diff --git a/_static/_sphinx_javascript_frameworks_compat.js b/_static/_sphinx_javascript_frameworks_compat.js
new file mode 100644
index 00000000..81415803
--- /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
index bf18350b..30fee9d0 100644
--- a/_static/basic.css
+++ b/_static/basic.css
@@ -4,7 +4,7 @@
*
* Sphinx stylesheet -- basic theme.
*
- * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
@@ -222,7 +222,7 @@ table.modindextable td {
/* -- general body styles --------------------------------------------------- */
div.body {
- min-width: 450px;
+ min-width: 360px;
max-width: 800px;
}
@@ -237,14 +237,8 @@ a.headerlink {
visibility: hidden;
}
-a.brackets:before,
-span.brackets > a:before{
- content: "[";
-}
-
-a.brackets:after,
-span.brackets > a:after {
- content: "]";
+a:visited {
+ color: #551A8B;
}
h1:hover > a.headerlink,
@@ -335,12 +329,16 @@ 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;
@@ -379,6 +377,8 @@ div.body p.centered {
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;
@@ -386,6 +386,8 @@ div.admonition > :last-child {
div.sidebar::after,
aside.sidebar::after,
+nav.contents::after,
+aside.topic::after,
div.topic::after,
div.admonition::after,
blockquote::after {
@@ -428,10 +430,6 @@ table.docutils td, table.docutils th {
border-bottom: 1px solid #aaa;
}
-table.footnote td, table.footnote th {
- border: 0 !important;
-}
-
th {
text-align: left;
padding-right: 5px;
@@ -615,19 +613,26 @@ ul.simple p {
margin-bottom: 0;
}
-dl.footnote > dt,
-dl.citation > dt {
+aside.footnote > span,
+div.citation > span {
float: left;
- margin-right: 0.5em;
}
-
-dl.footnote > dd,
-dl.citation > dd {
+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;
}
-
-dl.footnote > dd:after,
-dl.citation > dd:after {
+aside.footnote > p:last-of-type:after,
+div.citation > p:last-of-type:after {
content: "";
clear: both;
}
@@ -644,10 +649,6 @@ dl.field-list > dt {
padding-right: 5px;
}
-dl.field-list > dt:after {
- content: ":";
-}
-
dl.field-list > dd {
padding-left: 0.5em;
margin-top: 0em;
@@ -673,6 +674,16 @@ dd {
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;
@@ -741,6 +752,14 @@ abbr, acronym {
cursor: help;
}
+.translated {
+ background-color: rgba(207, 255, 207, 0.2)
+}
+
+.untranslated {
+ background-color: rgba(255, 207, 207, 0.2)
+}
+
/* -- code displays --------------------------------------------------------- */
pre {
diff --git a/_static/doctools.js b/_static/doctools.js
index e1bfd708..d06a71d7 100644
--- a/_static/doctools.js
+++ b/_static/doctools.js
@@ -2,357 +2,155 @@
* doctools.js
* ~~~~~~~~~~~
*
- * Sphinx JavaScript utilities for all documentation.
+ * Base JavaScript utilities for all Sphinx HTML documentation.
*
- * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
-
-/**
- * select a different prefix for underscore
- */
-$u = _.noConflict();
-
-/**
- * make the code below compatible with browsers without
- * an installed firebug like debugger
-if (!window.console || !console.firebug) {
- var names = ["log", "debug", "info", "warn", "error", "assert", "dir",
- "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace",
- "profile", "profileEnd"];
- window.console = {};
- for (var i = 0; i < names.length; ++i)
- window.console[names[i]] = function() {};
-}
- */
-
-/**
- * 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);
+"use strict";
+
+const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
+ "TEXTAREA",
+ "INPUT",
+ "SELECT",
+ "BUTTON",
+]);
+
+const _ready = (callback) => {
+ if (document.readyState !== "loading") {
+ callback();
+ } else {
+ document.addEventListener("DOMContentLoaded", callback);
}
- 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;
-}
-
/**
* Small JavaScript module for the documentation.
*/
-var Documentation = {
-
- init : function() {
- this.fixFirefoxAnchorBug();
- this.highlightSearchWords();
- this.initIndexTable();
- this.initOnKeyListeners();
+const Documentation = {
+ init: () => {
+ Documentation.initDomainIndexTable();
+ Documentation.initOnKeyListeners();
},
/**
* i18n support
*/
- TRANSLATIONS : {},
- PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; },
- LOCALE : 'unknown',
+ TRANSLATIONS: {},
+ PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
+ LOCALE: "unknown",
// gettext and ngettext don't access this so that the functions
// can safely bound to a different name (_ = Documentation.gettext)
- gettext : function(string) {
- var translated = Documentation.TRANSLATIONS[string];
- if (typeof translated === 'undefined')
- return string;
- return (typeof translated === 'string') ? translated : translated[0];
- },
-
- ngettext : function(singular, plural, n) {
- var translated = Documentation.TRANSLATIONS[singular];
- if (typeof translated === 'undefined')
- return (n == 1) ? singular : plural;
- return translated[Documentation.PLURALEXPR(n)];
- },
-
- addTranslations : function(catalog) {
- for (var key in catalog.messages)
- this.TRANSLATIONS[key] = catalog.messages[key];
- this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')');
- this.LOCALE = catalog.locale;
- },
-
- /**
- * add context elements like header anchor links
- */
- addContextElements : function() {
- $('div[id] > :header:first').each(function() {
- $('').
