diff --git a/.buildinfo b/.buildinfo new file mode 100644 index 0000000..c0a420e --- /dev/null +++ b/.buildinfo @@ -0,0 +1,4 @@ +# Sphinx build info version 1 +# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. +config: 125d1183e421262ae167d669c878281c +tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/.doctrees/bluetooth.doctree b/.doctrees/bluetooth.doctree new file mode 100644 index 0000000..50642d2 Binary files /dev/null and b/.doctrees/bluetooth.doctree differ diff --git a/.doctrees/environment.pickle b/.doctrees/environment.pickle new file mode 100644 index 0000000..aa7041e Binary files /dev/null and b/.doctrees/environment.pickle differ diff --git a/.doctrees/faq.doctree b/.doctrees/faq.doctree new file mode 100644 index 0000000..b9134f1 Binary files /dev/null and b/.doctrees/faq.doctree differ diff --git a/.doctrees/index.doctree b/.doctrees/index.doctree new file mode 100644 index 0000000..4e16793 Binary files /dev/null and b/.doctrees/index.doctree differ diff --git a/.doctrees/movement.doctree b/.doctrees/movement.doctree new file mode 100644 index 0000000..f03ce8e Binary files /dev/null and b/.doctrees/movement.doctree differ diff --git a/.doctrees/sensors.doctree b/.doctrees/sensors.doctree new file mode 100644 index 0000000..e1fab0b Binary files /dev/null and b/.doctrees/sensors.doctree differ diff --git a/.doctrees/usage.doctree b/.doctrees/usage.doctree new file mode 100644 index 0000000..76f6e56 Binary files /dev/null and b/.doctrees/usage.doctree differ diff --git a/.nojekyll b/.nojekyll new file mode 100644 index 0000000..e69de29 diff --git a/_downloads/df14896bba634131bee7f870285c5b8c/main.py b/_downloads/df14896bba634131bee7f870285c5b8c/main.py new file mode 100644 index 0000000..ffda45e --- /dev/null +++ b/_downloads/df14896bba634131bee7f870285c5b8c/main.py @@ -0,0 +1,4 @@ +from nanonav import BLE + +# TODO: Add code to use a feature or two from the nanonav module +# to ensure that MicroPython installation worked properly \ No newline at end of file diff --git a/_downloads/e6ffb4613247059f19b76a508c48412c/nanonav.py b/_downloads/e6ffb4613247059f19b76a508c48412c/nanonav.py new file mode 100644 index 0000000..bfe1f8b --- /dev/null +++ b/_downloads/e6ffb4613247059f19b76a508c48412c/nanonav.py @@ -0,0 +1,275 @@ +# +# +# +# TODO: Strip comments and docstrings once docs/source/nanonav.py skeleton is complete +# (it's ok to leave them in for now while we are finalizing the documentation) +# + + +from ble_advertising import advertising_payload +import bluetooth +from machine import Pin, PWM, ADC, freq +import machine +from micropython import const +import rp2 + +import time + +# Define BLE constants (these are not packaged in bluetooth for space efficiency) +_IO_CAPABILITY_DISPLAY_ONLY = const(0) +_FLAG_READ = const(0x0002) +_FLAG_WRITE = const(0x0008) +_IRQ_CENTRAL_CONNECT = const(1) +_IRQ_CENTRAL_DISCONNECT = const(2) +_IRQ_GATTS_WRITE = const(3) + +class BLE: + """ + A helpful wraper around the BLE service functions needed for the Wumpus World project + """ + def __init__(self, ble=bluetooth.BLE(), name="NANO RP2040"): + # Setup bluetooth low energy communication service + _SERVICE_UUID = bluetooth.UUID(0x1523) # unique service id for the communication + _NanoNav_CHAR_UUID = (bluetooth.UUID(0x1525), _FLAG_WRITE | _FLAG_READ) # characteristic + _NanoNav_SERVICE = (_SERVICE_UUID, (_NanoNav_CHAR_UUID,),) # service to provide the characteristic + + self._ble = ble + self._ble.active(True) + self._ble.config( + bond=True, + mitm=True, + le_secure=True, + io=_IO_CAPABILITY_DISPLAY_ONLY + ) + self._ble.irq(self._irq) + ((self._handle,),) = self._ble.gatts_register_services((_NanoNav_SERVICE,)) + self._connections = set() + self._payload = advertising_payload(name=name, services=[_SERVICE_UUID]) + self._advertise() + self.value = b'a' + + def _advertise(self, interval_us=500000): + self._ble.gap_advertise(interval_us, adv_data=self._payload) + + def _irq(self, event, data): + # handle bluetooth event + if event == _IRQ_CENTRAL_CONNECT: + # handle succesfull connection + conn_handle, addr_type, addr = data + self._connections.add(conn_handle) + + self.on_connected() + + elif event == _IRQ_CENTRAL_DISCONNECT: + # handle disconnect + conn_handle, _, _ = data + self._connections.remove(conn_handle) + self._advertise() + + self.on_disconnected() + + elif event == _IRQ_GATTS_WRITE: + conn_handle, value_handle = data + if conn_handle in self._connections: + # Value has been written to the characteristic + self.value = self._ble.gatts_read(value_handle) + + def on_connected(self): + """ + You may specify this method to be called once the BLE connection is established. + """ + pass + + def on_disconnected(self): + """ + You may specify this method to be called once the BLE connection is lost. + """ + pass + + def send(self, value): + """ + Send value to the bluetooth characteristic. + + :param value: The value to send. + :type value: int, bytes, or str + :raise ValueError: If the value is not int, bytes, or str. + """ + if not isinstance(value, bytes): + if isinstance(value, int): + value = value.to_bytes(1, "big") + elif isinstance(value, str): + value = value.encode('utf-8') + else: + raise ValueError("send value should be type int, bytes, or string") + self.value = value + self._ble.gatts_write(self._handle, value) + + def read(self): + """ + Return the current value of the bluetooth characteristic, or None if an error occurred. + + :type as_type: str + :return: The value of the characteristic. + :rtype: int, None + """ + #use the last value written to characteristic + value = self.value + try: + return int.from_bytes(value, "big") + except Exception as e: + return None + + +class NanoBot: + """ + Interact with Arduino and peripheral hardware for movement and sensing. + + :param saturated_duty: The maximum duty cycle to use for the motors. This can be increased to compensate somewhat for lower battery voltage. + """ + def __init__(self, saturated_duty=22000, *args, **kwargs): + + # turn ir sensor pin on (inactive because it's active low) + self.ir_right_sensor = Pin(28, Pin.OUT) + self.ir_right_sensor.on() + + time.sleep(0.5) + + # ir sensors + self.ir_left_sensor = ADC(Pin(29, Pin.IN)) + self.ir_right_sensor = ADC(Pin(28, Pin.IN)) + + # initialize frequency + machine.freq(100000000) + + # initialize motors + m1pin1 = Pin(21) + m1pin2 = Pin(4) + m2pin1 = Pin(18) + m2pin2 = Pin(17) + + self.m1pwm1 = PWM(m1pin1) + self.m1pwm2 = PWM(m1pin2) + self.m2pwm1 = PWM(m2pin1) + self.m2pwm2 = PWM(m2pin2) + + # initialize motor constants + self.max_duty = 65535 # constant + self.saturated_duty = saturated_duty # choice for max speed + assert(0 <= self.saturated_duty <= self.max_duty) + self.turn90ticks = 120 + self.turn_error = 5 + self.block_delay = 1550 + + # PID controller constants + self.battery_scaling = 1.05 + self.kp = 0.8 * self.battery_scaling + self.ki = 0.08 * self.battery_scaling + self.kd = 0.04 * self.battery_scaling + + # initialize encoder variables + self.encpins = (15, 25, 7, 27) + self.enc1p1 = Pin(self.encpins[0], Pin.IN) + self.enc1p2 = Pin(self.encpins[1], Pin.IN) + self.enc2p1 = Pin(self.encpins[2], Pin.IN) + self.enc2p2 = Pin(self.encpins[3], Pin.IN) + + self.enc1 = 0 + self.enc2 = 0 + self.enc1dir = 1 + self.enc2dir = 1 + + # add interrupt callbacks to track encoder ticks + self.enc1p1.irq(lambda pin: self.enc_pin_high(self.encpins[0]), Pin.IRQ_RISING) + self.enc1p2.irq(lambda pin: self.enc_pin_high(self.encpins[1]), Pin.IRQ_RISING) + self.enc2p1.irq(lambda pin: self.enc_pin_high(self.encpins[2]), Pin.IRQ_RISING) + self.enc2p2.irq(lambda pin: self.enc_pin_high(self.encpins[3]), Pin.IRQ_RISING) + + self.setup() + + def enc_pin_high(self, pin): + if pin == self.encpins[0] or pin == self.encpins[1]: + if self.enc1p1.value() == 1 and self.enc1p2.value() == 1: + self.enc1 += 1 * self.enc1dir + elif self.enc1p1.value() == 1: + self.enc1dir = 1 + else: + self.enc1dir = -1 + if pin == self.encpins[2] or pin == self.encpins[3]: + if self.enc2p1.value() == 1 and self.enc2p2.value() == 1: + self.enc2 += 1 * self.enc2dir + elif self.enc2p1.value() == 1: + self.enc2dir = -1 + else: + self.enc2dir = 1 + + def calc_duty(self, duty_100): + return int(duty_100 * self.max_duty / 100) + + def m1_forward(self, duty_cycle): + self.m1pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + self.m1pwm2.duty_u16(0) + + def m2_backward(self, duty_cycle): + self.m1pwm1.duty_u16(0) + self.m1pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + + def m1_signed(self, duty_cycle): + if duty_cycle >= 0: + self.m1_forward(duty_cycle) + else: + self.m2_backward(-duty_cycle) + + def m2_forward(self, duty_cycle): + self.m2pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + self.m2pwm2.duty_u16(0) + + def m2_backward(self, duty_cycle): + self.m2pwm1.duty_u16(0) + self.m2pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + + def m2_signed(self, duty_cycle): + if duty_cycle >= 0: + self.m2_forward(duty_cycle) + else: + self.m2_backward(-duty_cycle) + + def stop(self): + """ + Turn off all motors. + """ + # set all duty cycles to 0 + self.m1pwm1.duty_u16(0) + self.m1pwm2.duty_u16(0) + self.m2pwm1.duty_u16(0) + self.m2pwm2.duty_u16(0) + + def setup(self): + # initialize frequencies + self.m1pwm1.freq(1000) + self.m1pwm2.freq(1000) + self.m2pwm1.freq(1000) + self.m2pwm2.freq(1000) + + def ir_left(self): + """ + Return true if the left IR sensor detects white. + """ + return self.ir_left_sensor.read_u16() < 65535 // 2 + + def ir_right(self): + """ + Return true if the right IR sensor detects white. + """ + return self.ir_right_sensor.read_u16() < 65535 // 2 + + def get_enc1(self): + return self.enc1 + + def get_enc2(self): + return self.enc2 + + def set_enc1(self, value): + self.enc1 = value + + def set_enc2(self, value): + self.enc2 = value diff --git a/_images/lightblue_characteristic_view.png b/_images/lightblue_characteristic_view.png new file mode 100644 index 0000000..160bdf8 Binary files /dev/null and b/_images/lightblue_characteristic_view.png differ diff --git a/_images/lightblue_connected_view.png b/_images/lightblue_connected_view.png new file mode 100644 index 0000000..0f3a37a Binary files /dev/null and b/_images/lightblue_connected_view.png differ diff --git a/_images/lightblue_devices_view.png b/_images/lightblue_devices_view.png new file mode 100644 index 0000000..c839511 Binary files /dev/null and b/_images/lightblue_devices_view.png differ diff --git a/_images/openmv_green.png b/_images/openmv_green.png new file mode 100644 index 0000000..c45fce9 Binary files /dev/null and b/_images/openmv_green.png differ diff --git a/_images/openmv_unconnected.png b/_images/openmv_unconnected.png new file mode 100644 index 0000000..d293fcb Binary files /dev/null and b/_images/openmv_unconnected.png differ diff --git a/_sources/bluetooth.rst.txt b/_sources/bluetooth.rst.txt new file mode 100644 index 0000000..503e9b5 --- /dev/null +++ b/_sources/bluetooth.rst.txt @@ -0,0 +1,70 @@ +.. _Bluetooth: + +Bluetooth +========= +Using Bluetooth Low Energy (BLE) to communicate with the NanoNav. + +Quick Example +------------- + +.. code-block:: python + + from nanonav import BLE + + # Create a Bluetooth object + ble = BLE(name="NanoNav") + + ble.send(43) + response = ble.read() + # wait until something changes, indicating a response + while response == 43: + response = ble.read() + + print("Received: ", response) + +Usage +----- + +.. autoclass:: nanonav.BLE + :members: + +.. note:: + Just as a heads up, we've noticed that occasionally the value stored on the BLE characteristic gets corrupted. Wherever you call the `read` method, it's a good idea to verify that + the value is within the range you expect (and not ``None``), and if not, consider requesting the value again. + +Connecting from Mobile +---------------------- + +Various mobile apps are available for communicating with Bluetooth Low Energy. We recommend LightBlue which is available for both iOS and Android. +After downloading and installing it, you will need to turn your phone's Bluetooth on and open the app (no pairing is needed for Bluetooth Low Energy). + +If the NanoNav is waiting for a BLE connection, you will see it as one of the connection options in LightBlue. You may need to scroll down to find it. + +.. note:: + On some versions of iOS, the BLE devices are automatically renamed, and NanoNav's connection may show up as "Arduino" or something else. If you find yourself in this + situation, it can be helpful to search for the service id instead. TODO: add explanation for how this can be done. + +.. image:: images/lightblue_devices_view.png + :width: 400 + :alt: LightBlue Application with Bluetooth connections available + +After clicking the connect button, you will see a screen like this, which gives information about the connection. + +.. image:: images/lightblue_connected_view.png + :width: 400 + :alt: LightBlue Application after connecting to device + +It is possible to configure the BLE for more complex behavior, but with this kit we only need to send small numbers back and forth with the Arduino. Click on the +option at the bottom (highlighted in red in the above screenshot) to open the portal where you can perform this simplified communication with NanoNav. + +.. image:: images/lightblue_characteristic_view.png + :width: 400 + :alt: LightBlue display of BLE characteristic, with options to read or write values to it + +You can think of a BLE connection as a secret whiteboard that you and your friend share. There is always some number written on it, and each of you +can look at (read) whatever is on it whenever you like, and can also change (write to) it whenever you like. Inside the LightBlue app, as shown in the +above picture, you can click the :blue:`Read Again` button as often as you would like, but the value will only +change when you (or NanoNav) writes to it. And you can send a number as often as you want in LightBlue, but NanoNav will not know unless you program it to +read the value periodically. (Actually, you can setup BLE interrupts for NanoNav to run code when something changes in the BLE connection, similar to the :py:meth:`~nanonav.BLE.on_connected` and :py:meth:`~nanonav.BLE.on_disconnected`, but we think +you'll have an easier time getting your code to work as expected by avoiding that kind of programming for now). +If interested in learning about other bluetooth capabilities beyond the scope of NanoNav, see `here `_. \ No newline at end of file diff --git a/_sources/faq.rst.txt b/_sources/faq.rst.txt new file mode 100644 index 0000000..5e021a7 --- /dev/null +++ b/_sources/faq.rst.txt @@ -0,0 +1,10 @@ +FAQ +=== + +No questions yet. + +Issues +------ + +Found a bug? Create an issue on GitHub. Submit `here `_ with as much information as you can provide +about the context of the bug. \ No newline at end of file diff --git a/_sources/index.rst.txt b/_sources/index.rst.txt new file mode 100644 index 0000000..350b5a8 --- /dev/null +++ b/_sources/index.rst.txt @@ -0,0 +1,21 @@ +.. NanoNav documentation master file, created by + sphinx-quickstart on Mon Apr 15 12:52:38 2024. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to NanoNav's documentation. +=================================== + +Check out the :doc:`usage` section to get started. + +Contents +-------- + +.. toctree:: + + usage + bluetooth + movement + sensors + faq + diff --git a/_sources/movement.rst.txt b/_sources/movement.rst.txt new file mode 100644 index 0000000..9683513 --- /dev/null +++ b/_sources/movement.rst.txt @@ -0,0 +1,41 @@ +.. _Movement: + +Movement +========= +Working with NanoNav's motors. + +Quick Example +------------- + +.. code-block:: python + + from nanonav import NanoBot + import time + + # Create a NanoBot object + robot = NanoBot() + + # Move forward for 2 seconds + robot.m1_forward(30) + robot.m2_forward(30) + time.sleep(2) + + # Stop + robot.stop() + robot.sleep(2) + + # Move backward for 2 seconds + robot.m1_backward(30) + robot.m2_backward(30) + time.sleep(2) + + # Stop + robot.stop() + +Usage +----- + +.. autoclass:: nanonav.NanoBot + :members: + :exclude-members: ir_left, ir_right + diff --git a/_sources/sensors.rst.txt b/_sources/sensors.rst.txt new file mode 100644 index 0000000..0428441 --- /dev/null +++ b/_sources/sensors.rst.txt @@ -0,0 +1,6 @@ +.. _Sensors: + +Sensors +======= + +To best interact with its environment, your NanoNav kit comes with infrared sensors that can be used for detecting how reflective the surface under it is. \ No newline at end of file diff --git a/_sources/usage.rst.txt b/_sources/usage.rst.txt new file mode 100644 index 0000000..0f9a731 --- /dev/null +++ b/_sources/usage.rst.txt @@ -0,0 +1,96 @@ +Quick Start +=========== + +Installation +------------ +You will need to download `OpenMV IDE `_ to transfer your MicroPython code onto the arduino. See :ref:`Workflow` for more information about this process. + +Your Arduino Nano RP2040 can run either C++ or MicroPython, but not both at the same time. So before moving on, it is important that the Arduino is configured for MicroPython mode. +`This guide `_ from Arduino will walk you through the process of "bootloading" the Nano RP2040 so that +you can run MicroPython code on it. After you have done this once, you should not need to do it again. + +To use the NanoNav supplementary code, either download :download:`nanonav.py ` to your project directory + +Or copy the code below into a file called nanonav.py + +.. raw:: html + +
+ +.. literalinclude:: /../../nanonav.py + :language: python + :linenos: + +.. raw:: html + +
+ +.. _Workflow: + +Workflow Using OpenMV +--------------------- + +Here is how you can program your Arduino. You will need a file called `main.py` that contains your MicroPython code - you can create other files +and import them as usual, but `main.py` is the one that will be run on the Arduino. We'll explain a bit more about :ref:`MicroPython` below. For getting started quickly, we recommend downloading this installation check +:download:`main.py ` to verify that everything is working correctly so far. Alternatively, copy the following into a file called `main.py`: + +.. raw:: html + +
+ +.. literalinclude:: /../../tests/installation_check/main.py + :language: python + :linenos: + +.. raw:: html + +
