Merge branch 'master' of https://github.com/F-WuTS/compLIB

added enabling of legacy support for the camera module to the postinstall script

.buildinfo

@@ -1,4 +0,0 @@
-# Sphinx build info version 1
-# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 5fb11da93cdb0f49bc97733fbb9cadaf
-tags: 645f666f9bcd5a90fca523b33c5a78b7

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: HerrNamenlos123, itssme, Kola50011
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behaviour:
+
+1. import compLib '...'
+2. run this code '....'
+3. See error
+
+**Expected behaviour**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Device**
+ - Raspberry Pie: [e.g. 3b+]
+ - OS: [e.g. debian buster]
+ - Version [e.g. 0.0.3]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: HerrNamenlos123, itssme, Kola50011
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/workflows/complib-package.yml

@@ -0,0 +1,60 @@
+name: Build comlib.deb package
+
+on:
+  push:
+    branches:
+      - master
+
+jobs:
+  build-complib-deb:
+    runs-on: ubuntu-22.04
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: Bump version number
+        uses: paulhatch/semantic-version@v4.0.2
+        id: next_semantic_version
+        with:
+          branch: "master"
+          tag_prefix: ""
+          major_pattern: "(MAJOR)"
+          minor_pattern: "(MINOR)"
+          format: "${major}.${minor}.${patch}-${increment}"
+          bump_each_commit: true
+      - name: Print Version Numbers
+        run: |
+          echo ${{join(steps.next_semantic_version.outputs.*, ' - ')}}
+          echo "Next version: ${{steps.next_semantic_version.outputs.version}}"
+          echo "Next version tag: ${{steps.next_semantic_version.outputs.version_tag}}"
+      - name: Tag Commit
+        uses: actions/github-script@v5
+        with:
+          script: |
+            github.rest.git.createRef({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              ref: 'refs/tags/${{steps.next_semantic_version.outputs.version}}',
+              sha: context.sha
+            })
+      - name: Install fpm
+        run: sudo apt install ruby -y && sudo gem install fpm
+      - name: Build complib deb Package
+        env:
+          VERSION: ${{steps.next_semantic_version.outputs.version}}
+        run: bash ./build.sh # creates packages in "output" directory
+      - name: Pushes to another repository
+        uses: cpina/github-action-push-to-another-repository@main
+        env:
+          API_TOKEN_GITHUB: ${{ secrets.API_TOKEN_GITHUB }}
+        with:
+          source-directory: 'output'
+          target-directory: 'debs/complib/'
+          destination-github-username: 'F-WuTS'
+          destination-repository-name: 'compREP'
+          user-email: joel.klimont@comp-air.at
+          target-branch: master

.gitignore

@@ -0,0 +1,312 @@
+# Created by https://www.toptal.com/developers/gitignore/api/macos,python,pycharm
+# Edit at https://www.toptal.com/developers/gitignore?templates=macos,python,pycharm
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### PyCharm ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### PyCharm Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+# https://plugins.jetbrains.com/plugin/7973-sonarlint
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator-enh.xml
+.idea/**/markdown-navigator/
+
+# Cache file creation bug
+# See https://youtrack.jetbrains.com/issue/JBR-2257
+.idea/$CACHE_FILE$
+
+# CodeStream plugin
+# https://plugins.jetbrains.com/plugin/12206-codestream
+.idea/codestream.xml
+
+# Azure Toolkit for IntelliJ plugin
+# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij
+.idea/**/azureSettings.xml
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# End of https://www.toptal.com/developers/gitignore/api/macos,python,pycharm

CNAME

@@ -1 +0,0 @@
-lib.comp-air.at

MANIFEST.in

@@ -0,0 +1 @@
+include readme.md

README.md

@@ -0,0 +1,50 @@
+# compLIB
+
+Rewrite for ROS is the live packaged version since 18.07.2023.
+
+# Dependencies
+
+TODO: document
+
+## Building documentation
+```
+pip install sphinx-rtd-theme
+```
+
+* [Sphinx](https://www.sphinx-doc.org/en/master/usage/installation.html)
+
+# Writing docs
+
+[Inline documentation example](https://pythonhosted.org/an_example_pypi_project/sphinx.html#full-code-example)
+[reStructured Text](https://pythonhosted.org/an_example_pypi_project/sphinx.html#restructured-text-rest-resources)
+
+# ENV Variables
+
++ `DEBUG`, default="0", If set to != "0" (default), debug prints will be enabled
++ `API_URL`, default="http://localhost:5000/"
++ `API_FORCE`, default="", if set to !="" (default), it will replace the API_URL env variable
++ `FORCE_SEED`, default="-1", if set to !="-1" (default), the seeding seed supplied by the user will be ignored and this seed will be used instead
+
+# Stream Video
+
+```
+sudo raspivid -t 0 -b 10000000 -w 1920 -h 1080 -fps 30 -n -o - | gst-launch-1.0 fdsrc ! video/x-h264,width=1280,height=720,framerate=30/1,noise-reduction=1,profile=high,stream-format=byte-stream  ! h264parse ! queue ! flvmux streamable=true ! rtmpsink location=\"rtmp://10.1.1.68/live/stream\"```
+```
+
+## Stream video from generic USB camera
+
+with gst, very cpu heavy
+```
+gst-launch-1.0 v4l2src ! image/jpeg,width=640,height=480,framerate=30/1  ! jpegdec ! x264enc ! flvmux streamable=true ! rtmpsink location="rtmp://10.20.86.88/live/stream"
+```
+
+with ffmpeg, cpu friendly
+```
+ffmpeg -f v4l2  -framerate 30 -video_size 640x480 -i /dev/video0 -b:v 2M -f flv rtmp://10.20.86.88/live/stream
+```
+
+# Bullseye now only supports libcamera
+
+https://www.raspberrypi.com/news/bullseye-camera-system/
+
+(This can still be mitigated by enabling "old camera support" in the raspi-config settings. (This is done automatically in the postinstallscript)

