+
+ Read the Docs
+ v: ${config.versions.current.slug}
+
+
+
+ ${renderLanguages(config)}
+ ${renderVersions(config)}
+ ${renderDownloads(config)}
+
+ On Read the Docs
+
+ Project Home
+
+
+ Builds
+
+
+ Downloads
+
+
+
+ Search
+
+
+
+
+
+
+ Hosted by Read the Docs
+
+
+
+ `;
+
+ // Inject the generated flyout into the body HTML element.
+ document.body.insertAdjacentHTML("beforeend", flyout);
+
+ // Trigger the Read the Docs Addons Search modal when clicking on the "Search docs" input from inside the flyout.
+ document
+ .querySelector("#flyout-search-form")
+ .addEventListener("focusin", () => {
+ const event = new CustomEvent("readthedocs-search-show");
+ document.dispatchEvent(event);
+ });
+ })
+}
+
+if (themeLanguageSelector || themeVersionSelector) {
+ function onSelectorSwitch(event) {
+ const option = event.target.selectedIndex;
+ const item = event.target.options[option];
+ window.location.href = item.dataset.url;
+ }
+
+ document.addEventListener("readthedocs-addons-data-ready", function (event) {
+ const config = event.detail.data();
+
+ const versionSwitch = document.querySelector(
+ "div.switch-menus > div.version-switch",
+ );
+ if (themeVersionSelector) {
+ let versions = config.versions.active;
+ if (config.versions.current.hidden || config.versions.current.type === "external") {
+ versions.unshift(config.versions.current);
+ }
+ const versionSelect = `
+
+ ${versions
+ .map(
+ (version) => `
+
+ ${version.slug}
+ `,
+ )
+ .join("\n")}
+
+ `;
+
+ versionSwitch.innerHTML = versionSelect;
+ versionSwitch.firstElementChild.addEventListener("change", onSelectorSwitch);
+ }
+
+ const languageSwitch = document.querySelector(
+ "div.switch-menus > div.language-switch",
+ );
+
+ if (themeLanguageSelector) {
+ if (config.projects.translations.length) {
+ // Add the current language to the options on the selector
+ let languages = config.projects.translations.concat(
+ config.projects.current,
+ );
+ languages = languages.sort((a, b) =>
+ a.language.name.localeCompare(b.language.name),
+ );
+
+ const languageSelect = `
+
+ ${languages
+ .map(
+ (language) => `
+
+ ${language.language.name}
+ `,
+ )
+ .join("\n")}
+
+ `;
+
+ languageSwitch.innerHTML = languageSelect;
+ languageSwitch.firstElementChild.addEventListener("change", onSelectorSwitch);
+ }
+ else {
+ languageSwitch.remove();
+ }
+ }
+ });
+}
+
+document.addEventListener("readthedocs-addons-data-ready", function (event) {
+ // Trigger the Read the Docs Addons Search modal when clicking on "Search docs" input from the topnav.
+ document
+ .querySelector("[role='search'] input")
+ .addEventListener("focusin", () => {
+ const event = new CustomEvent("readthedocs-search-show");
+ document.dispatchEvent(event);
+ });
+});
\ No newline at end of file
diff --git a/docs/_build/html/_static/language_data.js b/docs/_build/html/_static/language_data.js
new file mode 100644
index 0000000..5776786
--- /dev/null
+++ b/docs/_build/html/_static/language_data.js
@@ -0,0 +1,13 @@
+/*
+ * This script contains the language-specific data used by searchtools.js,
+ * namely the set of stopwords, stemmer, scorer and splitter.
+ */
+
+const stopwords = new Set(["a", "about", "above", "after", "again", "against", "all", "am", "an", "and", "any", "are", "aren't", "as", "at", "be", "because", "been", "before", "being", "below", "between", "both", "but", "by", "can't", "cannot", "could", "couldn't", "did", "didn't", "do", "does", "doesn't", "doing", "don't", "down", "during", "each", "few", "for", "from", "further", "had", "hadn't", "has", "hasn't", "have", "haven't", "having", "he", "he'd", "he'll", "he's", "her", "here", "here's", "hers", "herself", "him", "himself", "his", "how", "how's", "i", "i'd", "i'll", "i'm", "i've", "if", "in", "into", "is", "isn't", "it", "it's", "its", "itself", "let's", "me", "more", "most", "mustn't", "my", "myself", "no", "nor", "not", "of", "off", "on", "once", "only", "or", "other", "ought", "our", "ours", "ourselves", "out", "over", "own", "same", "shan't", "she", "she'd", "she'll", "she's", "should", "shouldn't", "so", "some", "such", "than", "that", "that's", "the", "their", "theirs", "them", "themselves", "then", "there", "there's", "these", "they", "they'd", "they'll", "they're", "they've", "this", "those", "through", "to", "too", "under", "until", "up", "very", "was", "wasn't", "we", "we'd", "we'll", "we're", "we've", "were", "weren't", "what", "what's", "when", "when's", "where", "where's", "which", "while", "who", "who's", "whom", "why", "why's", "with", "won't", "would", "wouldn't", "you", "you'd", "you'll", "you're", "you've", "your", "yours", "yourself", "yourselves"]);
+window.stopwords = stopwords; // Export to global scope
+
+
+/* Non-minified versions are copied as separate JavaScript files, if available */
+BaseStemmer=function(){this.current="",this.cursor=0,this.limit=0,this.limit_backward=0,this.bra=0,this.ket=0,this.setCurrent=function(t){this.current=t,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(t){this.current=t.current,this.cursor=t.cursor,this.limit=t.limit,this.limit_backward=t.limit_backward,this.bra=t.bra,this.ket=t.ket},this.in_grouping=function(t,r,i){return!(this.cursor>=this.limit||i<(i=this.current.charCodeAt(this.cursor))||i