+ +We recommend creating a folder that you will use for your MicroPython code - put both `nanonav.py` and `main.py` in that folder. Open the OpenMV IDE application. Use the File -> Open Files menu to select the `main.py` file that you downloaded. + +Connecting to the Arduino over USB +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Connect your Arduino to your computer using a USB cable. In the bottom left of the OpenMV IDE, you should see this: + +.. image:: images/openmv_unconnected.png + :height: 100 + :alt: OpenMV unconnected symbols + +If you don't see this, it means that OpenMV doesn't recognize the board. You can wait for a little and try messing with your USB conection (different cable, different port, unplug/replug, etc.). Once you see this, click the "Connect" button (the USB connection, or upper button of the two in the image). + +The arrow below it should turn green when connected. + +.. image:: images/openmv_green.png + :height: 100 + :alt: OpenMV connected symbols + +After you can see the green arrow, you should be able to see the Arduino as an external drive in FileExplorer (Windows), Finder (Mac), or the equivalent for your Operating System. It will likely be named "NO NAME" and should contain a `main.py` and `README.txt` file. Copy the `nanonav.py` file over to the Arduino (external drive) by either Ctrl-C Ctrl-V or drag-and-drop. This will enable you to import nanonav when you run your code on the board. + +Running your code on the Arduino +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +**Laptop mode**: Click the arrow to run the code in conjunction with the laptop. Running in laptop mode is optimal for debugging. You can run and stop your code without touching the Arduino or USB cable. While in laptop mode, you can use print statements to print to the Serial Terminal in the OpenMV IDE. You can expand this terminal by pressing its corresponding button in the bottom left of the IDE. Note that when running in laptop mode, you must have the Arduino connected to the laptop. Once you disconnect the Arduino, your code will no longer be running. +**Solo mode**: To run code without the laptop connected, you need to run in solo mode. Connect to the Arduino but don't hit the green play. Instead, go to Tools > Save open script to OpenMV Cam (as main.py). This will write the file you have open to the Arduino under the name "main.py". An alternative way to do this would be to copy the file over in FileExplorer/Finder like we did for nanonav.py. If you copy the file using FileExplorer/Finder, make sure it's named main.py, as the Arduino looks for and executes only the main.py file. + +We recognize that OpenMV IDE is not a very nice editor to write code in, so feel free to open `main.py` in your favorite editor (such as VS Code) for editing and run it from OpenMV IDE. + +.. _MicroPython: + +MicroPython +----------- + +In general, MicroPython is very similar to regular Python, but there are some difference we would like to point you to before you begin. MicroPython has its own library of +packages, which are different from the PyPi packages you may be used to (if you ever ``pip install`` anything). We provide helper functions for the ways we think you'll need to +interact with the Arduino, Bluetooth, and peripherals, and just about anything you can do in Python 3.11 can also be done in MicroPython, but note that you will not have access to the full standard Python library. For instance, you can import `time` since this has been added to +MicroPython's library, but you cannot import `Queue` or other familiar packages. If ever in doubt about whether MicroPython supports a particular package, simply google "MicroPython [package name]", +and you will likely find the information you need. +You can find the MicroPython documentation `here `_. + +.. _NextSteps: + +Next Steps +---------- + +Now that you have your Arduino set up and running MicroPython, you can start writing your own code. Feel free to take a look at and modify the `main.py` we provided earlier to see a few ways of interacting with +the Arduino using the `nanonav` library. When you are ready to learn more, take a look at our guides to using :ref:`Bluetooth`, controling :ref:`Movement`, and reading :ref:`Sensors`. diff --git a/_static/_sphinx_javascript_frameworks_compat.js b/_static/_sphinx_javascript_frameworks_compat.js new file mode 100644 index 0000000..8141580 --- /dev/null +++ b/_static/_sphinx_javascript_frameworks_compat.js @@ -0,0 +1,123 @@ +/* Compatability shim for jQuery and underscores.js. + * + * Copyright Sphinx contributors + * Released under the two clause BSD licence + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.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": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} diff --git a/_static/basic.css b/_static/basic.css new file mode 100644 index 0000000..f316efc --- /dev/null +++ b/_static/basic.css @@ -0,0 +1,925 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar ---------------------------------------------------------------- */ + +div.related { + width: 100%; + font-size: 90%; +} + +div.related h3 { + display: none; +} + +div.related ul { + margin: 0; + padding: 0 0 0 10px; + list-style: none; +} + +div.related li { + display: inline; +} + +div.related li.right { + float: right; + margin-right: 5px; +} + +/* -- sidebar --------------------------------------------------------------- */ + +div.sphinxsidebarwrapper { + padding: 10px 5px 0 10px; +} + +div.sphinxsidebar { + float: left; + width: 230px; + margin-left: -100%; + font-size: 90%; + word-wrap: break-word; + overflow-wrap : break-word; +} + +div.sphinxsidebar ul { + list-style: none; +} + +div.sphinxsidebar ul ul, +div.sphinxsidebar ul.want-points { + margin-left: 20px; + list-style: square; +} + +div.sphinxsidebar ul ul { + margin-top: 0; + margin-bottom: 0; +} + +div.sphinxsidebar form { + margin-top: 10px; +} + +div.sphinxsidebar input { + border: 1px solid #98dbcc; + font-family: sans-serif; + font-size: 1em; +} + +div.sphinxsidebar #searchbox form.search { + overflow: hidden; +} + +div.sphinxsidebar #searchbox input[type="text"] { + float: left; + width: 80%; + padding: 0.25em; + box-sizing: border-box; +} + +div.sphinxsidebar #searchbox input[type="submit"] { + float: left; + width: 20%; + border-left: none; + padding: 0.25em; + box-sizing: border-box; +} + + +img { + border: 0; + max-width: 100%; +} + +/* -- search page ----------------------------------------------------------- */ + +ul.search { + margin: 10px 0 0 20px; + padding: 0; +} + +ul.search li { + padding: 5px 0 5px 20px; + background-image: url(file.png); + background-repeat: no-repeat; + background-position: 0 7px; +} + +ul.search li a { + font-weight: bold; +} + +ul.search li p.context { + color: #888; + margin: 2px 0 0 30px; + text-align: left; +} + +ul.keywordmatches li.goodmatch a { + font-weight: bold; +} + +/* -- index page ------------------------------------------------------------ */ + +table.contentstable { + width: 90%; + margin-left: auto; + margin-right: auto; +} + +table.contentstable p.biglink { + line-height: 150%; +} + +a.biglink { + font-size: 1.3em; +} + +span.linkdescr { + font-style: italic; + padding-top: 5px; + font-size: 90%; +} + +/* -- general index --------------------------------------------------------- */ + +table.indextable { + width: 100%; +} + +table.indextable td { + text-align: left; + vertical-align: top; +} + +table.indextable ul { + margin-top: 0; + margin-bottom: 0; + list-style-type: none; +} + +table.indextable > tbody > tr > td > ul { + padding-left: 0em; +} + +table.indextable tr.pcap { + height: 10px; +} + +table.indextable tr.cap { + margin-top: 10px; + background-color: #f2f2f2; +} + +img.toggler { + margin-right: 3px; + margin-top: 3px; + cursor: pointer; +} + +div.modindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +div.genindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +/* -- domain module index --------------------------------------------------- */ + +table.modindextable td { + padding: 2px; + border-collapse: collapse; +} + +/* -- general body styles --------------------------------------------------- */ + +div.body { + min-width: 360px; + max-width: 800px; +} + +div.body p, div.body dd, div.body li, div.body blockquote { + -moz-hyphens: auto; + -ms-hyphens: auto; + -webkit-hyphens: auto; + hyphens: auto; +} + +a.headerlink { + visibility: hidden; +} + +a:visited { + color: #551A8B; +} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, +h4:hover > a.headerlink, +h5:hover > a.headerlink, +h6:hover > a.headerlink, +dt:hover > a.headerlink, +caption:hover > a.headerlink, +p.caption:hover > a.headerlink, +div.code-block-caption:hover > a.headerlink { + visibility: visible; +} + +div.body p.caption { + text-align: inherit; +} + +div.body td { + text-align: left; +} + +.first { + margin-top: 0 !important; +} + +p.rubric { + margin-top: 30px; + font-weight: bold; +} + +img.align-left, figure.align-left, .figure.align-left, object.align-left { + clear: left; + float: left; + margin-right: 1em; +} + +img.align-right, figure.align-right, .figure.align-right, object.align-right { + clear: right; + float: right; + margin-left: 1em; +} + +img.align-center, figure.align-center, .figure.align-center, object.align-center { + display: block; + margin-left: auto; + margin-right: auto; +} + +img.align-default, figure.align-default, .figure.align-default { + display: block; + margin-left: auto; + margin-right: auto; +} + +.align-left { + text-align: left; +} + +.align-center { + text-align: center; +} + +.align-default { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar, +aside.sidebar { + margin: 0 0 0.5em 1em; + border: 1px solid #ddb; + padding: 7px; + background-color: #ffe; + width: 40%; + float: right; + clear: right; + overflow-x: auto; +} + +p.sidebar-title { + font-weight: bold; +} + +nav.contents, +aside.topic, +div.admonition, div.topic, blockquote { + clear: left; +} + +/* -- topics ---------------------------------------------------------------- */ + +nav.contents, +aside.topic, +div.topic { + border: 1px solid #ccc; + padding: 7px; + margin: 10px 0 10px 0; +} + +p.topic-title { + font-size: 1.1em; + font-weight: bold; + margin-top: 10px; +} + +/* -- admonitions ----------------------------------------------------------- */ + +div.admonition { + margin-top: 10px; + margin-bottom: 10px; + padding: 7px; +} + +div.admonition dt { + font-weight: bold; +} + +p.admonition-title { + margin: 0px 10px 5px 0px; + font-weight: bold; +} + +div.body p.centered { + text-align: center; + margin-top: 25px; +} + +/* -- content of sidebars/topics/admonitions -------------------------------- */ + +div.sidebar > :last-child, +aside.sidebar > :last-child, +nav.contents > :last-child, +aside.topic > :last-child, +div.topic > :last-child, +div.admonition > :last-child { + margin-bottom: 0; +} + +div.sidebar::after, +aside.sidebar::after, +nav.contents::after, +aside.topic::after, +div.topic::after, +div.admonition::after, +blockquote::after { + display: block; + content: ''; + clear: both; +} + +/* -- tables ---------------------------------------------------------------- */ + +table.docutils { + margin-top: 10px; + margin-bottom: 10px; + border: 0; + border-collapse: collapse; +} + +table.align-center { + margin-left: auto; + margin-right: auto; +} + +table.align-default { + margin-left: auto; + margin-right: auto; +} + +table caption span.caption-number { + font-style: italic; +} + +table caption span.caption-text { +} + +table.docutils td, table.docutils th { + padding: 1px 8px 1px 5px; + border-top: 0; + border-left: 0; + border-right: 0; + border-bottom: 1px solid #aaa; +} + +th { + text-align: left; + padding-right: 5px; +} + +table.citation { + border-left: solid 1px gray; + margin-left: 1px; +} + +table.citation td { + border-bottom: none; +} + +th > :first-child, +td > :first-child { + margin-top: 0px; +} + +th > :last-child, +td > :last-child { + margin-bottom: 0px; +} + +/* -- figures --------------------------------------------------------------- */ + +div.figure, figure { + margin: 0.5em; + padding: 0.5em; +} + +div.figure p.caption, figcaption { + padding: 0.3em; +} + +div.figure p.caption span.caption-number, +figcaption span.caption-number { + font-style: italic; +} + +div.figure p.caption span.caption-text, +figcaption span.caption-text { +} + +/* -- field list styles ----------------------------------------------------- */ + +table.field-list td, table.field-list th { + border: 0 !important; +} + +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.field-name { + -moz-hyphens: manual; + -ms-hyphens: manual; + -webkit-hyphens: manual; + hyphens: manual; +} + +/* -- hlist styles ---------------------------------------------------------- */ + +table.hlist { + margin: 1em 0; +} + +table.hlist td { + vertical-align: top; +} + +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + + +/* -- other body styles ----------------------------------------------------- */ + +ol.arabic { + list-style: decimal; +} + +ol.loweralpha { + list-style: lower-alpha; +} + +ol.upperalpha { + list-style: upper-alpha; +} + +ol.lowerroman { + list-style: lower-roman; +} + +ol.upperroman { + list-style: upper-roman; +} + +:not(li) > ol > li:first-child > :first-child, +:not(li) > ul > li:first-child > :first-child { + margin-top: 0px; +} + +:not(li) > ol > li:last-child > :last-child, +:not(li) > ul > li:last-child > :last-child { + margin-bottom: 0px; +} + +ol.simple ol p, +ol.simple ul p, +ul.simple ol p, +ul.simple ul p { + margin-top: 0; +} + +ol.simple > li:not(:first-child) > p, +ul.simple > li:not(:first-child) > p { + margin-top: 0; +} + +ol.simple p, +ul.simple p { + margin-bottom: 0; +} + +aside.footnote > span, +div.citation > span { + float: left; +} +aside.footnote > span:last-of-type, +div.citation > span:last-of-type { + padding-right: 0.5em; +} +aside.footnote > p { + margin-left: 2em; +} +div.citation > p { + margin-left: 4em; +} +aside.footnote > p:last-of-type, +div.citation > p:last-of-type { + margin-bottom: 0em; +} +aside.footnote > p:last-of-type:after, +div.citation > p:last-of-type:after { + content: ""; + clear: both; +} + +dl.field-list { + display: grid; + grid-template-columns: fit-content(30%) auto; +} + +dl.field-list > dt { + font-weight: bold; + word-break: break-word; + padding-left: 0.5em; + padding-right: 5px; +} + +dl.field-list > dd { + padding-left: 0.5em; + margin-top: 0em; + margin-left: 0em; + margin-bottom: 0em; +} + +dl { + margin-bottom: 15px; +} + +dd > :first-child { + margin-top: 0px; +} + +dd ul, dd table { + margin-bottom: 10px; +} + +dd { + margin-top: 3px; + margin-bottom: 10px; + margin-left: 30px; +} + +.sig dd { + margin-top: 0px; + margin-bottom: 0px; +} + +.sig dl { + margin-top: 0px; + margin-bottom: 0px; +} + +dl > dd:last-child, +dl > dd:last-child > :last-child { + margin-bottom: 0; +} + +dt:target, span.highlighted { + background-color: #fbe54e; +} + +rect.highlighted { + fill: #fbe54e; +} + +dl.glossary dt { + font-weight: bold; + font-size: 1.1em; +} + +.versionmodified { + font-style: italic; +} + +.system-message { + background-color: #fda; + padding: 5px; + border: 3px solid red; +} + +.footnote:target { + background-color: #ffa; +} + +.line-block { + display: block; + margin-top: 1em; + margin-bottom: 1em; +} + +.line-block .line-block { + margin-top: 0; + margin-bottom: 0; + margin-left: 1.5em; +} + +.guilabel, .menuselection { + font-family: sans-serif; +} + +.accelerator { + text-decoration: underline; +} + +.classifier { + font-style: oblique; +} + +.classifier:before { + font-style: normal; + margin: 0 0.5em; + content: ":"; + display: inline-block; +} + +abbr, acronym { + border-bottom: dotted 1px; + cursor: help; +} + +.translated { + background-color: rgba(207, 255, 207, 0.2) +} + +.untranslated { + background-color: rgba(255, 207, 207, 0.2) +} + +/* -- code displays --------------------------------------------------------- */ + +pre { + overflow: auto; + overflow-y: hidden; /* fixes display issues on Chrome browsers */ +} + +pre, div[class*="highlight-"] { + clear: both; +} + +span.pre { + -moz-hyphens: none; + -ms-hyphens: none; + -webkit-hyphens: none; + hyphens: none; + white-space: nowrap; +} + +div[class*="highlight-"] { + margin: 1em 0; +} + +td.linenos pre { + border: 0; + background-color: transparent; + color: #aaa; +} + +table.highlighttable { + display: block; +} + +table.highlighttable tbody { + display: block; +} + +table.highlighttable tr { + display: flex; +} + +table.highlighttable td { + margin: 0; + padding: 0; +} + +table.highlighttable td.linenos { + padding-right: 0.5em; +} + +table.highlighttable td.code { + flex: 1; + overflow: hidden; +} + +.highlight .hll { + display: block; +} + +div.highlight pre, +table.highlighttable pre { + margin: 0; +} + +div.code-block-caption + div { + margin-top: 0; +} + +div.code-block-caption { + margin-top: 1em; + padding: 2px 5px; + font-size: small; +} + +div.code-block-caption code { + background-color: transparent; +} + +table.highlighttable td.linenos, +span.linenos, +div.highlight span.gp { /* gp: Generic.Prompt */ + user-select: none; + -webkit-user-select: text; /* Safari fallback only */ + -webkit-user-select: none; /* Chrome/Safari */ + -moz-user-select: none; /* Firefox */ + -ms-user-select: none; /* IE10+ */ +} + +div.code-block-caption span.caption-number { + padding: 0.1em 0.3em; + font-style: italic; +} + +div.code-block-caption span.caption-text { +} + +div.literal-block-wrapper { + margin: 1em 0; +} + +code.xref, a code { + background-color: transparent; + font-weight: bold; +} + +h1 code, h2 code, h3 code, h4 code, h5 code, h6 code { + background-color: transparent; +} + +.viewcode-link { + float: right; +} + +.viewcode-back { + float: right; + font-family: sans-serif; +} + +div.viewcode-block:target { + margin: -1px -10px; + padding: 0 10px; +} + +/* -- math display ---------------------------------------------------------- */ + +img.math { + vertical-align: middle; +} + +div.body div.math p { + text-align: center; +} + +span.eqno { + float: right; +} + +span.eqno a.headerlink { + position: absolute; + z-index: 1; +} + +div.math:hover a.headerlink { + visibility: visible; +} + +/* -- printout stylesheet --------------------------------------------------- */ + +@media print { + div.document, + div.documentwrapper, + div.bodywrapper { + margin: 0 !important; + width: 100%; + } + + div.sphinxsidebar, + div.related, + div.footer, + #top-link { + display: none; + } +} \ No newline at end of file diff --git a/_static/check-solid.svg b/_static/check-solid.svg new file mode 100644 index 0000000..92fad4b --- /dev/null +++ b/_static/check-solid.svg @@ -0,0 +1,4 @@ + + + + diff --git a/_static/clipboard.min.js b/_static/clipboard.min.js new file mode 100644 index 0000000..54b3c46 --- /dev/null +++ b/_static/clipboard.min.js @@ -0,0 +1,7 @@ +/*! + * clipboard.js v2.0.8 + * https://clipboardjs.com/ + * + * Licensed MIT © Zeno Rocha + */ +!function(t,e){"object"==typeof exports&&"object"==typeof module?module.exports=e():"function"==typeof define&&define.amd?define([],e):"object"==typeof exports?exports.ClipboardJS=e():t.ClipboardJS=e()}(this,function(){return n={686:function(t,e,n){"use strict";n.d(e,{default:function(){return o}});var e=n(279),i=n.n(e),e=n(370),u=n.n(e),e=n(817),c=n.n(e);function a(t){try{return document.execCommand(t)}catch(t){return}}var f=function(t){t=c()(t);return a("cut"),t};var l=function(t){var e,n,o,r=1 + + + + diff --git a/_static/copybutton.css b/_static/copybutton.css new file mode 100644 index 0000000..f1916ec --- /dev/null +++ b/_static/copybutton.css @@ -0,0 +1,94 @@ +/* Copy buttons */ +button.copybtn { + position: absolute; + display: flex; + top: .3em; + right: .3em; + width: 1.7em; + height: 1.7em; + opacity: 0; + transition: opacity 0.3s, border .3s, background-color .3s; + user-select: none; + padding: 0; + border: none; + outline: none; + border-radius: 0.4em; + /* The colors that GitHub uses */ + border: #1b1f2426 1px solid; + background-color: #f6f8fa; + color: #57606a; +} + +button.copybtn.success { + border-color: #22863a; + color: #22863a; +} + +button.copybtn svg { + stroke: currentColor; + width: 1.5em; + height: 1.5em; + padding: 0.1em; +} + +div.highlight { + position: relative; +} + +/* Show the copybutton */ +.highlight:hover button.copybtn, button.copybtn.success { + opacity: 1; +} + +.highlight button.copybtn:hover { + background-color: rgb(235, 235, 235); +} + +.highlight button.copybtn:active { + background-color: rgb(187, 187, 187); +} + +/** + * A minimal CSS-only tooltip copied from: + * https://codepen.io/mildrenben/pen/rVBrpK + * + * To use, write HTML like the following: + * + *

