Compare commits
No commits in common. "master" and "pages" have entirely different histories.
|
|
@ -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
|
||||
|
|
@ -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
|
||||
19
.env
19
.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
|
||||
|
|
@ -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 }}
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
docs/build/
|
||||
.vscode
|
||||
*.pyc
|
||||
263
README.md
263
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.
|
||||
|
Before Width: | Height: | Size: 14 KiB After Width: | Height: | Size: 14 KiB |
|
|
@ -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)
|
||||
}
|
||||
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
|
||||
pre {
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
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|
||||
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
|
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|
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|
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|
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|
||||
|
||||
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|
||||
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|
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|
||||
|
||||
table.highlighttable td.linenos,
|
||||
span.linenos,
|
||||
div.highlight span.gp { /* gp: Generic.Prompt */
|
||||
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|
||||
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|
||||
-webkit-user-select: none; /* Chrome/Safari */
|
||||
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|
||||
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|
||||
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|
||||
|
||||
div.code-block-caption span.caption-number {
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
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||||
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|
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
|
||||
div.body div.math p {
|
||||
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|
||||
}
|
||||
|
||||
span.eqno {
|
||||
float: right;
|
||||
}
|
||||
|
||||
span.eqno a.headerlink {
|
||||
position: absolute;
|
||||
z-index: 1;
|
||||
}
|
||||
|
||||
div.math:hover a.headerlink {
|
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|
||||
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||||
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||||
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|
||||
div.document,
|
||||
div.documentwrapper,
|
||||
div.bodywrapper {
|
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|
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|
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|
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div.sphinxsidebar,
|
||||
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||||
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|
||||
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|
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|
||||
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|
|
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|
|||
/*
|
||||
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|
||||
* ~~~~~~~~~~~
|
||||
*
|
||||
* Base JavaScript utilities for all Sphinx HTML documentation.
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||||
*
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
|
||||
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|
||||
"INPUT",
|
||||
"SELECT",
|
||||
"BUTTON",
|
||||
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|
||||
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||||
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|
||||
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|
||||
callback();
|
||||
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|
||||
document.addEventListener("DOMContentLoaded", callback);
|
||||
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|
||||
};
|
||||
|
||||
/**
|
||||
* Small JavaScript module for the documentation.
|
||||
*/
|
||||
const Documentation = {
|
||||
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|
||||
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)
|
||||
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|
||||
const translated = Documentation.TRANSLATIONS[string];
|
||||
switch (typeof translated) {
|
||||
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|
||||
return string; // no translation
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
const translated = Documentation.TRANSLATIONS[singular];
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
Object.assign(Documentation.TRANSLATIONS, catalog.messages);
|
||||
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|
||||
"n",
|
||||
`return (${catalog.plural_expr})`
|
||||
);
|
||||
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|
||||
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|
||||
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||||
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|
||||
* helper function to focus on search bar
|
||||
*/
|
||||
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|
||||
document.querySelectorAll("input[name=q]")[0]?.focus();
|
||||
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|
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|
||||
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|
||||
* Initialise the domain index toggle buttons
|
||||
*/
|
||||
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|
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|
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|
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|
||||
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
|
||||
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||||
|
||||
if (!event.shiftKey) {
|
||||
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|
||||
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|
||||
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"]');
|
||||
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|
||||
window.location.href = nextLink.href;
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
// some keyboard layouts may need Shift to get /
|
||||
switch (event.key) {
|
||||
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|
||||
if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
// quick alias for translations
|
||||
const _ = Documentation.gettext;
|
||||
|
||||
_ready(Documentation.init);
|
||||
|
|
@ -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,
|
||||
};
|
||||
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|
|
@ -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){}});
|
||||
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,224 @@
|
|||
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|
||||
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|
||||
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;
|
||||
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|
||||
|
||||
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;
|
||||
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|
||||
|
||||
function renderDownloads(config) {
|
||||
if (!Object.keys(config.versions.current.downloads).length) {
|
||||
return "";
|
||||
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|
||||
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);
|
||||
});
|
||||
});
|
||||
|
|
@ -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;
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 90 B |
Binary file not shown.
|
After Width: | Height: | Size: 90 B |
|
|
@ -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 */
|
||||
|
|
@ -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);
|
||||
|
|
@ -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();
|
||||
});
|
||||
BIN
background.png
BIN
background.png
Binary file not shown.
|
Before Width: | Height: | Size: 834 KiB |
|
|
@ -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
|
||||
|
||||
|
|
@ -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)
|
||||
|
|
@ -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.
