
-## NVIDIA Container Toolkit
-
-[Source](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
-
-### Installing with Apt
-
-```bash
-curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
-  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
-    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
-    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
-```
-
-```bash
-sudo apt-get update
-```
-
-```bash
-sudo apt-get install -y nvidia-container-toolkit
-```
-
-#### Configuration
-
-##### Prerequisites
-
-- You installed a supported container engine (Docker, Containerd, CRI-O, Podman).
-- You installed the NVIDIA Container Toolkit.
-
-```bash
-sudo nvidia-ctk runtime configure --runtime=docker --cdi.enabled
-```
-
-```bash
-sudo systemctl restart docker
-```
-
-### Sample Workload
-
-After you install and configure the toolkit and install an NVIDIA GPU Driver, you can verify your installation by running a sample workload.
-
-```bash
-sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi
-```
-
-Expected output:
-
-```console
-+-----------------------------------------------------------------------------+
-| NVIDIA-SMI 535.86.10    Driver Version: 535.86.10    CUDA Version: 12.2     |
-|-------------------------------+----------------------+----------------------+
-| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
-| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
-|                               |                      |               MIG M. |
-|===============================+======================+======================|
-|   0  Tesla T4            On   | 00000000:00:1E.0 Off |                    0 |
-| N/A   34C    P8     9W /  70W |      0MiB / 15109MiB |      0%      Default |
-|                               |                      |                  N/A |
-+-------------------------------+----------------------+----------------------+
-
-+-----------------------------------------------------------------------------+
-| Processes:                                                                  |
-|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
-|        ID   ID                                                   Usage      |
-|=============================================================================|
-|  No running processes found                                                 |
-+-----------------------------------------------------------------------------+
-```
-
-## Support for Container Device Interface(CDI)
-
-[Source](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/cdi-support.html)
-
-### Prerequisites
-
-- You installed either the NVIDIA Container Toolkit or you installed the `nvidia-container-toolkit-base` package.
-  The base package includes the container runtime and the `nvidia-ctk` command-line interface, but avoids installing the container runtime hook and transitive dependencies.
-  The hook and dependencies are not needed on machines that use CDI exclusively
-- You installed an NVIDIA GPU Driver.
-
-Two common locations for CDI specifications are `/etc/cdi/` and `/var/run/cdi/`. The contents of the `/var/run/cdi/` directory are cleared on boot.
-
-1. Generate the CDI specification file:
-
-   ```bash
-   sudo nvidia-ctk cdi generate --output=/etc/cdi/nvidia.yaml
-   ```
-
-   Example output
-
-   ```console
-   INFO[0000] Auto-detected mode as "nvml"
-   INFO[0000] Selecting /dev/nvidia0 as /dev/nvidia0
-   INFO[0000] Selecting /dev/dri/card1 as /dev/dri/card1
-   INFO[0000] Selecting /dev/dri/renderD128 as /dev/dri/renderD128
-   INFO[0000] Using driver version xxx.xxx.xx
-    ...
-   ```
-
-2. (Optional) Check the names of the generated devices:
-
-   ```bash
-   nvidia-ctk cdi list
-   ```
-
-   Output
-
-   ```console
-   INFO[0000] Found 9 CDI devices
-   nvidia.com/gpu=all
-   nvidia.com/gpu=0
-   ```
-
-### Sample Workload
-
-```bash
-docker run --rm -ti --runtime=nvidia \
-    -e NVIDIA_VISIBLE_DEVICES=nvidia.com/gpu=all \
-      ubuntu nvidia-smi -L
-```
-
-Output
-
-```console
-GPU 0: NVIDIA GeForce RTX 3080 Laptop GPU (UUID: GPU-17c2b9a6-6be2-3857-f8e0-88143e2e621b)
-```
-
-## Technologies
-
-* Ubuntu 22.04.1 amd64
-* Docker Compose version v2.29.7
-* Python 3.10.12
-* pip 22.0.2
-* NVIDIA Container Toolkit CLI version 1.16.2
-* NVIDIA Driver 550.120
-* CUDA Version 12.4
-
-## How to Run
-
-Ensure variables in the `.env` file are correct.
-
-Install the required libraries in the python script.
-
-```bash
-pip install -r requirements.txt
-```
-
-### First Terminal
-
-1. Start the user interface with the following command.
-
-```bash
-docker compose --profile ui up
-```
-
-2.  Click `Launch Gazebo` on the menu.
-
-Simulated world and the drone model should be up and running in a Gazebo instance.
-
-### Second Terminal
-
-This will launch ardupilot, mavproxy and mavros services, and will scale up by the `SIM_DRONE_COUNT` env variable.
-
-1. Start the docker services with the following python script.
-
-```bash
-python3 sim_drone.py
-```
-
-### QGroundControl
-
-Simulated vehicle(s) should be connected to QGroundControl. `SIM_DRONE_COUNT` value should match the detected vehicle count on GCS.
-
-## Simulation Environment Variables
-
-`DRONE_SYS_ID` and `INSTANCE` environment variables are incremented by 1 for each additional simulated vehicle. `SERIAL0_PORT`, `SITL_PORT`, `MAVROS2_PORT`, `MAVROS1_PORT`,`FDM_PORT_IN` and `GSTREAMER_UDP_PORT` are incremented by 10. Without in-depth knowledge, changing the default value for these ports are not recommended. 
-
-|      Variable      |  Type  |                       Default                        | Description                                                                                                       |
-| :----------------: | :----: | :--------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------- |
-|    DRONE_SYS_ID    |  int   |                          1                           | System-ID for the simulated drone.                                                                                |
-|      INSTANCE      |  int   |                          0                           | Instance of simulator.                                                                                            |
-|    SERIAL0_PORT    |  int   |                         5760                         | Mavproxy master port the simulation communicating on.                                                             |
-|     SITL_PORT      |  int   |                         5501                         | Mavproxy Software in the Loop(SITL) port to send simulated RC input for the simulator.                            |
-|    MAVROS2_PORT    |  int   |                        14560                         | MAVROS ROS 2 UDP port                                                                                             |
-|    MAVROS1_PORT    |  int   |                        14561                         | MAVROS ROS 1 UDP port                                                                                             |
-|    FDM_PORT_IN     |  int   |                         9002                         | Gazebo Flight Dynamics Model (FDM) UDP port                                                                       |
-| GSTREAMER_UDP_PORT |  int   |                         5600                         | UDP Video Streaming port                                                                                          |
-|   ROS_MASTER_URI   | string |                "http://0.0.0.0:11311"                | This tells ROS 1 nodes where they can locate the master                                                           |
-| ARDUPILOT_VEHICLE  | string | "-v copter -f gazebo-mu --model=JSON -L CitadelHill" | "-v" is vehicle type,"-L" start location, "-f" is vehicle frame type, "--model" overrides simulation model to use |
-|  WORLD_FILE_NAME   | string |               "citadel_hill_world.sdf"               | Name of the file that exists in the worlds folder.                                                                |
-|     WORLD_NAME     | string |                    "citadel_hill"                    | Name of the world defined in the world file.                                                                      |
-|    DRONE_MODEL     | string |                      "spiri_mu"                      | Drone model that exists in the models folder.                                                                     |
-|  SIM_DRONE_COUNT   |  int   |                          1                           | Number of drones to be simulated.                                                                                 |
-|      GCS_PORT      |  int   |                        14550                         | Ground Control Station(GCS) UDP connection port.                                                                  |
-
-### Understanding Multi-Vehicle Simulation Parameters
-
-For instance, if `SIM_DRONE_COUNT` is 2, each additional vehicle's ports are incremented by 10.
-
-First simulated vehicle would have these following values,
-
-|      Variable      | Value |
-| :----------------: | :---: |
-|    DRONE_SYS_ID    |   1   |
-|      INSTANCE      |   0   |
-|    SERIAL0_PORT    | 5760  |
-|     SITL_PORT      | 5501  |
-|    MAVROS2_PORT    | 14560 |
-|    MAVROS1_PORT    | 14561 |
-|    FDM_PORT_IN     | 9002  |
-| GSTREAMER_UDP_PORT | 5600  |
-
-Second Vehicle,
-
-|      Variable      | Value |
-| :----------------: | :---: |
-|    DRONE_SYS_ID    |   2   |
-|      INSTANCE      |   1   |
-|    SERIAL0_PORT    | 5770  |
-|     SITL_PORT      | 5511  |
-|    MAVROS2_PORT    | 14570 |
-|    MAVROS1_PORT    | 14571 |
-|    FDM_PORT_IN     | 9012  |
-| GSTREAMER_UDP_PORT | 5610  |
-
-Video stream would be available on UDP port on 5610 for the second vehicle after enabling streaming.