Short

+ */ + .o-tooltip--left { + position: relative; + } + + .o-tooltip--left:after { + opacity: 0; + visibility: hidden; + position: absolute; + content: attr(data-tooltip); + padding: .2em; + font-size: .8em; + left: -.2em; + background: grey; + color: white; + white-space: nowrap; + z-index: 2; + border-radius: 2px; + transform: translateX(-102%) translateY(0); + transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1); +} + +.o-tooltip--left:hover:after { + display: block; + opacity: 1; + visibility: visible; + transform: translateX(-100%) translateY(0); + transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1); + transition-delay: .5s; +} + +/* By default the copy button shouldn't show up when printing a page */ +@media print { + button.copybtn { + display: none; + } +} diff --git a/_static/copybutton.js b/_static/copybutton.js new file mode 100644 index 0000000..2ea7ff3 --- /dev/null +++ b/_static/copybutton.js @@ -0,0 +1,248 @@ +// Localization support +const messages = { + 'en': { + 'copy': 'Copy', + 'copy_to_clipboard': 'Copy to clipboard', + 'copy_success': 'Copied!', + 'copy_failure': 'Failed to copy', + }, + 'es' : { + 'copy': 'Copiar', + 'copy_to_clipboard': 'Copiar al portapapeles', + 'copy_success': '¡Copiado!', + 'copy_failure': 'Error al copiar', + }, + 'de' : { + 'copy': 'Kopieren', + 'copy_to_clipboard': 'In die Zwischenablage kopieren', + 'copy_success': 'Kopiert!', + 'copy_failure': 'Fehler beim Kopieren', + }, + 'fr' : { + 'copy': 'Copier', + 'copy_to_clipboard': 'Copier dans le presse-papier', + 'copy_success': 'Copié !', + 'copy_failure': 'Échec de la copie', + }, + 'ru': { + 'copy': 'Скопировать', + 'copy_to_clipboard': 'Скопировать в буфер', + 'copy_success': 'Скопировано!', + 'copy_failure': 'Не удалось скопировать', + }, + 'zh-CN': { + 'copy': '复制', + 'copy_to_clipboard': '复制到剪贴板', + 'copy_success': '复制成功!', + 'copy_failure': '复制失败', + }, + 'it' : { + 'copy': 'Copiare', + 'copy_to_clipboard': 'Copiato negli appunti', + 'copy_success': 'Copiato!', + 'copy_failure': 'Errore durante la copia', + } +} + +let locale = 'en' +if( document.documentElement.lang !== undefined + && messages[document.documentElement.lang] !== undefined ) { + locale = document.documentElement.lang +} + +let doc_url_root = DOCUMENTATION_OPTIONS.URL_ROOT; +if (doc_url_root == '#') { + doc_url_root = ''; +} + +/** + * SVG files for our copy buttons + */ +let iconCheck = ` + ${messages[locale]['copy_success']} + + +` + +// If the user specified their own SVG use that, otherwise use the default +let iconCopy = ``; +if (!iconCopy) { + iconCopy = ` + ${messages[locale]['copy_to_clipboard']} + + + +` +} + +/** + * Set up copy/paste for code blocks + */ + +const runWhenDOMLoaded = cb => { + if (document.readyState != 'loading') { + cb() + } else if (document.addEventListener) { + document.addEventListener('DOMContentLoaded', cb) + } else { + document.attachEvent('onreadystatechange', function() { + if (document.readyState == 'complete') cb() + }) + } +} + +const codeCellId = index => `codecell${index}` + +// Clears selected text since ClipboardJS will select the text when copying +const clearSelection = () => { + if (window.getSelection) { + window.getSelection().removeAllRanges() + } else if (document.selection) { + document.selection.empty() + } +} + +// Changes tooltip text for a moment, then changes it back +// We want the timeout of our `success` class to be a bit shorter than the +// tooltip and icon change, so that we can hide the icon before changing back. +var timeoutIcon = 2000; +var timeoutSuccessClass = 1500; + +const temporarilyChangeTooltip = (el, oldText, newText) => { + el.setAttribute('data-tooltip', newText) + el.classList.add('success') + // Remove success a little bit sooner than we change the tooltip + // So that we can use CSS to hide the copybutton first + setTimeout(() => el.classList.remove('success'), timeoutSuccessClass) + setTimeout(() => el.setAttribute('data-tooltip', oldText), timeoutIcon) +} + +// Changes the copy button icon for two seconds, then changes it back +const temporarilyChangeIcon = (el) => { + el.innerHTML = iconCheck; + setTimeout(() => {el.innerHTML = iconCopy}, timeoutIcon) +} + +const addCopyButtonToCodeCells = () => { + // If ClipboardJS hasn't loaded, wait a bit and try again. This + // happens because we load ClipboardJS asynchronously. + if (window.ClipboardJS === undefined) { + setTimeout(addCopyButtonToCodeCells, 250) + return + } + + // Add copybuttons to all of our code cells + const COPYBUTTON_SELECTOR = 'div.highlight pre'; + const codeCells = document.querySelectorAll(COPYBUTTON_SELECTOR) + codeCells.forEach((codeCell, index) => { + const id = codeCellId(index) + codeCell.setAttribute('id', id) + + const clipboardButton = id => + `` + codeCell.insertAdjacentHTML('afterend', clipboardButton(id)) + }) + +function escapeRegExp(string) { + return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string +} + +/** + * Removes excluded text from a Node. + * + * @param {Node} target Node to filter. + * @param {string} exclude CSS selector of nodes to exclude. + * @returns {DOMString} Text from `target` with text removed. + */ +function filterText(target, exclude) { + const clone = target.cloneNode(true); // clone as to not modify the live DOM + if (exclude) { + // remove excluded nodes + clone.querySelectorAll(exclude).forEach(node => node.remove()); + } + return clone.innerText; +} + +// Callback when a copy button is clicked. Will be passed the node that was clicked +// should then grab the text and replace pieces of text that shouldn't be used in output +function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") { + var regexp; + var match; + + // Do we check for line continuation characters and "HERE-documents"? + var useLineCont = !!lineContinuationChar + var useHereDoc = !!hereDocDelim + + // create regexp to capture prompt and remaining line + if (isRegexp) { + regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)') + } else { + regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)') + } + + const outputLines = []; + var promptFound = false; + var gotLineCont = false; + var gotHereDoc = false; + const lineGotPrompt = []; + for (const line of textContent.split('\n')) { + match = line.match(regexp) + if (match || gotLineCont || gotHereDoc) { + promptFound = regexp.test(line) + lineGotPrompt.push(promptFound) + if (removePrompts && promptFound) { + outputLines.push(match[2]) + } else { + outputLines.push(line) + } + gotLineCont = line.endsWith(lineContinuationChar) & useLineCont + if (line.includes(hereDocDelim) & useHereDoc) + gotHereDoc = !gotHereDoc + } else if (!onlyCopyPromptLines) { + outputLines.push(line) + } else if (copyEmptyLines && line.trim() === '') { + outputLines.push(line) + } + } + + // If no lines with the prompt were found then just use original lines + if (lineGotPrompt.some(v => v === true)) { + textContent = outputLines.join('\n'); + } + + // Remove a trailing newline to avoid auto-running when pasting + if (textContent.endsWith("\n")) { + textContent = textContent.slice(0, -1) + } + return textContent +} + + +var copyTargetText = (trigger) => { + var target = document.querySelector(trigger.attributes['data-clipboard-target'].value); + + // get filtered text + let exclude = '.linenos'; + + let text = filterText(target, exclude); + return formatCopyText(text, '', false, true, true, true, '', '') +} + + // Initialize with a callback so we can modify the text before copy + const clipboard = new ClipboardJS('.copybtn', {text: copyTargetText}) + + // Update UI with error/success messages + clipboard.on('success', event => { + clearSelection() + temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_success']) + temporarilyChangeIcon(event.trigger) + }) + + clipboard.on('error', event => { + temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_failure']) + }) +} + +runWhenDOMLoaded(addCopyButtonToCodeCells) \ No newline at end of file diff --git a/_static/copybutton_funcs.js b/_static/copybutton_funcs.js new file mode 100644 index 0000000..dbe1aaa --- /dev/null +++ b/_static/copybutton_funcs.js @@ -0,0 +1,73 @@ +function escapeRegExp(string) { + return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string +} + +/** + * Removes excluded text from a Node. + * + * @param {Node} target Node to filter. + * @param {string} exclude CSS selector of nodes to exclude. + * @returns {DOMString} Text from `target` with text removed. + */ +export function filterText(target, exclude) { + const clone = target.cloneNode(true); // clone as to not modify the live DOM + if (exclude) { + // remove excluded nodes + clone.querySelectorAll(exclude).forEach(node => node.remove()); + } + return clone.innerText; +} + +// Callback when a copy button is clicked. Will be passed the node that was clicked +// should then grab the text and replace pieces of text that shouldn't be used in output +export function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") { + var regexp; + var match; + + // Do we check for line continuation characters and "HERE-documents"? + var useLineCont = !!lineContinuationChar + var useHereDoc = !!hereDocDelim + + // create regexp to capture prompt and remaining line + if (isRegexp) { + regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)') + } else { + regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)') + } + + const outputLines = []; + var promptFound = false; + var gotLineCont = false; + var gotHereDoc = false; + const lineGotPrompt = []; + for (const line of textContent.split('\n')) { + match = line.match(regexp) + if (match || gotLineCont || gotHereDoc) { + promptFound = regexp.test(line) + lineGotPrompt.push(promptFound) + if (removePrompts && promptFound) { + outputLines.push(match[2]) + } else { + outputLines.push(line) + } + gotLineCont = line.endsWith(lineContinuationChar) & useLineCont + if (line.includes(hereDocDelim) & useHereDoc) + gotHereDoc = !gotHereDoc + } else if (!onlyCopyPromptLines) { + outputLines.push(line) + } else if (copyEmptyLines && line.trim() === '') { + outputLines.push(line) + } + } + + // If no lines with the prompt were found then just use original lines + if (lineGotPrompt.some(v => v === true)) { + textContent = outputLines.join('\n'); + } + + // Remove a trailing newline to avoid auto-running when pasting + if (textContent.endsWith("\n")) { + textContent = textContent.slice(0, -1) + } + return textContent +} diff --git a/_static/css/badge_only.css b/_static/css/badge_only.css new file mode 100644 index 0000000..c718cee --- /dev/null +++ b/_static/css/badge_only.css @@ -0,0 +1 @@ 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+ 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)$/; + if (re.test(w)) { + var fp = re.exec(w); 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+ +/** + * Simple result scoring code. + */ +if (typeof Scorer === "undefined") { + var Scorer = { + // Implement the following function to further tweak the score for each result + // The function takes a result array [docname, title, anchor, descr, score, filename] + // and returns the new score. + /* + score: result => { + const [docname, title, anchor, descr, score, filename] = result + return score + }, + */ + + // query matches the full name of an object + objNameMatch: 11, + // or matches in the last dotted part of the object name + objPartialMatch: 6, + // Additive scores depending on the priority of the object + objPrio: { + 0: 15, // used to be importantResults + 1: 5, // used to be objectResults + 2: -5, // used to be unimportantResults + }, + // Used when the priority is not in the mapping. + objPrioDefault: 0, + + // query found in title + title: 15, + partialTitle: 7, + // query found in terms + term: 5, + partialTerm: 2, + }; +} + +const _removeChildren = (element) => { + while (element && element.lastChild) element.removeChild(element.lastChild); +}; + +/** + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping + */ +const _escapeRegExp = (string) => + string.replace(/[.*+\-?^${}()|[\]\\]/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 [".headerlinks", "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) { + let score = Math.round(100 * queryLower.length / title.length) + normalResults.push([ + docNames[file], + titles[file] !== title ? `${titles[file]} > ${title}` : title, + id !== null ? "#" + id : "", + null, + score, + 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); diff --git a/_static/sphinx_highlight.js b/_static/sphinx_highlight.js new file mode 100644 index 0000000..8a96c69 --- /dev/null +++ b/_static/sphinx_highlight.js @@ -0,0 +1,154 @@ +/* Highlighting utilities for Sphinx HTML documentation. */ +"use strict"; + +const SPHINX_HIGHLIGHT_ENABLED = true + +/** + * highlight a given string on a node by wrapping it in + * span elements with the given class name. + */ +const _highlight = (node, addItems, text, className) => { + if (node.nodeType === Node.TEXT_NODE) { + const val = node.nodeValue; + const parent = node.parentNode; + const pos = val.toLowerCase().indexOf(text); + if ( + pos >= 0 && + !parent.classList.contains(className) && + !parent.classList.contains("nohighlight") + ) { + let span; + + const closestNode = parent.closest("body, svg, foreignObject"); + const isInSVG = closestNode && closestNode.matches("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.classList.add(className); + } + + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + const rest = document.createTextNode(val.substr(pos + text.length)); + parent.insertBefore( + span, + parent.insertBefore( + rest, + node.nextSibling + ) + ); + node.nodeValue = val.substr(0, pos); + /* There may be more occurrences of search term in this node. So call this + * function recursively on the remaining fragment. + */ + _highlight(rest, addItems, text, className); + + if (isInSVG) { + const rect = document.createElementNS( + "http://www.w3.org/2000/svg", + "rect" + ); + const bbox = parent.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute("class", className); + addItems.push({ parent: parent, target: rect }); + } + } + } else if (node.matches && !node.matches("button, select, textarea")) { + node.childNodes.forEach((el) => _highlight(el, addItems, text, className)); + } +}; +const _highlightText = (thisNode, text, className) => { + let addItems = []; + _highlight(thisNode, addItems, text, className); + addItems.forEach((obj) => + obj.parent.insertAdjacentElement("beforebegin", obj.target) + ); +}; + +/** + * Small JavaScript module for the documentation. + */ +const SphinxHighlight = { + + /** + * highlight the search words provided in localstorage in the text + */ + highlightSearchWords: () => { + if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight + + // get and clear terms from localstorage + const url = new URL(window.location); + const highlight = + localStorage.getItem("sphinx_highlight_terms") + || url.searchParams.get("highlight") + || ""; + localStorage.removeItem("sphinx_highlight_terms") + url.searchParams.delete("highlight"); + window.history.replaceState({}, "", url); + + // get individual terms from highlight string + const terms = highlight.toLowerCase().split(/\s+/).filter(x => x); + if (terms.length === 0) return; // nothing to do + + // There should never be more than one element matching "div.body" + const divBody = document.querySelectorAll("div.body"); + const body = divBody.length ? divBody[0] : document.querySelector("body"); + window.setTimeout(() => { + terms.forEach((term) => _highlightText(body, term, "highlighted")); + }, 10); + + const searchBox = document.getElementById("searchbox"); + if (searchBox === null) return; + searchBox.appendChild( + document + .createRange() + .createContextualFragment( + '