- attr('href', '#' + this.id).
- attr('title', _('Permalink to this headline')).
- appendTo(this);
- });
- $('dt[id]').each(function() {
- $('').
- attr('href', '#' + this.id).
- attr('title', _('Permalink to this definition')).
- appendTo(this);
- });
- },
-
- /**
- * workaround a firefox stupidity
- * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075
- */
- fixFirefoxAnchorBug : function() {
- if (document.location.hash && $.browser.mozilla)
- window.setTimeout(function() {
- document.location.href += '';
- }, 10);
- },
-
- /**
- * highlight the search words provided in the url in the text
- */
- highlightSearchWords : function() {
- var params = $.getQueryParameters();
- var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : [];
- if (terms.length) {
- var body = $('div.body');
- if (!body.length) {
- body = $('body');
- }
- window.setTimeout(function() {
- $.each(terms, function() {
- body.highlightText(this.toLowerCase(), 'highlighted');
- });
- }, 10);
- $('
' + _('Hide Search Matches') + '
')
- .appendTo($('#searchbox'));
+ gettext: (string) => {
+ const translated = Documentation.TRANSLATIONS[string];
+ switch (typeof translated) {
+ case "undefined":
+ return string; // no translation
+ case "string":
+ return translated; // translation exists
+ default:
+ return translated[0]; // (singular, plural) translation tuple exists
}
},
- /**
- * init the domain index toggle buttons
- */
- initIndexTable : function() {
- var togglers = $('img.toggler').click(function() {
- var src = $(this).attr('src');
- var idnum = $(this).attr('id').substr(7);
- $('tr.cg-' + idnum).toggle();
- if (src.substr(-9) === 'minus.png')
- $(this).attr('src', src.substr(0, src.length-9) + 'plus.png');
- else
- $(this).attr('src', src.substr(0, src.length-8) + 'minus.png');
- }).css('display', '');
- if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) {
- togglers.click();
- }
+ ngettext: (singular, plural, n) => {
+ const translated = Documentation.TRANSLATIONS[singular];
+ if (typeof translated !== "undefined")
+ return translated[Documentation.PLURAL_EXPR(n)];
+ return n === 1 ? singular : plural;
},
- /**
- * helper function to hide the search marks again
- */
- hideSearchWords : function() {
- $('#searchbox .highlight-link').fadeOut(300);
- $('span.highlighted').removeClass('highlighted');
- var url = new URL(window.location);
- url.searchParams.delete('highlight');
- window.history.replaceState({}, '', url);
+ addTranslations: (catalog) => {
+ Object.assign(Documentation.TRANSLATIONS, catalog.messages);
+ Documentation.PLURAL_EXPR = new Function(
+ "n",
+ `return (${catalog.plural_expr})`
+ );
+ Documentation.LOCALE = catalog.locale;
},
- /**
+ /**
* helper function to focus on search bar
*/
- focusSearchBar : function() {
- $('input[name=q]').first().focus();
+ focusSearchBar: () => {
+ document.querySelectorAll("input[name=q]")[0]?.focus();
},
/**
- * make the url absolute
+ * Initialise the domain index toggle buttons
*/
- makeURL : function(relativeURL) {
- return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL;
- },
+ initDomainIndexTable: () => {
+ const toggler = (el) => {
+ const idNumber = el.id.substr(7);
+ const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
+ if (el.src.substr(-9) === "minus.png") {
+ el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
+ toggledRows.forEach((el) => (el.style.display = "none"));
+ } else {
+ el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
+ toggledRows.forEach((el) => (el.style.display = ""));
+ }
+ };
- /**
- * get the current relative url
- */
- getCurrentURL : function() {
- var path = document.location.pathname;
- var parts = path.split(/\//);
- $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() {
- if (this === '..')