_static/basic.css

@@ -0,0 +1,925 @@
+/*
+ * basic.css
+ * ~~~~~~~~~
+ *
+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+    clear: both;
+}
+
+div.section::after {
+    display: block;
+    content: '';
+    clear: left;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+    width: 100%;
+    font-size: 90%;
+}
+
+div.related h3 {
+    display: none;
+}
+
+div.related ul {
+    margin: 0;
+    padding: 0 0 0 10px;
+    list-style: none;
+}
+
+div.related li {
+    display: inline;
+}
+
+div.related li.right {
+    float: right;
+    margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
+
+div.sphinxsidebarwrapper {
+    padding: 10px 5px 0 10px;
+}
+
+div.sphinxsidebar {
+    float: left;
+    width: 230px;
+    margin-left: -100%;
+    font-size: 90%;
+    word-wrap: break-word;
+    overflow-wrap : break-word;
+}
+
+div.sphinxsidebar ul {
+    list-style: none;
+}
+
+div.sphinxsidebar ul ul,
+div.sphinxsidebar ul.want-points {
+    margin-left: 20px;
+    list-style: square;
+}
+
+div.sphinxsidebar ul ul {
+    margin-top: 0;
+    margin-bottom: 0;
+}
+
+div.sphinxsidebar form {
+    margin-top: 10px;
+}
+
+div.sphinxsidebar input {
+    border: 1px solid #98dbcc;
+    font-family: sans-serif;
+    font-size: 1em;
+}
+
+div.sphinxsidebar #searchbox form.search {
+    overflow: hidden;
+}
+
+div.sphinxsidebar #searchbox input[type="text"] {
+    float: left;
+    width: 80%;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+div.sphinxsidebar #searchbox input[type="submit"] {
+    float: left;
+    width: 20%;
+    border-left: none;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+
+img {
+    border: 0;
+    max-width: 100%;
+}
+
+/* -- search page ----------------------------------------------------------- */
+
+ul.search {
+    margin: 10px 0 0 20px;
+    padding: 0;
+}
+
+ul.search li {
+    padding: 5px 0 5px 20px;
+    background-image: url(file.png);
+    background-repeat: no-repeat;
+    background-position: 0 7px;
+}
+
+ul.search li a {
+    font-weight: bold;
+}
+
+ul.search li p.context {
+    color: #888;
+    margin: 2px 0 0 30px;
+    text-align: left;
+}
+
+ul.keywordmatches li.goodmatch a {
+    font-weight: bold;
+}
+
+/* -- index page ------------------------------------------------------------ */
+
+table.contentstable {
+    width: 90%;
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.contentstable p.biglink {
+    line-height: 150%;
+}
+
+a.biglink {
+    font-size: 1.3em;
+}
+
+span.linkdescr {
+    font-style: italic;
+    padding-top: 5px;
+    font-size: 90%;
+}
+
+/* -- general index --------------------------------------------------------- */
+
+table.indextable {
+    width: 100%;
+}
+
+table.indextable td {
+    text-align: left;
+    vertical-align: top;
+}
+
+table.indextable ul {
+    margin-top: 0;
+    margin-bottom: 0;
+    list-style-type: none;
+}
+
+table.indextable > tbody > tr > td > ul {
+    padding-left: 0em;
+}
+
+table.indextable tr.pcap {
+    height: 10px;
+}
+
+table.indextable tr.cap {
+    margin-top: 10px;
+    background-color: #f2f2f2;
+}
+
+img.toggler {
+    margin-right: 3px;
+    margin-top: 3px;
+    cursor: pointer;
+}
+
+div.modindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+div.genindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+/* -- domain module index --------------------------------------------------- */
+
+table.modindextable td {
+    padding: 2px;
+    border-collapse: collapse;
+}
+
+/* -- general body styles --------------------------------------------------- */
+
+div.body {
+    min-width: 360px;
+    max-width: 800px;
+}
+
+div.body p, div.body dd, div.body li, div.body blockquote {
+    -moz-hyphens: auto;
+    -ms-hyphens: auto;
+    -webkit-hyphens: auto;
+    hyphens: auto;
+}
+
+a.headerlink {
+    visibility: hidden;
+}
+
+a:visited {
+    color: #551A8B;
+}
+
+h1:hover > a.headerlink,
+h2:hover > a.headerlink,
+h3:hover > a.headerlink,
+h4:hover > a.headerlink,
+h5:hover > a.headerlink,
+h6:hover > a.headerlink,
+dt:hover > a.headerlink,
+caption:hover > a.headerlink,
+p.caption:hover > a.headerlink,
+div.code-block-caption:hover > a.headerlink {
+    visibility: visible;
+}
+
+div.body p.caption {
+    text-align: inherit;
+}
+
+div.body td {
+    text-align: left;
+}
+
+.first {
+    margin-top: 0 !important;
+}
+
+p.rubric {
+    margin-top: 30px;
+    font-weight: bold;
+}
+
+img.align-left, figure.align-left, .figure.align-left, object.align-left {
+    clear: left;
+    float: left;
+    margin-right: 1em;
+}
+
+img.align-right, figure.align-right, .figure.align-right, object.align-right {
+    clear: right;
+    float: right;
+    margin-left: 1em;
+}
+
+img.align-center, figure.align-center, .figure.align-center, object.align-center {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+img.align-default, figure.align-default, .figure.align-default {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+.align-left {
+    text-align: left;
+}
+
+.align-center {
+    text-align: center;
+}
+
+.align-default {
+    text-align: center;
+}
+
+.align-right {
+    text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar,
+aside.sidebar {
+    margin: 0 0 0.5em 1em;
+    border: 1px solid #ddb;
+    padding: 7px;
+    background-color: #ffe;
+    width: 40%;
+    float: right;
+    clear: right;
+    overflow-x: auto;
+}
+
+p.sidebar-title {
+    font-weight: bold;
+}
+
+nav.contents,
+aside.topic,
+div.admonition, div.topic, blockquote {
+    clear: left;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+nav.contents,
+aside.topic,
+div.topic {
+    border: 1px solid #ccc;
+    padding: 7px;
+    margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+    font-size: 1.1em;
+    font-weight: bold;
+    margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    padding: 7px;
+}
+
+div.admonition dt {
+    font-weight: bold;
+}
+
+p.admonition-title {
+    margin: 0px 10px 5px 0px;
+    font-weight: bold;
+}
+
+div.body p.centered {
+    text-align: center;
+    margin-top: 25px;
+}
+
+/* -- content of sidebars/topics/admonitions -------------------------------- */
+
+div.sidebar > :last-child,
+aside.sidebar > :last-child,
+nav.contents > :last-child,
+aside.topic > :last-child,
+div.topic > :last-child,
+div.admonition > :last-child {
+    margin-bottom: 0;
+}
+
+div.sidebar::after,
+aside.sidebar::after,
+nav.contents::after,
+aside.topic::after,
+div.topic::after,
+div.admonition::after,
+blockquote::after {
+    display: block;
+    content: '';
+    clear: both;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    border: 0;
+    border-collapse: collapse;
+}
+
+table.align-center {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.align-default {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table caption span.caption-number {
+    font-style: italic;
+}
+
+table caption span.caption-text {
+}
+
+table.docutils td, table.docutils th {
+    padding: 1px 8px 1px 5px;
+    border-top: 0;
+    border-left: 0;
+    border-right: 0;
+    border-bottom: 1px solid #aaa;
+}
+
+th {
+    text-align: left;
+    padding-right: 5px;
+}
+
+table.citation {
+    border-left: solid 1px gray;
+    margin-left: 1px;
+}
+
+table.citation td {
+    border-bottom: none;
+}
+
+th > :first-child,
+td > :first-child {
+    margin-top: 0px;
+}
+
+th > :last-child,
+td > :last-child {
+    margin-bottom: 0px;
+}
+
+/* -- figures --------------------------------------------------------------- */
+
+div.figure, figure {
+    margin: 0.5em;
+    padding: 0.5em;
+}
+
+div.figure p.caption, figcaption {
+    padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number,
+figcaption span.caption-number {
+    font-style: italic;
+}
+
+div.figure p.caption span.caption-text,
+figcaption span.caption-text {
+}
+
+/* -- field list styles ----------------------------------------------------- */
+
+table.field-list td, table.field-list th {
+    border: 0 !important;
+}
+
+.field-list ul {
+    margin: 0;
+    padding-left: 1em;
+}
+
+.field-list p {
+    margin: 0;
+}
+
+.field-name {
+    -moz-hyphens: manual;
+    -ms-hyphens: manual;
+    -webkit-hyphens: manual;
+    hyphens: manual;
+}
+
+/* -- hlist styles ---------------------------------------------------------- */
+
+table.hlist {
+    margin: 1em 0;
+}
+
+table.hlist td {
+    vertical-align: top;
+}
+
+/* -- object description styles --------------------------------------------- */
+
+.sig {
+	font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
+}
+
+.sig-name, code.descname {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+.sig-name {
+	font-size: 1.1em;
+}
+
+code.descname {
+    font-size: 1.2em;
+}
+
+.sig-prename, code.descclassname {
+    background-color: transparent;
+}
+
+.optional {
+    font-size: 1.3em;
+}
+
+.sig-paren {
+    font-size: larger;
+}
+
+.sig-param.n {
+	font-style: italic;
+}
+
+/* C++ specific styling */
+
+.sig-inline.c-texpr,
+.sig-inline.cpp-texpr {
+	font-family: unset;
+}
+
+.sig.c   .k, .sig.c   .kt,
+.sig.cpp .k, .sig.cpp .kt {
+	color: #0033B3;
+}
+
+.sig.c   .m,
+.sig.cpp .m {
+	color: #1750EB;
+}
+
+.sig.c   .s, .sig.c   .sc,
+.sig.cpp .s, .sig.cpp .sc {
+	color: #067D17;
+}
+
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+    list-style: decimal;
+}
+
+ol.loweralpha {
+    list-style: lower-alpha;
+}
+
+ol.upperalpha {
+    list-style: upper-alpha;
+}
+
+ol.lowerroman {
+    list-style: lower-roman;
+}
+
+ol.upperroman {
+    list-style: upper-roman;
+}
+
+:not(li) > ol > li:first-child > :first-child,
+:not(li) > ul > li:first-child > :first-child {
+    margin-top: 0px;
+}
+
+:not(li) > ol > li:last-child > :last-child,
+:not(li) > ul > li:last-child > :last-child {
+    margin-bottom: 0px;
+}
+
+ol.simple ol p,
+ol.simple ul p,
+ul.simple ol p,
+ul.simple ul p {
+    margin-top: 0;
+}
+
+ol.simple > li:not(:first-child) > p,
+ul.simple > li:not(:first-child) > p {
+    margin-top: 0;
+}
+
+ol.simple p,
+ul.simple p {
+    margin-bottom: 0;
+}
+
+aside.footnote > span,
+div.citation > span {
+    float: left;
+}
+aside.footnote > span:last-of-type,
+div.citation > span:last-of-type {
+  padding-right: 0.5em;
+}
+aside.footnote > p {
+  margin-left: 2em;
+}
+div.citation > p {
+  margin-left: 4em;
+}
+aside.footnote > p:last-of-type,
+div.citation > p:last-of-type {
+    margin-bottom: 0em;
+}
+aside.footnote > p:last-of-type:after,
+div.citation > p:last-of-type:after {
+    content: "";
+    clear: both;
+}
+
+dl.field-list {
+    display: grid;
+    grid-template-columns: fit-content(30%) auto;
+}
+
+dl.field-list > dt {
+    font-weight: bold;
+    word-break: break-word;
+    padding-left: 0.5em;
+    padding-right: 5px;
+}
+
+dl.field-list > dd {
+    padding-left: 0.5em;
+    margin-top: 0em;
+    margin-left: 0em;
+    margin-bottom: 0em;
+}
+
+dl {
+    margin-bottom: 15px;
+}
+
+dd > :first-child {
+    margin-top: 0px;
+}
+
+dd ul, dd table {
+    margin-bottom: 10px;
+}
+
+dd {
+    margin-top: 3px;
+    margin-bottom: 10px;
+    margin-left: 30px;
+}
+
+.sig dd {
+    margin-top: 0px;
+    margin-bottom: 0px;
+}
+
+.sig dl {
+    margin-top: 0px;
+    margin-bottom: 0px;
+}
+
+dl > dd:last-child,
+dl > dd:last-child > :last-child {
+    margin-bottom: 0;
+}
+
+dt:target, span.highlighted {
+    background-color: #fbe54e;
+}
+
+rect.highlighted {
+    fill: #fbe54e;
+}
+
+dl.glossary dt {
+    font-weight: bold;
+    font-size: 1.1em;
+}
+
+.versionmodified {
+    font-style: italic;
+}
+
+.system-message {
+    background-color: #fda;
+    padding: 5px;
+    border: 3px solid red;
+}
+
+.footnote:target  {
+    background-color: #ffa;
+}
+
+.line-block {
+    display: block;
+    margin-top: 1em;
+    margin-bottom: 1em;
+}
+
+.line-block .line-block {
+    margin-top: 0;
+    margin-bottom: 0;
+    margin-left: 1.5em;
+}
+
+.guilabel, .menuselection {
+    font-family: sans-serif;
+}
+
+.accelerator {
+    text-decoration: underline;
+}
+
+.classifier {
+    font-style: oblique;
+}
+
+.classifier:before {
+    font-style: normal;
+    margin: 0 0.5em;
+    content: ":";
+    display: inline-block;
+}
+
+abbr, acronym {
+    border-bottom: dotted 1px;
+    cursor: help;
+}
+
+.translated {
+    background-color: rgba(207, 255, 207, 0.2)
+}
+
+.untranslated {
+    background-color: rgba(255, 207, 207, 0.2)
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+    overflow: auto;
+    overflow-y: hidden;  /* fixes display issues on Chrome browsers */
+}
+
+pre, div[class*="highlight-"] {
+    clear: both;
+}
+
+span.pre {
+    -moz-hyphens: none;
+    -ms-hyphens: none;
+    -webkit-hyphens: none;
+    hyphens: none;
+    white-space: nowrap;
+}
+
+div[class*="highlight-"] {
+    margin: 1em 0;
+}
+
+td.linenos pre {
+    border: 0;
+    background-color: transparent;
+    color: #aaa;
+}
+
+table.highlighttable {
+    display: block;
+}
+
+table.highlighttable tbody {
+    display: block;
+}
+
+table.highlighttable tr {
+    display: flex;
+}
+
+table.highlighttable td {
+    margin: 0;
+    padding: 0;
+}
+
+table.highlighttable td.linenos {
+    padding-right: 0.5em;
+}
+
+table.highlighttable td.code {
+    flex: 1;
+    overflow: hidden;
+}
+
+.highlight .hll {
+    display: block;
+}
+
+div.highlight pre,
+table.highlighttable pre {
+    margin: 0;
+}
+
+div.code-block-caption + div {
+    margin-top: 0;
+}
+
+div.code-block-caption {
+    margin-top: 1em;
+    padding: 2px 5px;
+    font-size: small;
+}
+
+div.code-block-caption code {
+    background-color: transparent;
+}
+
+table.highlighttable td.linenos,
+span.linenos,
+div.highlight span.gp {  /* gp: Generic.Prompt */
+  user-select: none;
+  -webkit-user-select: text; /* Safari fallback only */
+  -webkit-user-select: none; /* Chrome/Safari */
+  -moz-user-select: none; /* Firefox */
+  -ms-user-select: none; /* IE10+ */
+}
+
+div.code-block-caption span.caption-number {
+    padding: 0.1em 0.3em;
+    font-style: italic;
+}
+
+div.code-block-caption span.caption-text {
+}
+
+div.literal-block-wrapper {
+    margin: 1em 0;
+}
+
+code.xref, a code {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+h1 code, h2 code, h3 code, h4 code, h5 code, h6 code {
+    background-color: transparent;
+}
+
+.viewcode-link {
+    float: right;
+}
+
+.viewcode-back {
+    float: right;
+    font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+    margin: -1px -10px;
+    padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+    vertical-align: middle;
+}
+
+div.body div.math p {
+    text-align: center;
+}
+
+span.eqno {
+    float: right;
+}
+
+span.eqno a.headerlink {
+    position: absolute;
+    z-index: 1;
+}
+
+div.math:hover a.headerlink {
+    visibility: visible;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+    div.document,
+    div.documentwrapper,
+    div.bodywrapper {
+        margin: 0 !important;
+        width: 100%;
+    }
+
+    div.sphinxsidebar,
+    div.related,
+    div.footer,
+    #top-link {
+        display: none;
+    }
+}

_static/css/badge_only.css

@@ -0,0 +1 @@
+.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}@font-face{font-family:FontAwesome;font-style:normal;font-weight:400;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) format("woff"),url(fonts/fontawesome-webfont.ttf?b06871f281fee6b241d60582ae9369b9) format("truetype"),url(fonts/fontawesome-webfont.svg?912ec66d7572ff821749319396470bde#FontAwesome) format("svg")}.fa:before{font-family:FontAwesome;font-style:normal;font-weight:400;line-height:1}.fa:before,a .fa{text-decoration:inherit}.fa:before,a .fa,li .fa{display:inline-block}li .fa-large:before{width:1.875em}ul.fas{list-style-type:none;margin-left:2em;text-indent:-.8em}ul.fas li .fa{width:.8em}ul.fas li .fa-large:before{vertical-align:baseline}.fa-book:before,.icon-book:before{content:"\f02d"}.fa-caret-down:before,.icon-caret-down:before{content:"\f0d7"}.fa-caret-up:before,.icon-caret-up:before{content:"\f0d8"}.fa-caret-left:before,.icon-caret-left:before{content:"\f0d9"}.fa-caret-right:before,.icon-caret-right:before{content:"\f0da"}.rst-versions{position:fixed;bottom:0;left:0;width:300px;color:#fcfcfc;background:#1f1d1d;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;z-index:400}.rst-versions a{color:#2980b9;text-decoration:none}.rst-versions .rst-badge-small{display:none}.rst-versions .rst-current-version{padding:12px;background-color:#272525;display:block;text-align:right;font-size:90%;cursor:pointer;color:#27ae60}.rst-versions .rst-current-version:after{clear:both;content:"";display:block}.rst-versions .rst-current-version .fa{color:#fcfcfc}.rst-versions .rst-current-version .fa-book,.rst-versions .rst-current-version .icon-book{float:left}.rst-versions .rst-current-version.rst-out-of-date{background-color:#e74c3c;color:#fff}.rst-versions .rst-current-version.rst-active-old-version{background-color:#f1c40f;color:#000}.rst-versions.shift-up{height:auto;max-height:100%;overflow-y:scroll}.rst-versions.shift-up .rst-other-versions{display:block}.rst-versions .rst-other-versions{font-size:90%;padding:12px;color:grey;display:none}.rst-versions .rst-other-versions hr{display:block;height:1px;border:0;margin:20px 0;padding:0;border-top:1px solid #413d3d}.rst-versions .rst-other-versions dd{display:inline-block;margin:0}.rst-versions .rst-other-versions dd a{display:inline-block;padding:6px;color:#fcfcfc}.rst-versions .rst-other-versions .rtd-current-item{font-weight:700}.rst-versions.rst-badge{width:auto;bottom:20px;right:20px;left:auto;border:none;max-width:300px;max-height:90%}.rst-versions.rst-badge .fa-book,.rst-versions.rst-badge .icon-book{float:none;line-height:30px}.rst-versions.rst-badge.shift-up .rst-current-version{text-align:right}.rst-versions.rst-badge.shift-up .rst-current-version .fa-book,.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge>.rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width:768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}}#flyout-search-form{padding:6px}

_static/doctools.js

@@ -0,0 +1,156 @@
+/*
+ * doctools.js
+ * ~~~~~~~~~~~
+ *
+ * Base JavaScript utilities for all Sphinx HTML documentation.
+ *
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+"use strict";
+
+const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
+  "TEXTAREA",
+  "INPUT",
+  "SELECT",
+  "BUTTON",
+]);
+
+const _ready = (callback) => {
+  if (document.readyState !== "loading") {
+    callback();
+  } else {
+    document.addEventListener("DOMContentLoaded", callback);
+  }
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const Documentation = {
+  init: () => {
+    Documentation.initDomainIndexTable();
+    Documentation.initOnKeyListeners();
+  },
+
+  /**
+   * i18n support
+   */
+  TRANSLATIONS: {},
+  PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
+  LOCALE: "unknown",
+
+  // gettext and ngettext don't access this so that the functions
+  // can safely bound to a different name (_ = Documentation.gettext)
+  gettext: (string) => {
+    const translated = Documentation.TRANSLATIONS[string];
+    switch (typeof translated) {
+      case "undefined":
+        return string; // no translation
+      case "string":
+        return translated; // translation exists
+      default:
+        return translated[0]; // (singular, plural) translation tuple exists
+    }
+  },
+
+  ngettext: (singular, plural, n) => {
+    const translated = Documentation.TRANSLATIONS[singular];
+    if (typeof translated !== "undefined")
+      return translated[Documentation.PLURAL_EXPR(n)];
+    return n === 1 ? singular : plural;
+  },
+
+  addTranslations: (catalog) => {
+    Object.assign(Documentation.TRANSLATIONS, catalog.messages);
+    Documentation.PLURAL_EXPR = new Function(
+      "n",
+      `return (${catalog.plural_expr})`
+    );
+    Documentation.LOCALE = catalog.locale;
+  },
+
+  /**
+   * helper function to focus on search bar
+   */
+  focusSearchBar: () => {
+    document.querySelectorAll("input[name=q]")[0]?.focus();
+  },
+
+  /**
+   * Initialise the domain index toggle buttons
+   */
+  initDomainIndexTable: () => {
+    const toggler = (el) => {
+      const idNumber = el.id.substr(7);
+      const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
+      if (el.src.substr(-9) === "minus.png") {
+        el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
+        toggledRows.forEach((el) => (el.style.display = "none"));
+      } else {
+        el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
+        toggledRows.forEach((el) => (el.style.display = ""));
+      }
+    };
+
+    const togglerElements = document.querySelectorAll("img.toggler");
+    togglerElements.forEach((el) =>
+      el.addEventListener("click", (event) => toggler(event.currentTarget))
+    );
+    togglerElements.forEach((el) => (el.style.display = ""));
+    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+  },
+
+  initOnKeyListeners: () => {
+    // only install a listener if it is really needed
+    if (
+      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
+      !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+    )
+      return;
+
+    document.addEventListener("keydown", (event) => {
+      // bail for input elements
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      // bail with special keys
+      if (event.altKey || event.ctrlKey || event.metaKey) return;
+
+      if (!event.shiftKey) {
+        switch (event.key) {
+          case "ArrowLeft":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const prevLink = document.querySelector('link[rel="prev"]');
+            if (prevLink && prevLink.href) {
+              window.location.href = prevLink.href;
+              event.preventDefault();
+            }
+            break;
+          case "ArrowRight":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const nextLink = document.querySelector('link[rel="next"]');
+            if (nextLink && nextLink.href) {
+              window.location.href = nextLink.href;
+              event.preventDefault();
+            }
+            break;
+        }
+      }
+
+      // some keyboard layouts may need Shift to get /
+      switch (event.key) {
+        case "/":
+          if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
+          Documentation.focusSearchBar();
+          event.preventDefault();
+      }
+    });
+  },
+};
+
+// quick alias for translations
+const _ = Documentation.gettext;
+
+_ready(Documentation.init);