' + + '' + + _("Hide Search Matches") + + "

" + ) + ); + }, + + /** + * 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(); +}); diff --git a/bluetooth.html b/bluetooth.html new file mode 100644 index 0000000..9754081 --- /dev/null +++ b/bluetooth.html @@ -0,0 +1,236 @@ + + + + + + + Bluetooth — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Bluetooth

+

Using Bluetooth Low Energy (BLE) to communicate with the NanoNav.

+
+

Quick Example

+
from nanonav import BLE
+
+# Create a Bluetooth object
+ble = BLE(name="NanoNav")
+
+ble.send(43)
+response = ble.read()
+# wait until something changes, indicating a response
+while response == 43:
+    response = ble.read()
+
+print("Received: ", response)
+
+
+
+
+

Usage

+
+
+class nanonav.BLE(ble=bluetooth.BLE, name='NANO RP2040')
+

A helpful wraper around the MicroPython BLE service functions.

+
+
Parameters:
+
    +

  • ble (bluetooth.BLE) – The bluetooth object to use for BLE communication (leave as default unless you know why it should be different).

    • +

  • name (str) – The name of the device to advertise (default: “NANO RP2040”).

    • +
+
+
+
+
+on_connected()
+

You may specify this method to be called once the BLE connection is established.

+
+ +
+
+on_disconnected()
+

You may specify this method to be called once the BLE connection is lost.

+
+ +
+
+read()
+

Return the current value of the bluetooth characteristic, or None if an error occurred.

+
+
Returns:
+

The value of the characteristic.

+
+
Return type:
+

int, None

+
+
+
+ +
+
+send(value)
+

Send value to the bluetooth characteristic.

+
+
Parameters:
+

value (int, bytes, or str) – The value to send.

+
+
Raises:
+

ValueError – If the value is not int, bytes, or str.

+
+
+
+ +
+ +
+

Note

+

Just as a heads up, we’ve noticed that occasionally the value stored on the BLE characteristic gets corrupted. Wherever you call the read method, it’s a good idea to verify that +the value is within the range you expect (and not None), and if not, consider requesting the value again.

+
+
+
+

Connecting from Mobile

+

Various mobile apps are available for communicating with Bluetooth Low Energy. We recommend LightBlue which is available for both iOS and Android. +After downloading and installing it, you will need to turn your phone’s Bluetooth on and open the app (no pairing is needed for Bluetooth Low Energy).

+

If the NanoNav is waiting for a BLE connection, you will see it as one of the connection options in LightBlue. You may need to scroll down to find it.

+
+

Note

+

On some versions of iOS, the BLE devices are automatically renamed, and NanoNav’s connection may show up as “Arduino” or something else. If you find yourself in this +situation, it can be helpful to search for the service id instead. TODO: add explanation for how this can be done.

+
+LightBlue Application with Bluetooth connections available +

After clicking the connect button, you will see a screen like this, which gives information about the connection.

+LightBlue Application after connecting to device +

It is possible to configure the BLE for more complex behavior, but with this kit we only need to send small numbers back and forth with the Arduino. Click on the +option at the bottom (highlighted in red in the above screenshot) to open the portal where you can perform this simplified communication with NanoNav.

+LightBlue display of BLE characteristic, with options to read or write values to it +

You can think of a BLE connection as a secret whiteboard that you and your friend share. There is always some number written on it, and each of you +can look at (read) whatever is on it whenever you like, and can also change (write to) it whenever you like. Inside the LightBlue app, as shown in the +above picture, you can click the Read Again button as often as you would like, but the value will only +change when you (or NanoNav) writes to it. And you can send a number as often as you want in LightBlue, but NanoNav will not know unless you program it to +read the value periodically. (Actually, you can setup BLE interrupts for NanoNav to run code when something changes in the BLE connection, similar to the on_connected() and on_disconnected(), but we think +you’ll have an easier time getting your code to work as expected by avoiding that kind of programming for now). +If interested in learning about other bluetooth capabilities beyond the scope of NanoNav, see here.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/faq.html b/faq.html new file mode 100644 index 0000000..88ba6ef --- /dev/null +++ b/faq.html @@ -0,0 +1,125 @@ + + + + + + + FAQ — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

FAQ

+

No questions yet.

+
+

Issues

+

Found a bug? Create an issue on GitHub. Submit here with as much information as you can provide +about the context of the bug.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/genindex.html b/genindex.html new file mode 100644 index 0000000..c6fe398 --- /dev/null +++ b/genindex.html @@ -0,0 +1,172 @@ + + + + + + Index — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ B + | I + | N + | O + | R + | S + +
+

B

+ + +
+ +

I

+ + +
+ +

N

+ + +
+ +

O

+ + + +
+ +

R

+ + +
+ +

S

+ + +
+ + + +
+
+
+ +
+ +
+

© Copyright 2024, Erik Umble, Joel McCandless, & Chris Kurbiel.

+
+ + Built with Sphinx using a + theme + provided by Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..8a70e70 --- /dev/null +++ b/index.html @@ -0,0 +1,166 @@ + + + + + + + Welcome to NanoNav’s documentation. — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+
+ +
+ +
+

© Copyright 2024, Erik Umble, Joel McCandless, & Chris Kurbiel.

+
+ + Built with Sphinx using a + theme + provided by Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/movement.html b/movement.html new file mode 100644 index 0000000..62fd809 --- /dev/null +++ b/movement.html @@ -0,0 +1,177 @@ + + + + + + + Movement — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Movement

+

Working with NanoNav’s motors.