>>3]&1<<(7&i))||(this.cursor++,0))},this.go_in_grouping=function(t,r,i){for(;this.cursor>>3]&1<<(7&s)))return!0;this.cursor++}return!1},this.in_grouping_b=function(t,r,i){return!(this.cursor<=this.limit_backward||i<(i=this.current.charCodeAt(this.cursor-1))||i>>3]&1<<(7&i))||(this.cursor--,0))},this.go_in_grouping_b=function(t,r,i){for(;this.cursor>this.limit_backward;){var s=this.current.charCodeAt(this.cursor-1);if(i>>3]&1<<(7&s)))return!0;this.cursor--}return!1},this.out_grouping=function(t,r,i){return!(this.cursor>=this.limit)&&(i<(i=this.current.charCodeAt(this.cursor))||i>>3]&1<<(7&i)))&&(this.cursor++,!0)},this.go_out_grouping=function(t,r,i){for(;this.cursor>>3]&1<<(7&s)))return!0;this.cursor++}return!1},this.out_grouping_b=function(t,r,i){return!(this.cursor<=this.limit_backward)&&(i<(i=this.current.charCodeAt(this.cursor-1))||i>>3]&1<<(7&i)))&&(this.cursor--,!0)},this.go_out_grouping_b=function(t,r,i){for(;this.cursor>this.limit_backward;){var s=this.current.charCodeAt(this.cursor-1);if(s<=i&&r<=s&&0!=(t[(s-=r)>>>3]&1<<(7&s)))return!0;this.cursor--}return!1},this.eq_s=function(t){return!(this.limit-this.cursor>>1),o=0,a=e=(l=t[r])[0].length){if(this.cursor=s+l[0].length,l.length<4)return l[2];var g=l[3](this);if(this.cursor=s+l[0].length,g)return l[2]}}while(0<=(r=l[1]));return 0},this.find_among_b=function(t){for(var r=0,i=t.length,s=this.cursor,h=this.limit_backward,e=0,n=0,c=!1;;){for(var u,o=r+(i-r>>1),a=0,l=e=(u=t[r])[0].length){if(this.cursor=s-u[0].length,u.length<4)return u[2];var g=u[3](this);if(this.cursor=s-u[0].length,g)return u[2]}}while(0<=(r=u[1]));return 0},this.replace_s=function(t,r,i){var s=i.length-(r-t);return this.current=this.current.slice(0,t)+i+this.current.slice(r),this.limit+=s,this.cursor>=r?this.cursor+=s:this.cursor>t&&(this.cursor=t),s},this.slice_check=function(){return!(this.bra<0||this.bra>this.ket||this.ket>this.limit||this.limit>this.current.length)},this.slice_from=function(t){var r=!1;return this.slice_check()&&(this.replace_s(this.bra,this.ket,t),r=!0),r},this.slice_del=function(){return this.slice_from("")},this.insert=function(t,r,i){r=this.replace_s(t,r,i);t<=this.bra&&(this.bra+=r),t<=this.ket&&(this.ket+=r)},this.slice_to=function(){var t="";return t=this.slice_check()?this.current.slice(this.bra,this.ket):t},this.assign_to=function(){return this.current.slice(0,this.limit)}};
+var EnglishStemmer=function(){var a=new BaseStemmer,c=[["arsen",-1,-1],["commun",-1,-1],["emerg",-1,-1],["gener",-1,-1],["later",-1,-1],["organ",-1,-1],["past",-1,-1],["univers",-1,-1]],o=[["'",-1,1],["'s'",0,1],["'s",-1,1]],u=[["ied",-1,2],["s",-1,3],["ies",1,2],["sses",1,1],["ss",1,-1],["us",1,-1]],t=[["succ",-1,1],["proc",-1,1],["exc",-1,1]],l=[["even",-1,2],["cann",-1,2],["inn",-1,2],["earr",-1,2],["herr",-1,2],["out",-1,2],["y",-1,1]],n=[["",-1,-1],["ed",0,2],["eed",1,1],["ing",0,3],["edly",0,2],["eedly",4,1],["ingly",0,2]],f=[["",-1,3],["bb",0,2],["dd",0,2],["ff",0,2],["gg",0,2],["bl",0,1],["mm",0,2],["nn",0,2],["pp",0,2],["rr",0,2],["at",0,1],["tt",0,2],["iz",0,1]],_=[["anci",-1,3],["enci",-1,2],["ogi",-1,14],["li",-1,16],["bli",3,12],["abli",4,4],["alli",3,8],["fulli",3,9],["lessli",3,15],["ousli",3,10],["entli",3,5],["aliti",-1,8],["biliti",-1,12],["iviti",-1,11],["tional",-1,1],["ational",14,7],["alism",-1,8],["ation",-1,7],["ization",17,6],["izer",-1,6],["ator",-1,7],["iveness",-1,11],["fulness",-1,9],["ousness",-1,10],["ogist",-1,13]],m=[["icate",-1,4],["ative",-1,6],["alize",-1,3],["iciti",-1,4],["ical",-1,4],["tional",-1,1],["ational",5,2],["ful",-1,5],["ness",-1,5]],b=[["ic",-1,1],["ance",-1,1],["ence",-1,1],["able",-1,1],["ible",-1,1],["ate",-1,1],["ive",-1,1],["ize",-1,1],["iti",-1,1],["al",-1,1],["ism",-1,1],["ion",-1,2],["er",-1,1],["ous",-1,1],["ant",-1,1],["ent",-1,1],["ment",15,1],["ement",16,1]],k=[["e",-1,1],["l",-1,2]],g=[["andes",-1,-1],["atlas",-1,-1],["bias",-1,-1],["cosmos",-1,-1],["early",-1,5],["gently",-1,3],["howe",-1,-1],["idly",-1,2],["news",-1,-1],["only",-1,6],["singly",-1,7],["skies",-1,1],["sky",-1,-1],["ugly",-1,4]],d=[17,64],v=[17,65,16,1],i=[1,17,65,208,1],w=[55,141,2],p=!1,y=0,h=0;function q(){var r=a.limit-a.cursor;return!!(a.out_grouping_b(i,89,121)&&a.in_grouping_b(v,97,121)&&a.out_grouping_b(v,97,121)||(a.cursor=a.limit-r,a.out_grouping_b(v,97,121)&&a.in_grouping_b(v,97,121)&&!(a.cursor>a.limit_backward))||(a.cursor=a.limit-r,a.eq_s_b("past")))}function z(){return h<=a.cursor}function Y(){return y<=a.cursor}this.stem=function(){var r=a.cursor;if(!(()=>{var r;if(a.bra=a.cursor,0!=(r=a.find_among(g))&&(a.ket=a.cursor,!(a.cursora.limit)a.cursor=i;else{a.cursor=e,a.cursor=r,(()=>{p=!1;var r=a.cursor;if(a.bra=a.cursor,!a.eq_s("'")||(a.ket=a.cursor,a.slice_del())){a.cursor=r;r=a.cursor;if(a.bra=a.cursor,a.eq_s("y")){if(a.ket=a.cursor,!a.slice_from("Y"))return;p=!0}a.cursor=r;for(r=a.cursor;;){var i=a.cursor;r:{for(;;){var e=a.cursor;if(a.in_grouping(v,97,121)&&(a.bra=a.cursor,a.eq_s("y"))){a.ket=a.cursor,a.cursor=e;break}if(a.cursor=e,a.cursor>=a.limit)break r;a.cursor++}if(!a.slice_from("Y"))return;p=!0;continue}a.cursor=i;break}a.cursor=r}})(),h=a.limit,y=a.limit;i=a.cursor;r:{var s=a.cursor;if(0==a.find_among(c)){if(a.cursor=s,!a.go_out_grouping(v,97,121))break r;if(a.cursor++,!a.go_in_grouping(v,97,121))break r;a.cursor++}h=a.cursor,a.go_out_grouping(v,97,121)&&(a.cursor++,a.go_in_grouping(v,97,121))&&(a.cursor++,y=a.cursor)}a.cursor=i,a.limit_backward=a.cursor,a.cursor=a.limit;var e=a.limit-a.cursor,r=((()=>{var r=a.limit-a.cursor;if(a.ket=a.cursor,0==a.find_among_b(o))a.cursor=a.limit-r;else if(a.bra=a.cursor,!a.slice_del())return;if(a.ket=a.cursor,0!