_static/documentation_options.js

@@ -0,0 +1,13 @@
+const DOCUMENTATION_OPTIONS = {
+    VERSION: '',
+    LANGUAGE: 'en',
+    COLLAPSE_INDEX: false,
+    BUILDER: 'html',
+    FILE_SUFFIX: '.html',
+    LINK_SUFFIX: '.html',
+    HAS_SOURCE: true,
+    SOURCELINK_SUFFIX: '.txt',
+    NAVIGATION_WITH_KEYS: false,
+    SHOW_SEARCH_SUMMARY: true,
+    ENABLE_SEARCH_SHORTCUTS: true,
+};

_static/js/badge_only.js

@@ -0,0 +1 @@
+!function(e){var t={};function r(n){if(t[n])return t[n].exports;var o=t[n]={i:n,l:!1,exports:{}};return e[n].call(o.exports,o,o.exports,r),o.l=!0,o.exports}r.m=e,r.c=t,r.d=function(e,t,n){r.o(e,t)||Object.defineProperty(e,t,{enumerable:!0,get:n})},r.r=function(e){"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(e,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(e,"__esModule",{value:!0})},r.t=function(e,t){if(1&t&&(e=r(e)),8&t)return e;if(4&t&&"object"==typeof e&&e&&e.__esModule)return e;var n=Object.create(null);if(r.r(n),Object.defineProperty(n,"default",{enumerable:!0,value:e}),2&t&&"string"!=typeof e)for(var o in e)r.d(n,o,function(t){return e[t]}.bind(null,o));return n},r.n=function(e){var t=e&&e.__esModule?function(){return e.default}:function(){return e};return r.d(t,"a",t),t},r.o=function(e,t){return Object.prototype.hasOwnProperty.call(e,t)},r.p="",r(r.s=4)}({4:function(e,t,r){}});

_static/js/versions.js

@@ -0,0 +1,224 @@
+const themeFlyoutDisplay = "hidden";
+const themeVersionSelector = "True";
+const themeLanguageSelector = "True";
+
+if (themeFlyoutDisplay === "attached") {
+  function renderLanguages(config) {
+    if (!config.projects.translations.length) {
+      return "";
+    }
+
+    const languagesHTML = `
+      <dl>
+        <dt>Languages</dt>
+        ${config.projects.translations
+          .map(
+            (translation) => `
+        <dd ${translation.slug == config.projects.current.slug ? 'class="rtd-current-item"' : ""}>
+          <a href="${translation.urls.documentation}">${translation.language.code}</a>
+        </dd>
+        `,
+          )
+          .join("\n")}
+      </dl>
+    `;
+    return languagesHTML;
+  }
+
+  function renderVersions(config) {
+    if (!config.versions.active.length) {
+      return "";
+    }
+    const versionsHTML = `
+      <dl>
+        <dt>Versions</dt>
+        ${config.versions.active
+          .map(
+            (version) => `
+        <dd ${version.slug === config.versions.current.slug ? 'class="rtd-current-item"' : ""}>
+          <a href="${version.urls.documentation}">${version.slug}</a>
+        </dd>
+        `,
+          )
+          .join("\n")}
+      </dl>
+    `;
+    return versionsHTML;
+  }
+
+  function renderDownloads(config) {
+    if (!Object.keys(config.versions.current.downloads).length) {
+      return "";
+    }
+    const downloadsNameDisplay = {
+      pdf: "PDF",
+      epub: "Epub",
+      htmlzip: "HTML",
+    };
+
+    const downloadsHTML = `
+      <dl>
+        <dt>Downloads</dt>
+        ${Object.entries(config.versions.current.downloads)
+          .map(
+            ([name, url]) => `
+          <dd>
+            <a href="${url}">${downloadsNameDisplay[name]}</a>
+          </dd>
+        `,
+          )
+          .join("\n")}
+      </dl>
+    `;
+    return downloadsHTML;
+  }
+
+  document.addEventListener("readthedocs-addons-data-ready", function (event) {
+    const config = event.detail.data();
+
+    const flyout = `
+      <div class="rst-versions" data-toggle="rst-versions" role="note">
+        <span class="rst-current-version" data-toggle="rst-current-version">
+          <span class="fa fa-book"> Read the Docs</span>
+          v: ${config.versions.current.slug}
+          <span class="fa fa-caret-down"></span>
+        </span>
+        <div class="rst-other-versions">
+          <div class="injected">
+            ${renderLanguages(config)}
+            ${renderVersions(config)}
+            ${renderDownloads(config)}
+            <dl>
+              <dt>On Read the Docs</dt>
+              <dd>
+                <a href="${config.projects.current.urls.home}">Project Home</a>
+              </dd>
+              <dd>
+                <a href="${config.projects.current.urls.builds}">Builds</a>
+              </dd>
+              <dd>
+                <a href="${config.projects.current.urls.downloads}">Downloads</a>
+              </dd>
+            </dl>
+            <dl>
+              <dt>Search</dt>
+              <dd>
+                <form id="flyout-search-form">
+                  <input
+                    class="wy-form"
+                    type="text"
+                    name="q"
+                    aria-label="Search docs"
+                    placeholder="Search docs"
+                    />
+                </form>
+              </dd>
+            </dl>
+            <hr />
+            <small>
+              <span>Hosted by <a href="https://about.readthedocs.org/?utm_source=&utm_content=flyout">Read the Docs</a></span>
+            </small>
+          </div>
+        </div>
+    `;
+
+    // Inject the generated flyout into the body HTML element.
+    document.body.insertAdjacentHTML("beforeend", flyout);
+
+    // Trigger the Read the Docs Addons Search modal when clicking on the "Search docs" input from inside the flyout.
+    document
+      .querySelector("#flyout-search-form")
+      .addEventListener("focusin", () => {
+        const event = new CustomEvent("readthedocs-search-show");
+        document.dispatchEvent(event);
+      });
+  })
+}
+
+if (themeLanguageSelector || themeVersionSelector) {
+  function onSelectorSwitch(event) {
+    const option = event.target.selectedIndex;
+    const item = event.target.options[option];
+    window.location.href = item.dataset.url;
+  }
+
+  document.addEventListener("readthedocs-addons-data-ready", function (event) {
+    const config = event.detail.data();
+
+    const versionSwitch = document.querySelector(
+      "div.switch-menus > div.version-switch",
+    );
+    if (themeVersionSelector) {
+      let versions = config.versions.active;
+      if (config.versions.current.hidden || config.versions.current.type === "external") {
+        versions.unshift(config.versions.current);
+      }
+      const versionSelect = `
+    <select>
+      ${versions
+        .map(
+          (version) => `
+        <option
+  value="${version.slug}"
+  ${config.versions.current.slug === version.slug ? 'selected="selected"' : ""}
+              data-url="${version.urls.documentation}">
+              ${version.slug}
+          </option>`,
+        )
+        .join("\n")}
+    </select>
+  `;
+
+      versionSwitch.innerHTML = versionSelect;
+      versionSwitch.firstElementChild.addEventListener("change", onSelectorSwitch);
+    }
+
+    const languageSwitch = document.querySelector(
+      "div.switch-menus > div.language-switch",
+    );
+
+    if (themeLanguageSelector) {
+      if (config.projects.translations.length) {
+        // Add the current language to the options on the selector
+        let languages = config.projects.translations.concat(
+          config.projects.current,
+        );
+        languages = languages.sort((a, b) =>
+          a.language.name.localeCompare(b.language.name),
+        );
+
+        const languageSelect = `
+      <select>
+        ${languages
+          .map(
+            (language) => `
+              <option
+                  value="${language.language.code}"
+                  ${config.projects.current.slug === language.slug ? 'selected="selected"' : ""}
+                  data-url="${language.urls.documentation}">
+                  ${language.language.name}
+              </option>`,
+          )
+          .join("\n")}
+       </select>
+    `;
+
+        languageSwitch.innerHTML = languageSelect;
+        languageSwitch.firstElementChild.addEventListener("change", onSelectorSwitch);
+      }
+      else {
+        languageSwitch.remove();
+      }
+    }
+  });
+}
+
+document.addEventListener("readthedocs-addons-data-ready", function (event) {
+  // Trigger the Read the Docs Addons Search modal when clicking on "Search docs" input from the topnav.
+  document
+    .querySelector("[role='search'] input")
+    .addEventListener("focusin", () => {
+      const event = new CustomEvent("readthedocs-search-show");
+      document.dispatchEvent(event);
+    });
+});

_static/language_data.js

@@ -0,0 +1,199 @@
+/*
+ * language_data.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * This script contains the language-specific data used by searchtools.js,
+ * namely the list of stopwords, stemmer, scorer and splitter.
+ *
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
+
+
+/* Non-minified version is copied as a separate JS file, if available */
+
+/**
+ * Porter Stemmer
+ */
+var Stemmer = function() {
+
+  var step2list = {
+    ational: 'ate',
+    tional: 'tion',
+    enci: 'ence',
+    anci: 'ance',
+    izer: 'ize',
+    bli: 'ble',
+    alli: 'al',
+    entli: 'ent',
+    eli: 'e',
+    ousli: 'ous',
+    ization: 'ize',
+    ation: 'ate',
+    ator: 'ate',
+    alism: 'al',
+    iveness: 'ive',
+    fulness: 'ful',
+    ousness: 'ous',
+    aliti: 'al',
+    iviti: 'ive',
+    biliti: 'ble',
+    logi: 'log'
+  };
+
+  var step3list = {
+    icate: 'ic',
+    ative: '',
+    alize: 'al',
+    iciti: 'ic',
+    ical: 'ic',
+    ful: '',
+    ness: ''
+  };
+
+  var c = "[^aeiou]";          // consonant
+  var v = "[aeiouy]";          // vowel
+  var C = c + "[^aeiouy]*";    // consonant sequence
+  var V = v + "[aeiou]*";      // vowel sequence
+
+  var mgr0 = "^(" + C + ")?" + V + C;                      // [C]VC... is m>0
+  var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$";    // [C]VC[V] is m=1
+  var mgr1 = "^(" + C + ")?" + V + C + V + C;              // [C]VCVC... is m>1
+  var s_v   = "^(" + C + ")?" + v;                         // vowel in stem
+
+  this.stemWord = function (w) {
+    var stem;
+    var suffix;
+    var firstch;
+    var origword = w;
+
+    if (w.length < 3)
+      return w;
+
+    var re;
+    var re2;
+    var re3;
+    var re4;
+
+    firstch = w.substr(0,1);
+    if (firstch == "y")
+      w = firstch.toUpperCase() + w.substr(1);
+
+    // Step 1a
+    re = /^(.+?)(ss|i)es$/;
+    re2 = /^(.+?)([^s])s$/;
+
+    if (re.test(w))
+      w = w.replace(re,"$1$2");
+    else if (re2.test(w))
+      w = w.replace(re2,"$1$2");
+
+    // Step 1b
+    re = /^(.+?)eed$/;
+    re2 = /^(.+?)(ed|ing)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      re = new RegExp(mgr0);
+      if (re.test(fp[1])) {
+        re = /.$/;
+        w = w.replace(re,"");
+      }
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1];
+      re2 = new RegExp(s_v);
+      if (re2.test(stem)) {
+        w = stem;
+        re2 = /(at|bl|iz)$/;
+        re3 = new RegExp("([^aeiouylsz])\\1$");
+        re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+        if (re2.test(w))
+          w = w + "e";
+        else if (re3.test(w)) {
+          re = /.$/;
+          w = w.replace(re,"");
+        }
+        else if (re4.test(w))
+          w = w + "e";
+      }
+    }
+
+    // Step 1c
+    re = /^(.+?)y$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(s_v);
+      if (re.test(stem))
+        w = stem + "i";
+    }
+
+    // Step 2
+    re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step2list[suffix];
+    }
+
+    // Step 3
+    re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step3list[suffix];
+    }
+
+    // Step 4
+    re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
+    re2 = /^(.+?)(s|t)(ion)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      if (re.test(stem))
+        w = stem;
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1] + fp[2];
+      re2 = new RegExp(mgr1);
+      if (re2.test(stem))
+        w = stem;
+    }
+
+    // Step 5
+    re = /^(.+?)e$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      re2 = new RegExp(meq1);
+      re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
+        w = stem;
+    }
+    re = /ll$/;
+    re2 = new RegExp(mgr1);
+    if (re.test(w) && re2.test(w)) {
+      re = /.$/;
+      w = w.replace(re,"");
+    }
+
+    // and turn initial Y back to y
+    if (firstch == "y")
+      w = firstch.toLowerCase() + w.substr(1);
+    return w;
+  }
+}
+