_sources/lib/Api.rst.txt

@@ -1,107 +0,0 @@
-.. _lib_api:
-
-Api
-****
-
-Seeding
-========
-
-.. autoclass:: compLib.Api.Seeding
-   :members:
-
-Double Elimination
-===================
-
-.. autoclass:: compLib.Api.DoubleElim
-   :members:
-
-Position
-========
-
-.. autoclass:: compLib.Api.Position
-   :members:
-
-
-Examples
-========
-
-Calling Seeding API
----------------------
-
-.. code-block:: python
-
-    from compLib.Api import Seeding
-
-    zones, code = Seeding.get_delivery()
-    if code == 403:
-        print(f"I am not in the correct zone to make that request!")
-    else:
-        print(f"First we need to go to zone {zone[0]}")
-        # put code here to follow line and drive to the zone
-        print(f"Now we need to go to zone {zone[1]}")
-        # put code here to follow line and drive to the next zone
-        print(f"Now we need to go to zone {zone[2]}")
-        # put code here to follow line and drive to the last zone
-        print(f"We delivered all packages, hopefully we scored some points!")
-
-.. code-block:: python
-
-    from compLib.Api import Seeding
-
-    package, code = Seeding.get_cargo("yellow")
-    if code == 403:
-        print(f"I am not in the correct zone to make that request!")
-    elif code == 404:
-        print(f"I am in the correct zone, but there is no yellow package here.")
-    elif code == 413:
-        print(f"I am in the correct zone, but I already have two packages loaded.")
-    else code == 200:
-        print(f"The {package['color']} has been picked up!")
-
-Calling Double Elimination API
-----------------------------------
-
-.. code-block:: python
-
-    from compLib.Api import DoubleElim
-
-    position, status = DoubleElim.get_position()
-    print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}")
-
-    goal, status = DoubleElim.get_goal()
-    print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}")
-
-.. code-block:: python
-
-    from compLib.Api import DoubleElim
-    import time
-
-    # function which waits for the game to be started (you should include this in your double elimination program)
-    def wait_for_start():
-        _, status = DoubleElim.get_position()
-        while status == 503:
-            time.sleep(0.1)
-            _, status = DoubleElim.get_position()
-
-    wait_for_start()
-    print(f"Game has started, lets score some points!!")
-
-    position, status = DoubleElim.get_position()
-    print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}")
-
-    opponent_position, status = DoubleElim.get_opponent()
-    print(f"Position of the opponents robot is: x={opponent_position.x}, y={opponent_position.y} and rotation is: {opponent_position.degrees}, the server responded with status code: {status}")
-
-    goal, status = DoubleElim.get_goal()
-    print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}")
-
-    items, status = DoubleElim.get_items()
-    print(f"There are currently {len(items)} on the gameboard: {items}, the server responded with status code: {status}")
-
-    score, status = DoubleElim.get_score()
-    print(f"The current score of the game is {score}, the server responded with status code: {status}")
-
-    meteoroids, status = DoubleElim.get_meteoroids()
-    print(f"The current meteoroids in the game are {meteoroids}, the server responded with status code: {status}")
-
-In this second example we wait until the game is started by the judges and then make all possible requests once. You should use the wait_for_start function in your double elimination program. If your robot starts too soon your run will not count!

_sources/lib/Aruco.rst.txt

@@ -1,83 +0,0 @@
-.. _lib_vision:
-
-Aruco
-*******
-
-Examples
-=========
-
-Recognizing ArUco tags
--------------------------
-
-.. code-block:: python
-
-    import time
-    import cv2
-    from cv2 import aruco
-    from compLib import Vision
-
-    ARUCO_DICT = cv2.aruco.Dictionary_get(aruco.DICT_6X6_250)
-    ARUCO_PARAMETERS = aruco.DetectorParameters_create()
-
-    def getTagCenterFromFrame(id, frame):
-        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
-
-        corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, ARUCO_DICT, parameters = ARUCO_PARAMETERS)
-        frame = aruco.drawDetectedMarkers(frame.copy(), corners, ids)
-
-        if ids is None:
-            return frame, None, None
-
-        for tag_id, corner in zip(ids, corners):
-            if (tag_id[0] == id):
-
-                x, y = 0, 0
-                for i in range(4):
-                    x += corner[0][i][0] * 0.25
-                    y += corner[0][i][1] * 0.25
-
-                return frame, x, y
-        return frame, None, None
-
-    # Get the center from the aruco tag with the specified id
-    # in pixel coordinates (0-640, 0-480)
-    def getTagPosition(id):
-        frame = Vision.Streaming.get_frame()
-        frame, x, y = getTagCenterFromFrame(id, frame)
-        Vision.Streaming.publish_frame(frame)
-        return x, y
-
-    # Get the normalized center coordinates from the aruco tag 
-    # with the specified id 
-    # left is -1, right +1
-    # bottom is -1, top +1
-    def getNormalizedTagPosition(id):
-        frame = Vision.Streaming.get_frame()
-        frame, x, y = getTagCenterFromFrame(id, frame)
-        Vision.Streaming.publish_frame(frame)
-
-        if x is None or y is None:
-            return None, None
-
-        height, width = frame.shape[:2]
-        x = x / width * 2.0 - 1.0
-        y = -(y / height * 2.0 - 1.0)
-        return x, y
-
-    if __name__ == '__main__':
-
-        desiredID = 11
-
-        while True:
-            x, y = getNormalizedTagPosition(desiredID)
-
-            if x is not None:
-                print("X Coordinate: ", x)
-            else:
-                print("Tag not found")
-
-
-This example shows how to recognize ArUco tags based on their id and position.
-You can specify an ID of the tag you want to use and if it's found, the coordinates of the center are returned.
-With the normalized function this is very easy: The x-coordinate is -1 on the left, 1 on the right and 0 in the center of the screen, same for y.
-This way it is quite simple to act on the position of the tag.

_sources/lib/Battery.rst.txt

@@ -1,23 +0,0 @@
-.. _lib_battery:
-
-Battery
-********
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.Battery.Battery
-   :members:
-
-
-Examples
-=========
-
-Printing percentage
---------------------
-
-.. code-block:: python
-
-    from compLib.Battery import Battery
-
-    print(Battery.percent())

_sources/lib/Buzzer.rst.txt

@@ -1,25 +0,0 @@
-.. _lib_buzzer:
-
-Buzzer
-*******
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.Buzzer.Buzzer
-   :members:
-
-Examples
-=========
-
-Turning buzzer on and off
---------------------------
-
-.. code-block:: python
-
-    import time
-    from compLib.Buzzer import Buzzer
-
-    Buzzer.set(True)
-    time.sleep(1)
-    Buzzer.set(False)

_sources/lib/Display.rst.txt

@@ -1,23 +0,0 @@
-.. _lib_display:
-
-Display
-*******
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.Display.Display
-   :members:
-
-Examples
-=========
-
-Write a line to the display
----------------------------
-
-.. code-block:: python
-
-    import time
-    from compLib.Display import Display
-
-    Display.write(1, "Hello World!")