=(r=a.find_among_b(u)))switch(a.bra=a.cursor,r){case 1:if(a.slice_from("ss"))break;return;case 2:r:{var i=a.limit-a.cursor,e=a.cursor-2;if(!(e{a.ket=a.cursor,o=a.find_among_b(n),a.bra=a.cursor;r:{var r=a.limit-a.cursor;i:{switch(o){case 1:var i=a.limit-a.cursor;e:{var e=a.limit-a.cursor;if(0==a.find_among_b(t)||a.cursor>a.limit_backward){if(a.cursor=a.limit-e,!z())break e;if(!a.slice_from("ee"))return}}a.cursor=a.limit-i;break;case 2:break i;case 3:if(0==(o=a.find_among_b(l)))break i;switch(o){case 1:var s=a.limit-a.cursor;if(!a.out_grouping_b(v,97,121))break i;if(a.cursor>a.limit_backward)break i;if(a.cursor=a.limit-s,a.bra=a.cursor,a.slice_from("ie"))break;return;case 2:if(a.cursor>a.limit_backward)break i}}break r}a.cursor=a.limit-r;var c=a.limit-a.cursor;if(!a.go_out_grouping_b(v,97,121))return;if(a.cursor--,a.cursor=a.limit-c,!a.slice_del())return;a.ket=a.cursor,a.bra=a.cursor;var o,c=a.limit-a.cursor;switch(o=a.find_among_b(f)){case 1:return a.slice_from("e");case 2:var u=a.limit-a.cursor;if(a.in_grouping_b(d,97,111)&&!(a.cursor>a.limit_backward))return;a.cursor=a.limit-u;break;case 3:return a.cursor!=h||(u=a.limit-a.cursor,q()&&(a.cursor=a.limit-u,a.slice_from("e")))}if(a.cursor=a.limit-c,a.ket=a.cursor,a.cursor<=a.limit_backward)return;if(a.cursor--,a.bra=a.cursor,!a.slice_del())return}})(),a.cursor=a.limit-r,a.limit-a.cursor),r=(a.ket=a.cursor,e=a.limit-a.cursor,(a.eq_s_b("y")||(a.cursor=a.limit-e,a.eq_s_b("Y")))&&(a.bra=a.cursor,a.out_grouping_b(v,97,121))&&a.cursor>a.limit_backward&&a.slice_from("i"),a.cursor=a.limit-i,a.limit-a.cursor),e=((()=>{var r;if(a.ket=a.cursor,0!=(r=a.find_among_b(_))&&(a.bra=a.cursor,z()))switch(r){case 1:if(a.slice_from("tion"))break;return;case 2:if(a.slice_from("ence"))break;return;case 3:if(a.slice_from("ance"))break;return;case 4:if(a.slice_from("able"))break;return;case 5:if(a.slice_from("ent"))break;return;case 6:if(a.slice_from("ize"))break;return;case 7:if(a.slice_from("ate"))break;return;case 8:if(a.slice_from("al"))break;return;case 9:if(a.slice_from("ful"))break;return;case 10:if(a.slice_from("ous"))break;return;case 11:if(a.slice_from("ive"))break;return;case 12:if(a.slice_from("ble"))break;return;case 13:if(a.slice_from("og"))break;return;case 14:if(!a.eq_s_b("l"))return;if(a.slice_from("og"))break;return;case 15:if(a.slice_from("less"))break;return;case 16:if(!a.in_grouping_b(w,99,116))return;if(a.slice_del())break}})(),a.cursor=a.limit-r,a.limit-a.cursor),i=((()=>{var r;if(a.ket=a.cursor,0!=(r=a.find_among_b(m))&&(a.bra=a.cursor,z()))switch(r){case 1:if(a.slice_from("tion"))break;return;case 2:if(a.slice_from("ate"))break;return;case 3:if(a.slice_from("al"))break;return;case 4:if(a.slice_from("ic"))break;return;case 5:if(a.slice_del())break;return;case 6:if(!Y())return;if(a.slice_del())break}})(),a.cursor=a.limit-e,a.limit-a.cursor),r=((()=>{var r;if(a.ket=a.cursor,0!=(r=a.find_among_b(b))&&(a.bra=a.cursor,Y()))switch(r){case 1:if(a.slice_del())break;return;case 2:var i=a.limit-a.cursor;if(!a.eq_s_b("s")&&(a.cursor=a.limit-i,!a.eq_s_b("t")))return;if(a.slice_del())break}})(),a.cursor=a.limit-i,a.limit-a.cursor),e=((()=>{var r;if(a.ket=a.cursor,0!=(r=a.find_among_b(k)))switch(a.bra=a.cursor,r){case 1:if(!Y()){if(!z())return;var i=a.limit-a.cursor;if(q())return;a.cursor=a.limit-i}if(a.slice_del())break;return;case 2:if(!Y())return;if(!a.eq_s_b("l"))return;if(a.slice_del())break}})(),a.cursor=a.limit-r,a.cursor=a.limit_backward,a.cursor);(()=>{if(p)for(;;){var r=a.cursor;r:{for(;;){var i=a.cursor;if(a.bra=a.cursor,a.eq_s("Y")){a.ket=a.cursor,a.cursor=i;break}if(a.cursor=i,a.cursor>=a.limit)break r;a.cursor++}if(a.slice_from("y"))continue;return}a.cursor=r;break}})(),a.cursor=e}}return!0},this.stemWord=function(r){return a.setCurrent(r),this.stem(),a.getCurrent()}};
+window.Stemmer = EnglishStemmer;
diff --git a/docs/_build/html/_static/minus.png b/docs/_build/html/_static/minus.png
new file mode 100644
index 0000000..d96755f
Binary files /dev/null and b/docs/_build/html/_static/minus.png differ
diff --git a/docs/_build/html/_static/plus.png b/docs/_build/html/_static/plus.png
new file mode 100644
index 0000000..7107cec
Binary files /dev/null and b/docs/_build/html/_static/plus.png differ
diff --git a/docs/_build/html/_static/pygments.css b/docs/_build/html/_static/pygments.css
new file mode 100644
index 0000000..6f8b210
--- /dev/null
+++ b/docs/_build/html/_static/pygments.css
@@ -0,0 +1,75 @@
+pre { line-height: 125%; }
+td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+.highlight .hll { background-color: #ffffcc }
+.highlight { background: #f8f8f8; }
+.highlight .c { color: #3D7B7B; font-style: italic } /* Comment */
+.highlight .err { border: 1px solid #F00 } /* Error */
+.highlight .k { color: #008000; font-weight: bold } /* Keyword */
+.highlight .o { color: #666 } /* Operator */
+.highlight .ch { color: #3D7B7B; font-style: italic } /* Comment.Hashbang */