_static/pygments.css

@@ -0,0 +1,75 @@
+pre { line-height: 125%; }
+td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+.highlight .hll { background-color: #ffffcc }
+.highlight { background: #eeffcc; }
+.highlight .c { color: #408090; font-style: italic } /* Comment */
+.highlight .err { border: 1px solid #FF0000 } /* Error */
+.highlight .k { color: #007020; font-weight: bold } /* Keyword */
+.highlight .o { color: #666666 } /* Operator */
+.highlight .ch { color: #408090; font-style: italic } /* Comment.Hashbang */
+.highlight .cm { color: #408090; font-style: italic } /* Comment.Multiline */
+.highlight .cp { color: #007020 } /* Comment.Preproc */
+.highlight .cpf { color: #408090; font-style: italic } /* Comment.PreprocFile */
+.highlight .c1 { color: #408090; font-style: italic } /* Comment.Single */
+.highlight .cs { color: #408090; background-color: #fff0f0 } /* Comment.Special */
+.highlight .gd { color: #A00000 } /* Generic.Deleted */
+.highlight .ge { font-style: italic } /* Generic.Emph */
+.highlight .ges { font-weight: bold; font-style: italic } /* Generic.EmphStrong */
+.highlight .gr { color: #FF0000 } /* Generic.Error */
+.highlight .gh { color: #000080; font-weight: bold } /* Generic.Heading */
+.highlight .gi { color: #00A000 } /* Generic.Inserted */
+.highlight .go { color: #333333 } /* Generic.Output */
+.highlight .gp { color: #c65d09; font-weight: bold } /* Generic.Prompt */
+.highlight .gs { font-weight: bold } /* Generic.Strong */
+.highlight .gu { color: #800080; font-weight: bold } /* Generic.Subheading */
+.highlight .gt { color: #0044DD } /* Generic.Traceback */
+.highlight .kc { color: #007020; font-weight: bold } /* Keyword.Constant */
+.highlight .kd { color: #007020; font-weight: bold } /* Keyword.Declaration */
+.highlight .kn { color: #007020; font-weight: bold } /* Keyword.Namespace */
+.highlight .kp { color: #007020 } /* Keyword.Pseudo */
+.highlight .kr { color: #007020; font-weight: bold } /* Keyword.Reserved */
+.highlight .kt { color: #902000 } /* Keyword.Type */
+.highlight .m { color: #208050 } /* Literal.Number */
+.highlight .s { color: #4070a0 } /* Literal.String */
+.highlight .na { color: #4070a0 } /* Name.Attribute */
+.highlight .nb { color: #007020 } /* Name.Builtin */
+.highlight .nc { color: #0e84b5; font-weight: bold } /* Name.Class */
+.highlight .no { color: #60add5 } /* Name.Constant */
+.highlight .nd { color: #555555; font-weight: bold } /* Name.Decorator */
+.highlight .ni { color: #d55537; font-weight: bold } /* Name.Entity */
+.highlight .ne { color: #007020 } /* Name.Exception */
+.highlight .nf { color: #06287e } /* Name.Function */
+.highlight .nl { color: #002070; font-weight: bold } /* Name.Label */
+.highlight .nn { color: #0e84b5; font-weight: bold } /* Name.Namespace */
+.highlight .nt { color: #062873; font-weight: bold } /* Name.Tag */
+.highlight .nv { color: #bb60d5 } /* Name.Variable */
+.highlight .ow { color: #007020; font-weight: bold } /* Operator.Word */
+.highlight .w { color: #bbbbbb } /* Text.Whitespace */
+.highlight .mb { color: #208050 } /* Literal.Number.Bin */
+.highlight .mf { color: #208050 } /* Literal.Number.Float */
+.highlight .mh { color: #208050 } /* Literal.Number.Hex */
+.highlight .mi { color: #208050 } /* Literal.Number.Integer */
+.highlight .mo { color: #208050 } /* Literal.Number.Oct */
+.highlight .sa { color: #4070a0 } /* Literal.String.Affix */
+.highlight .sb { color: #4070a0 } /* Literal.String.Backtick */
+.highlight .sc { color: #4070a0 } /* Literal.String.Char */
+.highlight .dl { color: #4070a0 } /* Literal.String.Delimiter */
+.highlight .sd { color: #4070a0; font-style: italic } /* Literal.String.Doc */
+.highlight .s2 { color: #4070a0 } /* Literal.String.Double */
+.highlight .se { color: #4070a0; font-weight: bold } /* Literal.String.Escape */
+.highlight .sh { color: #4070a0 } /* Literal.String.Heredoc */
+.highlight .si { color: #70a0d0; font-style: italic } /* Literal.String.Interpol */
+.highlight .sx { color: #c65d09 } /* Literal.String.Other */
+.highlight .sr { color: #235388 } /* Literal.String.Regex */
+.highlight .s1 { color: #4070a0 } /* Literal.String.Single */
+.highlight .ss { color: #517918 } /* Literal.String.Symbol */
+.highlight .bp { color: #007020 } /* Name.Builtin.Pseudo */
+.highlight .fm { color: #06287e } /* Name.Function.Magic */
+.highlight .vc { color: #bb60d5 } /* Name.Variable.Class */
+.highlight .vg { color: #bb60d5 } /* Name.Variable.Global */
+.highlight .vi { color: #bb60d5 } /* Name.Variable.Instance */
+.highlight .vm { color: #bb60d5 } /* Name.Variable.Magic */
+.highlight .il { color: #208050 } /* Literal.Number.Integer.Long */

_static/searchtools.js

@@ -0,0 +1,620 @@
+/*
+ * searchtools.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * Sphinx JavaScript utilities for the full-text search.
+ *
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+"use strict";
+
+/**
+ * Simple result scoring code.
+ */
+if (typeof Scorer === "undefined") {
+  var Scorer = {
+    // Implement the following function to further tweak the score for each result
+    // The function takes a result array [docname, title, anchor, descr, score, filename]
+    // and returns the new score.
+    /*
+    score: result => {
+      const [docname, title, anchor, descr, score, filename] = result
+      return score
+    },
+    */
+
+    // query matches the full name of an object
+    objNameMatch: 11,
+    // or matches in the last dotted part of the object name
+    objPartialMatch: 6,
+    // Additive scores depending on the priority of the object
+    objPrio: {
+      0: 15, // used to be importantResults
+      1: 5, // used to be objectResults
+      2: -5, // used to be unimportantResults
+    },
+    //  Used when the priority is not in the mapping.
+    objPrioDefault: 0,
+
+    // query found in title
+    title: 15,
+    partialTitle: 7,
+    // query found in terms
+    term: 5,
+    partialTerm: 2,
+  };
+}
+
+const _removeChildren = (element) => {
+  while (element && element.lastChild) element.removeChild(element.lastChild);
+};
+
+/**
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping
+ */
+const _escapeRegExp = (string) =>
+  string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string
+
+const _displayItem = (item, searchTerms, highlightTerms) => {
+  const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
+  const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+  const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+  const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
+  const contentRoot = document.documentElement.dataset.content_root;
+
+  const [docName, title, anchor, descr, score, _filename] = item;
+
+  let listItem = document.createElement("li");
+  let requestUrl;
+  let linkUrl;
+  if (docBuilder === "dirhtml") {
+    // dirhtml builder
+    let dirname = docName + "/";
+    if (dirname.match(/\/index\/$/))
+      dirname = dirname.substring(0, dirname.length - 6);
+    else if (dirname === "index/") dirname = "";
+    requestUrl = contentRoot + dirname;
+    linkUrl = requestUrl;
+  } else {
+    // normal html builders
+    requestUrl = contentRoot + docName + docFileSuffix;
+    linkUrl = docName + docLinkSuffix;
+  }
+  let linkEl = listItem.appendChild(document.createElement("a"));
+  linkEl.href = linkUrl + anchor;
+  linkEl.dataset.score = score;
+  linkEl.innerHTML = title;
+  if (descr) {
+    listItem.appendChild(document.createElement("span")).innerHTML =
+      " (" + descr + ")";
+    // highlight search terms in the description
+    if (SPHINX_HIGHLIGHT_ENABLED)  // set in sphinx_highlight.js
+      highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted"));
+  }
+  else if (showSearchSummary)
+    fetch(requestUrl)
+      .then((responseData) => responseData.text())
+      .then((data) => {
+        if (data)
+          listItem.appendChild(
+            Search.makeSearchSummary(data, searchTerms, anchor)
+          );
+        // highlight search terms in the summary
+        if (SPHINX_HIGHLIGHT_ENABLED)  // set in sphinx_highlight.js
+          highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted"));
+      });
+  Search.output.appendChild(listItem);
+};
+const _finishSearch = (resultCount) => {
+  Search.stopPulse();
+  Search.title.innerText = _("Search Results");
+  if (!resultCount)
+    Search.status.innerText = Documentation.gettext(
+      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
+    );
+  else
+    Search.status.innerText = _(
+      "Search finished, found ${resultCount} page(s) matching the search query."
+    ).replace('${resultCount}', resultCount);
+};
+const _displayNextItem = (
+  results,
+  resultCount,
+  searchTerms,
+  highlightTerms,
+) => {
+  // results left, load the summary and display it
+  // this is intended to be dynamic (don't sub resultsCount)
+  if (results.length) {
+    _displayItem(results.pop(), searchTerms, highlightTerms);
+    setTimeout(
+      () => _displayNextItem(results, resultCount, searchTerms, highlightTerms),
+      5
+    );
+  }
+  // search finished, update title and status message
+  else _finishSearch(resultCount);
+};
+// Helper function used by query() to order search results.
+// Each input is an array of [docname, title, anchor, descr, score, filename].
+// Order the results by score (in opposite order of appearance, since the
+// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically.
+const _orderResultsByScoreThenName = (a, b) => {
+  const leftScore = a[4];
+  const rightScore = b[4];
+  if (leftScore === rightScore) {
+    // same score: sort alphabetically
+    const leftTitle = a[1].toLowerCase();
+    const rightTitle = b[1].toLowerCase();
+    if (leftTitle === rightTitle) return 0;
+    return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+  }
+  return leftScore > rightScore ? 1 : -1;
+};
+
+/**
+ * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
+ * custom function per language.
+ *
+ * The regular expression works by splitting the string on consecutive characters
+ * that are not Unicode letters, numbers, underscores, or emoji characters.
+ * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
+ */
+if (typeof splitQuery === "undefined") {
+  var splitQuery = (query) => query
+      .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
+      .filter(term => term)  // remove remaining empty strings
+}
+
+/**
+ * Search Module
+ */
+const Search = {
+  _index: null,
+  _queued_query: null,
+  _pulse_status: -1,
+
+  htmlToText: (htmlString, anchor) => {
+    const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
+    for (const removalQuery of [".headerlink", "script", "style"]) {
+      htmlElement.querySelectorAll(removalQuery).forEach((el) => { el.remove() });
+    }
+    if (anchor) {
+      const anchorContent = htmlElement.querySelector(`[role="main"] ${anchor}`);
+      if (anchorContent) return anchorContent.textContent;
+
+      console.warn(
+        `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.`
+      );
+    }
+
+    // if anchor not specified or not found, fall back to main content
+    const docContent = htmlElement.querySelector('[role="main"]');
+    if (docContent) return docContent.textContent;
+
+    console.warn(
+      "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template."
+    );
+    return "";
+  },
+
+  init: () => {
+    const query = new URLSearchParams(window.location.search).get("q");
+    document
+      .querySelectorAll('input[name="q"]')
+      .forEach((el) => (el.value = query));
+    if (query) Search.performSearch(query);
+  },
+
+  loadIndex: (url) =>
+    (document.body.appendChild(document.createElement("script")).src = url),
+
+  setIndex: (index) => {
+    Search._index = index;
+    if (Search._queued_query !== null) {
+      const query = Search._queued_query;
+      Search._queued_query = null;
+      Search.query(query);
+    }
+  },
+
+  hasIndex: () => Search._index !== null,
+
+  deferQuery: (query) => (Search._queued_query = query),
+
+  stopPulse: () => (Search._pulse_status = -1),
+
+  startPulse: () => {
+    if (Search._pulse_status >= 0) return;
+
+    const pulse = () => {
+      Search._pulse_status = (Search._pulse_status + 1) % 4;
+      Search.dots.innerText = ".".repeat(Search._pulse_status);
+      if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
+    };
+    pulse();
+  },
+
+  /**
+   * perform a search for something (or wait until index is loaded)
+   */
+  performSearch: (query) => {
+    // create the required interface elements
+    const searchText = document.createElement("h2");
+    searchText.textContent = _("Searching");
+    const searchSummary = document.createElement("p");
+    searchSummary.classList.add("search-summary");
+    searchSummary.innerText = "";
+    const searchList = document.createElement("ul");
+    searchList.classList.add("search");
+
+    const out = document.getElementById("search-results");
+    Search.title = out.appendChild(searchText);
+    Search.dots = Search.title.appendChild(document.createElement("span"));
+    Search.status = out.appendChild(searchSummary);
+    Search.output = out.appendChild(searchList);
+
+    const searchProgress = document.getElementById("search-progress");
+    // Some themes don't use the search progress node
+    if (searchProgress) {
+      searchProgress.innerText = _("Preparing search...");
+    }
+    Search.startPulse();
+
+    // index already loaded, the browser was quick!
+    if (Search.hasIndex()) Search.query(query);
+    else Search.deferQuery(query);
+  },
+
+  _parseQuery: (query) => {
+    // stem the search terms and add them to the correct list
+    const stemmer = new Stemmer();
+    const searchTerms = new Set();
+    const excludedTerms = new Set();
+    const highlightTerms = new Set();
+    const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
+    splitQuery(query.trim()).forEach((queryTerm) => {
+      const queryTermLower = queryTerm.toLowerCase();
+
+      // maybe skip this "word"
+      // stopwords array is from language_data.js
+      if (
+        stopwords.indexOf(queryTermLower) !== -1 ||
+        queryTerm.match(/^\d+$/)
+      )
+        return;
+
+      // stem the word
+      let word = stemmer.stemWord(queryTermLower);
+      // select the correct list
+      if (word[0] === "-") excludedTerms.add(word.substr(1));
+      else {
+        searchTerms.add(word);
+        highlightTerms.add(queryTermLower);
+      }
+    });
+
+    if (SPHINX_HIGHLIGHT_ENABLED) {  // set in sphinx_highlight.js
+      localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+    }
+
+    // console.debug("SEARCH: searching for:");
+    // console.info("required: ", [...searchTerms]);
+    // console.info("excluded: ", [...excludedTerms]);
+
+    return [query, searchTerms, excludedTerms, highlightTerms, objectTerms];
+  },
+
+  /**
+   * execute search (requires search index to be loaded)
+   */
+  _performSearch: (query, searchTerms, excludedTerms, highlightTerms, objectTerms) => {
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const titles = Search._index.titles;
+    const allTitles = Search._index.alltitles;
+    const indexEntries = Search._index.indexentries;
+
+    // Collect multiple result groups to be sorted separately and then ordered.
+    // Each is an array of [docname, title, anchor, descr, score, filename].
+    const normalResults = [];
+    const nonMainIndexResults = [];
+
+    _removeChildren(document.getElementById("search-progress"));
+
+    const queryLower = query.toLowerCase().trim();
+    for (const [title, foundTitles] of Object.entries(allTitles)) {
+      if (title.toLowerCase().trim().includes(queryLower) && (queryLower.length >= title.length/2)) {
+        for (const [file, id] of foundTitles) {
+          const score = Math.round(Scorer.title * queryLower.length / title.length);
+          const boost = titles[file] === title ? 1 : 0;  // add a boost for document titles
+          normalResults.push([
+            docNames[file],
+            titles[file] !== title ? `${titles[file]} > ${title}` : title,
+            id !== null ? "#" + id : "",
+            null,
+            score + boost,
+            filenames[file],
+          ]);
+        }
+      }
+    }
+
+    // search for explicit entries in index directives
+    for (const [entry, foundEntries] of Object.entries(indexEntries)) {
+      if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
+        for (const [file, id, isMain] of foundEntries) {
+          const score = Math.round(100 * queryLower.length / entry.length);
+          const result = [
+            docNames[file],
+            titles[file],
+            id ? "#" + id : "",
+            null,
+            score,
+            filenames[file],
+          ];
+          if (isMain) {
+            normalResults.push(result);
+          } else {
+            nonMainIndexResults.push(result);
+          }
+        }
+      }
+    }
+
+    // lookup as object
+    objectTerms.forEach((term) =>
+      normalResults.push(...Search.performObjectSearch(term, objectTerms))
+    );
+
+    // lookup as search terms in fulltext
+    normalResults.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+
+    // let the scorer override scores with a custom scoring function
+    if (Scorer.score) {
+      normalResults.forEach((item) => (item[4] = Scorer.score(item)));
+      nonMainIndexResults.forEach((item) => (item[4] = Scorer.score(item)));
+    }
+
+    // Sort each group of results by score and then alphabetically by name.
+    normalResults.sort(_orderResultsByScoreThenName);
+    nonMainIndexResults.sort(_orderResultsByScoreThenName);
+
+    // Combine the result groups in (reverse) order.
+    // Non-main index entries are typically arbitrary cross-references,
+    // so display them after other results.
+    let results = [...nonMainIndexResults, ...normalResults];
+
+    // remove duplicate search results
+    // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
+    let seen = new Set();
+    results = results.reverse().reduce((acc, result) => {
+      let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
+      if (!seen.has(resultStr)) {
+        acc.push(result);
+        seen.add(resultStr);
+      }
+      return acc;
+    }, []);
+
+    return results.reverse();
+  },
+
+  query: (query) => {
+    const [searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms] = Search._parseQuery(query);
+    const results = Search._performSearch(searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms);
+
+    // for debugging
+    //Search.lastresults = results.slice();  // a copy
+    // console.info("search results:", Search.lastresults);
+
+    // print the results
+    _displayNextItem(results, results.length, searchTerms, highlightTerms);
+  },
+
+  /**
+   * search for object names
+   */
+  performObjectSearch: (object, objectTerms) => {
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const objects = Search._index.objects;
+    const objNames = Search._index.objnames;
+    const titles = Search._index.titles;
+
+    const results = [];
+
+    const objectSearchCallback = (prefix, match) => {
+      const name = match[4]
+      const fullname = (prefix ? prefix + "." : "") + name;
+      const fullnameLower = fullname.toLowerCase();
+      if (fullnameLower.indexOf(object) < 0) return;
+
+      let score = 0;
+      const parts = fullnameLower.split(".");
+
+      // check for different match types: exact matches of full name or
+      // "last name" (i.e. last dotted part)
+      if (fullnameLower === object || parts.slice(-1)[0] === object)
+        score += Scorer.objNameMatch;
+      else if (parts.slice(-1)[0].indexOf(object) > -1)
+        score += Scorer.objPartialMatch; // matches in last name
+
+      const objName = objNames[match[1]][2];
+      const title = titles[match[0]];
+
+      // If more than one term searched for, we require other words to be
+      // found in the name/title/description
+      const otherTerms = new Set(objectTerms);
+      otherTerms.delete(object);
+      if (otherTerms.size > 0) {
+        const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
+        if (
+          [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
+        )
+          return;
+      }
+
+      let anchor = match[3];
+      if (anchor === "") anchor = fullname;
+      else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
+
+      const descr = objName + _(", in ") + title;
+
+      // add custom score for some objects according to scorer
+      if (Scorer.objPrio.hasOwnProperty(match[2]))
+        score += Scorer.objPrio[match[2]];
+      else score += Scorer.objPrioDefault;
+
+      results.push([
+        docNames[match[0]],
+        fullname,
+        "#" + anchor,
+        descr,
+        score,
+        filenames[match[0]],
+      ]);
+    };
+    Object.keys(objects).forEach((prefix) =>
+      objects[prefix].forEach((array) =>
+        objectSearchCallback(prefix, array)
+      )
+    );
+    return results;
+  },
+
+  /**
+   * search for full-text terms in the index
+   */
+  performTermsSearch: (searchTerms, excludedTerms) => {
+    // prepare search
+    const terms = Search._index.terms;
+    const titleTerms = Search._index.titleterms;
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const titles = Search._index.titles;
+
+    const scoreMap = new Map();
+    const fileMap = new Map();
+
+    // perform the search on the required terms
+    searchTerms.forEach((word) => {
+      const files = [];
+      const arr = [
+        { files: terms[word], score: Scorer.term },
+        { files: titleTerms[word], score: Scorer.title },
+      ];
+      // add support for partial matches
+      if (word.length > 2) {
+        const escapedWord = _escapeRegExp(word);
+        if (!terms.hasOwnProperty(word)) {
+          Object.keys(terms).forEach((term) => {
+            if (term.match(escapedWord))
+              arr.push({ files: terms[term], score: Scorer.partialTerm });
+          });
+        }
+        if (!titleTerms.hasOwnProperty(word)) {
+          Object.keys(titleTerms).forEach((term) => {
+            if (term.match(escapedWord))
+              arr.push({ files: titleTerms[term], score: Scorer.partialTitle });
+          });
+        }
+      }
+
+      // no match but word was a required one
+      if (arr.every((record) => record.files === undefined)) return;
+
+      // found search word in contents
+      arr.forEach((record) => {
+        if (record.files === undefined) return;
+
+        let recordFiles = record.files;
+        if (recordFiles.length === undefined) recordFiles = [recordFiles];
+        files.push(...recordFiles);
+
+        // set score for the word in each file
+        recordFiles.forEach((file) => {
+          if (!scoreMap.has(file)) scoreMap.set(file, {});
+          scoreMap.get(file)[word] = record.score;
+        });
+      });
+
+      // create the mapping
+      files.forEach((file) => {
+        if (!fileMap.has(file)) fileMap.set(file, [word]);
+        else if (fileMap.get(file).indexOf(word) === -1) fileMap.get(file).push(word);
+      });
+    });
+
+    // now check if the files don't contain excluded terms
+    const results = [];
+    for (const [file, wordList] of fileMap) {
+      // check if all requirements are matched
+
+      // as search terms with length < 3 are discarded
+      const filteredTermCount = [...searchTerms].filter(
+        (term) => term.length > 2
+      ).length;
+      if (
+        wordList.length !== searchTerms.size &&
+        wordList.length !== filteredTermCount
+      )
+        continue;
+
+      // ensure that none of the excluded terms is in the search result
+      if (
+        [...excludedTerms].some(
+          (term) =>
+            terms[term] === file ||
+            titleTerms[term] === file ||
+            (terms[term] || []).includes(file) ||
+            (titleTerms[term] || []).includes(file)
+        )
+      )
+        break;
+
+      // select one (max) score for the file.
+      const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w]));
+      // add result to the result list
+      results.push([
+        docNames[file],
+        titles[file],
+        "",
+        null,
+        score,
+        filenames[file],
+      ]);
+    }
+    return results;
+  },
+
+  /**
+   * helper function to return a node containing the
+   * search summary for a given text. keywords is a list
+   * of stemmed words.
+   */
+  makeSearchSummary: (htmlText, keywords, anchor) => {
+    const text = Search.htmlToText(htmlText, anchor);
+    if (text === "") return null;
+
+    const textLower = text.toLowerCase();
+    const actualStartPosition = [...keywords]
+      .map((k) => textLower.indexOf(k.toLowerCase()))
+      .filter((i) => i > -1)
+      .slice(-1)[0];
+    const startWithContext = Math.max(actualStartPosition - 120, 0);
+
+    const top = startWithContext === 0 ? "" : "...";
+    const tail = startWithContext + 240 < text.length ? "..." : "";
+
+    let summary = document.createElement("p");
+    summary.classList.add("context");
+    summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
+
+    return summary;
+  },
+};
+
+_ready(Search.init);