- parts.pop();
- });
- var url = parts.join('/');
- return path.substring(url.lastIndexOf('/') + 1, path.length - 1);
+ const togglerElements = document.querySelectorAll("img.toggler");
+ togglerElements.forEach((el) =>
+ el.addEventListener("click", (event) => toggler(event.currentTarget))
+ );
+ togglerElements.forEach((el) => (el.style.display = ""));
+ if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
},
- initOnKeyListeners: function() {
+ initOnKeyListeners: () => {
// only install a listener if it is really needed
- if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
- !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS)
- return;
-
- $(document).keydown(function(event) {
- var activeElementType = document.activeElement.tagName;
- // don't navigate when in search box, textarea, dropdown or button
- if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT'
- && activeElementType !== 'BUTTON') {
- if (event.altKey || event.ctrlKey || event.metaKey)
- return;
-
- if (!event.shiftKey) {
- switch (event.key) {
- case 'ArrowLeft':
- if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS)
- break;
- var prevHref = $('link[rel="prev"]').prop('href');
- if (prevHref) {
- window.location.href = prevHref;
- return false;
- }
- break;
- case 'ArrowRight':
- if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS)
- break;
- var nextHref = $('link[rel="next"]').prop('href');
- if (nextHref) {
- window.location.href = nextHref;
- return false;
- }
- break;
- case 'Escape':
- if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS)
- break;
- Documentation.hideSearchWords();
- return false;
- }
- }
-
- // some keyboard layouts may need Shift to get /
+ if (
+ !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
+ !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+ )
+ return;
+
+ document.addEventListener("keydown", (event) => {
+ // bail for input elements
+ if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+ // bail with special keys
+ if (event.altKey || event.ctrlKey || event.metaKey) return;
+
+ if (!event.shiftKey) {
switch (event.key) {
- case '/':
- if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS)
- break;
- Documentation.focusSearchBar();
- return false;
+ case "ArrowLeft":
+ if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+ const prevLink = document.querySelector('link[rel="prev"]');
+ if (prevLink && prevLink.href) {
+ window.location.href = prevLink.href;
+ event.preventDefault();
+ }
+ break;
+ case "ArrowRight":
+ if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+ const nextLink = document.querySelector('link[rel="next"]');
+ if (nextLink && nextLink.href) {
+ window.location.href = nextLink.href;
+ event.preventDefault();
+ }
+ break;
}
}
+
+ // some keyboard layouts may need Shift to get /
+ switch (event.key) {
+ case "/":
+ if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
+ Documentation.focusSearchBar();
+ event.preventDefault();
+ }
});
- }
+ },
};
// quick alias for translations
-_ = Documentation.gettext;
+const _ = Documentation.gettext;
-$(document).ready(function() {
- Documentation.init();
-});
+_ready(Documentation.init);
diff --git a/_static/documentation_options.js b/_static/documentation_options.js
index 5923eaf6..89435bb4 100644
--- a/_static/documentation_options.js
+++ b/_static/documentation_options.js
@@ -1,7 +1,6 @@
-var DOCUMENTATION_OPTIONS = {
- URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
+const DOCUMENTATION_OPTIONS = {
VERSION: '1.0.0',
- LANGUAGE: 'None',
+ LANGUAGE: 'en',
COLLAPSE_INDEX: false,
BUILDER: 'html',
FILE_SUFFIX: '.html',
diff --git a/_static/graphviz.css b/_static/graphviz.css
index 19e7afd3..8d81c02e 100644
--- a/_static/graphviz.css
+++ b/_static/graphviz.css
@@ -4,7 +4,7 @@
*
* Sphinx stylesheet -- graphviz extension.
*
- * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
diff --git a/_static/jquery.js b/_static/jquery.js
index b0614034..c4c6022f 100644
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r?r[i]:e[t];r?r.scrollTo(o?r.pageXOffset:n,o?n:r.pageYOffset):e[t]=n},t,e,arguments.length)}}),S.each(["top","left"],function(e,n){S.cssHooks[n]=Fe(y.pixelPosition,function(e,t){if(t)return t=We(e,n),Pe.test(t)?S(e).position()[n]+"px":t})}),S.each({Height:"height",Width:"width"},function(a,s){S.each({padding:"inner"+a,content:s,"":"outer"+a},function(r,o){S.fn[o]=function(e,t){var n=arguments.length&&(r||"boolean"!=typeof e),i=r||(!0===e||!0===t?"margin":"border");return $(this,function(e,t,n){var r;return x(e)?0===o.indexOf("outer")?e["inner"+a]:e.document.documentElement["client"+a]:9===e.nodeType?(r=e.documentElement,Math.max(e.body["scroll"+a],r["scroll"+a],e.body["offset"+a],r["offset"+a],r["client"+a])):void 0===n?S.css(e,t,i):S.style(e,t,n,i)},s,n?e:void 0,n)}})}),S.each(["ajaxStart","ajaxStop","ajaxComplete","ajaxError","ajaxSuccess","ajaxSend"],function(e,t){S.fn[t]=function(e){return this.on(t,e)}}),S.fn.extend({bind:function(e,t,n){return this.on(e,null,t,n)},unbind:function(e,t){return this.off(e,null,t)},delegate:function(e,t,n,r){return this.on(t,e,n,r)},undelegate:function(e,t,n){return 1===arguments.length?this.off(e,"**"):this.off(t,e||"**",n)},hover:function(e,t){return this.mouseenter(e).mouseleave(t||e)}}),S.each("blur focus focusin focusout resize scroll click dblclick mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave change select submit keydown keypress keyup contextmenu".split(" "),function(e,n){S.fn[n]=function(e,t){return 0 {
