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When it is not found, a full rebuild will be done. +config: 0d34b26585006095a78d690cb4db54a9 +tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/.doctrees/bluetooth.doctree b/.doctrees/bluetooth.doctree new file mode 100644 index 0000000..463a7e1 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..e3dbb54 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..34c7c76 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..1197357 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..5e3aa35 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..61d50fb 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..f378e57 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/051422046cba6049b278a5cebcee1f0c/blink_LED.py b/_downloads/051422046cba6049b278a5cebcee1f0c/blink_LED.py new file mode 100644 index 0000000..a74dd5a --- /dev/null +++ b/_downloads/051422046cba6049b278a5cebcee1f0c/blink_LED.py @@ -0,0 +1,9 @@ +from machine import Pin +import time + +LED = Pin(6, Pin.OUT) + +while True: + LED.off() + time.sleep(2) + LED.on() diff --git a/_downloads/181d067ce2d1245840fe76af1f50b2d5/nanonav_starter.zip b/_downloads/181d067ce2d1245840fe76af1f50b2d5/nanonav_starter.zip new file mode 100644 index 0000000..b8b57f2 Binary files /dev/null and b/_downloads/181d067ce2d1245840fe76af1f50b2d5/nanonav_starter.zip differ diff --git a/_images/IR_assembled.jpeg b/_images/IR_assembled.jpeg new file mode 100644 index 0000000..465f829 Binary files /dev/null and b/_images/IR_assembled.jpeg differ diff --git a/_images/bootload.png b/_images/bootload.png new file mode 100644 index 0000000..ef3b828 Binary files /dev/null and b/_images/bootload.png differ diff --git a/_images/format_disk.PNG b/_images/format_disk.PNG new file mode 100644 index 0000000..c559373 Binary files /dev/null and b/_images/format_disk.PNG differ diff --git a/_images/ir_2_lights_on.jpeg b/_images/ir_2_lights_on.jpeg new file mode 100644 index 0000000..cbcab91 Binary files /dev/null and b/_images/ir_2_lights_on.jpeg differ 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/_images/parts.jpeg b/_images/parts.jpeg new file mode 100644 index 0000000..fc0c76c Binary files /dev/null and b/_images/parts.jpeg differ diff --git a/_images/rp2040_white_button.jpeg b/_images/rp2040_white_button.jpeg new file mode 100644 index 0000000..43b8515 Binary files /dev/null and b/_images/rp2040_white_button.jpeg differ diff --git a/_images/top_view.jpeg b/_images/top_view.jpeg new file mode 100644 index 0000000..5406420 Binary files /dev/null and b/_images/top_view.jpeg differ diff --git a/_images/wheels.jpeg b/_images/wheels.jpeg new file mode 100644 index 0000000..1640559 Binary files /dev/null and b/_images/wheels.jpeg differ diff --git a/_sources/bluetooth.rst.txt b/_sources/bluetooth.rst.txt new file mode 100644 index 0000000..d1ffa58 --- /dev/null +++ b/_sources/bluetooth.rst.txt @@ -0,0 +1,113 @@ +.. _Bluetooth: + +Bluetooth +========= +Using Bluetooth Low Energy (BLE) to communicate with the NanoNav. + +Quick Example +------------- + +.. code-block:: python + + from nanonav import BLE + import time + + # 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() + time.sleep(0.5) + + 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 Arduino's MAC address instead, which means identifying the device once in LightBlue and keeping track of its MAC address for future connections. + +.. 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). + +Event Handlers (Optional) +------------------------- +MicroPython enables a variety of event handlers to be used with Bluetooth. Unless you want to explore the details of the BLE object, +the two most accessible event handlers are for when a device connects or disconnects from your NanoNav. + +.. code-block:: python + + from nanonav import BLE + import time + + _IRQ_GATTC_WRITE_DONE = const(17) + + class MyBLE(BLE): + # Don't override the __init__ method, unless you know what you're doing + + # You can create these methods to handle connection and disconnection events + def on_connected(self): + print("Connected established with NanoNav") + + def on_disconnected(self): + print("Disconnected from NanoNav") + + # For advanced event handling use cases: + def _irq(self, event, data): + if event == _IRQ_GATTC_WRITE_DONE: + print("Data written successfully to Bluetooth characteristic") + super()._irq(event, data) + + # Create an instance of your subclass + ble = MyBLE(name="NanoNav") + + ble.send(43) + response = ble.read() + # wait until something changes, indicating a response + while response == 43: + response = ble.read() + time.sleep(0.5) + + print("Received: ", response) + +If interested in learning about other Bluetooth events or capabilities beyond the scope of NanoNav, see `here `_. diff --git a/_sources/faq.rst.txt b/_sources/faq.rst.txt new file mode 100644 index 0000000..d67f1c5 --- /dev/null +++ b/_sources/faq.rst.txt @@ -0,0 +1,58 @@ +FAQ +=== + +No questions yet. + +Troubleshooting +=============== + +Arduino not connecting to OpenMV +-------------------------------- + +If your Arduino is not connecting to OpenMV, either because OpenMV is loading forever, or because the cursor is flickering between loading and a pointer, you should reset your board. Do this by double tapping the button on top of the Arduino. This will reset the board. + +.. image:: images/rp2040_white_button.jpeg + :height: 80 + :alt: RP2040 white button + +Wait for OpenMV to update. When OpenMV updates, it should offer to load the latest firmware. Agree and load the firmware, and hopefully the Arduino will connect. + +If this doesn't work, it's probably because your code has a frequently repeating while loop which keeps the Arduino occupied. Keep trying to reset the board by double pressing the top button, or open Finder or FileExplorer, open the board's external drive, and replace its main.py (your code) with a basic main.py such as :download:`blink_LED.py <../../tests/installation_check/blink_LED.py>`. This should enable the Arduino to connect. + +If you still cannot get the Arduino to connect, it could be a problem on your computer. Try changing the port you're using to connect to the Arduino. + +IR sensor has both LEDs lit regardless of sensor state +------------------------------------------------------ + +We've noticed a problem with some of the boards where the right IR sensor has both LEDs on, regardless of whether the sensor is in front of a white or black surface: + +.. image:: images/ir_2_lights_on.jpeg + :height: 80 + :alt: IR sensor with 2 lights on + +If you're noticing this, add + +.. code-block:: python + + from machine import Pin + +to your import statements and add the line + +.. code-block:: python + + Pin(28, Pin.OUT).on() + +after your imports and before `robot = NanoBot()`. + +Strange problems with code which was just working +------------------------------------------------- + +When you run in laptop mode from OpenMV, sometimes the code gives you errors the first 2 times you try to run. We're not sure why this happens, but these errors always go away after the third attempt. + +If when running in solo mode, the Arduino behaves strangely when running code which you know works, it could be because you are out of storage. This will not happen until your code files are at least 30 KB in total!!! If your code files are not 30 KB or larger in total, what you're experiencing is an ordinary bug. If you suspect that you make be out of storage, try to shrink your code by removing comments and making functions more efficient. Every character counts, because it's the storage of your .py files which is running out. Try removing excess newlines or whitespace. + +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. 