_static/sphinx_highlight.js

@@ -0,0 +1,154 @@
+/* Highlighting utilities for Sphinx HTML documentation. */
+"use strict";
+
+const SPHINX_HIGHLIGHT_ENABLED = true
+
+/**
+ * highlight a given string on a node by wrapping it in
+ * span elements with the given class name.
+ */
+const _highlight = (node, addItems, text, className) => {
+  if (node.nodeType === Node.TEXT_NODE) {
+    const val = node.nodeValue;
+    const parent = node.parentNode;
+    const pos = val.toLowerCase().indexOf(text);
+    if (
+      pos >= 0 &&
+      !parent.classList.contains(className) &&
+      !parent.classList.contains("nohighlight")
+    ) {
+      let span;
+
+      const closestNode = parent.closest("body, svg, foreignObject");
+      const isInSVG = closestNode && closestNode.matches("svg");
+      if (isInSVG) {
+        span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+      } else {
+        span = document.createElement("span");
+        span.classList.add(className);
+      }
+
+      span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+      const rest = document.createTextNode(val.substr(pos + text.length));
+      parent.insertBefore(
+        span,
+        parent.insertBefore(
+          rest,
+          node.nextSibling
+        )
+      );
+      node.nodeValue = val.substr(0, pos);
+      /* There may be more occurrences of search term in this node. So call this
+       * function recursively on the remaining fragment.
+       */
+      _highlight(rest, addItems, text, className);
+
+      if (isInSVG) {
+        const rect = document.createElementNS(
+          "http://www.w3.org/2000/svg",
+          "rect"
+        );
+        const bbox = parent.getBBox();
+        rect.x.baseVal.value = bbox.x;
+        rect.y.baseVal.value = bbox.y;
+        rect.width.baseVal.value = bbox.width;
+        rect.height.baseVal.value = bbox.height;
+        rect.setAttribute("class", className);
+        addItems.push({ parent: parent, target: rect });
+      }
+    }
+  } else if (node.matches && !node.matches("button, select, textarea")) {
+    node.childNodes.forEach((el) => _highlight(el, addItems, text, className));
+  }
+};
+const _highlightText = (thisNode, text, className) => {
+  let addItems = [];
+  _highlight(thisNode, addItems, text, className);
+  addItems.forEach((obj) =>
+    obj.parent.insertAdjacentElement("beforebegin", obj.target)
+  );
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const SphinxHighlight = {
+
+  /**
+   * highlight the search words provided in localstorage in the text
+   */
+  highlightSearchWords: () => {
+    if (!SPHINX_HIGHLIGHT_ENABLED) return;  // bail if no highlight
+
+    // get and clear terms from localstorage
+    const url = new URL(window.location);
+    const highlight =
+        localStorage.getItem("sphinx_highlight_terms")
+        || url.searchParams.get("highlight")
+        || "";
+    localStorage.removeItem("sphinx_highlight_terms")
+    url.searchParams.delete("highlight");
+    window.history.replaceState({}, "", url);
+
+    // get individual terms from highlight string
+    const terms = highlight.toLowerCase().split(/\s+/).filter(x => x);
+    if (terms.length === 0) return; // nothing to do
+
+    // There should never be more than one element matching "div.body"
+    const divBody = document.querySelectorAll("div.body");
+    const body = divBody.length ? divBody[0] : document.querySelector("body");
+    window.setTimeout(() => {
+      terms.forEach((term) => _highlightText(body, term, "highlighted"));
+    }, 10);
+
+    const searchBox = document.getElementById("searchbox");
+    if (searchBox === null) return;
+    searchBox.appendChild(
+      document
+        .createRange()
+        .createContextualFragment(
+          '<p class="highlight-link">' +
+            '<a href="javascript:SphinxHighlight.hideSearchWords()">' +
+            _("Hide Search Matches") +
+            "</a></p>"
+        )
+    );
+  },
+
+  /**
+   * helper function to hide the search marks again
+   */
+  hideSearchWords: () => {
+    document
+      .querySelectorAll("#searchbox .highlight-link")
+      .forEach((el) => el.remove());
+    document
+      .querySelectorAll("span.highlighted")
+      .forEach((el) => el.classList.remove("highlighted"));
+    localStorage.removeItem("sphinx_highlight_terms")
+  },
+
+  initEscapeListener: () => {
+    // only install a listener if it is really needed
+    if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return;
+
+    document.addEventListener("keydown", (event) => {
+      // bail for input elements
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      // bail with special keys
+      if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return;
+      if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) {
+        SphinxHighlight.hideSearchWords();
+        event.preventDefault();
+      }
+    });
+  },
+};
+
+_ready(() => {
+  /* Do not call highlightSearchWords() when we are on the search page.
+   * It will highlight words from the *previous* search query.
+   */
+  if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords();
+  SphinxHighlight.initEscapeListener();
+});

docker-compose.yml

@@ -1,52 +0,0 @@
-version: "3.8"
-
-services:
-  gui-tools:
-    env_file:
-      - .env
-    build:
-      context: ./guiTools/
-
-    environment:
-      # Display settings
-      - DISPLAY=${DISPLAY}
-      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
-      # - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb}  # Default to X11
-      # If running with Wayland
-      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
-      - ROS_MASTER_URI=http://ros-master:11311
-      # - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
-      # - NVIDIA_VISIBLE_DEVICES=all
-    volumes:
-      # X11 socket
-      - /tmp/.X11-unix:/tmp/.X11-unix
-      - ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
-      # Wayland socket
-      #- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
-      # Allow access to the host's GPU
-      - /dev/dri:/dev/dri
-      #Auto reload on code changes
-      - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
-      # Enable launching the SDK from the SDK
-      # - ./:/app/sdk
-      - ./robots:/robots
-      - /var/run/docker.sock:/var/run/docker.sock
-    devices:
-      # Provide access to GPU devices
-      - /dev/dri:/dev/dri
-    network_mode: host
-    ports:
-      - 8923:8923
-    ipc: host
-    #user: "${UID}:${GID}"
-    privileged: true # Allow privileged access if necessary (e.g., for GPU access)
-    # restart: unless-stopped
-    # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: cdi
-              device_ids:
-                - nvidia.com/gpu=all
-

docs/Makefile

@@ -1,20 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-# You can set these variables from the command line, and also
-# from the environment for the first two.
-SPHINXOPTS    ?=
-SPHINXBUILD   ?= sphinx-build
-SOURCEDIR     = source
-BUILDDIR      = build
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README.md

@@ -1,11 +0,0 @@
-If you have a correctly configured sphinx environment you can build this project
-using `make html latexpdf`.
-
-You can also use nektos/act to build this project in the same way our build does.
-```bash
-cd ../ #Make sure you're in the project root, you should have a hidden folder
-# named ./.github/workflows available.
-act --artifact-server-path ./doc-build
-```
-
-Your compiled doc project will now be in the ./doc-build folder.