+.highlight .cm { color: #3D7B7B; font-style: italic } /* Comment.Multiline */
+.highlight .cp { color: #9C6500 } /* Comment.Preproc */
+.highlight .cpf { color: #3D7B7B; font-style: italic } /* Comment.PreprocFile */
+.highlight .c1 { color: #3D7B7B; font-style: italic } /* Comment.Single */
+.highlight .cs { color: #3D7B7B; font-style: italic } /* Comment.Special */
+.highlight .gd { color: #A00000 } /* Generic.Deleted */
+.highlight .ge { font-style: italic } /* Generic.Emph */
+.highlight .ges { font-weight: bold; font-style: italic } /* Generic.EmphStrong */
+.highlight .gr { color: #E40000 } /* Generic.Error */
+.highlight .gh { color: #000080; font-weight: bold } /* Generic.Heading */
+.highlight .gi { color: #008400 } /* Generic.Inserted */
+.highlight .go { color: #717171 } /* Generic.Output */
+.highlight .gp { color: #000080; font-weight: bold } /* Generic.Prompt */
+.highlight .gs { font-weight: bold } /* Generic.Strong */
+.highlight .gu { color: #800080; font-weight: bold } /* Generic.Subheading */
+.highlight .gt { color: #04D } /* Generic.Traceback */
+.highlight .kc { color: #008000; font-weight: bold } /* Keyword.Constant */
+.highlight .kd { color: #008000; font-weight: bold } /* Keyword.Declaration */
+.highlight .kn { color: #008000; font-weight: bold } /* Keyword.Namespace */
+.highlight .kp { color: #008000 } /* Keyword.Pseudo */
+.highlight .kr { color: #008000; font-weight: bold } /* Keyword.Reserved */
+.highlight .kt { color: #B00040 } /* Keyword.Type */
+.highlight .m { color: #666 } /* Literal.Number */
+.highlight .s { color: #BA2121 } /* Literal.String */
+.highlight .na { color: #687822 } /* Name.Attribute */
+.highlight .nb { color: #008000 } /* Name.Builtin */
+.highlight .nc { color: #00F; font-weight: bold } /* Name.Class */
+.highlight .no { color: #800 } /* Name.Constant */
+.highlight .nd { color: #A2F } /* Name.Decorator */
+.highlight .ni { color: #717171; font-weight: bold } /* Name.Entity */
+.highlight .ne { color: #CB3F38; font-weight: bold } /* Name.Exception */
+.highlight .nf { color: #00F } /* Name.Function */
+.highlight .nl { color: #767600 } /* Name.Label */
+.highlight .nn { color: #00F; font-weight: bold } /* Name.Namespace */
+.highlight .nt { color: #008000; font-weight: bold } /* Name.Tag */
+.highlight .nv { color: #19177C } /* Name.Variable */
+.highlight .ow { color: #A2F; font-weight: bold } /* Operator.Word */
+.highlight .w { color: #BBB } /* Text.Whitespace */
+.highlight .mb { color: #666 } /* Literal.Number.Bin */
+.highlight .mf { color: #666 } /* Literal.Number.Float */
+.highlight .mh { color: #666 } /* Literal.Number.Hex */
+.highlight .mi { color: #666 } /* Literal.Number.Integer */
+.highlight .mo { color: #666 } /* Literal.Number.Oct */
+.highlight .sa { color: #BA2121 } /* Literal.String.Affix */
+.highlight .sb { color: #BA2121 } /* Literal.String.Backtick */
+.highlight .sc { color: #BA2121 } /* Literal.String.Char */
+.highlight .dl { color: #BA2121 } /* Literal.String.Delimiter */
+.highlight .sd { color: #BA2121; font-style: italic } /* Literal.String.Doc */
+.highlight .s2 { color: #BA2121 } /* Literal.String.Double */
+.highlight .se { color: #AA5D1F; font-weight: bold } /* Literal.String.Escape */
+.highlight .sh { color: #BA2121 } /* Literal.String.Heredoc */
+.highlight .si { color: #A45A77; font-weight: bold } /* Literal.String.Interpol */
+.highlight .sx { color: #008000 } /* Literal.String.Other */
+.highlight .sr { color: #A45A77 } /* Literal.String.Regex */
+.highlight .s1 { color: #BA2121 } /* Literal.String.Single */
+.highlight .ss { color: #19177C } /* Literal.String.Symbol */
+.highlight .bp { color: #008000 } /* Name.Builtin.Pseudo */
+.highlight .fm { color: #00F } /* Name.Function.Magic */
+.highlight .vc { color: #19177C } /* Name.Variable.Class */
+.highlight .vg { color: #19177C } /* Name.Variable.Global */
+.highlight .vi { color: #19177C } /* Name.Variable.Instance */
+.highlight .vm { color: #19177C } /* Name.Variable.Magic */
+.highlight .il { color: #666 } /* Literal.Number.Integer.Long */
\ No newline at end of file
diff --git a/docs/_build/html/_static/searchtools.js b/docs/_build/html/_static/searchtools.js
new file mode 100644
index 0000000..e29b1c7
--- /dev/null
+++ b/docs/_build/html/_static/searchtools.js
@@ -0,0 +1,693 @@
+/*
+ * Sphinx JavaScript utilities for the full-text search.
+ */
+"use strict";
+
+/**
+ * Simple result scoring code.
+ */
+if (typeof Scorer === "undefined") {
+ var Scorer = {
+ // Implement the following function to further tweak the score for each result
+ // The function takes a result array [docname, title, anchor, descr, score, filename]
+ // and returns the new score.
+ /*
+ score: result => {
+ const [docname, title, anchor, descr, score, filename, kind] = result
+ return score
+ },
+ */
+
+ // query matches the full name of an object
+ objNameMatch: 11,
+ // or matches in the last dotted part of the object name
+ objPartialMatch: 6,
+ // Additive scores depending on the priority of the object
+ objPrio: {
+ 0: 15, // used to be importantResults
+ 1: 5, // used to be objectResults
+ 2: -5, // used to be unimportantResults
+ },
+ // Used when the priority is not in the mapping.