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..0dde6f1 --- /dev/null +++ b/_sources/movement.rst.txt @@ -0,0 +1,51 @@ +.. _Movement: + +Movement +========= +Working with NanoNav's motors. + +Introduction +------------ + +To complete the Wumpus challenge, NanoBot will have to navigate the board by moving and turning. It does this by sending power to the motors, which then turn the wheels. Speed of the motors is controlled by the amount of power you send. However, because most microcontrollers can only send LOW or HIGH voltage (0V or 3.3V in the Arduino's case), power is controlled by a process called Pulse Width Modulation (PWM), which is explained in more detail `here `_ if you're interested. + +Sensors called encoders are used to track the rotation of the motors accurately. Encoders track rotation in ticks. You can read more `here `_ if you're interested, but all you have to know is that a positive change in ticks corresponds to a forward rotation of the motor, and a negative change to a backward rotation of the motor. + +You don't have to use encoders in your solution, though they do provide greater accuracy. + + +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() + time.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..5cd1102 --- /dev/null +++ b/_sources/sensors.rst.txt @@ -0,0 +1,44 @@ +.. _Sensors: + +Sensors +======= +Using the IR sensors on NanoNav. + +Introduction +------------ +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. + +Quick Example +------------- + +.. code-block:: python + + from nanonav import NanoBot + import time + + # Create a NanoBot object + robot = NanoBot() + + while True: + # Repeatedly print the IR sensor values + print(f'left: {robot.ir_left()} right: {robot.ir_right()}') + time.sleep(0.5) + +Note that this code snippet uses `print` which means it will only +work while connected to a computer. + +Calibration +----------- +Initially, and if you ever notice the IR sensors not detecting the white line correctly, +you may need to calibrate the sensors. The below video (for a very similar IR sensor model) +shows how to do this. + +.. raw:: html + + + +Usage +----- + +.. automethod:: nanonav.NanoBot.ir_left +.. automethod:: nanonav.NanoBot.ir_right diff --git a/_sources/usage.rst.txt b/_sources/usage.rst.txt new file mode 100644 index 0000000..140ff23 --- /dev/null +++ b/_sources/usage.rst.txt @@ -0,0 +1,155 @@ +Quick Start +=========== + +Assembly +-------- + +.. image:: images/parts.jpeg + :height: 200 + :alt: Kit parts + +The kit has 5 main parts: the IR sensor bar, Arduino Nano RP2040, wheels, battery (not shown) and MinSeg board. To assemble, insert the battery into the MinSeg kit. This could be a tight fit, so be careful! Line up the terminals of the battery first (they should connect together well), then rock the battery into place. + +Next, insert the Arduino on the top of the MinSeg kit. Each pin on the Arduino has a corresponding connector on the MinSeg kit, so make sure they align. The Arduino should be oriented as shown, with the microUSB connector facing forwards on the kit. + +.. image:: images/top_view.jpeg + :height: 200 + :alt: The orientation of the Arduino on the MinSeg kit. + +Next, slide the IR sensor bar into the front of the MinSeg board, with the IR sensors facing downwards. The orientation is important so that you do not reverse polarity and burn out the LEDs! + +.. image:: images/IR_assembled.jpeg + :height: 200 + :alt: The IR sensors inserted properly. + +After that, slide the wheels onto the motor shafts. Be gentle! The wheels and motor shafts have a flat side (D shafts), so make sure the flats align before trying to slide them on! If you have trouble, try facing the outwards bump of the wheels into the kit as shown below: + +.. image:: images/wheels.jpeg + :height: 200 + :alt: The motors and wheels. + +After that, the kit is assembled. Let's adjust the settings. On the left side of the MinSeg board, you'll find three switches, labeled "Pwr Switch", "Driver Volts", and "Driver Enable". When you flip the Power Switch on, you should see lights on the Arduino, MinSeg board, and IR sensors light up. If any of these lights do not light up, something is wrong with your assembly. Make sure you have done the previous steps correctly, including inserting a battery. + +Flipping the Driver Enable switch will allow the Arduino to drive the motors. Switch it to ON. + +Lastly, flip "Driver Volts" to Battery Power. This will draw power from the battery rather than your laptop (which will be disconnected when you run your final code). + +With this assembly and settings, you'll be ready to go! + +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. + +You will also need to install LightBlue on your mobile device for Bluetooth communication. You can download it from the App Store or Google Play Store. + +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, download this starter zip folder :download:`nanonav_starter.zip `. +You will need the `nanonav.py` file as well as the `ble_advertising.py` file for any projects you use NanoNav with. Extract the files from the zip folder; you will use them for the next steps. + +The `ble_advertising.py` file comes from `MicroPython's github repository `_. If you're interested, you can check out the latest Open Source developments in MicroPython! + +.. _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 provide a test `main.py` file in the starter zip folder so you can veify everything is working. + +We recommend creating a folder that you will use for your MicroPython code - put each of `nanonav.py`, `ble_advertising.py`, `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.). + +If this still does not work, `try putting the Arduino in bootloader mode `_. + +Once you see the "Connect" button, click it (the USB connection, or upper button of the two in the image). + +When you try to connect, you may see a popup requesting to load the latest firmware. If you see this, click OK. + +.. image:: images/bootload.png + :height: 80 + :alt: Bootloading + +The arrow below it should turn green when connected. + +.. image:: images/openmv_green.png + :height: 100 + :alt: OpenMV connected symbols + +When the Arduino is connected (as indicated by the green arrow), you should be able to find 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" or "USB Drive" and should contain a `main.py` and `README.txt` file. + +When you open the drive on your computer, it may ask you to reformat the drive. If so, select "Format Disk". + +.. image:: images/format_disk.PNG + :height: 100 + :alt: Format Disk popup + +.. note:: + You must copy the the files (not the folder) from :download:`nanonav_starter.zip ` + 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 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +You have two options for running your code on the Arduino: laptop mode and solo mode. + +**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 the starter files. 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. In solo mode, you won't have access to any print statements or Python exceptions, so only use solo mode after you've tested your code in laptop mode. + +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: + +Running our test code +^^^^^^^^^^^^^^^^^^^^^ + +When you have doubts about whether your Arduino is functioning properly, try running our test code! Use the `main.py`, `nanonav.py`, and `ble_advertising.py` files from :download:`nanonav_starter.zip `. + +This tests all of the features of the kit: motors, encoders, IR sensors and Bluetooth. + +When you run it, you should see the wheels spin forwards first, then backwards after a few seconds. On the Serial Terminal in the OpenMV IDE, you should see the encoder values printed out. + +Using your phone, look on LightBlue for a peripheral named something related to Arduino (names may vary). Some examples are: "NanoNav", "Arduino", "MPY Nimble", etc. See `Connecting from Mobile `_ for more detailed information. Connect to the peripheral and write 0 to the Read/Write characteristic. You should see 0 printed on the Serial Terminal. + +After writing over Bluetooth, the IR sensor values should be