|
||||
|
|
@ -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
|
||||
|
|
@ -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'
|
||||
|
|
@ -0,0 +1,102 @@
|
|||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" data-content_root="./">
|
||||
<head>
|
||||
<meta charset="utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>Index — spiri-sdk documentation</title>
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<div class="wy-side-scroll">
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<div class="wy-side-nav-search" >
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|
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<a href="index.html" class="icon icon-home">
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spiri-sdk
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<img src="_static/SPIRI_STLockup_Mixed_RGB.png" class="logo" alt="Logo"/>
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</a>
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<div role="search">
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<div class="local-toc"></div>
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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|
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<h1 id="index">Index</h1>
|
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|
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<div class="genindex-jumpbox">
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</div>
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</div>
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</div>
|
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<footer>
|
||||
|
||||
<hr/>
|
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|
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<div role="contentinfo">
|
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<p>© Copyright 2024, Spiri Robotics.</p>
|
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</div>
|
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jQuery(function () {
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SphinxRtdTheme.Navigation.enable(true);
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|
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|
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</body>
|
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</html>
|
||||
|
|
@ -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
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/bash
|
||||
set -e #PR #6
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
gz sim -v -r $WORLD_FILE_NAME
|
||||
|
||||
exec "$@"
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -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"
|
||||
|
||||
|
|
@ -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 $j -y 0 -z 0.195
|
||||
done
|
||||
exec "$@"
|
||||
|
|
@ -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)
|
||||
|
|
@ -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()
|
||||
|
|
@ -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
|
||||
|
|
@ -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! — 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>
|
||||
<a href="#">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="#" 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">$pkg</span><span class="p">;</span><span class="w"> </span><span class="k">done</span>
|
||||
|
||||
<span class="c1"># Add Docker's official GPG key:</span>
|
||||
sudo<span class="w"> </span>apt-get<span class="w"> </span>update
|
||||
sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>ca-certificates<span class="w"> </span>curl
|
||||
sudo<span class="w"> </span>install<span class="w"> </span>-m<span class="w"> </span><span class="m">0755</span><span class="w"> </span>-d<span class="w"> </span>/etc/apt/keyrings
|
||||
sudo<span class="w"> </span>curl<span class="w"> </span>-fsSL<span class="w"> </span>https://download.docker.com/linux/ubuntu/gpg<span class="w"> </span>-o<span class="w"> </span>/etc/apt/keyrings/docker.asc
|
||||
sudo<span class="w"> </span>chmod<span class="w"> </span>a+r<span class="w"> </span>/etc/apt/keyrings/docker.asc
|
||||
|
||||
<span class="c1"># Add the repository to Apt sources:</span>
|
||||
<span class="nb">echo</span><span class="w"> </span><span class="se">\</span>
|
||||
<span class="w"> </span><span class="s2">"deb [arch=</span><span class="k">$(</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">$(</span>.<span class="w"> </span>/etc/os-release<span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">"</span><span class="nv">$VERSION_CODENAME</span><span class="s2">"</span><span class="k">)</span><span class="s2"> stable"</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>><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">&</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">&&</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">'s#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g'</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>© 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>
|
||||
Binary file not shown.
|
|
@ -1,4 +0,0 @@
|
|||
typer==0.12.5
|
||||
loguru==0.7.2
|
||||
sh==2.1.0
|
||||
python-dotenv==1.0.1
|
||||
|
|
@ -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
|
||||
|
|
@ -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:="$DRONE_SYS_ID"
|
||||
profiles:
|
||||
- ros1
|
||||
ipc: host
|
||||
network_mode: host
|
||||
restart: always
|
||||
deploy:
|
||||
resources:
|
||||
limits:
|
||||
# cpus: '0.01'
|
||||
memory: 200M
|
||||
ulimits:
|
||||
nofile:
|
||||
soft: 1024
|
||||
hard: 524288
|
||||
|
||||
ros-master:
|
||||
env_file:
|
||||
- .env
|
||||
image: git.spirirobotics.com/spiri/services-ros1-core:main
|
||||
command: stdbuf -o L roscore
|
||||
profiles:
|
||||
- ros1-master
|
||||
ipc: host
|
||||
network_mode: host
|
||||
restart: always
|
||||
deploy:
|
||||
resources:
|
||||
limits:
|
||||
memory: 1G
|
||||
# Madness, setting a low ulimit here fixes memory leaks
|
||||
# https://answers.ros.org/question/336963/rosout-high-memory-usage/
|
||||
ulimits:
|
||||
nofile:
|
||||
soft: 1024
|
||||
hard: 524288
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
|
||||
|
||||
RUN apt-get update
|
||||
RUN apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge \
|
||||
ros-${ROS_DISTRO}-ros-gz-image \
|
||||
ros-${ROS_DISTRO}-compressed-image-transport \
|
||||
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
|
||||
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
|
||||
services:
|
||||
front-gimbal:
|
||||
ipc: host
|
||||
network_mode: host
|
||||
# image: git.spirirobotics.com/spiri/services-ros2-mavros:main
|
||||
#Build the iamge, give it a name, don't try to pull the image
|
||||
build: ./
|
||||
image: spirisdk-virtual_camera
|
||||
pull_policy: never
|
||||
environment:
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
command: ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image
|
||||
|
|
@ -0,0 +1,117 @@
|
|||
|
||||
|
||||
<!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" />
|
||||
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|
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|
||||
<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>
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|
||||
<script src="_static/language_data.js"></script>
|
||||
<link rel="index" title="Index" href="genindex.html" />
|
||||
<link rel="search" title="Search" href="#" />
|
||||
</head>
|
||||
|
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|
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<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" >
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||||
|
||||
|
||||
|
||||
<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">
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<form id="rtd-search-form" class="wy-form" action="#" method="get">
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<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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<input type="hidden" name="check_keywords" value="yes" />
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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
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