+
+

Quick Example

+
from nanonav import NanoBot
+import time
+
+# Create a NanoBot object
+robot = NanoBot()
+
+# Move forward for 2 seconds
+robot.m1_forward(30)
+robot.m2_forward(30)
+time.sleep(2)
+
+# Stop
+robot.stop()
+robot.sleep(2)
+
+# Move backward for 2 seconds
+robot.m1_backward(30)
+robot.m2_backward(30)
+time.sleep(2)
+
+# Stop
+robot.stop()
+
+
+
+
+

Usage

+
+
+class nanonav.NanoBot(saturated_speed=33, *args, **kwargs)
+

Interact with Arduino and peripheral hardware for movement and sensing.

+
+
Parameters:
+

saturated_speed – The maximum duty cycle to use for the motors. This is a percentage of max speed the motor can supply from 0-100. If you find that your NanoBot is driving too fast or not driving fast enough, try changing this value.

+
+
+
+
+ir_right()
+

Return true if the right IR sensor detects white.

+

rtype: boolean

+
+ +
+ +
+
+ + +
+
+ +
+
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+
+ + + + \ No newline at end of file diff --git a/objects.inv b/objects.inv new file mode 100644 index 0000000..a3ac832 --- /dev/null +++ b/objects.inv @@ -0,0 +1,5 @@ +# Sphinx inventory version 2 +# Project: NanoNav +# Version: +# The remainder of this file is compressed using zlib. +xڝMN0>%6-*rώkp=NSOV߼yo :Z ?b~r䴆'̍^58[$uA,;t&^xoMe_ [jTm=T: b#^e,i„Z*v~WZ{XQ=rR߸+vxI|6vPѣ|8Y=~> ְÂ0,L,Z2p}5DvXR˕O)c2׌6gv2ȳոO}5 \ No newline at end of file diff --git a/search.html b/search.html new file mode 100644 index 0000000..8da5d55 --- /dev/null +++ b/search.html @@ -0,0 +1,129 @@ + + + + + + Search — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + + + +
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© Copyright 2024, Erik Umble, Joel McCandless, & Chris Kurbiel.

+
+ + Built with Sphinx using a + theme + provided by Read the Docs. + + +
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+
+ + + + + + + + + \ No newline at end of file diff --git a/searchindex.js b/searchindex.js new file mode 100644 index 0000000..4f18220 --- /dev/null +++ b/searchindex.js @@ -0,0 +1 @@ +Search.setIndex({"alltitles": {"Bluetooth": [[0, "bluetooth"]], "Connecting from Mobile": [[0, "connecting-from-mobile"]], "Connecting to the Arduino over USB": [[5, "connecting-to-the-arduino-over-usb"]], "Contents": [[2, "contents"]], "FAQ": [[1, "faq"]], "Installation": [[5, "installation"]], "Issues": [[1, "issues"]], "MicroPython": [[5, "micropython"]], "Movement": [[3, "movement"]], "Next Steps": [[5, "next-steps"]], "Quick Example": [[0, "quick-example"], [3, "quick-example"]], "Quick Start": [[5, "quick-start"]], "Running your code on the Arduino": [[5, "running-your-code-on-the-arduino"]], "Sensors": [[4, "sensors"]], "Usage": [[0, "usage"], [3, "usage"]], "Welcome to NanoNav\u2019s documentation.": [[2, "welcome-to-nanonav-s-documentation"]], "Workflow Using OpenMV": [[5, 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"without": 5, "work": [0, 3, 5], "workflow": 2, "world": 5, "would": [0, 5], "wraper": [0, 5], "write": [0, 5], "written": [0, 5], "wumpu": 5, "yet": 1, "you": [0, 1, 3, 5], "your": [0, 2, 3, 4], "yourself": 0}, "titles": ["Bluetooth", "FAQ", "Welcome to NanoNav\u2019s documentation.", "Movement", "Sensors", "Quick Start"], "titleterms": {"": 2, "arduino": 5, "bluetooth": 0, "code": 5, "connect": [0, 5], "content": 2, "document": 2, "exampl": [0, 3], "faq": 1, "from": 0, "instal": 5, "issu": 1, "micropython": 5, "mobil": 0, "movement": 3, "nanonav": 2, "next": 5, "openmv": 5, "over": 5, "quick": [0, 3, 5], "run": 5, "sensor": 4, "start": 5, "step": 5, "us": 5, "usag": [0, 3], "usb": 5, "welcom": 2, "workflow": 5, "your": 5}}) \ No newline at end of file diff --git a/sensors.html b/sensors.html new file mode 100644 index 0000000..f5a8cb1 --- /dev/null +++ b/sensors.html @@ -0,0 +1,119 @@ + + + + + + + Sensors — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Sensors

+

To best interact with its environment, your NanoNav kit comes with infrared sensors that can be used for detecting how reflective the surface under it is.

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/usage.html b/usage.html new file mode 100644 index 0000000..052e4ad --- /dev/null +++ b/usage.html @@ -0,0 +1,456 @@ + + + + + + + Quick Start — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Quick Start

+
+

Installation

+

You will need to download OpenMV IDE to transfer your MicroPython code onto the arduino. See Workflow Using OpenMV for more information about this process.

+

Your Arduino Nano RP2040 can run either C++ or MicroPython, but not both at the same time. So before moving on, it is important that the Arduino is configured for MicroPython mode. +This guide from Arduino will walk you through the process of “bootloading” the Nano RP2040 so that +you can run MicroPython code on it. After you have done this once, you should not need to do it again.

+

To use the NanoNav supplementary code, either download nanonav.py to your project directory