_sources/lib/Encoder.rst.txt

@@ -1,10 +0,0 @@
-.. _lib_encoder:
-
-Encoder
-*******
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.Encoder.Encoder
-   :members:

_sources/lib/IRSensor.rst.txt

@@ -1,20 +0,0 @@
-.. _lib_irsensor:
-
-Infrared Sensor
-****************
-
-.. autoclass:: compLib.IRSensor.IRSensor
-   :members:
-
-Examples
-=========
-
-Testing analog sensors
--------------------------
-
-.. code-block:: python
-
-   from compLib import IRSensor
-
-   while True:
-      print ("left: {}  middle: {}  right: {}".format(IRSensor.read(1), IRSensor.read(3), IRSensor.read(5)))

_sources/lib/IRWrapper.rst.txt

@@ -1,22 +0,0 @@
-.. _lib_irwrapper:
-
-Infrared Wrapper
-****************
-
-.. autoclass:: compLib.IRWrapper.IRWrapper
-   :members:
-
-Examples
-=========
-
-Calibrating analog sensors
---------------------------
-
-.. code-block:: python
-
-   from compLib import IRWrapper
-
-   ir = IRWrapper.IRWrapper()
-
-    ir.calibrate()
-    print("left {} middle {} right {}".format(ir.bottom_left_calibrated(), ir.bottom_middle_calibrated(), ir.bottom_right_calibrated()))

_sources/lib/Linefollower.rst.txt

@@ -1,79 +0,0 @@
-.. _lib_Linefollower:
-
-Linefollower Examples
-*********************
-
-Simple Linefollower
--------------------------
-
-.. code-block:: python
-
-    from compLib.Motor import Motor
-    from compLib.Display import Display
-    from compLib.IRSensor import IRSensor
-    from compLib.Encoder import Encoder
-
-    import time
-
-    IRSensor.set(1, True)
-    IRSensor.set(2, True)
-    IRSensor.set(3, True)
-    IRSensor.set(4, True)
-    IRSensor.set(5, True)
-
-    DRIVE_SPEED = 75
-    COLOR_BREAK = 900
-    KP = 10.0
-    KD = 0.0
-
-    def drive(leftSpeed, rightSpeed):
-        rightSpeed *= -0.906
-
-        Motor.power(1, min(max(-100, rightSpeed), 100))
-        Motor.power(4, min(max(-100, leftSpeed), 100))
-
-    def follow(sleepTime = 0.1):
-        lastError = 0
-        sensorsBlack = 0
-        while sensorsBlack < 3:
-            sensorsBlack = 0
-            for i in range(1, 6):
-                if IRSensor.read(i) > COLOR_BREAK:
-                    sensorsBlack += 1
-
-            error = lastError
-            if IRSensor.read(3) > COLOR_BREAK:
-                error = 0
-            elif IRSensor.read(1) > COLOR_BREAK:
-                error = -1.5
-            elif IRSensor.read(5) > COLOR_BREAK:
-                error = 1.5
-            elif IRSensor.read(2) > COLOR_BREAK:
-                error = -1
-            elif IRSensor.read(4) > COLOR_BREAK:
-                error = 1
-            elif error == 1.5:
-                error = 3
-            elif error == -1.5:
-                error = -3
-
-            lastError = error
-
-            adjustment = KP * error + KD * (error - lastError)
-            leftSpeed = DRIVE_SPEED + adjustment
-            rightSpeed = DRIVE_SPEED - adjustment
-
-            print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
-            drive(leftSpeed, rightSpeed)
-
-        drive(0, 0)
-        time.sleep(sleepTime)
-
-    def main():
-        follow()
-        follow()
-        follow()
-        follow()
-        follow(0.2)
-
-    main()

_sources/lib/Logging.rst.txt

@@ -1,22 +0,0 @@
-.. _lib_logging:
-
-Logging
-*******
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.LogstashLogging.Logging
-   :members:
-
-Examples
-=========
-
-Turn up the logging
---------------------
-
-.. code-block:: python
-
-    from compLib.LogstashLogging import Logging
-
-    Logging.set_debug()

_sources/lib/Motor.rst.txt

@@ -1,23 +0,0 @@
-.. _lib_motor:
-
-Motor
-******
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.Motor.Motor
-   :members:
-
-Examples
-=========
-
-Driving straight (maybe)
--------------------------
-
-.. code-block:: python
-
-    from compLib.Motor import Motor
-
-    Motor.power(1, -50)
-    Motor.power(4, 50)

_sources/lib/Odom.rst.txt

@@ -1,50 +0,0 @@
-.. _lib_odom:
-
-Odometry
-********
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.Odom.Odometry
-   :members:
-
-.. autoclass:: compLib.Odom.Odom
-   :members:
-
-
-Examples
-=========
-
-Getting actual distance driven
-------------------------------
-
-.. code-block:: python
-
-   import time
-   import math
-   from compLib.Motor import Motor
-   from compLib.Encoder import Encoder
-   from compLib.Odom import Odom, Odometry
-
-    # distance in meters
-    # speed in % of max speed
-    def drive_example(distance, speed):
-        Odom.update()
-        odom = Odom.get_odom()
-        while abs(odom.get_x()) < distance:
-            Odom.update()
-            odom = Odom.get_odom()
-
-            Motor.power(4, speed)
-            Motor.power(1, -speed)
-
-        print(f" Forward: {odom.get_x()} m")
-        print(f" Right: {odom.get_y()} m")
-        print(f" Turned: {math.degrees(odom.get_orientation())} degrees")
-
-        Motor.active_break(1)
-        Motor.active_break(4)
-        time.sleep(0.1)
-        Encoder.clear_all()
-        Odom.clear()