printed out in the Serial Terminal. + +If all of this works, you've verified that your kit works correctly! If not, try our `Troubleshooting `_. Happy coding! + +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`, controlling :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..7ebbd6d --- /dev/null +++ b/_static/basic.css @@ -0,0 +1,914 @@ +/* + * Sphinx stylesheet -- basic theme. + */ + +/* -- 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-top: 10px; +} + +ul.search li { + padding: 5px 0; +} + +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..88ba55b --- /dev/null +++ b/_static/css/badge_only.css @@ -0,0 +1 @@ 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+ document.dispatchEvent(event); + }); +}); \ No newline at end of file diff --git a/_static/language_data.js b/_static/language_data.js new file mode 100644 index 0000000..c7fe6c6 --- /dev/null +++ b/_static/language_data.js @@ -0,0 +1,192 @@ +/* + * This script contains the language-specific data used by searchtools.js, + * namely the list of stopwords, stemmer, scorer and splitter. + */ + +var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"]; + + +/* Non-minified version is copied as a separate JS file, if available */ + +/** + * Porter Stemmer + */ +var Stemmer = function() { + + var step2list = { + ational: 'ate', + tional: 'tion', + enci: 'ence', + anci: 'ance', + izer: 'ize', + bli: 'ble', + alli: 'al', + entli: 'ent', + eli: 'e', + ousli: 'ous', + ization: 'ize', + ation: 'ate', + ator: 'ate', + alism: 'al', + iveness: 'ive', + fulness: 'ful', + ousness: 'ous', + aliti: 'al', + iviti: 'ive', + biliti: 'ble', + logi: 'log' + }; 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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, kind] = 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, + }; +} + +// Global search result kind enum, used by themes to style search results. +class SearchResultKind { + static get index() { return "index"; } + static get object() { return "object"; } + static get text() { return "text"; } + static get title() { return "title"; } +} + +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, "\\$&"); // $& means the whole matched string + +const _displayItem = (item, searchTerms, highlightTerms) => { + const docBuilder = DOCUMENTATION_OPTIONS.BUILDER; + const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX; + const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX; + const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY; + const contentRoot = document.documentElement.dataset.content_root; + + const [docName, title, anchor, descr, score, _filename, kind] = item; + + let listItem = document.createElement("li"); + // Add a class representing the item's type: + // can be used by a theme's CSS selector for styling + // See SearchResultKind for the class names. + listItem.classList.add(`kind-${kind}`); + 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 = Documentation.ngettext( + "Search finished, found one page matching the search query.", + "Search finished, found ${resultCount} pages matching the search query.", + resultCount, + ).replace('${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, kind]. +// Order the results by score (in opposite order of appearance, since the +// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically. +const _orderResultsByScoreThenName = (a, b) => { + const leftScore = a[4]; + const rightScore = b[4]; + if (leftScore === rightScore) { + // same score: sort alphabetically + const leftTitle = a[1].toLowerCase(); + const rightTitle = b[1].toLowerCase(); + if (leftTitle === rightTitle) return 0; + return leftTitle > rightTitle ? -1 : 1; // inverted is intentional + } + return leftScore > rightScore ? 1 : -1; +}; + +/** + * Default splitQuery function. Can be overridden in ``sphinx.search`` with a + * custom function per language. + * + * The regular expression works by splitting the string on consecutive characters + * that are not Unicode letters, numbers, underscores, or emoji characters. + * This is the same as ``\W+`` in Python, preserving the surrogate pair area. + */ +if (typeof splitQuery === "undefined") { + var splitQuery = (query) => query + .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu) + .filter(term => term) // remove remaining empty strings +} + +/** + * Search Module + */ +const Search = { + _index: null, + _queued_query: null, + _pulse_status: -1, + + htmlToText: (htmlString, anchor) => { + const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html'); + for (const removalQuery of [".headerlink", "script", "style"]) { + htmlElement.querySelectorAll(removalQuery).forEach((el) => { el.remove() }); + } + if (anchor) { + const anchorContent = htmlElement.querySelector(`[role="main"] ${anchor}`); + if (anchorContent) return anchorContent.textContent; + + console.warn( + `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.` + ); + } + + // if anchor not specified or not found, fall back to main content + const docContent = htmlElement.querySelector('[role="main"]'); + if (docContent) return docContent.textContent; + + console.warn( + "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template." + ); + return ""; + }, + + init: () => { + const query = new URLSearchParams(window.location.search).get("q"); + document + .querySelectorAll('input[name="q"]') + .forEach((el) => (el.value = query)); + if (query) Search.performSearch(query); + }, + + loadIndex: (url) => + (document.body.appendChild(document.createElement("script")).src = url), + + setIndex: (index) => { + Search._index = index; + if (Search._queued_query !== null) { + const query = Search._queued_query; + Search._queued_query = null; + Search.query(query); + } + }, + + hasIndex: () => Search._index !== null, + + deferQuery: (query) => (Search._queued_query = query), + + stopPulse: () => (Search._pulse_status = -1), + + startPulse: () => { + if (Search._pulse_status >= 0) return; + + const pulse = () => { + Search._pulse_status = (Search._pulse_status + 1) % 4; + Search.dots.innerText = ".".repeat(Search._pulse_status); + if (Search._pulse_status >= 0) window.setTimeout(pulse, 500); + }; + pulse(); + }, + + /** + * perform a search for something (or wait until index is loaded) + */ + performSearch: (query) => { + // create the required interface elements + const searchText = document.createElement("h2"); + searchText.textContent = _("Searching"); + const searchSummary = document.createElement("p"); + searchSummary.classList.add("search-summary"); + searchSummary.innerText = ""; + const searchList = document.createElement("ul"); + searchList.setAttribute("role", "list"); + 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, kind]. + const normalResults = []; + const nonMainIndexResults = []; + + _removeChildren(document.getElementById("search-progress")); + + const queryLower = query.toLowerCase().trim(); + for (const [title, foundTitles] of Object.entries(allTitles)) { + if (title.toLowerCase().trim().includes(queryLower) && (queryLower.length >= title.length/2)) { + for (const [file, id] of foundTitles) { + const score = Math.round(Scorer.title * queryLower.length / title.length); + const boost = titles[file] === title ? 1 : 0; // add a boost for document titles + normalResults.push([ + docNames[file], + titles[file] !== title ? `${titles[file]} > ${title}` : title, + id !== null ? "#" + id : "", + null, + score + boost, + filenames[file], + SearchResultKind.title, + ]); + } + } + } + + // 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], + SearchResultKind.index, + ]; + 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]], + SearchResultKind.object, + ]); + }; + 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], + SearchResultKind.text, + ]); + } + 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..a92164b --- /dev/null +++ b/bluetooth.html @@ -0,0 +1,280 @@ + + + + + + + + + Bluetooth — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Bluetooth

