Update documentation

.buildinfo

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

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,32 +0,0 @@
----
-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

@@ -1,20 +0,0 @@
----
-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

@@ -1,60 +0,0 @@
-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

@@ -1,312 +0,0 @@
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-
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-
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-
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-
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-
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-.idea/$CACHE_FILE$
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-.idea/codestream.xml
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-# Byte-compiled / optimized / DLL files
-__pycache__/
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-
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-
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-.Python
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-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
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-
-# Installer logs
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-
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-cover/
-
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-
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-
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-
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-.scrapy
-
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-
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-.pybuilder/
-target/
-
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-
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-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
-
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-#   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
-
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-.env
-.venv
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-ENV/
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-/site
-
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-.mypy_cache/
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-
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-
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-cython_debug/
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-#  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

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

MANIFEST.in

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

README.md

@@ -1,50 +0,0 @@
-# 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

@@ -0,0 +1,107 @@
+.. _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

@@ -0,0 +1,83 @@
+.. _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

@@ -0,0 +1,23 @@
+.. _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

@@ -0,0 +1,25 @@
+.. _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

@@ -0,0 +1,23 @@
+.. _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

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

_sources/lib/IRSensor.rst.txt

@@ -0,0 +1,20 @@
+.. _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

@@ -0,0 +1,22 @@
+.. _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

@@ -0,0 +1,79 @@
+.. _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

@@ -0,0 +1,22 @@
+.. _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

@@ -0,0 +1,23 @@
+.. _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

@@ -0,0 +1,50 @@
+.. _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

@@ -0,0 +1,71 @@
+.. _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

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

_sources/lib/Servo.rst.txt

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

_sources/lib/Vision.rst.txt

@@ -0,0 +1,104 @@
+.. _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

@@ -0,0 +1,134 @@
+/*
+ * _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

@@ -0,0 +1,294 @@
+/**@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

@@ -0,0 +1,856 @@
+/*
+ * basic.css
+ * ~~~~~~~~~
+ *
+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+    clear: both;
+}
+
+div.section::after {
+    display: block;
+    content: '';
+    clear: left;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+    width: 100%;
+    font-size: 90%;
+}
+
+div.related h3 {
+    display: none;
+}
+
+div.related ul {
+    margin: 0;
+    padding: 0 0 0 10px;
+    list-style: none;
+}
+
+div.related li {
+    display: inline;
+}
+
+div.related li.right {
+    float: right;
+    margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
+
+div.sphinxsidebarwrapper {
+    padding: 10px 5px 0 10px;
+}
+
+div.sphinxsidebar {
+    float: left;
+    width: 230px;
+    margin-left: -100%;
+    font-size: 90%;
+    word-wrap: break-word;
+    overflow-wrap : break-word;
+}
+
+div.sphinxsidebar ul {
+    list-style: none;
+}
+
+div.sphinxsidebar ul ul,
+div.sphinxsidebar ul.want-points {
+    margin-left: 20px;
+    list-style: square;
+}
+
+div.sphinxsidebar ul ul {
+    margin-top: 0;
+    margin-bottom: 0;
+}
+
+div.sphinxsidebar form {
+    margin-top: 10px;
+}
+
+div.sphinxsidebar input {
+    border: 1px solid #98dbcc;
+    font-family: sans-serif;
+    font-size: 1em;
+}
+
+div.sphinxsidebar #searchbox form.search {
+    overflow: hidden;
+}
+
+div.sphinxsidebar #searchbox input[type="text"] {
+    float: left;
+    width: 80%;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+div.sphinxsidebar #searchbox input[type="submit"] {
+    float: left;
+    width: 20%;
+    border-left: none;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+
+img {
+    border: 0;
+    max-width: 100%;
+}
+
+/* -- search page ----------------------------------------------------------- */
+
+ul.search {
+    margin: 10px 0 0 20px;
+    padding: 0;
+}
+
+ul.search li {
+    padding: 5px 0 5px 20px;
+    background-image: url(file.png);
+    background-repeat: no-repeat;
+    background-position: 0 7px;
+}
+
+ul.search li a {
+    font-weight: bold;
+}
+
+ul.search li div.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: 450px;
+    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.brackets:before,
+span.brackets > a:before{
+    content: "[";
+}
+
+a.brackets:after,
+span.brackets > a:after {
+    content: "]";
+}
+
+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, object.align-left {
+    clear: left;
+    float: left;
+    margin-right: 1em;
+}
+
+img.align-right, .figure.align-right, object.align-right {
+    clear: right;
+    float: right;
+    margin-left: 1em;
+}
+
+img.align-center, .figure.align-center, object.align-center {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+img.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 {
+    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;
+}
+
+div.admonition, div.topic, blockquote {
+    clear: left;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+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,
+div.topic > :last-child,
+div.admonition > :last-child {
+    margin-bottom: 0;
+}
+
+div.sidebar::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;
+}
+
+table.footnote td, table.footnote th {
+    border: 0 !important;
+}
+
+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 {
+    margin: 0.5em;
+    padding: 0.5em;
+}
+
+div.figure p.caption {
+    padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number {
+    font-style: italic;
+}
+
+div.figure p.caption 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;
+}
+
+
+/* -- 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;
+}
+
+dl.footnote > dt,
+dl.citation > dt {
+    float: left;
+    margin-right: 0.5em;
+}
+
+dl.footnote > dd,
+dl.citation > dd {
+    margin-bottom: 0em;
+}
+
+dl.footnote > dd:after,
+dl.citation > dd: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 > dt:after {
+    content: ":";
+}
+
+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;
+}
+
+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;
+}
+
+.optional {
+    font-size: 1.3em;
+}
+
+.sig-paren {
+    font-size: larger;
+}
+
+.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: 0.5em;
+    content: ":";
+}
+
+abbr, acronym {
+    border-bottom: dotted 1px;
+    cursor: help;
+}
+
+/* -- 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;
+}
+
+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.doctest > div.highlight span.gp {  /* gp: Generic.Prompt */
+    user-select: none;
+}
+
+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.descname {
+    background-color: transparent;
+    font-weight: bold;
+    font-size: 1.2em;
+}
+
+code.descclassname {
+    background-color: transparent;
+}
+
+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;
+    }
+}

_static/css/badge_only.css

@@ -0,0 +1 @@
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_static/doctools.js

@@ -0,0 +1,316 @@
+/*
+ * doctools.js
+ * ~~~~~~~~~~~
+ *
+ * Sphinx JavaScript utilities for all documentation.
+ *
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/**
+ * select a different prefix for underscore
+ */
+$u = _.noConflict();
+
+/**
+ * make the code below compatible with browsers without
+ * an installed firebug like debugger
+if (!window.console || !console.firebug) {
+  var names = ["log", "debug", "info", "warn", "error", "assert", "dir",
+    "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace",
+    "profile", "profileEnd"];
+  window.console = {};
+  for (var i = 0; i < names.length; ++i)
+    window.console[names[i]] = function() {};
+}
+ */
+
+/**
+ * small helper function to urldecode strings
+ */
+jQuery.urldecode = function(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;
+}
+
+/**
+ * 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

@@ -0,0 +1,12 @@
+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
+};