docs/make.bat

@@ -1,35 +0,0 @@
-@ECHO OFF
-
-pushd %~dp0
-
-REM Command file for Sphinx documentation
-
-if "%SPHINXBUILD%" == "" (
-	set SPHINXBUILD=sphinx-build
-)
-set SOURCEDIR=source
-set BUILDDIR=build
-
-%SPHINXBUILD% >NUL 2>NUL
-if errorlevel 9009 (
-	echo.
-	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
-	echo.installed, then set the SPHINXBUILD environment variable to point
-	echo.to the full path of the 'sphinx-build' executable. Alternatively you
-	echo.may add the Sphinx directory to PATH.
-	echo.
-	echo.If you don't have Sphinx installed, grab it from
-	echo.https://www.sphinx-doc.org/
-	exit /b 1
-)
-
-if "%1" == "" goto help
-
-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
-goto end
-
-:help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
-
-:end
-popd

docs/source/conf.py

@@ -1,70 +0,0 @@
-# Configuration file for the Sphinx documentation builder.
-#
-# For the full list of built-in configuration values, see the documentation:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-# -- Project information -----------------------------------------------------
-# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
-import sphinx_rtd_theme
-
-project = "spiri-sdk"
-copyright = "2024, Spiri Robotics"
-author = "Spiri Robotics"
-
-html_logo = "logos/SPIRI_STLockup_Mixed_RGB.png"  # For HTML output
-html_logo_width = '200px' 
-latex_logo = "logos/SPIRI_STLockup_Mixed_RGB.png"
-latex_logo_width = '5cm'
-
-
-# -- General configuration ---------------------------------------------------
-# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
-
-extensions = [
-    "myst_parser",
-    "sphinx.ext.duration",
-    "sphinx.ext.doctest",
-    "sphinx.ext.autodoc",
-    "sphinx.ext.autosummary",
-    "sphinx.ext.intersphinx",
-    "sphinx.ext.todo",
-]
-
-
-numfig = True
-
-todo_include_todos = True
-todo_emit_warnings = True
-todo_link_only = True
-
-
-templates_path = ["_templates"]
-exclude_patterns = []
-
-# -- Options for HTML output -------------------------------------------------
-# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
-
-html_theme = "sphinx_rtd_theme"
-html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
-
-html_static_path = ['_static']
-
-html_css_files = [
-    'custom.css',
-]
-
-
-html_theme_options = {
-    'collapse_navigation': True,
-    'sticky_navigation': True,
-    'navigation_depth': 4, #could be set to -1 if we want unlimited depth
-    'includehidden': True,
-    'titles_only': False
-}
-
-latex_engine = "xelatex"
-# Configure LaTeX options for PDF generation
-latex_show_urls = 'footnote'
-
-# Enable syntax highlighting for PDFs
-pygments_style = 'sphinx'

genindex.html

@@ -0,0 +1,102 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" data-content_root="./">
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Index &mdash; spiri-sdk  documentation</title>
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="_static/custom.css?v=dafc64e6" />
+
+  
+      <script src="_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="_static/doctools.js?v=9a2dae69"></script>
+      <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="#" />
+    <link rel="search" title="Search" href="search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
+          
+          <a href="index.html" class="icon icon-home">
+            spiri-sdk
+              <img src="_static/SPIRI_STLockup_Mixed_RGB.png" class="logo" alt="Logo"/>
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <!-- Local TOC -->
+              <div class="local-toc"></div>
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="index.html">spiri-sdk</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">Index</li>
+      <li class="wy-breadcrumbs-aside">
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+
+<h1 id="index">Index</h1>
+
+<div class="genindex-jumpbox">
+ 
+</div>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2024, Spiri Robotics.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
+
+</footer>
+        </div>
+      </div>
+    </section>
+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>

guiTools/Dockerfile

@@ -1,46 +0,0 @@
-FROM osrf/ros:jazzy-desktop-full
-
-RUN apt-get update
-RUN apt-get -y install qterminal mesa-utils \
-    libgstreamer1.0-dev \
-    libgstreamer-plugins-base1.0-dev \
-    docker-compose \
-    python3.12-venv \
-    python3-pip \
-    gstreamer1.0-libav \
-    gstreamer1.0-gl \
-    gstreamer1.0-plugins-good \
-    gstreamer1.0-plugins-bad \
-    gstreamer1.0-plugins-ugly 
-
-
-COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins
-COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /models /ardupilot_gazebo/models
-COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /worlds /ardupilot_gazebo/worlds
-
-ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/ardupilot_gazebo/plugins
-ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds
-
-COPY ./gz_entrypoint.sh /gz_entrypoint.sh
-RUN chmod +x /gz_entrypoint.sh
-
-WORKDIR /app
-
-RUN python3 -m venv /opt/venv
-ENV PATH="/opt/venv/bin:$PATH"
-
-RUN pip3 install poetry
-
-COPY ./pyproject.toml ./poetry.lock ./README.md ./
-COPY ./spiri_sdk_guitools ./spiri_sdk_guitools
-
-RUN poetry env use python3
-RUN poetry config virtualenvs.create false && poetry install --no-dev --no-interaction --no-ansi
-
-
-
-CMD poetry run python3 spiri_sdk_guitools/launcher.py
-
-
-
-

guiTools/gz_entrypoint.sh

@@ -1,6 +0,0 @@
-#!/bin/bash
-set -e #PR #6
-source /opt/ros/$ROS_DISTRO/setup.bash
-gz sim -v -r $WORLD_FILE_NAME
-
-exec "$@"

guiTools/pyproject.toml

@@ -1,21 +0,0 @@
-[tool.poetry]
-name = "spiri_sdk_guitools"
-version = "0.1.0"
-description = ""
-authors = ["Spiri Robotics"]
-readme = "README.md"
-
-[tool.poetry.dependencies]
-python = "^3.11"
-nicegui = "^2.5.0"
-pywebview = "^5.3.2"
-loguru = "^0.7.2"
-sh = "^2.1.0"
-docker = "^7.1.0"
-aiodocker = "^0.23.0"
-numpy = "^2.1.3"
-
-[build-system]
-requires = ["poetry-core"]
-build-backend = "poetry.core.masonry.api"
-

guiTools/spawn_drones.sh

@@ -1,32 +0,0 @@
-#!/bin/bash
-set -e #PR #6
-source /opt/ros/$ROS_DISTRO/setup.bash
-
-if [[ -z $SIM_DRONE_COUNT ]]
-then
-  echo "SIM_DRONE_COUNT environment variable is not set."
-  exit 1
-fi
-
-gz sim -v -r $WORLD_FILE_NAME &
-while true
-do
-  topics=$(gz topic -l)
-  if [[ $topics == *"/world/$WORLD_NAME"* ]]
-  then
-    break
-  fi
-  sleep 1
-done
-
-cd /ardupilot_gazebo/models/$DRONE_MODEL
-for (( j=0; j<$SIM_DRONE_COUNT; j++ ));
-do
-    xacro -v gstreamer_udp_port:=$(($GSTREAMER_UDP_PORT + ($j * 10))) fdm_port_in:=$(($FDM_PORT_IN + ($j * 10))) model.xacro.sdf -o model.sdf
-    #! string is better than using -file option. File is not up to date in the next iteration.
-    value=$(</ardupilot_gazebo/models/$DRONE_MODEL/model.sdf)
-    gz_drone_name=spiri-$(($j + 1))
-    #? Maybe read from text file for formation of drones? x y z r p y
-    ros2 run ros_gz_sim create -world $WORLD_NAME -string "$value" -name $gz_drone_name -x $j  -y 0 -z 0.195
-done
-exec "$@"

guiTools/spiri_sdk_guitools/launcher.py

@@ -1,93 +0,0 @@
-from nicegui import ui, binding, app, run 
-import subprocess
-from collections import defaultdict
-import docker
-import time
-
-docker_client = docker.from_env()
-
-# Dictionary of applications: key is the button text, value is the command to execute
-applications = {
-    "Terminal": ["qterminal"],
-    "rqt": ["rqt"],
-    "rviz2": ["rviz2"],
-    "Gazebo": ["/gz_entrypoint.sh"],
-    "Gazebo Standalone": "gz sim -v4".split(),
-    # Add more applications here if needed
-}
-
-# Function to launch an application
-def launch_app(command):
-    try:
-        subprocess.Popen(command)
-    except FileNotFoundError:
-        print(f"{command[0]} not found. Make sure it's installed and accessible in the PATH.")
-
-# Create the NiceGUI interface
-ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').classes('w-full text-center')
-
-robots = []
-from spiri_sdk_guitools.sim_drone import Robot
-import aiodocker
-import asyncio
-
-@ui.page('/')
-async def main():
-    with ui.tabs().classes('w-full') as tabs:
-        tab_tools = ui.tab('Tools')
-        tab_robots = ui.tab('Robots')
-        # two = ui.tab('Two')
-    with ui.tab_panels(tabs, value=tab_tools).classes("w-full"):
-        with ui.tab_panel(tab_tools):
-            # Create and place buttons dynamically based on the dictionary
-            with ui.grid(columns=3):
-                for app_name, command in applications.items():
-                    ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;')
-        with ui.tab_panel(tab_robots):
-            new_robot_widget = ui.element().classes("w-1/2")
-            with ui.element().classes("w-1/2"):
-                ui.label("Debug").classes("text-xl")
-                def cleanup_all_containers():
-                    #Find all containers that start with spiri-sdk
-                    containers = docker_client.containers.list(all=True)
-                    removal_count = 0
-                    for container in containers:
-                        if container.name.startswith("robot-sim-"):
-                            container.remove(force=True)
-                            removal_count += 1
-                    ui.label(f"Removed {removal_count} containers")
-                ui.button("Cleanup all containers", on_click=cleanup_all_containers)
-
-            ui.separator()
-            ui.label("Current robots").classes("text-3xl")
-            robots_widget = ui.element().classes("w-full")
-
-            #Add a new robot
-            with new_robot_widget:
-                ui.label("Add new robot").classes("text-3xl")
-                newRobotParams = defaultdict(binding.BindableProperty)
-                ui.number(value=1, label="SysID", min=1, max=254,
-                          ).bind_value(newRobotParams, 'sysid')
-                default_robot_compose = (
-                        "/robots/spiri-mu/core/docker-compose.yaml\n"
-                        "#/robots/spiri-mu/virtual_camera/docker-compose.yaml --build"
-                )
-                ui.label("Compose files").classes("text-xl")
-                ui.codemirror(value=default_robot_compose, language="bash", theme="basicDark").bind_value(newRobotParams, 'compose_files')
-                async def new_robot():
-                    compose_files = []
-                    #Split on comma or newline, and remove comments
-                    for line in newRobotParams['compose_files'].split('\n'):
-                        line = line.split('#')[0].strip()
-                        if line:
-                            compose_files.append(line)
-                    current_robot = newRobotParams.copy()
-                    current_robot['compose_files'] = compose_files
-                    robot = Robot(**current_robot)
-                    asyncio.tasks.create_task(robot.ui(robots_widget))
-
-                    newRobotParams['sysid'] += 1
-                ui.button("Add", on_click=new_robot)
-
-# Start the NiceGUI application
-ui.run(title="Spiri SDK Launcher", port=8923, dark=None)