_sources/lib/QC.rst.txt

@@ -1,71 +0,0 @@
-.. _lib_qc:
-
-Quality Control
-###############
-
-Infrared Test
--------------------------
-
-.. code-block:: python
-
-    from compLib.IRSensor import IRSensor
-    import time
-
-    IRSensor.set(1, True)
-    IRSensor.set(2, True)
-    IRSensor.set(3, True)
-    IRSensor.set(4, True)
-    IRSensor.set(5, True)
-
-    while True:
-        t = time.time()
-        for i in range(1, 6):
-            print(f"{i}: {IRSensor.read(i)}")
-        print("")
-        time.sleep(0.2)
-
-Motor Test
--------------------------
-
-.. code-block:: python
-
-    from compLib.Motor import Motor
-    from compLib.Encoder import Encoder
-    import time
-
-    Motor.power(1, -50)
-    Motor.power(4, 50)
-
-    while True:
-        print(f"L:{Encoder.read(4)} R:{Encoder.read(1)}")
-        time.sleep(0.1)
-
-Servo Test
--------------------------
-
-.. code-block:: python
-
-    from compLib.Servo import Servo
-    import time
-
-    for i in range(1, 8 + 1):
-        Servo.set_position(i, 45)
-        print(f"{i}")
-        time.sleep(1)
-
-    Servo.setup_position()
-    time.sleep(10)
-
-Vision Test
--------------------------
-
-.. code-block:: python
-
-    import cv2
-    from compLib import Vision
-    from compLib.Servo import Servo
-
-    while True:
-        frame = Vision.Streaming.get_frame()
-        Vision.Streaming.publish_frame(frame)
-        Servo.set_position(3, -45)

_sources/lib/Robot.rst.txt

@@ -1,11 +0,0 @@
-.. _lib_robot:
-
-Robot
-******
-
-Class Documentation
-====================
-
-.. autoclass:: compLib.Robot.Robot
-   :members:
-   :private-members:

_sources/lib/Servo.rst.txt

@@ -1,7 +0,0 @@
-.. _lib_servo:
-
-Servo
-******
-
-.. autoclass:: compLib.Servo.Servo
-   :members:

_sources/lib/Vision.rst.txt

@@ -1,104 +0,0 @@
-.. _lib_vision:
-
-Vision
-*******
-
-This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.
-
-How do I use this module?
-
-1. Get frames from the raspberry pi camera
-2. -- here comes your own processing --
-3. Publish the processed frames on an http server
-4. You can view the http stream of your processed images in a web browser
-
-Opencv Stream
-==============
-
-Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up
-to 5 Seconds.
-
-.. autoclass:: compLib.Vision.__Streaming
-   :members:
-
-Examples
-=========
-
-Using the Vision Module
--------------------------
-
-.. code-block:: python
-
-    import cv2
-    from compLib import Vision
-
-    while True:
-        # get newest opencv frame from camera
-        frame = Vision.Streaming.get_frame()
-
-        # do some processing with the frame.....
-
-        # publish frame to streaming server
-        Vision.Streaming.publish_frame(frame)
-
-Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/". This should display
-your raspberry pi camera. Note: the stream will lag a little bit BUT the processing of the image will be done in
-realtime.
-
-The output on the website should show whatever your raspberry pi cam records:
-
-.. image:: images/opencv_http_stream.png
-  :width: 680
-  :alt: Processed frames from opencv
-
-
-Chessboard Detection
-------------------------------------------
-
-In this example we process the captured stream of images and want to detect chessboards. Run this example and
-point your raspberry pi camera to a chessboard and it should be detected.
-
-For testing you can point it at this image:
-
-.. image:: images/chessboard.jpg
-  :width: 680
-  :alt: Chessboard for opencv processing
-
-.. code-block:: python
-
-    import cv2
-    from compLib import Vision
-
-    while True:
-        # get newest opencv frame from camera
-        frame = Vision.Streaming.get_frame()
-
-        criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
-
-        # convert image to grayscale image
-        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
-
-        # find the chessboard corners
-        ret, corners = cv2.findChessboardCorners(gray, (6, 9), None)
-
-        # draw detected chessboard position onto the image
-        cv2.drawChessboardCorners(frame,  (6, 9), corners, ret)
-
-        # publish frame to streaming server
-        Vision.Streaming.publish_frame(frame)
-
-Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/".
-
-The output image should look like this:
-
-.. image:: images/chessboard_detected.jpg
-  :width: 680
-  :alt: Processed frames from opencv
-
-Here is a screenshot of the stream website while viewing the chessboard in this documentation.
-
-.. image:: images/opencv_processed.png
-  :width: 680
-  :alt: Processed frames from opencv
-
-

_static/_sphinx_javascript_frameworks_compat.js

@@ -1,134 +0,0 @@
-/*
- * _sphinx_javascript_frameworks_compat.js
- * ~~~~~~~~~~
- *
- * Compatability shim for jQuery and underscores.js.
- *
- * WILL BE REMOVED IN Sphinx 6.0
- * xref RemovedInSphinx60Warning
- *
- */
-
-/**
- * select a different prefix for underscore
- */
-$u = _.noConflict();
-
-
-/**
- * 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;
-}