+ objPrioDefault: 0,
+
+ // query found in title
+ title: 15,
+ partialTitle: 7,
+ // query found in terms
+ term: 5,
+ partialTerm: 2,
+ };
+}
+
+// Global search result kind enum, used by themes to style search results.
+// prettier-ignore
+class SearchResultKind {
+ static get index() { return "index"; }
+ static get object() { return "object"; }
+ static get text() { return "text"; }
+ static get title() { return "title"; }
+}
+
+const _removeChildren = (element) => {
+ while (element && element.lastChild) element.removeChild(element.lastChild);
+};
+
+/**
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping
+ */
+const _escapeRegExp = (string) =>
+ string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string
+
+const _escapeHTML = (text) => {
+ return text
+ .replaceAll("&", "&")
+ .replaceAll("<", "<")
+ .replaceAll(">", ">")
+ .replaceAll('"', """)
+ .replaceAll("'", "'");
+};
+
+const _displayItem = (item, searchTerms, highlightTerms) => {
+ const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
+ const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+ const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+ const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
+ const contentRoot = document.documentElement.dataset.content_root;
+
+ const [docName, title, anchor, descr, score, _filename, kind] = item;
+
+ let listItem = document.createElement("li");
+ // Add a class representing the item's type:
+ // can be used by a theme's CSS selector for styling
+ // See SearchResultKind for the class names.
+ listItem.classList.add(`kind-${kind}`);
+ let requestUrl;
+ let linkUrl;
+ if (docBuilder === "dirhtml") {
+ // dirhtml builder
+ let dirname = docName + "/";
+ if (dirname.match(/\/index\/$/))
+ dirname = dirname.substring(0, dirname.length - 6);
+ else if (dirname === "index/") dirname = "";
+ requestUrl = contentRoot + dirname;
+ linkUrl = requestUrl;
+ } else {
+ // normal html builders
+ requestUrl = contentRoot + docName + docFileSuffix;
+ linkUrl = docName + docLinkSuffix;
+ }
+ let linkEl = listItem.appendChild(document.createElement("a"));
+ linkEl.href = linkUrl + anchor;
+ linkEl.dataset.score = score;
+ linkEl.innerHTML = _escapeHTML(title);
+ if (descr) {
+ listItem.appendChild(document.createElement("span")).innerHTML =
+ ` (${_escapeHTML(descr)})`;
+ // highlight search terms in the description
+ if (SPHINX_HIGHLIGHT_ENABLED)
+ // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js
+ highlightTerms.forEach((term) =>
+ _highlightText(listItem, term, "highlighted"),
+ );
+ } else if (showSearchSummary)
+ fetch(requestUrl)
+ .then((responseData) => responseData.text())
+ .then((data) => {
+ if (data)
+ listItem.appendChild(
+ Search.makeSearchSummary(data, searchTerms, anchor),
+ );
+ // highlight search terms in the summary
+ if (SPHINX_HIGHLIGHT_ENABLED)
+ // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js
+ highlightTerms.forEach((term) =>
+ _highlightText(listItem, term, "highlighted"),
+ );
+ });
+ Search.output.appendChild(listItem);
+};
+const _finishSearch = (resultCount) => {
+ Search.stopPulse();
+ Search.title.innerText = _("Search Results");
+ if (!resultCount)
+ Search.status.innerText = Documentation.gettext(
+ "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories.",
+ );
+ else
+ Search.status.innerText = Documentation.ngettext(
+ "Search finished, found one page matching the search query.",
+ "Search finished, found ${resultCount} pages matching the search query.",
+ resultCount,
+ ).replace("${resultCount}", resultCount);
+};
+const _displayNextItem = (
+ results,
+ resultCount,
+ searchTerms,
+ highlightTerms,
+) => {
+ // results left, load the summary and display it
+ // this is intended to be dynamic (don't sub resultsCount)
+ if (results.length) {
+ _displayItem(results.pop(), searchTerms, highlightTerms);
+ setTimeout(
+ () => _displayNextItem(results, resultCount, searchTerms, highlightTerms),
+ 5,
+ );
+ }
+ // search finished, update title and status message
+ else _finishSearch(resultCount);
+};
+// Helper function used by query() to order search results.
+// Each input is an array of [docname, title, anchor, descr, score, filename, kind].
+// Order the results by score (in opposite order of appearance, since the
+// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically.
+const _orderResultsByScoreThenName = (a, b) => {
+ const leftScore = a[4];
+ const rightScore = b[4];
+ if (leftScore === rightScore) {
+ // same score: sort alphabetically
+ const leftTitle = a[1].toLowerCase();
+ const rightTitle = b[1].toLowerCase();
+ if (leftTitle === rightTitle) return 0;
+ return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+ }
+ return leftScore > rightScore ? 1 : -1;
+};
+
+/**
+ * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
+ * custom function per language.
+ *
+ * The regular expression works by splitting the string on consecutive characters
+ * that are not Unicode letters, numbers, underscores, or emoji characters.
+ * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
+ */
+if (typeof splitQuery === "undefined") {
+ var splitQuery = (query) =>
+ query
+ .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
+ .filter((term) => term); // remove remaining empty strings
+}
+
+/**
+ * Search Module
+ */
+const Search = {
+ _index: null,
+ _queued_query: null,
+ _pulse_status: -1,
+
+ htmlToText: (htmlString, anchor) => {
+ const htmlElement = new DOMParser().parseFromString(
+ htmlString,
+ "text/html",
+ );
+ for (const removalQuery of [".headerlink", "script", "style"]) {
+ htmlElement.querySelectorAll(removalQuery).forEach((el) => {
+ el.remove();
+ });
+ }
+ if (anchor) {
+ const anchorContent = htmlElement.querySelector(
+ `[role="main"] ${anchor}`,
+ );
+ if (anchorContent) return anchorContent.textContent;
+
+ console.warn(
+ `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.`,
+ );
+ }
+
+ // if anchor not specified or not found, fall back to main content
+ const docContent = htmlElement.querySelector('[role="main"]');
+ if (docContent) return docContent.textContent;
+
+ console.warn(
+ "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template.",
+ );
+ return "";
+ },
+
+ init: () => {
+ const query = new URLSearchParams(window.location.search).get("q");
+ document
+ .querySelectorAll('input[name="q"]')
+ .forEach((el) => (el.value = query));
+ if (query) Search.performSearch(query);
+ },
+
+ loadIndex: (url) =>
+ (document.body.appendChild(document.createElement("script")).src = url),
+
+ setIndex: (index) => {
+ Search._index = index;
+ if (Search._queued_query !== null) {
+ const query = Search._queued_query;
+ Search._queued_query = null;
+ Search.query(query);
+ }
+ },
+
+ hasIndex: () => Search._index !== null,
+
+ deferQuery: (query) => (Search._queued_query = query),
+
+ stopPulse: () => (Search._pulse_status = -1),
+
+ startPulse: () => {
+ if (Search._pulse_status >= 0) return;
+
+ const pulse = () => {
+ Search._pulse_status = (Search._pulse_status + 1) % 4;
+ Search.dots.innerText = ".".repeat(Search._pulse_status);
+ if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
+ };
+ pulse();
+ },
+
+ /**
+ * perform a search for something (or wait until index is loaded)
+ */
+ performSearch: (query) => {
+ // create the required interface elements
+ const searchText = document.createElement("h2");
+ searchText.textContent = _("Searching");
+ const searchSummary = document.createElement("p");
+ searchSummary.classList.add("search-summary");
+ searchSummary.innerText = "";
+ const searchList = document.createElement("ul");
+ searchList.setAttribute("role", "list");
+ searchList.classList.add("search");
+
+ const out = document.getElementById("search-results");
+ Search.title = out.appendChild(searchText);
+ Search.dots = Search.title.appendChild(document.createElement("span"));
+ Search.status = out.appendChild(searchSummary);
+ Search.output = out.appendChild(searchList);
+
+ const searchProgress = document.getElementById("search-progress");
+ // Some themes don't use the search progress node
+ if (searchProgress) {
+ searchProgress.innerText = _("Preparing search...");
+ }
+ Search.startPulse();
+
+ // index already loaded, the browser was quick!