+

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

+
+

Quick Example

+
from nanonav import BLE
+import time
+
+# 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()
+    time.sleep(0.5)
+
+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 create this method in a subclass of BLE to be called once the BLE connection is established.

+
+ +
+
+on_disconnected()
+

You may create this method in a subclass of BLE 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 Arduino’s MAC address instead, which means identifying the device once in LightBlue and keeping track of its MAC address for future connections.

+
+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).

+
+
+

Event Handlers (Optional)

+

MicroPython enables a variety of event handlers to be used with Bluetooth. Unless you want to explore the details of the BLE object, +the two most accessible event handlers are for when a device connects or disconnects from your NanoNav.

+
from nanonav import BLE
+import time
+
+_IRQ_GATTC_WRITE_DONE = const(17)
+
+class MyBLE(BLE):
+  # Don't override the __init__ method, unless you know what you're doing
+
+  # You can create these methods to handle connection and disconnection events
+  def on_connected(self):
+    print("Connected established with NanoNav")
+
+  def on_disconnected(self):
+    print("Disconnected from NanoNav")
+
+  # For advanced event handling use cases:
+  def _irq(self, event, data):
+    if event == _IRQ_GATTC_WRITE_DONE:
+        print("Data written successfully to Bluetooth characteristic")
+    super()._irq(event, data)
+
+# Create an instance of your subclass
+ble = MyBLE(name="NanoNav")
+
+ble.send(43)
+response = ble.read()
+# wait until something changes, indicating a response
+while response == 43:
+    response = ble.read()
+          time.sleep(0.5)
+
+print("Received: ", response)
+
+
+

If interested in learning about other Bluetooth events or 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..b7d19dc --- /dev/null +++ b/faq.html @@ -0,0 +1,159 @@ + + + + + + + + + FAQ — NanoNav documentation + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

FAQ

+

No questions yet.