_static/base-stemmer.js

@@ -1,294 +0,0 @@
-/**@constructor*/
-BaseStemmer = function() {
-    this.setCurrent = function(value) {
-        this.current = value;
-        this.cursor = 0;
-        this.limit = this.current.length;
-        this.limit_backward = 0;
-        this.bra = this.cursor;
-        this.ket = this.limit;
-    };
-
-    this.getCurrent = function() {
-        return this.current;
-    };
-
-    this.copy_from = function(other) {
-        this.current          = other.current;
-        this.cursor           = other.cursor;
-        this.limit            = other.limit;
-        this.limit_backward   = other.limit_backward;
-        this.bra              = other.bra;
-        this.ket              = other.ket;
-    };
-
-    this.in_grouping = function(s, min, max) {
-        if (this.cursor >= this.limit) return false;
-        var ch = this.current.charCodeAt(this.cursor);
-        if (ch > max || ch < min) return false;
-        ch -= min;
-        if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false;
-        this.cursor++;
-        return true;
-    };
-
-    this.in_grouping_b = function(s, min, max) {
-        if (this.cursor <= this.limit_backward) return false;
-        var ch = this.current.charCodeAt(this.cursor - 1);
-        if (ch > max || ch < min) return false;
-        ch -= min;
-        if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false;
-        this.cursor--;
-        return true;
-    };
-
-    this.out_grouping = function(s, min, max) {
-        if (this.cursor >= this.limit) return false;
-        var ch = this.current.charCodeAt(this.cursor);
-        if (ch > max || ch < min) {
-            this.cursor++;
-            return true;
-        }
-        ch -= min;
-        if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) == 0) {
-            this.cursor++;
-            return true;
-        }
-        return false;
-    };
-
-    this.out_grouping_b = function(s, min, max) {
-        if (this.cursor <= this.limit_backward) return false;
-        var ch = this.current.charCodeAt(this.cursor - 1);
-        if (ch > max || ch < min) {
-            this.cursor--;
-            return true;
-        }
-        ch -= min;
-        if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) {
-            this.cursor--;
-            return true;
-        }
-        return false;
-    };
-
-    this.eq_s = function(s)
-    {
-        if (this.limit - this.cursor < s.length) return false;
-        if (this.current.slice(this.cursor, this.cursor + s.length) != s)
-        {
-            return false;
-        }
-        this.cursor += s.length;
-        return true;
-    };
-
-    this.eq_s_b = function(s)
-    {
-        if (this.cursor - this.limit_backward < s.length) return false;
-        if (this.current.slice(this.cursor - s.length, this.cursor) != s)
-        {
-            return false;
-        }
-        this.cursor -= s.length;
-        return true;
-    };
-
-    /** @return {number} */ this.find_among = function(v)
-    {
-        var i = 0;
-        var j = v.length;
-
-        var c = this.cursor;
-        var l = this.limit;
-
-        var common_i = 0;
-        var common_j = 0;
-
-        var first_key_inspected = false;
-
-        while (true)
-        {
-            var k = i + ((j - i) >>> 1);
-            var diff = 0;
-            var common = common_i < common_j ? common_i : common_j; // smaller
-            // w[0]: string, w[1]: substring_i, w[2]: result, w[3]: function (optional)
-            var w = v[k];
-            var i2;
-            for (i2 = common; i2 < w[0].length; i2++)
-            {
-                if (c + common == l)
-                {
-                    diff = -1;
-                    break;
-                }
-                diff = this.current.charCodeAt(c + common) - w[0].charCodeAt(i2);
-                if (diff != 0) break;
-                common++;
-            }
-            if (diff < 0)
-            {
-                j = k;
-                common_j = common;
-            }
-            else
-            {
-                i = k;
-                common_i = common;
-            }
-            if (j - i <= 1)
-            {
-                if (i > 0) break; // v->s has been inspected
-                if (j == i) break; // only one item in v
-
-                // - but now we need to go round once more to get
-                // v->s inspected. This looks messy, but is actually
-                // the optimal approach.
-
-                if (first_key_inspected) break;
-                first_key_inspected = true;
-            }
-        }
-        do {
-            var w = v[i];
-            if (common_i >= w[0].length)
-            {
-                this.cursor = c + w[0].length;
-                if (w.length < 4) return w[2];
-                var res = w[3](this);
-                this.cursor = c + w[0].length;
-                if (res) return w[2];
-            }
-            i = w[1];
-        } while (i >= 0);
-        return 0;
-    };
-
-    // find_among_b is for backwards processing. Same comments apply
-    this.find_among_b = function(v)
-    {
-        var i = 0;
-        var j = v.length
-
-        var c = this.cursor;
-        var lb = this.limit_backward;
-
-        var common_i = 0;
-        var common_j = 0;
-
-        var first_key_inspected = false;
-
-        while (true)
-        {
-            var k = i + ((j - i) >> 1);
-            var diff = 0;
-            var common = common_i < common_j ? common_i : common_j;
-            var w = v[k];
-            var i2;
-            for (i2 = w[0].length - 1 - common; i2 >= 0; i2--)
-            {
-                if (c - common == lb)
-                {
-                    diff = -1;
-                    break;
-                }
-                diff = this.current.charCodeAt(c - 1 - common) - w[0].charCodeAt(i2);
-                if (diff != 0) break;
-                common++;
-            }
-            if (diff < 0)
-            {
-                j = k;
-                common_j = common;
-            }
-            else
-            {
-                i = k;
-                common_i = common;
-            }
-            if (j - i <= 1)
-            {
-                if (i > 0) break;
-                if (j == i) break;
-                if (first_key_inspected) break;
-                first_key_inspected = true;
-            }
-        }
-        do {
-            var w = v[i];
-            if (common_i >= w[0].length)
-            {
-                this.cursor = c - w[0].length;
-                if (w.length < 4) return w[2];
-                var res = w[3](this);
-                this.cursor = c - w[0].length;
-                if (res) return w[2];
-            }
-            i = w[1];
-        } while (i >= 0);
-        return 0;
-    };
-
-    /* to replace chars between c_bra and c_ket in this.current by the
-     * chars in s.
-     */
-    this.replace_s = function(c_bra, c_ket, s)
-    {
-        var adjustment = s.length - (c_ket - c_bra);
-        this.current = this.current.slice(0, c_bra) + s + this.current.slice(c_ket);
-        this.limit += adjustment;
-        if (this.cursor >= c_ket) this.cursor += adjustment;
-        else if (this.cursor > c_bra) this.cursor = c_bra;
-        return adjustment;
-    };
-
-    this.slice_check = function()
-    {
-        if (this.bra < 0 ||
-            this.bra > this.ket ||
-            this.ket > this.limit ||
-            this.limit > this.current.length)
-        {
-            return false;
-        }
-        return true;
-    };
-
-    this.slice_from = function(s)
-    {
-        var result = false;
-        if (this.slice_check())
-        {
-            this.replace_s(this.bra, this.ket, s);
-            result = true;
-        }
-        return result;
-    };
-
-    this.slice_del = function()
-    {
-        return this.slice_from("");
-    };
-
-    this.insert = function(c_bra, c_ket, s)
-    {
-        var adjustment = this.replace_s(c_bra, c_ket, s);
-        if (c_bra <= this.bra) this.bra += adjustment;
-        if (c_bra <= this.ket) this.ket += adjustment;
-    };
-
-    this.slice_to = function()
-    {
-        var result = '';
-        if (this.slice_check())
-        {
-            result = this.current.slice(this.bra, this.ket);
-        }
-        return result;
-    };
-
-    this.assign_to = function()
-    {
-        return this.current.slice(0, this.limit);
-    };
-};