+ const [docname, title, anchor, descr, score, filename] = result
+ return score
},
*/
@@ -28,9 +30,11 @@ if (!Scorer) {
// 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
+ 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,
@@ -39,452 +43,503 @@ if (!Scorer) {
partialTitle: 7,
// query found in terms
term: 5,
- partialTerm: 2
+ partialTerm: 2,
};
}
-if (!splitQuery) {
- function splitQuery(query) {
- return query.split(/\s+/);
+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)
+ );
+ // 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.`
+ );
+};
+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);
+};
+
+/**
+ * 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
*/
-var Search = {
-
- _index : null,
- _queued_query : null,
- _pulse_status : -1,
-
- htmlToText : function(htmlString) {
- var virtualDocument = document.implementation.createHTMLDocument('virtual');
- var htmlElement = $(htmlString, virtualDocument);
- htmlElement.find('.headerlink').remove();
- docContent = htmlElement.find('[role=main]')[0];
- if(docContent === undefined) {
- console.warn("Content block not found. Sphinx search tries to obtain it " +
- "via '[role=main]'. Could you check your theme or template.");
- return "";
- }
- return docContent.textContent || docContent.innerText;
+const Search = {
+ _index: null,
+ _queued_query: null,
+ _pulse_status: -1,
+
+ htmlToText: (htmlString) => {
+ const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
+ htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
+ const docContent = htmlElement.querySelector('[role="main"]');
+ if (docContent !== undefined) return docContent.textContent;
+ console.warn(
+ "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
+ );
+ return "";
},
- init : function() {
- var params = $.getQueryParameters();
- if (params.q) {
- var query = params.q[0];
- $('input[name="q"]')[0].value = query;
- this.performSearch(query);
- }
+ 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 : function(url) {
- $.ajax({type: "GET", url: url, data: null,
- dataType: "script", cache: true,
- complete: function(jqxhr, textstatus) {
- if (textstatus != "success") {
- document.getElementById("searchindexloader").src = url;
- }
- }});
- },
+ loadIndex: (url) =>
+ (document.body.appendChild(document.createElement("script")).src = url),
- setIndex : function(index) {
- var q;
- this._index = index;
- if ((q = this._queued_query) !== null) {
- this._queued_query = null;
- Search.query(q);
+ setIndex: (index) => {
+ Search._index = index;
+ if (Search._queued_query !== null) {
+ const query = Search._queued_query;
+ Search._queued_query = null;
+ Search.query(query);
}
},
- hasIndex : function() {
- return this._index !== null;
- },
+ hasIndex: () => Search._index !== null,
- deferQuery : function(query) {
- this._queued_query = query;
- },
+ deferQuery: (query) => (Search._queued_query = query),
- stopPulse : function() {
- this._pulse_status = 0;
- },
+ stopPulse: () => (Search._pulse_status = -1),
- startPulse : function() {
- if (this._pulse_status >= 0)
- return;
- function pulse() {
- var i;
+ startPulse: () => {
+ if (Search._pulse_status >= 0) return;
+
+ const pulse = () => {
Search._pulse_status = (Search._pulse_status + 1) % 4;
- var dotString = '';
- for (i = 0; i < Search._pulse_status; i++)
- dotString += '.';
- Search.dots.text(dotString);
- if (Search._pulse_status > -1)
- window.setTimeout(pulse, 500);
- }
+ 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 : function(query) {
+ performSearch: (query) => {
// create the required interface elements
- this.out = $('#search-results');
- this.title = $('' + _('Searching') + ' ').appendTo(this.out);
- this.dots = $(' ').appendTo(this.title);
- this.status = $('
').appendTo(this.out);
- this.output = $('').appendTo(this.out);
-
- $('#search-progress').text(_('Preparing search...'));
- this.startPulse();
+ 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 (this.hasIndex())
- this.query(query);
- else
- this.deferQuery(query);
+ if (Search.hasIndex()) Search.query(query);
+ else Search.deferQuery(query);
},
/**
* execute search (requires search index to be loaded)
*/
- query : function(query) {
- var i;
-
- // stem the searchterms and add them to the correct list
- var stemmer = new Stemmer();
- var searchterms = [];
- var excluded = [];
- var hlterms = [];
- var tmp = splitQuery(query);
- var objectterms = [];
- for (i = 0; i < tmp.length; i++) {
- if (tmp[i] !== "") {
- objectterms.push(tmp[i].toLowerCase());
- }
+ query: (query) => {
+ 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;
+
+ // 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;
- if ($u.indexOf(stopwords, tmp[i].toLowerCase()) != -1 || tmp[i] === "") {
- // skip this "word"
- continue;
- }
// stem the word
- var word = stemmer.stemWord(tmp[i].toLowerCase());
- var toAppend;
+ let word = stemmer.stemWord(queryTermLower);
// select the correct list
- if (word[0] == '-') {
- toAppend = excluded;
- word = word.substr(1);
- }
+ if (word[0] === "-") excludedTerms.add(word.substr(1));
else {
- toAppend = searchterms;
- hlterms.push(tmp[i].toLowerCase());
+ searchTerms.add(word);
+ highlightTerms.add(queryTermLower);