+ if (Search.hasIndex()) Search.query(query);
+ else Search.deferQuery(query);
+ },
+
+ _parseQuery: (query) => {
+ // stem the search terms and add them to the correct list
+ const stemmer = new Stemmer();
+ const searchTerms = new Set();
+ const excludedTerms = new Set();
+ const highlightTerms = new Set();
+ const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
+ splitQuery(query.trim()).forEach((queryTerm) => {
+ const queryTermLower = queryTerm.toLowerCase();
+
+ // maybe skip this "word"
+ // stopwords set is from language_data.js
+ if (stopwords.has(queryTermLower) || queryTerm.match(/^\d+$/)) return;
+
+ // stem the word
+ let word = stemmer.stemWord(queryTermLower);
+ // select the correct list
+ if (word[0] === "-") excludedTerms.add(word.substr(1));
+ else {
+ searchTerms.add(word);
+ highlightTerms.add(queryTermLower);
+ }
+ });
+
+ if (SPHINX_HIGHLIGHT_ENABLED) {
+ // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js
+ localStorage.setItem(
+ "sphinx_highlight_terms",
+ [...highlightTerms].join(" "),
+ );
+ }
+
+ // console.debug("SEARCH: searching for:");
+ // console.info("required: ", [...searchTerms]);
+ // console.info("excluded: ", [...excludedTerms]);
+
+ return [query, searchTerms, excludedTerms, highlightTerms, objectTerms];
+ },
+
+ /**
+ * execute search (requires search index to be loaded)
+ */
+ _performSearch: (
+ query,
+ searchTerms,
+ excludedTerms,
+ highlightTerms,
+ objectTerms,
+ ) => {
+ const filenames = Search._index.filenames;
+ const docNames = Search._index.docnames;
+ const titles = Search._index.titles;
+ const allTitles = Search._index.alltitles;
+ const indexEntries = Search._index.indexentries;
+
+ // Collect multiple result groups to be sorted separately and then ordered.
+ // Each is an array of [docname, title, anchor, descr, score, filename, kind].
+ const normalResults = [];
+ const nonMainIndexResults = [];
+
+ _removeChildren(document.getElementById("search-progress"));
+
+ const queryLower = query.toLowerCase().trim();
+ for (const [title, foundTitles] of Object.entries(allTitles)) {
+ if (
+ title.toLowerCase().trim().includes(queryLower)
+ && queryLower.length >= title.length / 2
+ ) {
+ for (const [file, id] of foundTitles) {
+ const score = Math.round(
+ (Scorer.title * queryLower.length) / title.length,
+ );
+ const boost = titles[file] === title ? 1 : 0; // add a boost for document titles
+ normalResults.push([
+ docNames[file],
+ titles[file] !== title ? `${titles[file]} > ${title}` : title,
+ id !== null ? "#" + id : "",
+ null,
+ score + boost,
+ filenames[file],
+ SearchResultKind.title,
+ ]);
+ }
+ }
+ }
+
+ // search for explicit entries in index directives
+ for (const [entry, foundEntries] of Object.entries(indexEntries)) {
+ if (entry.includes(queryLower) && queryLower.length >= entry.length / 2) {
+ for (const [file, id, isMain] of foundEntries) {
+ const score = Math.round((100 * queryLower.length) / entry.length);
+ const result = [
+ docNames[file],
+ titles[file],
+ id ? "#" + id : "",
+ null,
+ score,
+ filenames[file],
+ SearchResultKind.index,
+ ];
+ if (isMain) {
+ normalResults.push(result);
+ } else {
+ nonMainIndexResults.push(result);
+ }
+ }
+ }
+ }
+
+ // lookup as object
+ objectTerms.forEach((term) =>
+ normalResults.push(...Search.performObjectSearch(term, objectTerms)),
+ );
+
+ // lookup as search terms in fulltext
+ normalResults.push(
+ ...Search.performTermsSearch(searchTerms, excludedTerms),
+ );
+
+ // let the scorer override scores with a custom scoring function
+ if (Scorer.score) {
+ normalResults.forEach((item) => (item[4] = Scorer.score(item)));
+ nonMainIndexResults.forEach((item) => (item[4] = Scorer.score(item)));
+ }
+
+ // Sort each group of results by score and then alphabetically by name.
+ normalResults.sort(_orderResultsByScoreThenName);
+ nonMainIndexResults.sort(_orderResultsByScoreThenName);
+
+ // Combine the result groups in (reverse) order.
+ // Non-main index entries are typically arbitrary cross-references,
+ // so display them after other results.