_static/basic.css

@@ -1,856 +0,0 @@
-/*
- * basic.css
- * ~~~~~~~~~
- *
- * Sphinx stylesheet -- basic theme.
- *
- * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
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- * 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;
-}
-
-/**
- * Small JavaScript module for the documentation.
- */
-var Documentation = {
-
-  init : function() {
-    this.fixFirefoxAnchorBug();
-    this.highlightSearchWords();
-    this.initIndexTable();
-    if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) {
-      this.initOnKeyListeners();
-    }
-  },
-
-  /**
-   * i18n support
-   */
-  TRANSLATIONS : {},
-  PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; },
-  LOCALE : 'unknown',
-
-  // gettext and ngettext don't access this so that the functions
-  // can safely bound to a different name (_ = Documentation.gettext)
-  gettext : function(string) {
-    var translated = Documentation.TRANSLATIONS[string];
-    if (typeof translated === 'undefined')
-      return string;
-    return (typeof translated === 'string') ? translated : translated[0];
-  },
-
-  ngettext : function(singular, plural, n) {
-    var translated = Documentation.TRANSLATIONS[singular];
-    if (typeof translated === 'undefined')
-      return (n == 1) ? singular : plural;
-    return translated[Documentation.PLURALEXPR(n)];
-  },
-
-  addTranslations : function(catalog) {
-    for (var key in catalog.messages)
-      this.TRANSLATIONS[key] = catalog.messages[key];
-    this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')');
-    this.LOCALE = catalog.locale;
-  },
-
-  /**
-   * add context elements like header anchor links
-   */
-  addContextElements : function() {
-    $('div[id] > :header:first').each(function() {
-      $('<a class="headerlink">\u00B6</a>').
-      attr('href', '#' + this.id).
-      attr('title', _('Permalink to this headline')).
-      appendTo(this);
-    });
-    $('dt[id]').each(function() {
-      $('<a class="headerlink">\u00B6</a>').
-      attr('href', '#' + this.id).
-      attr('title', _('Permalink to this definition')).
-      appendTo(this);
-    });
-  },
-
-  /**
-   * workaround a firefox stupidity
-   * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075
-   */
-  fixFirefoxAnchorBug : function() {
-    if (document.location.hash && $.browser.mozilla)
-      window.setTimeout(function() {
-        document.location.href += '';
-      }, 10);
-  },
-
-  /**
-   * highlight the search words provided in the url in the text
-   */
-  highlightSearchWords : function() {
-    var params = $.getQueryParameters();
-    var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : [];
-    if (terms.length) {
-      var body = $('div.body');
-      if (!body.length) {
-        body = $('body');
-      }
-      window.setTimeout(function() {
-        $.each(terms, function() {
-          body.highlightText(this.toLowerCase(), 'highlighted');
-        });
-      }, 10);
-      $('<p class="highlight-link"><a href="javascript:Documentation.' +
-        'hideSearchWords()">' + _('Hide Search Matches') + '</a></p>')
-          .appendTo($('#searchbox'));
-    }
-  },
-
-  /**
-   * init the domain index toggle buttons
-   */
-  initIndexTable : function() {
-    var togglers = $('img.toggler').click(function() {
-      var src = $(this).attr('src');
-      var idnum = $(this).attr('id').substr(7);
-      $('tr.cg-' + idnum).toggle();
-      if (src.substr(-9) === 'minus.png')
-        $(this).attr('src', src.substr(0, src.length-9) + 'plus.png');
-      else
-        $(this).attr('src', src.substr(0, src.length-8) + 'minus.png');
-    }).css('display', '');
-    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) {
-        togglers.click();
-    }
-  },
-
-  /**
-   * helper function to hide the search marks again
-   */
-  hideSearchWords : function() {
-    $('#searchbox .highlight-link').fadeOut(300);
-    $('span.highlighted').removeClass('highlighted');
-  },
-
-  /**
-   * make the url absolute
-   */
-  makeURL : function(relativeURL) {
-    return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL;
-  },
-
-  /**
-   * get the current relative url
-   */
-  getCurrentURL : function() {
-    var path = document.location.pathname;
-    var parts = path.split(/\//);
-    $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() {
-      if (this === '..')
-        parts.pop();
-    });
-    var url = parts.join('/');
-    return path.substring(url.lastIndexOf('/') + 1, path.length - 1);
-  },
-
-  initOnKeyListeners: function() {
-    $(document).keydown(function(event) {
-      var activeElementType = document.activeElement.tagName;
-      // don't navigate when in search box, textarea, dropdown or button
-      if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT'
-          && activeElementType !== 'BUTTON' && !event.altKey && !event.ctrlKey && !event.metaKey
-          && !event.shiftKey) {
-        switch (event.keyCode) {
-          case 37: // left
-            var prevHref = $('link[rel="prev"]').prop('href');
-            if (prevHref) {
-              window.location.href = prevHref;
-              return false;
-            }
-          case 39: // right
-            var nextHref = $('link[rel="next"]').prop('href');
-            if (nextHref) {
-              window.location.href = nextHref;
-              return false;
-            }
-        }
-      }
-    });
-  }
-};
-
-// quick alias for translations
-_ = Documentation.gettext;
-
-$(document).ready(function() {
-  Documentation.init();
-});

_static/documentation_options.js

@@ -1,12 +0,0 @@
-var DOCUMENTATION_OPTIONS = {
-    URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
-    VERSION: '0.2.3',
-    LANGUAGE: 'de',
-    COLLAPSE_INDEX: false,
-    BUILDER: 'html',
-    FILE_SUFFIX: '.html',
-    LINK_SUFFIX: '.html',
-    HAS_SOURCE: true,
-    SOURCELINK_SUFFIX: '.txt',
-    NAVIGATION_WITH_KEYS: false
-};