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -1,330 +0,0 @@
-from loguru import logger
-from pathlib import Path
-import contextlib
-from typing import List
-import os
-import sh
-import subprocess
-from nicegui import ui, run, app
-import yaml
-
-import docker
-import aiodocker
-import asyncio
-from spiri_sdk_guitools.video_button import EnableStreamingButton
-
-docker_client = docker.from_env()
-
-from rclpy.executors import ExternalShutdownException
-from rclpy.node import Node
-import rclpy
-import threading
-
-
-def ros_main() -> None:
-    rclpy.init()
-
-
-app.on_startup(lambda: threading.Thread(target=ros_main).start())
-
-
-@contextlib.contextmanager
-def modified_environ(*remove, **update):
-    """
-    Temporarily updates the ``os.environ`` dictionary in-place.
-
-    The ``os.environ`` dictionary is updated in-place so that the modification
-    is sure to work in all situations.
-
-    :param remove: Environment variables to remove.
-    :param update: Dictionary of environment variables and values to add/update.
-    """
-    env = os.environ
-    update = update or {}
-    remove = remove or []
-
-    # List of environment variables being updated or removed.
-    stomped = (set(update.keys()) | set(remove)) & set(env.keys())
-    # Environment variables and values to restore on exit.
-    update_after = {k: env[k] for k in stomped}
-    # Environment variables and values to remove on exit.
-    remove_after = frozenset(k for k in update if k not in env)
-
-    try:
-        env.update(update)
-        [env.pop(k, None) for k in remove]
-        yield
-    finally:
-        env.update(update_after)
-        [env.pop(k) for k in remove_after]
-
-
-robots = set()
-
-
-async def container_logs(container, element):
-    adocker = aiodocker.Docker()
-    with element:
-        with ui.scroll_area():
-            acontainer = await adocker.containers.get(container.id)
-            async for log in acontainer.log(stdout=True, stderr=True, follow=True):
-                for line in log.splitlines():
-                    ui.label(line)
-                # ui.html(conv.convert(bytes(log,'utf-8').decode('utf-8', 'xmlcharrefreplace'), full=False))
-
-
-class Robot:
-    robot_type = "spiri_mu"
-
-    def __init__(self, sysid: int, compose_files: List[Path] | str):
-        if sysid > 255 or sysid < 0:
-            raise ValueError("sysid must be between 0 and 255")
-        self.sysid = int(sysid)
-        if isinstance(compose_files, str):
-            compose_files = [
-                Path(file) for file in compose_files.replace("\n", ",").split(",")
-            ]
-        self.compose_files = compose_files
-        self.processes = []
-        self.video_button = None
-        robots.add(self)
-        #Ros doesn't like dashes in node names
-        self.robot_name = f"{self.robot_type}_{self.sysid}".replace("-","_")
-        self.world_name = "citadel_hill"
-
-    async def ui_containers(self, element):
-        docker_elements = {}
-        container_status = {}
-        with element:
-            while True:
-                with logger.catch():
-                    # Poll for data that changes
-                    for container in self.containers():
-                        try:
-                            health = container.attrs["State"]["Health"]["Status"]
-                        except KeyError:
-                            health = "Unknown"
-
-                        container_status[container] = (
-                            f"{container.name} {container.status} {health}"
-                        )
-                        if container not in docker_elements:
-                            docker_elements[container] = ui.element().classes("w-full")
-                            with docker_elements[container]:
-                                ui.label().bind_text(container_status, container).classes(
-                                    "text-2xl"
-                                )
-                                #Show the command the container is running
-                                # ui.label(container.attrs["Config"]["Cmd"])
-                                cmd_widget = ui.codemirror(" ".join(container.attrs["Config"]["Cmd"]), language="bash",theme="basicDark").classes('h-auto max-h-32')
-                                cmd_widget.enabled = False
-
-                                with ui.expansion("Env Variables").classes("w-full outline outline-1").style("margin: 10px;"):
-                                    env_widget = ui.codemirror("\n".join(container.attrs["Config"]["Env"]), language="bash",theme="basicDark")
-                                    env_widget.enabled = False
-
-                                logelement = (
-                                    ui.expansion("Logs")
-                                    .style("margin: 10px;")
-                                    .classes("w-full outline outline-1")
-                                )
-                                asyncio.create_task(container_logs(container, logelement))
-                                with ui.expansion("Full details").classes("w-full outline outline-1").style("margin: 10px;"):
-                                    details_widget = ui.codemirror(yaml.dump(container.attrs), language="yaml",theme="basicDark")
-                                    details_widget.enabled = False
-                    # Check for containers that have been removed
-                    removed = set(docker_elements.keys()) - set(self.containers())
-                    for container in removed:
-                        self.robot_ui.remove(docker_elements[container])
-                        docker_elements.pop(container)
-                    await asyncio.sleep(1)
-
-    async def ui_ros(self, element):
-        with element:
-            node_dummy = Node("_ros2cli_dummy_to_show_topic_list")
-            scroll_area = ui.scroll_area()
-            with scroll_area:
-                while True:
-                    scroll_area.clear()
-                    #Filter for topics that start with self.robot_name
-                    for topic in node_dummy.get_topic_names_and_types():
-                        if self.robot_name in topic[0]:
-                            ui.label(topic[0])
-                    await asyncio.sleep(10)
-
-    async def ui(self, element):
-        adocker = aiodocker.Docker()
-
-        with element:
-            self.robot_ui = ui.element().classes("w-full outline p-4")
-            with self.robot_ui:
-                ui.label(f"{self.robot_type} {self.sysid}").classes("text-2xl")
-                ui.label(f"""Sysid: {self.sysid}""")
-                ui.button("Start", on_click=self.async_start).classes("m-2")
-                ui.button("Stop", on_click=self.async_stop).classes("m-2")
-                self.video_button = EnableStreamingButton(robot_name=self.robot_name).classes(
-                    "m-2"
-                )
-
-                async def delete_robot():
-                    await self.async_stop()
-                    robots.remove(self)
-                    element.remove(self.robot_ui)
-
-                ui.button("Delete", on_click=delete_robot).classes("m-2")
-                with ui.tabs() as tabs:
-                    tab_containers = ui.tab("Containers")
-                    tab_ros = ui.tab("ROS Topics")
-                with ui.tab_panels(tabs, value=tab_containers):
-                    tab = ui.tab_panel(tab_containers).classes("w-full")
-                    asyncio.create_task(self.ui_containers(tab))
-                    tab = ui.tab_panel(tab_ros).classes("w-full")
-                    asyncio.create_task(self.ui_ros(tab))
-
-    async def async_stop(self):
-        return await run.io_bound(self.stop)
-
-    def stop(self):
-        # If video was enabled, and we stop. Button state is wrong.
-        # Stop video if it is enabled.
-        if isinstance(self.video_button, EnableStreamingButton):
-            self.video_button.stop_video()
-        # Delete gazebo model
-        self.delete_gz_model()
-        # Signal all processes to stop
-        for process in self.processes:
-            process.terminate()
-            process.kill()
-        self.processes = []
-        for container in self.containers():
-            # container.stop()
-            container.remove(force=True)
-
-    def containers(self):
-        return docker_client.containers.list(
-            all=True, filters={"name": f"robot-sim-{self.robot_name}"}
-        )
-
-    async def async_start(self):
-        return await run.io_bound(self.start)
-
-    def start(self):
-        """Starts the simulated drone with a given sysid,
-        each drone must have it's own unique ID.
-        """
-        instance = self.sysid - 1
-        sysid = self.sysid
-        with logger.contextualize(syd_id=sysid):
-            env = os.environ
-            with modified_environ(
-                SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * instance),
-                MAVROS2_PORT=str(int(env["MAVROS2_PORT"]) + 10 * instance),
-                MAVROS1_PORT=str(int(env["MAVROS1_PORT"]) + 10 * instance),
-                FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * instance),
-                GSTREAMER_UDP_PORT=str(int(env["GSTREAMER_UDP_PORT"]) + 10 * instance),
-                SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance),
-                INSTANCE=str(instance),
-                DRONE_SYS_ID=str(self.sysid),
-                ROBOT_NAME=self.robot_name,
-                WORLD_NAME="citadel_hill",
-            ):
-                self.spawn_gz_model()
-                logger.info("Starting drone stack, this may take some time")
-                for compose_file in self.compose_files:
-                    arguments = compose_file.split(" ")
-                    arguments = [arg.strip() for arg in arguments]
-                    compose_file = arguments[0]
-                    arguments = arguments[1:]
-
-                    if not isinstance(compose_file, Path):
-                        compose_file = Path(compose_file)
-                    if not compose_file.exists():
-                        raise FileNotFoundError(f"File {compose_file} does not exist")
-                    #Get the folder the compose file is in
-                    compose_folder = compose_file.parent
-                    args = [
-                        "docker-compose",
-                        "--profile",
-                        "uav-sim",
-                        "-p",
-                        f"robot-sim-{self.robot_name}-{compose_folder.name}",
-                        "-f",
-                        compose_file.as_posix(),
-                        "up",
-                        *arguments,
-                    ]
-                    command = " ".join(args)
-
-                    logger.info(f"Starting drone stack with command: {command}")
-                    docker_stack = subprocess.Popen(
-                        args,
-                        # stdout=subprocess.PIPE,
-                        # stderr=subprocess.PIPE,
-                    )
-                    logger.info(f"Started drone stack with PID: {docker_stack.pid}")
-
-    @logger.catch
-    def spawn_gz_model(self):
-        sysid = self.sysid
-        logger.info("")
-        env = os.environ
-        GSTREAMER_UDP_PORT = env["GSTREAMER_UDP_PORT"]
-        FDM_PORT_IN = env["FDM_PORT_IN"]
-        WORLD_NAME = env["WORLD_NAME"]
-        DRONE_MODEL = env["DRONE_MODEL"]
-        XACRO_CMD = [
-            "xacro",
-            f"gstreamer_udp_port:={GSTREAMER_UDP_PORT}",
-            f"fdm_port_in:={FDM_PORT_IN}",
-            "model.xacro.sdf",
-            "-o",
-            "model.sdf",
-        ]
-        # This path is breaking if this drone_model folder doesnt exist!
-        # TODO: fix this model path for minimal code maintenance
-        ROS2_CMD = f"ros2 run ros_gz_sim create -world {WORLD_NAME} -file /ardupilot_gazebo/models/{DRONE_MODEL}/model.sdf -name {self.robot_name} -x {sysid - 1}  -y 0 -z 0.195"
-
-        xacro_proc = subprocess.Popen(
-            XACRO_CMD,
-            cwd=f"/ardupilot_gazebo/models/{DRONE_MODEL}",
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-        )
-        ros2_gz_create_proc = subprocess.Popen(
-            ROS2_CMD.split(),
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-        )
-        out, err = ros2_gz_create_proc.communicate(timeout=15)
-        ros2_gz_create_proc.kill()
-        return
-
-    @logger.catch
-    def delete_gz_model(self):
-        sysid = self.sysid
-        env = os.environ
-        WORLD_NAME = env["WORLD_NAME"]
-        # http://osrf-distributions.s3.amazonaws.com/gazebo/api/7.1.0/classgazebo_1_1physics_1_1Entity.html
-        ENTITY_TYPE_MODEL = 0x00000002
-        REQUEST_ARG = f"name: '{self.robot_name}' type: {ENTITY_TYPE_MODEL}"
-        GZ_SERVICE_CMD = [
-            "gz",
-            "service",
-            "-s",
-            f"/world/{WORLD_NAME}/remove",
-            "--reqtype",
-            "gz.msgs.Entity",
-            "--reptype",
-            "gz.msgs.Boolean",
-            "--timeout",
-            "5000",
-            "--req",
-            REQUEST_ARG,
-        ]
-        remove_entity_proc = subprocess.Popen(
-            GZ_SERVICE_CMD,
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-        )
-        out, err = remove_entity_proc.communicate(timeout=15)
-        remove_entity_proc.kill()

guiTools/spiri_sdk_guitools/video_button.py

@@ -1,82 +0,0 @@
-from nicegui import run, ui
-import subprocess
-from loguru import logger
-import os
-
-GZ_TOPIC_INFO = ["gz", "topic", "-i", "-t"]
-ENABLE_STREAMING_TOPIC = "/world/{world_name}/model/{robot_name}/link/pitch_link/sensor/camera/image/enable_streaming"
-
-
-class EnableStreamingButton(ui.element):
-    def __init__(self, robot_name, state: bool = False) -> None:
-        super().__init__()
-        self.robot_name = robot_name
-        self._state = state
-        self.button = None
-        with self.classes():
-            with ui.row():
-                self.button = ui.button(on_click=self.on_click)
-                self.button._text = (
-                    f'{"Disable" if self._state else "Enable"}' + " Video"
-                )
-                self.button.props(f'color={"red" if self._state else "green"}')
-
-    async def on_click(self) -> None:
-        spinner = ui.spinner(size="lg")
-        # So we don't block UI
-        result = await run.cpu_bound(self.enable_streaming, self.robot_name, not self._state)
-        if result:
-            ui.notify("Success", type="positive]")
-            self.set_state(state=not self._state)
-        else:
-            self.set_state(state=False)
-            ui.notify("No Video Streaming Available..", type="negative")
-        spinner.delete()
-
-    def set_state(self, state: bool):
-        self._state = state
-        self.update()
-
-    def update(self) -> None:
-        self.button._text = f'{"Disable" if self._state else "Enable"}' + " Video"
-        self.button.props(f'color={"red" if self._state else "green"}')
-
-    def stop_video(self):
-        if self._state != False:
-            self.enable_streaming(robot_name=self.robot_name, is_streaming=False)
-            self.set_state(state=False)
-
-    @staticmethod
-    def enable_streaming(robot_name: str, is_streaming: bool) -> bool:
-
-        world_name = os.environ["WORLD_NAME"]
-        # Check if this topic has any subscribers i.e. model is up
-        gz_topic_list_proc = subprocess.Popen(
-            GZ_TOPIC_INFO
-            + [ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name)],
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            text=True,
-        )
-        # Check exceptions.. timeout, error etc.
-
-        output, error = gz_topic_list_proc.communicate(timeout=15)
-        if gz_topic_list_proc.returncode != 0:
-            logger.error(error)
-            return False
-        if "No subscribers".casefold() in output.casefold():
-            logger.error("No Subscribers on enable_streaming topic.")
-            return False
-
-        gz_topic_pub = [
-            "gz",
-            "topic",
-            "-t",
-            ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name),
-            "-m",
-            "gz.msgs.Boolean",
-            "-p",
-            f"data:{is_streaming}",
-        ]
-        subprocess.run((gz_topic_pub))
-        return True