+ let results = [...nonMainIndexResults, ...normalResults];
+
+ // remove duplicate search results
+ // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
+ let seen = new Set();
+ results = results.reverse().reduce((acc, result) => {
+ let resultStr = result
+ .slice(0, 4)
+ .concat([result[5]])
+ .map((v) => String(v))
+ .join(",");
+ if (!seen.has(resultStr)) {
+ acc.push(result);
+ seen.add(resultStr);
+ }
+ return acc;
+ }, []);
+
+ return results.reverse();
+ },
+
+ query: (query) => {
+ const [
+ searchQuery,
+ searchTerms,
+ excludedTerms,
+ highlightTerms,
+ objectTerms,
+ ] = Search._parseQuery(query);
+ const results = Search._performSearch(
+ searchQuery,
+ searchTerms,
+ excludedTerms,
+ highlightTerms,
+ objectTerms,
+ );
+
+ // for debugging
+ //Search.lastresults = results.slice(); // a copy
+ // console.info("search results:", Search.lastresults);
+
+ // print the results
+ _displayNextItem(results, results.length, searchTerms, highlightTerms);
+ },
+
+ /**
+ * search for object names
+ */
+ performObjectSearch: (object, objectTerms) => {
+ const filenames = Search._index.filenames;
+ const docNames = Search._index.docnames;
+ const objects = Search._index.objects;
+ const objNames = Search._index.objnames;
+ const titles = Search._index.titles;
+
+ const results = [];
+
+ const objectSearchCallback = (prefix, match) => {
+ const name = match[4];
+ const fullname = (prefix ? prefix + "." : "") + name;
+ const fullnameLower = fullname.toLowerCase();
+ if (fullnameLower.indexOf(object) < 0) return;
+
+ let score = 0;
+ const parts = fullnameLower.split(".");
+
+ // check for different match types: exact matches of full name or
+ // "last name" (i.e. last dotted part)
+ if (fullnameLower === object || parts.slice(-1)[0] === object)
+ score += Scorer.objNameMatch;
+ else if (parts.slice(-1)[0].indexOf(object) > -1)
+ score += Scorer.objPartialMatch; // matches in last name
+
+ const objName = objNames[match[1]][2];
+ const title = titles[match[0]];
+
+ // If more than one term searched for, we require other words to be
+ // found in the name/title/description
+ const otherTerms = new Set(objectTerms);
+ otherTerms.delete(object);
+ if (otherTerms.size > 0) {
+ const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
+ if (
+ [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
+ )
+ return;
+ }
+
+ let anchor = match[3];
+ if (anchor === "") anchor = fullname;
+ else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
+
+ const descr = objName + _(", in ") + title;
+
+ // add custom score for some objects according to scorer
+ if (Scorer.objPrio.hasOwnProperty(match[2]))
+ score += Scorer.objPrio[match[2]];
+ else score += Scorer.objPrioDefault;
+
+ results.push([
+ docNames[match[0]],
+ fullname,
+ "#" + anchor,
+ descr,
+ score,
+ filenames[match[0]],
+ SearchResultKind.object,
+ ]);
+ };
+ Object.keys(objects).forEach((prefix) =>
+ objects[prefix].forEach((array) => objectSearchCallback(prefix, array)),
+ );
+ return results;
+ },
+
+ /**
+ * search for full-text terms in the index
+ */
+ performTermsSearch: (searchTerms, excludedTerms) => {
+ // prepare search
+ const terms = Search._index.terms;
+ const titleTerms = Search._index.titleterms;
+ const filenames = Search._index.filenames;
+ const docNames = Search._index.docnames;
+ const titles = Search._index.titles;
+
+ const scoreMap = new Map();
+ const fileMap = new Map();
+
+ // perform the search on the required terms
+ searchTerms.forEach((word) => {
+ const files = [];
+ // find documents, if any, containing the query word in their text/title term indices
+ // use Object.hasOwnProperty to avoid mismatching against prototype properties
+ const arr = [
+ {
+ files: terms.hasOwnProperty(word) ? terms[word] : undefined,
+ score: Scorer.term,
+ },
+ {
+ files: titleTerms.hasOwnProperty(word) ? titleTerms[word] : undefined,
+ score: Scorer.title,
+ },
+ ];
+ // add support for partial matches
+ if (word.length > 2) {
+ const escapedWord = _escapeRegExp(word);
+ if (!terms.hasOwnProperty(word)) {
+ Object.keys(terms).forEach((term) => {
+ if (term.match(escapedWord))
+ arr.push({ files: terms[term], score: Scorer.partialTerm });
+ });
+ }
+ if (!titleTerms.hasOwnProperty(word)) {
+ Object.keys(titleTerms).forEach((term) => {
+ if (term.match(escapedWord))
+ arr.push({ files: titleTerms[term], score: Scorer.partialTitle });
+ });
+ }
+ }
+
+ // no match but word was a required one
+ if (arr.every((record) => record.files === undefined)) return;
+
+ // found search word in contents
+ arr.forEach((record) => {
+ if (record.files === undefined) return;
+
+ let recordFiles = record.files;
+ if (recordFiles.length === undefined) recordFiles = [recordFiles];
+ files.push(...recordFiles);
+
+ // set score for the word in each file
+ recordFiles.forEach((file) => {
+ if (!scoreMap.has(file)) scoreMap.set(file, new Map());
+ const fileScores = scoreMap.get(file);
+ fileScores.set(word, record.score);
+ });
+ });
+
+ // create the mapping
+ files.forEach((file) => {
+ if (!fileMap.has(file)) fileMap.set(file, [word]);
+ else if (fileMap.get(file).indexOf(word) === -1)
+ fileMap.get(file).push(word);
+ });
+ });
+
+ // now check if the files don't contain excluded terms
+ const results = [];
+ for (const [file, wordList] of fileMap) {
+ // check if all requirements are matched
+
+ // as search terms with length < 3 are discarded
+ const filteredTermCount = [...searchTerms].filter(
+ (term) => term.length > 2,
+ ).length;
+ if (
+ wordList.length !== searchTerms.size
+ && wordList.length !== filteredTermCount
+ )
+ continue;
+
+ // ensure that none of the excluded terms is in the search result
+ if (
+ [...excludedTerms].some(
+ (term) =>
+ terms[term] === file
+ || titleTerms[term] === file
+ || (terms[term] || []).includes(file)
+ || (titleTerms[term] || []).includes(file),
+ )
+ )
+ break;
+
+ // select one (max) score for the file.
+ const score = Math.max(...wordList.map((w) => scoreMap.get(file).get(w)));
+ // add result to the result list
+ results.push([
+ docNames[file],
+ titles[file],
+ "",
+ null,
+ score,
+ filenames[file],
+ SearchResultKind.text,
+ ]);
+ }
+ return results;
+ },
+
+ /**
+ * helper function to return a node containing the
+ * search summary for a given text. keywords is a list
+ * of stemmed words.