+
+
+

Troubleshooting

+
+

Arduino not connecting to OpenMV

+

If your Arduino is not connecting to OpenMV, either because OpenMV is loading forever, or because the cursor is flickering between loading and a pointer, you should reset your board. Do this by double tapping the button on top of the Arduino. This will reset the board.

+RP2040 white button + +

Wait for OpenMV to update. When OpenMV updates, it should offer to load the latest firmware. Agree and load the firmware, and hopefully the Arduino will connect.

+

If this doesn’t work, it’s probably because your code has a frequently repeating while loop which keeps the Arduino occupied. Keep trying to reset the board by double pressing the top button, or open Finder or FileExplorer, open the board’s external drive, and replace its main.py (your code) with a basic main.py such as blink_LED.py. This should enable the Arduino to connect.

+

If you still cannot get the Arduino to connect, it could be a problem on your computer. Try changing the port you’re using to connect to the Arduino.

+
+
+

IR sensor has both LEDs lit regardless of sensor state

+

We’ve noticed a problem with some of the boards where the right IR sensor has both LEDs on, regardless of whether the sensor is in front of a white or black surface:

+IR sensor with 2 lights on + +

If you’re noticing this, add

+
from machine import Pin
+
+
+

to your import statements and add the line

+
Pin(28, Pin.OUT).on()
+
+
+

after your imports and before robot = NanoBot().

+
+
+

Strange problems with code which was just working

+

When you run in laptop mode from OpenMV, sometimes the code gives you errors the first 2 times you try to run. We’re not sure why this happens, but these errors always go away after the third attempt.

+

If when running in solo mode, the Arduino behaves strangely when running code which you know works, it could be because you are out of storage. This will not happen until your code files are at least 30 KB in total!!! If your code files are not 30 KB or larger in total, what you’re experiencing is an ordinary bug. If you suspect that you make be out of storage, try to shrink your code by removing comments and making functions more efficient. Every character counts, because it’s the storage of your .py files which is running out. Try removing excess newlines or whitespace.

+
+
+

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..d469fca --- /dev/null +++ b/genindex.html @@ -0,0 +1,213 @@ + + + + + + + + Index — NanoNav documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

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

B

+ + +
+ +

G

+ + + +
+ +

I

+ + + +
+ +

M

+ + + +
+ +

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..5ee95be --- /dev/null +++ b/index.html @@ -0,0 +1,191 @@ + + + + + + + + + Welcome to NanoNav’s documentation. — NanoNav documentation + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Welcome to NanoNav’s documentation.

+

Check out the Quick Start section to get started.

+
+

Contents

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

© 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..7a2230b --- /dev/null +++ b/movement.html @@ -0,0 +1,284 @@ + + + + + + + + + Movement — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Movement

+

Working with NanoNav’s motors.

+
+

Introduction

+

To complete the Wumpus challenge, NanoBot will have to navigate the board by moving and turning. It does this by sending power to the motors, which then turn the wheels. Speed of the motors is controlled by the amount of power you send. However, because most microcontrollers can only send LOW or HIGH voltage (0V or 3.3V in the Arduino’s case), power is controlled by a process called Pulse Width Modulation (PWM), which is explained in more detail here if you’re interested.

+

Sensors called encoders are used to track the rotation of the motors accurately. Encoders track rotation in ticks. You can read more here if you’re interested, but all you have to know is that a positive change in ticks corresponds to a forward rotation of the motor, and a negative change to a backward rotation of the motor.

+

You don’t have to use encoders in your solution, though they do provide greater accuracy.

+
+
+

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()
+time.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_duty=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.

+
+
+
+
+get_enc1()
+

Return the current encoder 1 count.

+
+
Returns:
+

The value of the encoder 1.

+
+
Return type:
+

int

+
+
+
+ +
+
+get_enc2()
+

Return the current encoder 2 count.

+
+
Returns:
+

The value of the encoder 2.

+
+
Return type:
+

int

+
+
+
+ +
+
+m1_backward(speed)
+

Set Motor 1 to turn backward at speed.

+
+
Parameters:
+

speed (int or float) – The speed to turn Motor 1 backward at. This is a percentage of max speed from 0-100.

+
+
+
+ +
+
+m1_forward(speed)
+

Set Motor 1 to turn forward at speed.

+
+
Parameters:
+

speed (int or float) – The speed to turn Motor 1 forward at. This is a percentage of max speed from 0-100.

+
+
+
+ +
+
+m2_backward(speed)
+

Set Motor 2 to turn backward at speed.

+
+
Parameters:
+

speed (int or float) – The speed to turn Motor 2 backward at. This is a percentage of max speed from 0-100.

+
+
+
+ +
+
+m2_forward(speed)
+

Set Motor 2 to turn forward at speed.

+
+
Parameters:
+

speed (int or float) – The speed to turn Motor 2 forward at. This is a percentage of max speed from 0-100.

+
+
+
+ +
+
+set_enc1(value)
+

Set the current encoder 1 count. This is useful if you want to zero its value.

+
+
Parameters:
+

value (int) – The new value to set the encoder 1 count to.