index.html

@@ -0,0 +1,251 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" data-content_root="./">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Welcome to spiri-sdk’s documentation! &mdash; spiri-sdk  documentation</title>
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="_static/custom.css?v=dafc64e6" />
+
+  
+      <script src="_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="_static/doctools.js?v=9a2dae69"></script>
+      <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
+    <link rel="search" title="Search" href="search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
+          
+          <a href="#" class="icon icon-home">
+            spiri-sdk
+              <img src="_static/SPIRI_STLockup_Mixed_RGB.png" class="logo" alt="Logo"/>
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">Welcome to spiri-sdk’s documentation!</a><ul>
+<li><a class="reference internal" href="#spiri-sdk">Spiri SDK</a><ul>
+<li><a class="reference internal" href="#overview">Overview</a></li>
+<li><a class="reference internal" href="#prerequisites">Prerequisites</a><ul>
+<li><a class="reference internal" href="#ensure-nvidia-drivers-are-working">Ensure nvidia drivers are working</a></li>
+<li><a class="reference internal" href="#installing-docker">Installing Docker</a></li>
+<li><a class="reference internal" href="#installing-copier">Installing Copier</a></li>
+<li><a class="reference internal" href="#installing-vscode">Installing VSCode</a></li>
+<li><a class="reference internal" href="#installing-nvidia-container-toolkit">Installing nvidia-container-toolkit</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#quickstart">Quickstart</a><ul>
+<li><a class="reference internal" href="#creating-a-new-project">Creating a new project</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li><a class="reference internal" href="#indices-and-tables">Indices and tables</a></li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="#" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">Welcome to spiri-sdk’s documentation!</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="_sources/index.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="welcome-to-spiri-sdk-s-documentation">
+<h1>Welcome to spiri-sdk’s documentation!<a class="headerlink" href="#welcome-to-spiri-sdk-s-documentation" title="Link to this heading">¶</a></h1>
+<div class="toctree-wrapper compound">
+</div>
+<section id="spiri-sdk">
+<h2>Spiri SDK<a class="headerlink" href="#spiri-sdk" title="Link to this heading">¶</a></h2>
+<section id="overview">
+<h3>Overview<a class="headerlink" href="#overview" title="Link to this heading">¶</a></h3>
+<p>Spiri Robots run a number of docker containers to achieve their core functionality,
+we try to keep these essential docker containers in one docker compose file. The
+docker compose file you’ll find in this repository starts an ardupilot-based UAV simulation
+as well as a ROS master, and mavproxy to tie it together, mirroring the core deployment of
+a spiri robot.</p>
+</section>
+<section id="prerequisites">
+<h3>Prerequisites<a class="headerlink" href="#prerequisites" title="Link to this heading">¶</a></h3>
+<p>This SDK was tested using Ubuntu 22.04 and an Nvidia GPU.</p>
+<p>UI features like 3D worlds (gazebo simulation) were tested with Nvidia GPUs using CDI passthrough.
+Machine-learning features like image recognition are expected to only work with NVIDIA GPUs.</p>
+<p>We use VSCode as the default IDE, and we use Copier to manage project templates.</p>
+<section id="ensure-nvidia-drivers-are-working">
+<h4>Ensure nvidia drivers are working<a class="headerlink" href="#ensure-nvidia-drivers-are-working" title="Link to this heading">¶</a></h4>
+<p>Ensuring nvidia drivers are installed is outside of the scope of
+this document, but you can confirm they working are using the <code class="docutils literal notranslate"><span class="pre">nvidia-smi</span></code> command.
+If the command is present and shows output relevent to your GPU, the drivers are installed.</p>
+<p>You can find the official ubuntu documentation for install nvidia drivers <a class="reference external" href="https://ubuntu.com/server/docs/nvidia-drivers-installation">here</a>.</p>
+<p>You can use the following command to let ubuntu try to install the appropriete drivers automatically:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>ubuntu-drivers<span class="w"> </span>install<span class="w"> </span>--gpgpu
+</pre></div>
+</div>
+</section>
+<section id="installing-docker">
+<h4>Installing Docker<a class="headerlink" href="#installing-docker" title="Link to this heading">¶</a></h4>
+<p>As per the <a class="reference external" href="https://docs.docker.com/engine/install/">official Docker documentation</a>.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1">#Uninstall any older docker packages</span>
+<span class="k">for</span><span class="w"> </span>pkg<span class="w"> </span><span class="k">in</span><span class="w"> </span>docker.io<span class="w"> </span>docker-doc<span class="w"> </span>docker-compose<span class="w"> </span>docker-compose-v2<span class="w"> </span>podman-docker<span class="w"> </span>containerd<span class="w"> </span>runc<span class="p">;</span><span class="w"> </span><span class="k">do</span><span class="w"> </span>sudo<span class="w"> </span>apt-get<span class="w"> </span>remove<span class="w"> </span><span class="nv">$pkg</span><span class="p">;</span><span class="w"> </span><span class="k">done</span>
+
+<span class="c1"># Add Docker&#39;s official GPG key:</span>
+sudo<span class="w"> </span>apt-get<span class="w"> </span>update
+sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>ca-certificates<span class="w"> </span>curl
+sudo<span class="w"> </span>install<span class="w"> </span>-m<span class="w"> </span><span class="m">0755</span><span class="w"> </span>-d<span class="w"> </span>/etc/apt/keyrings
+sudo<span class="w"> </span>curl<span class="w"> </span>-fsSL<span class="w"> </span>https://download.docker.com/linux/ubuntu/gpg<span class="w"> </span>-o<span class="w"> </span>/etc/apt/keyrings/docker.asc
+sudo<span class="w"> </span>chmod<span class="w"> </span>a+r<span class="w"> </span>/etc/apt/keyrings/docker.asc
+
+<span class="c1"># Add the repository to Apt sources:</span>
+<span class="nb">echo</span><span class="w"> </span><span class="se">\</span>
+<span class="w">  </span><span class="s2">&quot;deb [arch=</span><span class="k">$(</span>dpkg<span class="w"> </span>--print-architecture<span class="k">)</span><span class="s2"> signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \</span>
+<span class="s2">  </span><span class="k">$(</span>.<span class="w"> </span>/etc/os-release<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;</span><span class="nv">$VERSION_CODENAME</span><span class="s2">&quot;</span><span class="k">)</span><span class="s2"> stable&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/docker.list<span class="w"> </span>&gt;<span class="w"> </span>/dev/null
+sudo<span class="w"> </span>apt-get<span class="w"> </span>update
+
+<span class="c1">#Install latest docker</span>
+sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>docker-ce<span class="w"> </span>docker-ce-cli<span class="w"> </span>containerd.io<span class="w"> </span>docker-buildx-plugin<span class="w"> </span>docker-compose-plugin
+
+<span class="c1">#Allow current user to use docker without sudo</span>
+sudo<span class="w"> </span>groupadd<span class="w"> </span>docker
+sudo<span class="w"> </span>usermod<span class="w"> </span>-aG<span class="w"> </span>docker<span class="w"> </span><span class="nv">$USER</span>
+<span class="c1">#Reload the group</span>
+newgrp<span class="w"> </span>docker
+</pre></div>
+</div>
+</section>
+<section id="installing-copier">
+<h4>Installing Copier<a class="headerlink" href="#installing-copier" title="Link to this heading">¶</a></h4>
+<p>As per the <a class="reference external" href="https://copier.readthedocs.io/en/stable/#installation">official Copier documentation</a></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>--user<span class="w"> </span>pipx
+python3<span class="w"> </span>-m<span class="w"> </span>pipx<span class="w"> </span>ensurepath
+pipx<span class="w"> </span>install<span class="w"> </span>copier
+</pre></div>
+</div>
+</section>
+<section id="installing-vscode">
+<h4>Installing VSCode<a class="headerlink" href="#installing-vscode" title="Link to this heading">¶</a></h4>
+<p>As per the <a class="reference external" href="https://code.visualstudio.com/docs/setup/linux">official VSCode documentation</a></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>wget<span class="w"> </span>gpg
+wget<span class="w"> </span>https://code.visualstudio.com/sha/download?build<span class="o">=</span>stable<span class="p">&amp;</span><span class="nv">os</span><span class="o">=</span>linux-deb-x64<span class="w"> </span>-O<span class="w"> </span>/tmp/vscode.deb
+sudo<span class="w"> </span>dpkg<span class="w"> </span>-i<span class="w"> </span>/tmp/vscode.deb
+</pre></div>
+</div>
+</section>
+<section id="installing-nvidia-container-toolkit">
+<h4>Installing nvidia-container-toolkit<a class="headerlink" href="#installing-nvidia-container-toolkit" title="Link to this heading">¶</a></h4>
+<p>As per the <a class="reference external" href="https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html">offical nvidia-container-toolkit guide</a>.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>curl<span class="w"> </span>-fsSL<span class="w"> </span>https://nvidia.github.io/libnvidia-container/gpgkey<span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>gpg<span class="w"> </span>--dearmor<span class="w"> </span>-o<span class="w"> </span>/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span><span class="o">&amp;&amp;</span><span class="w"> </span>curl<span class="w"> </span>-s<span class="w"> </span>-L<span class="w"> </span>https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list<span class="w"> </span><span class="p">|</span><span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>sed<span class="w"> </span><span class="s1">&#39;s#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g&#39;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/nvidia-container-toolkit.list
+sudo<span class="w"> </span>apt-get<span class="w"> </span>update
+sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>nvidia-container-toolkit
+sudo<span class="w"> </span>nvidia-ctk<span class="w"> </span>runtime<span class="w"> </span>configure<span class="w"> </span>--runtime<span class="o">=</span>docker
+sudo<span class="w"> </span>nvidia-ctk<span class="w"> </span>cdi<span class="w"> </span>generate<span class="w"> </span>--output<span class="o">=</span>/etc/cdi/nvidia.yaml
+nvidia-ctk<span class="w"> </span>cdi<span class="w"> </span>list
+</pre></div>
+</div>
+</section>
+</section>
+<section id="quickstart">
+<h3>Quickstart<a class="headerlink" href="#quickstart" title="Link to this heading">¶</a></h3>
+<p>To get started you can simply clone this repository and run <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">compose</span> <span class="pre">--profile</span> <span class="pre">uav-sim</span> <span class="pre">up</span></code>.</p>
+<p>Once the simulated UAV is running you can connect to it with QGroundControl or other
+MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.</p>
+<p>There is experimental GUI support you can enable by running <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">compose</span> <span class="pre">--profile</span> <span class="pre">uav-sim</span> <span class="pre">--profile</span> <span class="pre">ui</span> <span class="pre">up</span></code>.</p>
+<section id="creating-a-new-project">
+<h4>Creating a new project<a class="headerlink" href="#creating-a-new-project" title="Link to this heading">¶</a></h4>
+<p>We provide project templates you can use for development that integrate seamlessly into
+our simulated robots.</p>
+<p>These templates are intended to be used with VSCode.</p>
+<p>To get started with our project templates install the <a class="reference external" href="https://copier.readthedocs.io/en/stable/">copier</a> project
+templating utility.</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://git.spirirobotics.com/Spiri/template-service-ros1-catkin">template-service-ros1-catkin</a></p></li>
+</ul>
+<p>This template uses the last stable release of ROS1 (ros noetic) and supports python and c++ programming
+languages.</p>
+<p>ROS1 is considered end of life. It’s recomended to use a ROS2 template instead</p>
+<ul class="simple">
+<li><p>ROS2 template</p></li>
+</ul>
+<p>We’re working on it…</p>
+</section>
+</section>
+</section>
+</section>
+<section id="indices-and-tables">
+<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Link to this heading">¶</a></h1>
+<ul class="simple">
+<li><p><a class="reference internal" href="genindex.html"><span class="std std-ref">Index</span></a></p></li>
+<li><p><a class="reference internal" href="py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
+<li><p><a class="reference internal" href="search.html"><span class="std std-ref">Search Page</span></a></p></li>
+</ul>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2024, Spiri Robotics.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
+
+</footer>
+        </div>
+      </div>
+    </section>
+  </div>
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+          SphinxRtdTheme.Navigation.enable(true);
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requirements.txt

@@ -1,4 +0,0 @@
-typer==0.12.5
-loguru==0.7.2
-sh==2.1.0
-python-dotenv==1.0.1

robots/spiri-mu/core/.env

@@ -1,19 +0,0 @@
-DRONE_SYS_ID=1
-INSTANCE=0
-SERIAL0_PORT=5760
-SITL_PORT=5501
-MAVROS2_PORT=14560
-MAVROS1_PORT=14561
-FDM_PORT_IN=9002
-GSTREAMER_UDP_PORT=5600
-ROS_MASTER_URI="http://0.0.0.0:11311"
-
-
-ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
-WORLD_FILE_NAME="citadel_hill_world.sdf"
-WORLD_NAME="citadel_hill"
-DRONE_MODEL="spiri_mu"
-
-
-SIM_DRONE_COUNT=1
-GCS_PORT=14550

robots/spiri-mu/core/docker-compose.yaml

@@ -1,95 +0,0 @@
-services:
-  ardupilot:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
-    command:
-      - /bin/bash
-      - -c
-      - |
-        ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
-        --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE
-    stdin_open: true
-    tty: true
-    network_mode: host
-
-  mavproxy:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-mavproxy:main
-    command: >
-      mavproxy.py --non-interactive
-      --master tcp:127.0.0.1:$SERIAL0_PORT 
-      --out udpout:0.0.0.0:$MAVROS2_PORT
-      --out udpout:0.0.0.0:$MAVROS1_PORT
-      --sitl 127.0.0.1:$SITL_PORT
-      --out udp:0.0.0.0:$GCS_PORT
-    ipc: host
-    network_mode: host
-    restart: always
-
-  mavros2:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-ros2-mavros:main
-    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
-    ipc: host
-    network_mode: host
-    restart: always
-    depends_on:
-      ardupilot:
-        condition: service_started
-      mavproxy:
-        condition: service_started
-    deploy:
-      resources:
-        limits:
-          # cpus: '0.01'
-          memory: 200M
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288
-
-  mavros:
-    #This service bridges our mavlink-based robot-coprosessor into ROS
-    #In this example it connects to a simulated coprocessor.
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
-    command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID"
-    profiles:
-      - ros1
-    ipc: host
-    network_mode: host
-    restart: always
-    deploy:
-      resources:
-        limits:
-          # cpus: '0.01'
-          memory: 200M
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288
-
-  ros-master:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-ros1-core:main
-    command: stdbuf -o L roscore
-    profiles:
-      - ros1-master
-    ipc: host
-    network_mode: host
-    restart: always
-    deploy:
-      resources:
-        limits:
-          memory: 1G
-    # Madness, setting a low ulimit here fixes memory leaks
-    # https://answers.ros.org/question/336963/rosout-high-memory-usage/
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288

robots/spiri-mu/virtual_camera/Dockerfile

@@ -1,8 +0,0 @@
-FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
-
-RUN apt-get update
-RUN apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge \
-    ros-${ROS_DISTRO}-ros-gz-image \
-    ros-${ROS_DISTRO}-compressed-image-transport \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-

robots/spiri-mu/virtual_camera/docker-compose.yaml

@@ -1,13 +0,0 @@
-
-services:
-  front-gimbal:
-    ipc: host
-    network_mode: host
-    # image: git.spirirobotics.com/spiri/services-ros2-mavros:main
-    #Build the iamge, give it a name, don't try to pull the image
-    build: ./
-    image: spirisdk-virtual_camera
-    pull_policy: never
-    environment:
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    command: ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image

search.html

@@ -0,0 +1,117 @@
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searchindex.js

@@ -0,0 +1 @@
+Search.setIndex({"alltitles": {"Creating a new project": [[0, "creating-a-new-project"]], "Ensure nvidia drivers are working": [[0, "ensure-nvidia-drivers-are-working"]], "Indices and tables": [[0, "indices-and-tables"]], "Installing Copier": [[0, "installing-copier"]], "Installing Docker": [[0, "installing-docker"]], "Installing VSCode": [[0, "installing-vscode"]], "Installing nvidia-container-toolkit": [[0, "installing-nvidia-container-toolkit"]], "Overview": [[0, "overview"]], "Prerequisites": [[0, "prerequisites"]], "Quickstart": [[0, "quickstart"]], "Spiri SDK": [[0, "spiri-sdk"]], "Welcome to spiri-sdk\u2019s documentation!": [[0, null]]}, "docnames": ["index"], "envversion": {"sphinx": 63, "sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.intersphinx": 1, "sphinx.ext.todo": 2}, "filenames": ["index.rst"], "indexentries": {}, "objects": {}, "objnames": {}, "objtypes": {}, "terms": {"04": 0, "0755": 0, "22": 0, "3d": 0, "5760": 0, "As": 0, "If": 0, "It": 0, "The": 0, "There": 0, "These": 0, "To": 0, "achiev": 0, "add": 0, "ag": 0, "allow": 0, "an": 0, "ani": 0, "appropriet": 0, "apt": 0, "arch": 0, "architectur": 0, "ardupilot": 0, "asc": 0, "automat": 0, "base": 0, "build": 0, "buildx": 0, "c": 0, "ca": 0, "can": 0, "catkin": 0, "cdi": 0, "ce": 0, "certif": 0, "chmod": 0, "cli": 0, "clone": 0, "code": 0, "com": 0, "command": 0, "compat": 0, "compos": 0, "conenct": 0, "configur": 0, "confirm": 0, "connect": 0, "consid": 0, "containerd": 0, "core": 0, "ctk": 0, "curl": 0, "current": 0, "d": 0, "dearmor": 0, "deb": 0, "default": 0, "deploy": 0, "dev": 0, "develop": 0, "do": 0, "doc": 0, "done": 0, "download": 0, "dpkg": 0, "echo": 0, "enabl": 0, "end": 0, "ensurepath": 0, "essenti": 0, "etc": 0, "expect": 0, "experiment": 0, "expos": 0, "featur": 0, "file": 0, "find": 0, "follow": 0, "fssl": 0, "function": 0, "g": 0, "gazebo": 0, "gener": 0, "get": 0, "github": 0, "gpg": 0, "gpgkei": 0, "gpgpu": 0, "gpu": 0, "group": 0, "groupadd": 0, "gui": 0, "guid": 0, "here": 0, "http": 0, "i": 0, "id": 0, "imag": 0, "index": 0, "instead": 0, "integr": 0, "intend": 0, "io": 0, "keep": 0, "kei": 0, "keyr": 0, "l": 0, "languag": 0, "last": 0, "latest": 0, "learn": 0, "let": 0, "libnvidia": 0, "life": 0, "like": 0, "linux": 0, "list": 0, "ll": 0, "m": 0, "machin": 0, "manag": 0, "master": 0, "mavlink": 0, "mavproxi": 0, "mirror": 0, "modul": 0, "newgrp": 0, "noetic": 0, "null": 0, "number": 0, "o": 0, "offic": 0, "offici": 0, "older": 0, "onc": 0, "one": 0, "onli": 0, "other": 0, "our": 0, "output": 0, "outsid": 0, "packag": 0, "page": 0, "passthrough": 0, "per": 0, "pip": 0, "pipx": 0, "pkg": 0, "plugin": 0, "podman": 0, "port": 0, "present": 0, "print": 0, "profil": 0, "program": 0, "provid": 0, "python": 0, "python3": 0, "qgroundcontrol": 0, "r": 0, "re": 0, "recognit": 0, "recomend": 0, "releas": 0, "relev": 0, "reload": 0, "remov": 0, "repositori": 0, "ro": 0, "robot": 0, "ros1": 0, "ros2": 0, "run": 0, "runc": 0, "runtim": 0, "scope": 0, "seamlessli": 0, "search": 0, "sed": 0, "servic": 0, "sha": 0, "share": 0, "show": 0, "sign": 0, "sim": 0, "simpli": 0, "simul": 0, "smi": 0, "softwar": 0, "sourc": 0, "stabl": 0, "start": 0, "sudo": 0, "support": 0, "tcp": 0, "tee": 0, "templat": 0, "test": 0, "thei": 0, "thi": 0, "tie": 0, "tmp": 0, "togeth": 0, "try": 0, "uav": 0, "ubuntu": 0, "ui": 0, "uninstal": 0, "up": 0, "updat": 0, "us": 0, "user": 0, "usermod": 0, "usr": 0, "util": 0, "v2": 0, "version_codenam": 0, "visualstudio": 0, "wa": 0, "we": 0, "well": 0, "were": 0, "wget": 0, "without": 0, "world": 0, "x64": 0, "y": 0, "yaml": 0, "you": 0, "your": 0}, "titles": ["Welcome to spiri-sdk\u2019s documentation!"], "titleterms": {"": 0, "ar": 0, "contain": 0, "copier": 0, "creat": 0, "docker": 0, "document": 0, "driver": 0, "ensur": 0, "indic": 0, "instal": 0, "new": 0, "nvidia": 0, "overview": 0, "prerequisit": 0, "project": 0, "quickstart": 0, "sdk": 0, "spiri": 0, "tabl": 0, "toolkit": 0, "vscode": 0, "welcom": 0, "work": 0}})