+

Or copy the code below into a file called nanonav.py

+
  1#
+  2#
+  3#
+  4# TODO: Strip comments and docstrings once docs/source/nanonav.py skeleton is complete
+  5# (it's ok to leave them in for now while we are finalizing the documentation)
+  6#
+  7
+  8
+  9from ble_advertising import advertising_payload
+ 10import bluetooth
+ 11from machine import Pin, PWM, ADC, freq
+ 12import machine
+ 13from micropython import const
+ 14import rp2
+ 15
+ 16import time
+ 17
+ 18# Define BLE constants (these are not packaged in bluetooth for space efficiency)
+ 19_IO_CAPABILITY_DISPLAY_ONLY = const(0)
+ 20_FLAG_READ = const(0x0002)
+ 21_FLAG_WRITE = const(0x0008)
+ 22_IRQ_CENTRAL_CONNECT = const(1)
+ 23_IRQ_CENTRAL_DISCONNECT = const(2)
+ 24_IRQ_GATTS_WRITE = const(3)
+ 25
+ 26class BLE:
+ 27    """
+ 28    A helpful wraper around the BLE service functions needed for the Wumpus World project
+ 29    """
+ 30    def __init__(self, ble=bluetooth.BLE(), name="NANO RP2040"):
+ 31        # Setup bluetooth low energy communication service
+ 32        _SERVICE_UUID = bluetooth.UUID(0x1523) # unique service id for the communication
+ 33        _NanoNav_CHAR_UUID = (bluetooth.UUID(0x1525), _FLAG_WRITE | _FLAG_READ) # characteristic
+ 34        _NanoNav_SERVICE = (_SERVICE_UUID, (_NanoNav_CHAR_UUID,),) # service to provide the characteristic
+ 35
+ 36        self._ble = ble
+ 37        self._ble.active(True)
+ 38        self._ble.config(
+ 39            bond=True,
+ 40            mitm=True,
+ 41            le_secure=True,
+ 42            io=_IO_CAPABILITY_DISPLAY_ONLY
+ 43        )
+ 44        self._ble.irq(self._irq)
+ 45        ((self._handle,),) = self._ble.gatts_register_services((_NanoNav_SERVICE,))
+ 46        self._connections = set()
+ 47        self._payload = advertising_payload(name=name, services=[_SERVICE_UUID])
+ 48        self._advertise()
+ 49        self.value = b'a'
+ 50
+ 51    def _advertise(self, interval_us=500000):
+ 52        self._ble.gap_advertise(interval_us, adv_data=self._payload)
+ 53
+ 54    def _irq(self, event, data):
+ 55        # handle bluetooth event
+ 56        if event == _IRQ_CENTRAL_CONNECT:
+ 57            # handle succesfull connection
+ 58            conn_handle, addr_type, addr = data
+ 59            self._connections.add(conn_handle)
+ 60
+ 61            self.on_connected()
+ 62
+ 63        elif event == _IRQ_CENTRAL_DISCONNECT:
+ 64            # handle disconnect
+ 65            conn_handle, _, _ = data
+ 66            self._connections.remove(conn_handle)
+ 67            self._advertise()
+ 68
+ 69            self.on_disconnected()
+ 70
+ 71        elif event == _IRQ_GATTS_WRITE:
+ 72            conn_handle, value_handle = data
+ 73            if conn_handle in self._connections:
+ 74                # Value has been written to the characteristic
+ 75                self.value = self._ble.gatts_read(value_handle)
+ 76
+ 77    def on_connected(self):
+ 78        """
+ 79        You may specify this method to be called once the BLE connection is established.
+ 80        """
+ 81        pass
+ 82
+ 83    def on_disconnected(self):
+ 84        """
+ 85        You may specify this method to be called once the BLE connection is lost.
+ 86        """
+ 87        pass
+ 88
+ 89    def send(self, value):
+ 90        """
+ 91        Send value to the bluetooth characteristic.
+ 92
+ 93        :param value: The value to send.
+ 94        :type value: int, bytes, or str
+ 95        :raise ValueError: If the value is not int, bytes, or str.
+ 96        """
+ 97        if not isinstance(value, bytes):
+ 98            if isinstance(value, int):
+ 99                value = value.to_bytes(1, "big")
+100            elif isinstance(value, str):
+101                value = value.encode('utf-8')
+102            else:
+103                raise ValueError("send value should be type int, bytes, or string")
+104        self.value = value
+105        self._ble.gatts_write(self._handle, value)
+106
+107    def read(self):
+108        """
+109        Return the current value of the bluetooth characteristic, or None if an error occurred.
+110
+111        :type as_type: str
+112        :return: The value of the characteristic.
+113        :rtype: int, None
+114        """
+115        #use the last value written to characteristic
+116        value = self.value 
+117        try:
+118            return int.from_bytes(value, "big")
+119        except Exception as e:
+120            return None
+121
+122
+123class NanoBot:
+124    """
+125    Interact with Arduino and peripheral hardware for movement and sensing.
+126
+127    :param saturated_duty: The maximum duty cycle to use for the motors. This can be increased to compensate somewhat for lower battery voltage.
+128    """
+129    def __init__(self, saturated_duty=22000, *args, **kwargs):
+130
+131        # turn ir sensor pin on (inactive because it's active low)
+132        self.ir_right_sensor = Pin(28, Pin.OUT)
+133        self.ir_right_sensor.on()
+134
+135        time.sleep(0.5)
+136
+137        # ir sensors
+138        self.ir_left_sensor = ADC(Pin(29, Pin.IN))
+139        self.ir_right_sensor = ADC(Pin(28, Pin.IN))
+140
+141        # initialize frequency
+142        machine.freq(100000000)
+143
+144        # initialize motors
+145        m1pin1 = Pin(21)
+146        m1pin2 = Pin(4)
+147        m2pin1 = Pin(18)
+148        m2pin2 = Pin(17)
+149
+150        self.m1pwm1 = PWM(m1pin1)
+151        self.m1pwm2 = PWM(m1pin2)
+152        self.m2pwm1 = PWM(m2pin1)
+153        self.m2pwm2 = PWM(m2pin2)
+154
+155        # initialize motor constants
+156        self.max_duty = 65535 # constant
+157        self.saturated_duty = saturated_duty # choice for max speed
+158        assert(0 <= self.saturated_duty <= self.max_duty)
+159        self.turn90ticks = 120
+160        self.turn_error = 5
+161        self.block_delay = 1550
+162
+163        # PID controller constants
+164        self.battery_scaling = 1.05
+165        self.kp = 0.8 * self.battery_scaling
+166        self.ki = 0.08 * self.battery_scaling
+167        self.kd = 0.04 * self.battery_scaling
+168
+169        # initialize encoder variables
+170        self.encpins = (15, 25, 7, 27)
+171        self.enc1p1 = Pin(self.encpins[0], Pin.IN)
+172        self.enc1p2 = Pin(self.encpins[1], Pin.IN)
+173        self.enc2p1 = Pin(self.encpins[2], Pin.IN)
+174        self.enc2p2 = Pin(self.encpins[3], Pin.IN)
+175
+176        self.enc1 = 0
+177        self.enc2 = 0
+178        self.enc1dir = 1
+179        self.enc2dir = 1
+180
+181        # add interrupt callbacks to track encoder ticks
+182        self.enc1p1.irq(lambda pin: self.enc_pin_high(self.encpins[0]), Pin.IRQ_RISING)
+183        self.enc1p2.irq(lambda pin: self.enc_pin_high(self.encpins[1]), Pin.IRQ_RISING)
+184        self.enc2p1.irq(lambda pin: self.enc_pin_high(self.encpins[2]), Pin.IRQ_RISING)
+185        self.enc2p2.irq(lambda pin: self.enc_pin_high(self.encpins[3]), Pin.IRQ_RISING)
+186
+187        self.setup()
+188
+189    def enc_pin_high(self, pin):
+190        if pin == self.encpins[0] or pin == self.encpins[1]:
+191            if self.enc1p1.value() == 1 and self.enc1p2.value() == 1:
+192                self.enc1 += 1 * self.enc1dir
+193            elif self.enc1p1.value() == 1:
+194                self.enc1dir = 1
+195            else:
+196                self.enc1dir = -1
+197        if pin == self.encpins[2] or pin == self.encpins[3]:
+198            if self.enc2p1.value() == 1 and self.enc2p2.value() == 1:
+199                self.enc2 += 1 * self.enc2dir
+200            elif self.enc2p1.value() == 1:
+201                self.enc2dir = -1
+202            else:
+203                self.enc2dir = 1
+204
+205    def calc_duty(self, duty_100):
+206        return int(duty_100 * self.max_duty / 100)
+207
+208    def m1_forward(self, duty_cycle):
+209        self.m1pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty))
+210        self.m1pwm2.duty_u16(0)
+211
+212    def m2_backward(self, duty_cycle):
+213        self.m1pwm1.duty_u16(0)
+214        self.m1pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty))
+215
+216    def m1_signed(self, duty_cycle):
+217        if duty_cycle >= 0:
+218            self.m1_forward(duty_cycle)
+219        else:
+220            self.m2_backward(-duty_cycle)
+221
+222    def m2_forward(self, duty_cycle):
+223        self.m2pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty))
+224        self.m2pwm2.duty_u16(0)
+225
+226    def m2_backward(self, duty_cycle):
+227        self.m2pwm1.duty_u16(0)
+228        self.m2pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty))
+229
+230    def m2_signed(self, duty_cycle):
+231        if duty_cycle >= 0:
+232            self.m2_forward(duty_cycle)
+233        else:
+234            self.m2_backward(-duty_cycle)
+235
+236    def stop(self):
+237        """
+238        Turn off all motors.
+239        """
+240        # set all duty cycles to 0
+241        self.m1pwm1.duty_u16(0)
+242        self.m1pwm2.duty_u16(0)
+243        self.m2pwm1.duty_u16(0)
+244        self.m2pwm2.duty_u16(0)
+245
+246    def setup(self):
+247        # initialize frequencies
+248        self.m1pwm1.freq(1000)
+249        self.m1pwm2.freq(1000)
+250        self.m2pwm1.freq(1000)
+251        self.m2pwm2.freq(1000)
+252
+253    def ir_left(self):
+254        """
+255        Return true if the left IR sensor detects white.
+256        """
+257        return self.ir_left_sensor.read_u16() < 65535 // 2
+258
+259    def ir_right(self):
+260        """
+261        Return true if the right IR sensor detects white.
+262        """
+263        return self.ir_right_sensor.read_u16() < 65535 // 2
+264
+265    def get_enc1(self):
+266        return self.enc1
+267
+268    def get_enc2(self):
+269        return self.enc2
+270
+271    def set_enc1(self, value):
+272        self.enc1 = value
+273
+274    def set_enc2(self, value):
+275        self.enc2 = value
+
+
+
+
+

Workflow Using OpenMV

+

Here is how you can program your Arduino. You will need a file called main.py that contains your MicroPython code - you can create other files +and import them as usual, but main.py is the one that will be run on the Arduino. We’ll explain a bit more about MicroPython below. For getting started quickly, we recommend downloading this installation check +main.py to verify that everything is working correctly so far. Alternatively, copy the following into a file called main.py:

+
1from nanonav import BLE 
+2
+3# TODO: Add code to use a feature or two from the nanonav module
+4# to ensure that MicroPython installation worked properly
+
+
+

We recommend creating a folder that you will use for your MicroPython code - put both nanonav.py and main.py in that folder. Open the OpenMV IDE application. Use the File -> Open Files menu to select the main.py file that you downloaded.

+
+

Connecting to the Arduino over USB

+

Connect your Arduino to your computer using a USB cable. In the bottom left of the OpenMV IDE, you should see this:

+OpenMV unconnected symbols +

If you don’t see this, it means that OpenMV doesn’t recognize the board. You can wait for a little and try messing with your USB conection (different cable, different port, unplug/replug, etc.). Once you see this, click the “Connect” button (the USB connection, or upper button of the two in the image).

+

The arrow below it should turn green when connected.

+OpenMV connected symbols +

After you can see the green arrow, you should be able to see the Arduino as an external drive in FileExplorer (Windows), Finder (Mac), or the equivalent for your Operating System. It will likely be named “NO NAME” and should contain a main.py and README.txt file. Copy the nanonav.py file over to the Arduino (external drive) by either Ctrl-C Ctrl-V or drag-and-drop. This will enable you to import nanonav when you run your code on the board.

+
+
+

Running your code on the Arduino

+

Laptop mode: Click the arrow to run the code in conjunction with the laptop. Running in laptop mode is optimal for debugging. You can run and stop your code without touching the Arduino or USB cable. While in laptop mode, you can use print statements to print to the Serial Terminal in the OpenMV IDE. You can expand this terminal by pressing its corresponding button in the bottom left of the IDE. Note that when running in laptop mode, you must have the Arduino connected to the laptop. Once you disconnect the Arduino, your code will no longer be running. +Solo mode: To run code without the laptop connected, you need to run in solo mode. Connect to the Arduino but don’t hit the green play. Instead, go to Tools > Save open script to OpenMV Cam (as main.py). This will write the file you have open to the Arduino under the name “main.py”. An alternative way to do this would be to copy the file over in FileExplorer/Finder like we did for nanonav.py. If you copy the file using FileExplorer/Finder, make sure it’s named main.py, as the Arduino looks for and executes only the main.py file.

+

We recognize that OpenMV IDE is not a very nice editor to write code in, so feel free to open main.py in your favorite editor (such as VS Code) for editing and run it from OpenMV IDE.

+
+
+
+

MicroPython

+

In general, MicroPython is very similar to regular Python, but there are some difference we would like to point you to before you begin. MicroPython has its own library of +packages, which are different from the PyPi packages you may be used to (if you ever pip install anything). We provide helper functions for the ways we think you’ll need to +interact with the Arduino, Bluetooth, and peripherals, and just about anything you can do in Python 3.11 can also be done in MicroPython, but note that you will not have access to the full standard Python library. For instance, you can import time since this has been added to +MicroPython’s library, but you cannot import Queue or other familiar packages. If ever in doubt about whether MicroPython supports a particular package, simply google “MicroPython [package name]”, +and you will likely find the information you need. +You can find the MicroPython documentation here.

+
+
+

Next Steps

+

Now that you have your Arduino set up and running MicroPython, you can start writing your own code. Feel free to take a look at and modify the main.py we provided earlier to see a few ways of interacting with +the Arduino using the nanonav library. When you are ready to learn more, take a look at our guides to using Bluetooth, controling Movement, and reading Sensors.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file