}
- // only add if not already in the list
- if (!$u.contains(toAppend, word))
- toAppend.push(word);
- }
- var highlightstring = '?highlight=' + $.urlencode(hlterms.join(" "));
+ });
- // console.debug('SEARCH: searching for:');
- // console.info('required: ', searchterms);
- // console.info('excluded: ', excluded);
+ if (SPHINX_HIGHLIGHT_ENABLED) { // set in sphinx_highlight.js
+ localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+ }
- // prepare search
- var terms = this._index.terms;
- var titleterms = this._index.titleterms;
+ // console.debug("SEARCH: searching for:");
+ // console.info("required: ", [...searchTerms]);
+ // console.info("excluded: ", [...excludedTerms]);
+
+ // array of [docname, title, anchor, descr, score, filename]
+ let results = [];
+ _removeChildren(document.getElementById("search-progress"));
+
+ const queryLower = query.toLowerCase();
+ for (const [title, foundTitles] of Object.entries(allTitles)) {
+ if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
+ for (const [file, id] of foundTitles) {
+ let score = Math.round(100 * queryLower.length / title.length)
+ results.push([
+ docNames[file],
+ titles[file] !== title ? `${titles[file]} > ${title}` : title,
+ id !== null ? "#" + id : "",
+ null,
+ score,
+ filenames[file],
+ ]);
+ }
+ }
+ }
- // array of [filename, title, anchor, descr, score]
- var results = [];
- $('#search-progress').empty();
+ // 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] of foundEntries) {
+ let score = Math.round(100 * queryLower.length / entry.length)
+ results.push([
+ docNames[file],
+ titles[file],
+ id ? "#" + id : "",
+ null,
+ score,
+ filenames[file],
+ ]);
+ }
+ }
+ }
// lookup as object
- for (i = 0; i < objectterms.length; i++) {
- var others = [].concat(objectterms.slice(0, i),
- objectterms.slice(i+1, objectterms.length));
- results = results.concat(this.performObjectSearch(objectterms[i], others));
- }
+ objectTerms.forEach((term) =>
+ results.push(...Search.performObjectSearch(term, objectTerms))
+ );
// lookup as search terms in fulltext
- results = results.concat(this.performTermsSearch(searchterms, excluded, terms, titleterms));
+ results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
// let the scorer override scores with a custom scoring function
- if (Scorer.score) {
- for (i = 0; i < results.length; i++)
- results[i][4] = Scorer.score(results[i]);
- }
+ if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
// now sort the results by score (in opposite order of appearance, since the
// display function below uses pop() to retrieve items) and then
// alphabetically
- results.sort(function(a, b) {
- var left = a[4];
- var right = b[4];
- if (left > right) {
- return 1;
- } else if (left < right) {
- return -1;
- } else {
+ results.sort((a, b) => {
+ const leftScore = a[4];
+ const rightScore = b[4];
+ if (leftScore === rightScore) {
// same score: sort alphabetically
- left = a[1].toLowerCase();
- right = b[1].toLowerCase();
- return (left > right) ? -1 : ((left < right) ? 1 : 0);
+ 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;
});
+ // 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;
+ }, []);
+
+ results = results.reverse();
+
// for debugging
//Search.lastresults = results.slice(); // a copy
- //console.info('search results:', Search.lastresults);
+ // console.info("search results:", Search.lastresults);
// print the results
- var resultCount = results.length;
- function displayNextItem() {
- // results left, load the summary and display it
- if (results.length) {
- var item = results.pop();
- var listItem = $(' ');
- var requestUrl = "";
- var linkUrl = "";
- if (DOCUMENTATION_OPTIONS.BUILDER === 'dirhtml') {
- // dirhtml builder
- var dirname = item[0] + '/';
- if (dirname.match(/\/index\/$/)) {
- dirname = dirname.substring(0, dirname.length-6);
- } else if (dirname == 'index/') {
- dirname = '';
- }
- requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + dirname;
- linkUrl = requestUrl;
-
- } else {
- // normal html builders
- requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + item[0] + DOCUMENTATION_OPTIONS.FILE_SUFFIX;
- linkUrl = item[0] + DOCUMENTATION_OPTIONS.LINK_SUFFIX;
- }
- listItem.append($(' ').attr('href',
- linkUrl +
- highlightstring + item[2]).html(item[1]));
- if (item[3]) {
- listItem.append($(' (' + item[3] + ') '));
- Search.output.append(listItem);
- setTimeout(function() {
- displayNextItem();
- }, 5);
- } else if (DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY) {
- $.ajax({url: requestUrl,
- dataType: "text",
- complete: function(jqxhr, textstatus) {
- var data = jqxhr.responseText;
- if (data !== '' && data !== undefined) {
- var summary = Search.makeSearchSummary(data, searchterms, hlterms);
- if (summary) {
- listItem.append(summary);
- }
- }
- Search.output.append(listItem);
- setTimeout(function() {
- displayNextItem();
- }, 5);
- }});
- } else {
- // just display title
- Search.output.append(listItem);
- setTimeout(function() {
- displayNextItem();
- }, 5);
- }
- }
- // search finished, update title and status message
- else {
- Search.stopPulse();
- Search.title.text(_('Search Results'));
- if (!resultCount)
- Search.status.text(_('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.text(_('Search finished, found %s page(s) matching the search query.').replace('%s', resultCount));