_static/german-stemmer.js

@@ -1,577 +0,0 @@
-// Generated by Snowball 2.1.0 - https://snowballstem.org/
-
-/**@constructor*/
-GermanStemmer = function() {
-    var base = new BaseStemmer();
-    /** @const */ var a_0 = [
-        ["", -1, 5],
-        ["U", 0, 2],
-        ["Y", 0, 1],
-        ["\u00E4", 0, 3],
-        ["\u00F6", 0, 4],
-        ["\u00FC", 0, 2]
-    ];
-
-    /** @const */ var a_1 = [
-        ["e", -1, 2],
-        ["em", -1, 1],
-        ["en", -1, 2],
-        ["ern", -1, 1],
-        ["er", -1, 1],
-        ["s", -1, 3],
-        ["es", 5, 2]
-    ];
-
-    /** @const */ var a_2 = [
-        ["en", -1, 1],
-        ["er", -1, 1],
-        ["st", -1, 2],
-        ["est", 2, 1]
-    ];
-
-    /** @const */ var a_3 = [
-        ["ig", -1, 1],
-        ["lich", -1, 1]
-    ];
-
-    /** @const */ var a_4 = [
-        ["end", -1, 1],
-        ["ig", -1, 2],
-        ["ung", -1, 1],
-        ["lich", -1, 3],
-        ["isch", -1, 2],
-        ["ik", -1, 2],
-        ["heit", -1, 3],
-        ["keit", -1, 4]
-    ];
-
-    /** @const */ var /** Array<int> */ g_v = [17, 65, 16, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 0, 32, 8];
-
-    /** @const */ var /** Array<int> */ g_s_ending = [117, 30, 5];
-
-    /** @const */ var /** Array<int> */ g_st_ending = [117, 30, 4];
-
-    var /** number */ I_x = 0;
-    var /** number */ I_p2 = 0;
-    var /** number */ I_p1 = 0;
-
-
-    /** @return {boolean} */
-    function r_prelude() {
-        var /** number */ v_1 = base.cursor;
-        while(true)
-        {
-            var /** number */ v_2 = base.cursor;
-            lab0: {
-                lab1: {
-                    var /** number */ v_3 = base.cursor;
-                    lab2: {
-                        base.bra = base.cursor;
-                        if (!(base.eq_s("\u00DF")))
-                        {
-                            break lab2;
-                        }
-                        base.ket = base.cursor;
-                        if (!base.slice_from("ss"))
-                        {
-                            return false;
-                        }
-                        break lab1;
-                    }
-                    base.cursor = v_3;
-                    if (base.cursor >= base.limit)
-                    {
-                        break lab0;
-                    }
-                    base.cursor++;
-                }
-                continue;
-            }
-            base.cursor = v_2;
-            break;
-        }
-        base.cursor = v_1;
-        while(true)
-        {
-            var /** number */ v_4 = base.cursor;
-            lab3: {
-                golab4: while(true)
-                {
-                    var /** number */ v_5 = base.cursor;
-                    lab5: {
-                        if (!(base.in_grouping(g_v, 97, 252)))
-                        {
-                            break lab5;
-                        }
-                        base.bra = base.cursor;
-                        lab6: {
-                            var /** number */ v_6 = base.cursor;
-                            lab7: {
-                                if (!(base.eq_s("u")))
-                                {
-                                    break lab7;
-                                }
-                                base.ket = base.cursor;
-                                if (!(base.in_grouping(g_v, 97, 252)))
-                                {
-                                    break lab7;
-                                }
-                                if (!base.slice_from("U"))
-                                {
-                                    return false;
-                                }
-                                break lab6;
-                            }
-                            base.cursor = v_6;
-                            if (!(base.eq_s("y")))
-                            {
-                                break lab5;
-                            }
-                            base.ket = base.cursor;
-                            if (!(base.in_grouping(g_v, 97, 252)))
-                            {
-                                break lab5;
-                            }
-                            if (!base.slice_from("Y"))
-                            {
-                                return false;
-                            }
-                        }
-                        base.cursor = v_5;
-                        break golab4;
-                    }
-                    base.cursor = v_5;
-                    if (base.cursor >= base.limit)
-                    {
-                        break lab3;
-                    }
-                    base.cursor++;
-                }
-                continue;
-            }
-            base.cursor = v_4;
-            break;
-        }
-        return true;
-    };
-
-    /** @return {boolean} */
-    function r_mark_regions() {
-        I_p1 = base.limit;
-        I_p2 = base.limit;
-        var /** number */ v_1 = base.cursor;
-        {
-            var /** number */ c1 = base.cursor + 3;
-            if (c1 > base.limit)
-            {
-                return false;
-            }
-            base.cursor = c1;
-        }
-        I_x = base.cursor;
-        base.cursor = v_1;
-        golab0: while(true)
-        {
-            lab1: {
-                if (!(base.in_grouping(g_v, 97, 252)))
-                {
-                    break lab1;
-                }
-                break golab0;
-            }
-            if (base.cursor >= base.limit)
-            {
-                return false;
-            }
-            base.cursor++;
-        }
-        golab2: while(true)
-        {
-            lab3: {
-                if (!(base.out_grouping(g_v, 97, 252)))
-                {
-                    break lab3;
-                }
-                break golab2;
-            }
-            if (base.cursor >= base.limit)
-            {
-                return false;
-            }
-            base.cursor++;
-        }
-        I_p1 = base.cursor;
-        lab4: {
-            if (!(I_p1 < I_x))
-            {
-                break lab4;
-            }
-            I_p1 = I_x;
-        }
-        golab5: while(true)
-        {
-            lab6: {
-                if (!(base.in_grouping(g_v, 97, 252)))
-                {
-                    break lab6;
-                }
-                break golab5;
-            }
-            if (base.cursor >= base.limit)
-            {
-                return false;
-            }
-            base.cursor++;
-        }
-        golab7: while(true)
-        {
-            lab8: {
-                if (!(base.out_grouping(g_v, 97, 252)))
-                {
-                    break lab8;
-                }
-                break golab7;
-            }
-            if (base.cursor >= base.limit)
-            {
-                return false;
-            }
-            base.cursor++;
-        }
-        I_p2 = base.cursor;
-        return true;
-    };
-
-    /** @return {boolean} */
-    function r_postlude() {
-        var /** number */ among_var;
-        while(true)
-        {
-            var /** number */ v_1 = base.cursor;
-            lab0: {
-                base.bra = base.cursor;
-                among_var = base.find_among(a_0);
-                if (among_var == 0)
-                {
-                    break lab0;
-                }
-                base.ket = base.cursor;
-                switch (among_var) {
-                    case 1:
-                        if (!base.slice_from("y"))
-                        {
-                            return false;
-                        }
-                        break;
-                    case 2:
-                        if (!base.slice_from("u"))
-                        {
-                            return false;
-                        }
-                        break;
-                    case 3:
-                        if (!base.slice_from("a"))
-                        {
-                            return false;
-                        }
-                        break;
-                    case 4:
-                        if (!base.slice_from("o"))
-                        {
-                            return false;
-                        }
-                        break;
-                    case 5:
-                        if (base.cursor >= base.limit)
-                        {
-                            break lab0;
-                        }
-                        base.cursor++;
-                        break;
-                }
-                continue;
-            }
-            base.cursor = v_1;