+
+
+
+ +
+
+set_enc2(value)
+

Set the current encoder 2 count. This is useful if you want to zero its value.

+
+
Parameters:
+

value (int) – The new value to set the encoder 2 count to.

+
+
+
+ +
+
+stop()
+

Turn off all motors.

+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/objects.inv b/objects.inv new file mode 100644 index 0000000..1e77cd9 --- /dev/null +++ b/objects.inv @@ -0,0 +1,8 @@ +# Sphinx inventory version 2 +# Project: NanoNav +# Version: +# The remainder of this file is compressed using zlib. +xڝn0~ +KHpmRӶGd!D83rk퓬.ۿof'N9tjojs"C950"/RۓF@3FV/М3zPgd~c%x +N$'Fg +?0D,z:*E8SU3k͙E}wQϔo|o|X}#OIl j98r-hf`!^1Woqlc^x9xOu-wӼ=`5 e{V>~ `XU\DYh&jR9tu?.$%^2KDuVAwrt\t݅?wPQv'A>vj[l?qspQб{.2Trnq}'W^_MR \ No newline at end of file diff --git a/search.html b/search.html new file mode 100644 index 0000000..36d0ff0 --- /dev/null +++ b/search.html @@ -0,0 +1,128 @@ + + + + + + + + Search — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+
+ +
+ +
+