- Search.status.fadeIn(500);
- }
- }
- displayNextItem();
+ _displayNextItem(results, results.length, searchTerms, highlightTerms);
},
/**
* search for object names
*/
- performObjectSearch : function(object, otherterms) {
- var filenames = this._index.filenames;
- var docnames = this._index.docnames;
- var objects = this._index.objects;
- var objnames = this._index.objnames;
- var titles = this._index.titles;
-
- var i;
- var results = [];
-
- for (var prefix in objects) {
- for (var iMatch = 0; iMatch != objects[prefix].length; ++iMatch) {
- var match = objects[prefix][iMatch];
- var name = match[4];
- var fullname = (prefix ? prefix + '.' : '') + name;
- var fullnameLower = fullname.toLowerCase()
- if (fullnameLower.indexOf(object) > -1) {
- var score = 0;
- var 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[parts.length - 1] == object) {
- score += Scorer.objNameMatch;
- // matches in last name
- } else if (parts[parts.length - 1].indexOf(object) > -1) {
- score += Scorer.objPartialMatch;
- }
- var objname = objnames[match[1]][2];
- var title = titles[match[0]];
- // If more than one term searched for, we require other words to be
- // found in the name/title/description
- if (otherterms.length > 0) {
- var haystack = (prefix + ' ' + name + ' ' +
- objname + ' ' + title).toLowerCase();
- var allfound = true;
- for (i = 0; i < otherterms.length; i++) {
- if (haystack.indexOf(otherterms[i]) == -1) {
- allfound = false;
- break;
- }
- }
- if (!allfound) {
- continue;
- }
- }
- var descr = objname + _(', in ') + title;
-
- var anchor = match[3];
- if (anchor === '')
- anchor = fullname;
- else if (anchor == '-')
- anchor = objnames[match[1]][1] + '-' + fullname;
- // 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]]]);
- }
+ 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} ${title}`.toLowerCase();
+ if (
+ [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
+ )
+ return;
}
- }
+ let anchor = match[3];
+ if (anchor === "") anchor = fullname;
+ else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
+
+ const descr = objName + _(", in ") + title;
+
+ // add custom score for some objects according to scorer
+ if (Scorer.objPrio.hasOwnProperty(match[2]))
+ score += Scorer.objPrio[match[2]];
+ else score += Scorer.objPrioDefault;
+
+ results.push([
+ docNames[match[0]],
+ fullname,
+ "#" + anchor,
+ descr,
+ score,
+ filenames[match[0]],
+ ]);
+ };
+ Object.keys(objects).forEach((prefix) =>
+ objects[prefix].forEach((array) =>
+ objectSearchCallback(prefix, array)
+ )
+ );
return results;
},
- /**
- * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions
- */
- escapeRegExp : function(string) {
- return string.replace(/[.*+\-?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
- },
-
/**
* search for full-text terms in the index
*/
- performTermsSearch : function(searchterms, excluded, terms, titleterms) {
- var docnames = this._index.docnames;
- var filenames = this._index.filenames;
- var titles = this._index.titles;
+ performTermsSearch: (searchTerms, excludedTerms) => {
+ // prepare search
+ const terms = Search._index.terms;
+ const titleTerms = Search._index.titleterms;
+ const filenames = Search._index.filenames;
+ const docNames = Search._index.docnames;
+ const titles = Search._index.titles;
- var i, j, file;
- var fileMap = {};
- var scoreMap = {};
- var results = [];
+ const scoreMap = new Map();
+ const fileMap = new Map();
// perform the search on the required terms
- for (i = 0; i < searchterms.length; i++) {
- var word = searchterms[i];
- var files = [];
- var _o = [
- {files: terms[word], score: Scorer.term},
- {files: titleterms[word], score: Scorer.title}
+ searchTerms.forEach((word) => {
+ const files = [];
+ const arr = [
+ { files: terms[word], score: Scorer.term },
+ { files: titleTerms[word], score: Scorer.title },
];
// add support for partial matches
if (word.length > 2) {
- var word_regex = this.escapeRegExp(word);
- for (var w in terms) {
- if (w.match(word_regex) && !terms[word]) {
- _o.push({files: terms[w], score: Scorer.partialTerm})
- }
- }
- for (var w in titleterms) {
- if (w.match(word_regex) && !titleterms[word]) {
- _o.push({files: titleterms[w], score: Scorer.partialTitle})
- }
- }
+ const escapedWord = _escapeRegExp(word);
+ Object.keys(terms).forEach((term) => {
+ if (term.match(escapedWord) && !terms[word])
+ arr.push({ files: terms[term], score: Scorer.partialTerm });
+ });
+ Object.keys(titleTerms).forEach((term) => {
+ if (term.match(escapedWord) && !titleTerms[word])
+ arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
+ });
}
// no match but word was a required one
- if ($u.every(_o, function(o){return o.files === undefined;})) {
- break;
- }
+ if (arr.every((record) => record.files === undefined)) return;
+
// found search word in contents
- $u.each(_o, function(o) {
- var _files = o.files;
- if (_files === undefined)
- return
-
- if (_files.length === undefined)
- _files = [_files];
- files = files.concat(_files);
-
- // set score for the word in each file to Scorer.term
- for (j = 0; j < _files.length; j++) {
- file = _files[j];
- if (!(file in scoreMap))
- scoreMap[file] = {};
- scoreMap[file][word] = o.score;
- }
+ 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
- for (j = 0; j < files.length; j++) {
- file = files[j];