-            break;
-        }
-        return true;
-    };
-
-    /** @return {boolean} */
-    function r_R1() {
-        if (!(I_p1 <= base.cursor))
-        {
-            return false;
-        }
-        return true;
-    };
-
-    /** @return {boolean} */
-    function r_R2() {
-        if (!(I_p2 <= base.cursor))
-        {
-            return false;
-        }
-        return true;
-    };
-
-    /** @return {boolean} */
-    function r_standard_suffix() {
-        var /** number */ among_var;
-        var /** number */ v_1 = base.limit - base.cursor;
-        lab0: {
-            base.ket = base.cursor;
-            among_var = base.find_among_b(a_1);
-            if (among_var == 0)
-            {
-                break lab0;
-            }
-            base.bra = base.cursor;
-            if (!r_R1())
-            {
-                break lab0;
-            }
-            switch (among_var) {
-                case 1:
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    break;
-                case 2:
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    var /** number */ v_2 = base.limit - base.cursor;
-                    lab1: {
-                        base.ket = base.cursor;
-                        if (!(base.eq_s_b("s")))
-                        {
-                            base.cursor = base.limit - v_2;
-                            break lab1;
-                        }
-                        base.bra = base.cursor;
-                        if (!(base.eq_s_b("nis")))
-                        {
-                            base.cursor = base.limit - v_2;
-                            break lab1;
-                        }
-                        if (!base.slice_del())
-                        {
-                            return false;
-                        }
-                    }
-                    break;
-                case 3:
-                    if (!(base.in_grouping_b(g_s_ending, 98, 116)))
-                    {
-                        break lab0;
-                    }
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    break;
-            }
-        }
-        base.cursor = base.limit - v_1;
-        var /** number */ v_3 = base.limit - base.cursor;
-        lab2: {
-            base.ket = base.cursor;
-            among_var = base.find_among_b(a_2);
-            if (among_var == 0)
-            {
-                break lab2;
-            }
-            base.bra = base.cursor;
-            if (!r_R1())
-            {
-                break lab2;
-            }
-            switch (among_var) {
-                case 1:
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    break;
-                case 2:
-                    if (!(base.in_grouping_b(g_st_ending, 98, 116)))
-                    {
-                        break lab2;
-                    }
-                    {
-                        var /** number */ c1 = base.cursor - 3;
-                        if (c1 < base.limit_backward)
-                        {
-                            break lab2;
-                        }
-                        base.cursor = c1;
-                    }
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    break;
-            }
-        }
-        base.cursor = base.limit - v_3;
-        var /** number */ v_4 = base.limit - base.cursor;
-        lab3: {
-            base.ket = base.cursor;
-            among_var = base.find_among_b(a_4);
-            if (among_var == 0)
-            {
-                break lab3;
-            }
-            base.bra = base.cursor;
-            if (!r_R2())
-            {
-                break lab3;
-            }
-            switch (among_var) {
-                case 1:
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    var /** number */ v_5 = base.limit - base.cursor;
-                    lab4: {
-                        base.ket = base.cursor;
-                        if (!(base.eq_s_b("ig")))
-                        {
-                            base.cursor = base.limit - v_5;
-                            break lab4;
-                        }
-                        base.bra = base.cursor;
-                        {
-                            var /** number */ v_6 = base.limit - base.cursor;
-                            lab5: {
-                                if (!(base.eq_s_b("e")))
-                                {
-                                    break lab5;
-                                }
-                                base.cursor = base.limit - v_5;
-                                break lab4;
-                            }
-                            base.cursor = base.limit - v_6;
-                        }
-                        if (!r_R2())
-                        {
-                            base.cursor = base.limit - v_5;
-                            break lab4;
-                        }
-                        if (!base.slice_del())
-                        {
-                            return false;
-                        }
-                    }
-                    break;
-                case 2:
-                    {
-                        var /** number */ v_7 = base.limit - base.cursor;
-                        lab6: {
-                            if (!(base.eq_s_b("e")))
-                            {
-                                break lab6;
-                            }
-                            break lab3;
-                        }
-                        base.cursor = base.limit - v_7;
-                    }
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    break;
-                case 3:
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    var /** number */ v_8 = base.limit - base.cursor;
-                    lab7: {
-                        base.ket = base.cursor;
-                        lab8: {
-                            var /** number */ v_9 = base.limit - base.cursor;
-                            lab9: {
-                                if (!(base.eq_s_b("er")))
-                                {
-                                    break lab9;
-                                }
-                                break lab8;
-                            }
-                            base.cursor = base.limit - v_9;
-                            if (!(base.eq_s_b("en")))
-                            {
-                                base.cursor = base.limit - v_8;
-                                break lab7;
-                            }
-                        }
-                        base.bra = base.cursor;
-                        if (!r_R1())
-                        {
-                            base.cursor = base.limit - v_8;
-                            break lab7;
-                        }
-                        if (!base.slice_del())
-                        {
-                            return false;
-                        }
-                    }
-                    break;
-                case 4:
-                    if (!base.slice_del())
-                    {
-                        return false;
-                    }
-                    var /** number */ v_10 = base.limit - base.cursor;
-                    lab10: {
-                        base.ket = base.cursor;
-                        if (base.find_among_b(a_3) == 0)
-                        {
-                            base.cursor = base.limit - v_10;
-                            break lab10;
-                        }
-                        base.bra = base.cursor;
-                        if (!r_R2())
-                        {
-                            base.cursor = base.limit - v_10;
-                            break lab10;
-                        }
-                        if (!base.slice_del())
-                        {
-                            return false;
-                        }
-                    }
-                    break;
-            }
-        }
-        base.cursor = base.limit - v_4;
-        return true;
-    };
-
-    this.stem = /** @return {boolean} */ function() {
-        var /** number */ v_1 = base.cursor;
-        r_prelude();
-        base.cursor = v_1;
-        var /** number */ v_2 = base.cursor;
-        r_mark_regions();
-        base.cursor = v_2;
-        base.limit_backward = base.cursor; base.cursor = base.limit;
-        r_standard_suffix();
-        base.cursor = base.limit_backward;
-        var /** number */ v_4 = base.cursor;
-        r_postlude();
-        base.cursor = v_4;
-        return true;
-    };
-
-    /**@return{string}*/
-    this['stemWord'] = function(/**string*/word) {
-        base.setCurrent(word);
-        this.stem();
-        return base.getCurrent();
-    };
-};