© 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/searchindex.js b/searchindex.js new file mode 100644 index 0000000..fad6be8 --- /dev/null +++ b/searchindex.js @@ -0,0 +1 @@ +Search.setIndex({"alltitles": {"Arduino not connecting to OpenMV": [[1, "arduino-not-connecting-to-openmv"]], "Assembly": [[5, "assembly"]], "Bluetooth": [[0, null]], "Calibration": [[4, "calibration"]], "Connecting from Mobile": [[0, "connecting-from-mobile"]], "Connecting to the Arduino over USB": [[5, "connecting-to-the-arduino-over-usb"]], "Contents": [[2, "contents"]], "Event Handlers (Optional)": [[0, "event-handlers-optional"]], "FAQ": [[1, null]], "IR sensor has both LEDs lit regardless of sensor state": [[1, "ir-sensor-has-both-leds-lit-regardless-of-sensor-state"]], "Installation": [[5, "installation"]], "Introduction": [[3, "introduction"], [4, "introduction"]], "Issues": [[1, "issues"]], "MicroPython": [[5, "id1"]], "Movement": [[3, null]], "Next Steps": [[5, "next-steps"]], "Quick Example": 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"m1_backward": [2, 3], "m1_forward": [2, 3], "m2_backward": [2, 3], "m2_forward": [2, 3], "mac": [0, 5], "machin": 1, "mai": [0, 4, 5], "main": [1, 5], "make": [1, 5], "max": 3, "maximum": 3, "mean": [0, 4, 5], "menu": 5, "mess": 5, "method": 0, "microcontrol": 3, "micropython": [0, 2], "microusb": 5, "minseg": 5, "mobil": [2, 5], "mode": [1, 5], "model": 4, "modifi": 5, "modul": 3, "more": [0, 1, 3, 5], "most": [0, 3], "motor": [3, 5], "move": [3, 5], "movement": [2, 5], "mpy": 5, "much": 1, "must": 5, "mybl": 0, "name": [0, 5], "nano": [0, 5], "nanobot": [1, 2, 3, 4], "nanonav": [0, 3, 4, 5], "nanonav_start": 5, "navig": 3, "need": [0, 4, 5], "neg": 3, "new": 3, "newlin": 1, "next": 2, "nice": 5, "nimbl": 5, "none": 0, "note": [4, 5], "notic": [0, 1, 4], "now": [0, 5], "number": 0, "object": [0, 3, 4], "occasion": 0, "occupi": 1, "occur": 0, "off": 3, "offer": 1, "often": 0, "ok": 5, "on_connect": [0, 2], "on_disconnect": [0, 2], "onc": [0, 5], "one": [0, 5], "onli": [0, 3, 4, 5], "onto": 5, "open": [0, 1, 5], "openmv": 2, "oper": 5, "optim": 5, "option": [2, 5], "ordinari": 1, "orient": 5, "other": [0, 5], "our": 2, "out": [1, 2, 5], "outward": 5, "over": 2, "overrid": 0, "own": 5, "packag": 5, "pair": 0, "paramet": [0, 3], "part": 5, "particular": 5, "percentag": 3, "perform": 0, "period": 0, "peripher": [3, 5], "phone": [0, 5], "pictur": 0, "pin": [1, 5], "pip": 5, "place": 5, "plai": 5, "point": 5, "pointer": 1, "polar": 5, "popup": 5, "port": [1, 5], "portal": 0, "posit": 3, "possibl": 0, "power": [3, 5], "press": [1, 5], "previou": 5, "print": [0, 4, 5], "probabl": 1, "problem": 2, "process": [3, 5], "program": [0, 5], "project": 5, "properli": 5, "provid": [1, 3, 5], "puls": 3, "put": 5, "pwm": 3, "pwr": 5, "py": [1, 5], "pypi": 5, "python": 5, "question": 1, "queue": 5, "quick": 2, "quickli": 5, "rais": 0, "rang": 0, "rather": 5, "re": [0, 1, 3, 5], "read": [0, 2, 3, 5], "readi": 5, "readm": 5, "receiv": 0, "recogn": 5, "recommend": [0, 5], "red": 0, "reflect": 4, "reformat": 5, "regardless": 2, "regular": 5, "relat": 5, "remov": 1, "renam": 0, "repeat": 1, "repeatedli": 4, "replac": 1, "replug": 5, "repositori": 5, "request": [0, 5], "reset": 1, "respons": 0, "return": [0, 3, 4], "revers": 5, "right": [1, 4], "robot": [1, 3, 4], "rock": 5, "rotat": 3, "rp2040": [0, 5], "run": [0, 1, 2], "same": 5, "saturated_duti": 3, "saturated_spe": 3, "save": 5, "scope": 0, "screen": 0, "screenshot": 0, "script": 5, "scroll": 0, "search": 0, "second": [3, 5], "secret": 0, "section": 2, "see": [0, 5], "select": 5, "self": 0, "send": [0, 2, 3], "sens": 3, "sensor": [2, 3, 5], "serial": 5, "servic": 0, "set": [3, 5], "set_enc1": [2, 3], "set_enc2": [2, 3], "setup": 0, "shaft": 5, "share": 0, "should": [0, 1, 5], "show": [0, 4], "shown": [0, 5], "shrink": 1, "side": 5, "similar": [0, 4, 5], "simpli": 5, "simplifi": 0, "sinc": 5, "situat": 0, "sleep": [0, 3, 4], "slide": 5, "small": 0, "snippet": 4, "so": 5, "solo": [1, 5], "solut": 3, "some": [0, 1, 5], "someth": [0, 5], "sometim": 1, "sourc": 5, "speed": 3, "spin": 5, "standard": 5, "start": 2, "starter": 5, "state": 2, "statement": [1, 5], "step": 2, "still": [1, 5], "stop": [2, 3, 5], "storag": 1, "store": [0, 5], "str": 0, "strang": 2, "subclass": 0, "submit": 1, "successfulli": 0, "super": 0, "supplementari": 5, "suppli": 3, "support": 5, "sure": [1, 5], "surfac": [1, 4], "suspect": 1, "switch": 5, "system": 5, "t": [0, 1, 3, 5], "take": 5, "tap": 1, "termin": 5, "test": 2, "than": 5, "thei": [3, 5], "them": 5, "thi": [0, 1, 3, 4, 5], "think": [0, 5], "third": 1, "though": 3, "three": 5, "through": 5, "tick": 3, "tight": 5, "time": [0, 1, 3, 4, 5], "togeth": 5, "too": 3, "tool": 5, "top": [1, 5], "total": 1, "touch": 5, "track": [0, 3], "transfer": 5, "troubl": 5, "troubleshoot": [2, 5], "true": 4, "try": [1, 3, 5], "turn": [0, 3, 5], "two": [0, 5], "txt": 5, "type": [0, 3, 4], "under": [4, 5], "unless": 0, "unplug": 5, "until": [0, 1], "up": [0, 5], "updat": 1, "upper": 5, "us": [0, 1, 2, 3, 4], "usag": 2, "usb": 2, "usual": 5, "v": 5, "valu": [0, 3, 4, 5], "valueerror": 0, "vari": 5, "varieti": 0, "variou": 0, "ve": [0, 1, 5], "veifi": 5, "veri": [4, 5], "verifi": [0, 5], "version": 0, "video": 4, "volt": 5, "voltag": 3, "wa": 2, "wai": 5, "wait": [0, 1, 5], "walk": 5, "want": [0, 3], "we": [0, 1, 5], "well": 5, "what": [0, 1], "whatev": 0, "wheel": [3, 5], "when": [0, 1, 5], "whenev": 0, "where": [0, 1], "wherev": 0, "whether": [1, 5], "which": [0, 2, 3, 4, 5], "while": [0, 1, 4, 5], "white": [1, 4], "whiteboard": 0, "whitespac": 1, "why": [0, 1], "width": 3, "window": 5, "within": 0, "without": 5, "won": 5, "work": [0, 2, 3, 4, 5], "workflow": 2, "would": [0, 5], "wraper": 0, "write": [0, 5], "written": 0, "wrong": 5, "wumpu": 3, "yet": 1, "you": [0, 1, 3, 4, 5], "your": [0, 1, 2, 3, 4], "yourself": 0, "zero": 3, "zip": 5}, "titles": ["Bluetooth", "FAQ", "Welcome to NanoNav\u2019s documentation.", "Movement", "Sensors", "Quick Start"], "titleterms": {"": 2, "arduino": [1, 5], "assembli": 5, "bluetooth": 0, "both": 1, "calibr": 4, "code": [1, 5], "connect": [0, 1, 5], "content": 2, "document": 2, "event": 0, "exampl": [0, 3, 4], "faq": 1, "from": 0, "ha": 1, "handler": 0, "instal": 5, "introduct": [3, 4], "ir": 1, "issu": 1, "just": 1, "led": 1, "lit": 1, "micropython": 5, "mobil": 0, "movement": 3, "nanonav": 2, "next": 5, "openmv": [1, 5], "option": 0, "our": 5, "over": 5, "problem": 1, "quick": [0, 3, 4, 5], "regardless": 1, "run": 5, "sensor": [1, 4], "start": 5, "state": 1, "step": 5, "strang": 1, "test": 5, "troubleshoot": 1, "us": 5, "usag": [0, 3, 4], "usb": 5, "wa": 1, "welcom": 2, "which": 1, "work": 1, "workflow": 5, "your": 5}}) \ No newline at end of file diff --git a/sensors.html b/sensors.html new file mode 100644 index 0000000..93a7e14 --- /dev/null +++ b/sensors.html @@ -0,0 +1,180 @@ + + + + + + + + + Sensors — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Sensors

+

Using the IR sensors on NanoNav.

+
+

Introduction

+

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.