- if (file in fileMap && fileMap[file].indexOf(word) === -1)
- fileMap[file].push(word);
- else
- fileMap[file] = [word];
- }
- }
+ files.forEach((file) => {
+ if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
+ fileMap.get(file).push(word);
+ else fileMap.set(file, [word]);
+ });
+ });
// now check if the files don't contain excluded terms
- for (file in fileMap) {
- var valid = true;
-
+ const results = [];
+ for (const [file, wordList] of fileMap) {
// check if all requirements are matched
- var filteredTermCount = // as search terms with length < 3 are discarded: ignore
- searchterms.filter(function(term){return term.length > 2}).length
+
+ // as search terms with length < 3 are discarded
+ const filteredTermCount = [...searchTerms].filter(
+ (term) => term.length > 2
+ ).length;
if (
- fileMap[file].length != searchterms.length &&
- fileMap[file].length != filteredTermCount
- ) continue;
+ wordList.length !== searchTerms.size &&
+ wordList.length !== filteredTermCount
+ )
+ continue;
// ensure that none of the excluded terms is in the search result
- for (i = 0; i < excluded.length; i++) {
- if (terms[excluded[i]] == file ||
- titleterms[excluded[i]] == file ||
- $u.contains(terms[excluded[i]] || [], file) ||
- $u.contains(titleterms[excluded[i]] || [], file)) {
- valid = false;
- break;
- }
- }
+ if (
+ [...excludedTerms].some(
+ (term) =>
+ terms[term] === file ||
+ titleTerms[term] === file ||
+ (terms[term] || []).includes(file) ||
+ (titleTerms[term] || []).includes(file)
+ )
+ )
+ break;
- // if we have still a valid result we can add it to the result list
- if (valid) {
- // select one (max) score for the file.
- // for better ranking, we should calculate ranking by using words statistics like basic tf-idf...
- var score = $u.max($u.map(fileMap[file], function(w){return scoreMap[file][w]}));
- results.push([docnames[file], titles[file], '', null, score, filenames[file]]);
- }
+ // 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;
},
@@ -492,34 +547,28 @@ var Search = {
/**
* helper function to return a node containing the
* search summary for a given text. keywords is a list
- * of stemmed words, hlwords is the list of normal, unstemmed
- * words. the first one is used to find the occurrence, the
- * latter for highlighting it.
+ * of stemmed words.
*/
- makeSearchSummary : function(htmlText, keywords, hlwords) {
- var text = Search.htmlToText(htmlText);
- if (text == "") {
- return null;
- }
- var textLower = text.toLowerCase();
- var start = 0;
- $.each(keywords, function() {
- var i = textLower.indexOf(this.toLowerCase());
- if (i > -1)
- start = i;
- });
- start = Math.max(start - 120, 0);
- var excerpt = ((start > 0) ? '...' : '') +
- $.trim(text.substr(start, 240)) +
- ((start + 240 - text.length) ? '...' : '');
- var rv = $('
').text(excerpt);
- $.each(hlwords, function() {
- rv = rv.highlightText(this, 'highlighted');
- });
- return rv;
- }
+ makeSearchSummary: (htmlText, keywords) => {
+ const text = Search.htmlToText(htmlText);
+ if (text === "") return null;
+
+ const textLower = text.toLowerCase();
+ const actualStartPosition = [...keywords]
+ .map((k) => textLower.indexOf(k.toLowerCase()))
+ .filter((i) => i > -1)
+ .slice(-1)[0];
+ const startWithContext = Math.max(actualStartPosition - 120, 0);
+
+ const top = startWithContext === 0 ? "" : "...";
+ const tail = startWithContext + 240 < text.length ? "..." : "";
+
+ let summary = document.createElement("p");
+ summary.classList.add("context");
+ summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
+
+ return summary;
+ },
};
-$(document).ready(function() {
- Search.init();
-});
+_ready(Search.init);
diff --git a/_static/sphinx_highlight.js b/_static/sphinx_highlight.js
new file mode 100644
index 00000000..8a96c69a
--- /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/developer_guide/cia402_drive.html b/developer_guide/cia402_drive.html
index 7b924dbe..f54fd80d 100644
--- a/developer_guide/cia402_drive.html
+++ b/developer_guide/cia402_drive.html
@@ -1,22 +1,25 @@
-
+
-
+
CANopen over EtherCAT for electrical drives — ethercat_driver_ros2 1.0.0 documentation
-
-
-
-
+
+
+
+
+
+
-
-
-
-
+
+
+
+
+
@@ -89,16 +92,16 @@
-CANopen over EtherCAT for electrical drives
+CANopen over EtherCAT for electrical drives
CANopen also defines several device profiles by establishing standard behavior and communication objects for similar devices. In the case of electrical drives, the profile is given by the CiA402 (“CANopen device profile for drives and motion control”) norm compliant with the IEC standard that defines programming languages for programmable control systems. The CiA402 norm specifies specific objects in OD in range 0x6000
to 0x67fe
, what guarantees, that for a drive compatible with CiA402, typical process values such as position, velocity, or torque set-points and actual values will always be defined in the same objects with the same address regardless of the manufacturer and by such simplifies the commissioning of different drives. CIA402 also defines a state machine that corresponds to the drive’s actual operating state (Disabled
, Fault
, Switch ON
, etc.). This state machine is controlled and monitored by two mandatory PDO entries: Control Word
and Status Word
. The drive cannot be started until the state machine has been put into the appropriate state.
The device states and possible control sequences of the drive are described by the CANopen state machine as follows:
The possible drive states are :
-
-CiA402 Drive States
+
+CiA402 Drive States
-
-
+
+
State
@@ -134,12 +137,12 @@ CANopen over EtherCAT for electrical drives
-CiA402 Drive State Transitions
+
+CiA402 Drive State Transitions
-
-
-
+
+
+
State Transition
@@ -219,12 +222,12 @@ CANopen over EtherCAT for electrical drives
-CiA402 Drive Words
+
+CiA402 Drive Words
-
-
-
+
+
+
Bit
@@ -301,11 +304,11 @@ CANopen over EtherCAT for electrical drives
The Status Word
is only updated and written by the drive in Safe-Op
and Operational
states. The current drive state can be decoded from the logical combination of the bits in the Status Word
:
-
-CiA402 Drive State form Status Word
+
+CiA402 Drive State form Status Word
-
-
+
+
Status Word
@@ -340,12 +343,12 @@ CANopen over EtherCAT for electrical drives
-CiA402 Drive Commands to Control Word
+
+CiA402 Drive Commands to Control Word
-
-
-
+
+
+
Control Word
diff --git a/developer_guide/coe.html b/developer_guide/coe.html
index 5cdac6f1..2129a113 100644
--- a/developer_guide/coe.html
+++ b/developer_guide/coe.html
@@ -1,22 +1,25 @@
-
+
-
+
CANopen over EtherCAT — ethercat_driver_ros2 1.0.0 documentation
-
-
-
-
+
+
+
+
+
+
-
-
-
-
+
+
+
+
+
@@ -94,10 +97,10 @@
-CANopen over EtherCAT
+CANopen over EtherCAT
The CANopen over EtherCAT (CoE) protocol allows devices equipped with CANopen to be used on EtherCAT-based Industrial Ethernet networks.
-CANopen
+CANopen
CANopen is a communication protocol based on the CAN (Controller Area Network) physical communication standard. In the OSI communication model , CAN specifies the physical and data link layers, while CANopen addresses the higher layers — network, transport, session, presentation, and application.
The CANopen protocol defines how automation devices are configured and accessed, and how messages are exchanged between them. CANopen is object-based, meaning that each node (drives, controllers, encoders, I/O, and other devices) in the network has an Object Dictionary (OD), which contains communication objects. These communication objects cover network management data; special functions; acyclic configuration data, which is handled by Service Data Objects (SDOs); cyclic real-time data, which is handled by Process Data Objects (PDOs):
@@ -109,11 +112,11 @@ CANopen
-CANopen over EtherCAT (CoE) protocol
+CANopen over EtherCAT (CoE) protocol
CANopen over EtherCAT (CoE) allows the CANopen communication protocol to be implemented over an EtherCAT network, providing a user-friendly, cost-effective solution that provides deterministic data delivery along with faster transmission speeds over longer network lengths.
The use of CANopen over EtherCAT is possible in significant part because EtherCAT implements the same communication system, including object dictionaries, SDOs (the SDO protocol is implemented directly from CANopen, without changes) and PDOs. And on an EtherCAT network, PDO frames are sent deterministically and without the 8-byte limit imposed by CANopen. CANopen over EtherCAT also supports the CANopen device profiles, which specify the parameters and behavior of the device, as well as the device class-specific state machines.
diff --git a/developer_guide/new_plugin.html b/developer_guide/new_plugin.html
index 325b1138..9bb37997 100644
--- a/developer_guide/new_plugin.html
+++ b/developer_guide/new_plugin.html
@@ -1,22 +1,25 @@
-
+
-
+
Creating a new device driver — ethercat_driver_ros2 1.0.0 documentation
-
-
-
-
+
+
+
+
+
+
-
-
-
-
+
+
+
+
+
@@ -97,16 +100,16 @@
-Creating a new device driver
+Creating a new device driver
Creating a new device driver to work with the ethercat_driver_ros2
is fairly easy. You should do this if you need to create a driver for a specific device or a specific device profile that is not yet supported. If you create a driver for a device profile we are happy to integrate the package into this repository - simply create a PR.
-What you need to do
+What you need to do
To create a dedicated driver for an EtherCAT module, you need to create a new package containing the module driver plugin and register it so that it can be called by the ethercat_driver_ros2
.
-How to do it
+How to do it
-Create a package
+Create a package
Create a new package using the standard ros2 pkg commands. Make sure you add the following dependencies:
ethercat_interface
@@ -114,7 +117,7 @@ Create a package