+
+
+

Quick Example

+
from nanonav import NanoBot
+import time
+
+# Create a NanoBot object
+robot = NanoBot()
+
+while True:
+    # Repeatedly print the IR sensor values
+    print(f'left: {robot.ir_left()}    right: {robot.ir_right()}')
+    time.sleep(0.5)
+
+
+

Note that this code snippet uses print which means it will only +work while connected to a computer.

+
+
+

Calibration

+

Initially, and if you ever notice the IR sensors not detecting the white line correctly, +you may need to calibrate the sensors. The below video (for a very similar IR sensor model) +shows how to do this.

+
+
+

Usage

+
+
+NanoBot.ir_left()
+

Return true if the left IR sensor detects white.

+
+
Return type:
+

boolean

+
+
+
+ +
+
+NanoBot.ir_right()
+

Return true if the right IR sensor detects white.

+
+
Return type:
+

boolean

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/usage.html b/usage.html new file mode 100644 index 0000000..3a41328 --- /dev/null +++ b/usage.html @@ -0,0 +1,226 @@ + + + + + + + + + Quick Start — NanoNav documentation + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Quick Start

+
+

Assembly

+Kit parts + +

The kit has 5 main parts: the IR sensor bar, Arduino Nano RP2040, wheels, battery (not shown) and MinSeg board. To assemble, insert the battery into the MinSeg kit. This could be a tight fit, so be careful! Line up the terminals of the battery first (they should connect together well), then rock the battery into place.

+

Next, insert the Arduino on the top of the MinSeg kit. Each pin on the Arduino has a corresponding connector on the MinSeg kit, so make sure they align. The Arduino should be oriented as shown, with the microUSB connector facing forwards on the kit.

+The orientation of the Arduino on the MinSeg kit. + +

Next, slide the IR sensor bar into the front of the MinSeg board, with the IR sensors facing downwards. The orientation is important so that you do not reverse polarity and burn out the LEDs!

+The IR sensors inserted properly. + +

After that, slide the wheels onto the motor shafts. Be gentle! The wheels and motor shafts have a flat side (D shafts), so make sure the flats align before trying to slide them on! If you have trouble, try facing the outwards bump of the wheels into the kit as shown below:

+The motors and wheels. + +

After that, the kit is assembled. Let’s adjust the settings. On the left side of the MinSeg board, you’ll find three switches, labeled “Pwr Switch”, “Driver Volts”, and “Driver Enable”. When you flip the Power Switch on, you should see lights on the Arduino, MinSeg board, and IR sensors light up. If any of these lights do not light up, something is wrong with your assembly. Make sure you have done the previous steps correctly, including inserting a battery.

+

Flipping the Driver Enable switch will allow the Arduino to drive the motors. Switch it to ON.

+

Lastly, flip “Driver Volts” to Battery Power. This will draw power from the battery rather than your laptop (which will be disconnected when you run your final code).

+

With this assembly and settings, you’ll be ready to go!

+
+
+

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.

+

You will also need to install LightBlue on your mobile device for Bluetooth communication. You can download it from the App Store or Google Play Store.

+

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, download this starter zip folder nanonav_starter.zip. +You will need the nanonav.py file as well as the ble_advertising.py file for any projects you use NanoNav with. Extract the files from the zip folder; you will use them for the next steps.

+

The ble_advertising.py file comes from MicroPython’s github repository. If you’re interested, you can check out the latest Open Source developments in MicroPython!

+
+
+

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 Running our test code below. +For getting started quickly, we provide a test main.py file in the starter zip folder so you can veify everything is working.

+

We recommend creating a folder that you will use for your MicroPython code - put each of nanonav.py, ble_advertising.py, 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.).

+

If this still does not work, try putting the Arduino in bootloader mode.

+

Once you see the “Connect” button, click it (the USB connection, or upper button of the two in the image).

+

When you try to connect, you may see a popup requesting to load the latest firmware. If you see this, click OK.

+Bootloading + +

The arrow below it should turn green when connected.

+OpenMV connected symbols + +

When the Arduino is connected (as indicated by the green arrow), you should be able to find 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” or “USB Drive” and should contain a main.py and README.txt file.

+

When you open the drive on your computer, it may ask you to reformat the drive. If so, select “Format Disk”.

+Format Disk popup + +
+

Note

+

You must copy the the files (not the folder) from nanonav_starter.zip +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

+

You have two options for running your code on the Arduino: laptop mode and solo mode.

+

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 the starter files. 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. In solo mode, you won’t have access to any print statements or Python exceptions, so only use solo mode after you’ve tested your code in laptop mode.

+

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.

+
+
+

Running our test code

+

When you have doubts about whether your Arduino is functioning properly, try running our test code! Use the main.py, nanonav.py, and ble_advertising.py files from nanonav_starter.zip.

+

This tests all of the features of the kit: motors, encoders, IR sensors and Bluetooth.

+

When you run it, you should see the wheels spin forwards first, then backwards after a few seconds. On the Serial Terminal in the OpenMV IDE, you should see the encoder values printed out.

+

Using your phone, look on LightBlue for a peripheral named something related to Arduino (names may vary). Some examples are: “NanoNav”, “Arduino”, “MPY Nimble”, etc. See Connecting from Mobile for more detailed information. Connect to the peripheral and write 0 to the Read/Write characteristic. You should see 0 printed on the Serial Terminal.

+

After writing over Bluetooth, the IR sensor values should be printed out in the Serial Terminal.

+

If all of this works, you’ve verified that your kit works correctly! If not, try our Troubleshooting. Happy coding!

+
+
+
+

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, controlling Movement, and reading Sensors.

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