+ */
+ makeSearchSummary: (htmlText, keywords, anchor) => {
+ const text = Search.htmlToText(htmlText, anchor);
+ if (text === "") return null;
+
+ const textLower = text.toLowerCase();
+ const actualStartPosition = [...keywords]
+ .map((k) => textLower.indexOf(k.toLowerCase()))
+ .filter((i) => i > -1)
+ .slice(-1)[0];
+ const startWithContext = Math.max(actualStartPosition - 120, 0);
+
+ const top = startWithContext === 0 ? "" : "...";
+ const tail = startWithContext + 240 < text.length ? "..." : "";
+
+ let summary = document.createElement("p");
+ summary.classList.add("context");
+ summary.textContent =
+ top + text.substr(startWithContext, 240).trim() + tail;
+
+ return summary;
+ },
+};
+
+_ready(Search.init);
diff --git a/docs/_build/html/_static/sphinx_highlight.js b/docs/_build/html/_static/sphinx_highlight.js
new file mode 100644
index 0000000..a74e103
--- /dev/null
+++ b/docs/_build/html/_static/sphinx_highlight.js
@@ -0,0 +1,159 @@
+/* Highlighting utilities for Sphinx HTML documentation. */
+"use strict";
+
+const SPHINX_HIGHLIGHT_ENABLED = true;
+
+/**
+ * highlight a given string on a node by wrapping it in
+ * span elements with the given class name.
+ */
+const _highlight = (node, addItems, text, className) => {
+ if (node.nodeType === Node.TEXT_NODE) {
+ const val = node.nodeValue;
+ const parent = node.parentNode;
+ const pos = val.toLowerCase().indexOf(text);
+ if (
+ pos >= 0
+ && !parent.classList.contains(className)
+ && !parent.classList.contains("nohighlight")
+ ) {
+ let span;
+
+ const closestNode = parent.closest("body, svg, foreignObject");
+ const isInSVG = closestNode && closestNode.matches("svg");
+ if (isInSVG) {
+ span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+ } else {
+ span = document.createElement("span");
+ span.classList.add(className);
+ }
+
+ span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+ const rest = document.createTextNode(val.substr(pos + text.length));
+ parent.insertBefore(span, parent.insertBefore(rest, node.nextSibling));
+ node.nodeValue = val.substr(0, pos);
+ /* There may be more occurrences of search term in this node. So call this
+ * function recursively on the remaining fragment.
+ */
+ _highlight(rest, addItems, text, className);
+
+ if (isInSVG) {
+ const rect = document.createElementNS(
+ "http://www.w3.org/2000/svg",
+ "rect",
+ );
+ const bbox = parent.getBBox();
+ rect.x.baseVal.value = bbox.x;
+ rect.y.baseVal.value = bbox.y;
+ rect.width.baseVal.value = bbox.width;
+ rect.height.baseVal.value = bbox.height;
+ rect.setAttribute("class", className);
+ addItems.push({ parent: parent, target: rect });
+ }
+ }
+ } else if (node.matches && !node.matches("button, select, textarea")) {
+ node.childNodes.forEach((el) => _highlight(el, addItems, text, className));
+ }
+};
+const _highlightText = (thisNode, text, className) => {
+ let addItems = [];
+ _highlight(thisNode, addItems, text, className);
+ addItems.forEach((obj) =>
+ obj.parent.insertAdjacentElement("beforebegin", obj.target),
+ );
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const SphinxHighlight = {
+ /**
+ * highlight the search words provided in localstorage in the text
+ */
+ highlightSearchWords: () => {
+ if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight
+
+ // get and clear terms from localstorage
+ const url = new URL(window.location);
+ const highlight =
+ localStorage.getItem("sphinx_highlight_terms")
+ || url.searchParams.get("highlight")
+ || "";
+ localStorage.removeItem("sphinx_highlight_terms");
+ // Update history only if '?highlight' is present; otherwise it
+ // clears text fragments (not set in window.location by the browser)
+ if (url.searchParams.has("highlight")) {
+ url.searchParams.delete("highlight");
+ window.history.replaceState({}, "", url);
+ }
+
+ // get individual terms from highlight string
+ const terms = highlight
+ .toLowerCase()
+ .split(/\s+/)
+ .filter((x) => x);
+ if (terms.length === 0) return; // nothing to do
+
+ // There should never be more than one element matching "div.body"
+ const divBody = document.querySelectorAll("div.body");
+ const body = divBody.length ? divBody[0] : document.querySelector("body");
+ window.setTimeout(() => {
+ terms.forEach((term) => _highlightText(body, term, "highlighted"));
+ }, 10);
+
+ const searchBox = document.getElementById("searchbox");
+ if (searchBox === null) return;
+ searchBox.appendChild(
+ document
+ .createRange()
+ .createContextualFragment(
+ ''
+ + ''
+ + _("Hide Search Matches")
+ + "
",
+ ),
+ );
+ },
+
+ /**
+ * helper function to hide the search marks again
+ */
+ hideSearchWords: () => {
+ document
+ .querySelectorAll("#searchbox .highlight-link")
+ .forEach((el) => el.remove());
+ document
+ .querySelectorAll("span.highlighted")
+ .forEach((el) => el.classList.remove("highlighted"));
+ localStorage.removeItem("sphinx_highlight_terms");
+ },
+
+ initEscapeListener: () => {
+ // only install a listener if it is really needed
+ if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return;
+
+ document.addEventListener("keydown", (event) => {
+ // bail for input elements
+ if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName))
+ return;
+ // bail with special keys
+ if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey)
+ return;
+ if (
+ DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+ && event.key === "Escape"
+ ) {
+ SphinxHighlight.hideSearchWords();
+ event.preventDefault();
+ }
+ });
+ },
+};
+
+_ready(() => {
+ /* Do not call highlightSearchWords() when we are on the search page.
+ * It will highlight words from the *previous* search query.
+ */
+ if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords();
+ SphinxHighlight.initEscapeListener();
+});
diff --git a/docs/_build/html/data.html b/docs/_build/html/data.html
new file mode 100644
index 0000000..61568a8
--- /dev/null
+++ b/docs/_build/html/data.html
@@ -0,0 +1,288 @@
+
+
+
+
+
+ Données — Stockage et budget disque — cosma-qc 1.0 documentation
+
+
+
+
+
+
+ cosma-qc
+
+
+
+
+
+
+
+
+
+Données — Stockage et budget disque
+
+Où sont stockées les données
+
+
+
+
+Type de donnée
Emplacement
Remarques
+
+MP4 bruts GoPro
z620 /mnt/portablessd
Ne quittent jamais z620. Jamais copiés sur workers.
Frames JPEG
Worker /cosma-qc-frames/job_{id}/frame_*.jpg
Conservés pour reprise sur crash. Supprimables après validation du stitch.
PLY par job
Worker /cosma-qc-frames/job_{id}/reconstruction.ply
Entrée du stitch per_auv.
PLY stitch par AUV
Worker /cosma-qc-frames/stitch_{N}.ply
Fusion des segments d’un AUV.
PLY stitch global
Worker /cosma-qc-frames/stitch_global.ply
Nuage de points final toute mission.
GLB (export web)
Worker /cosma-qc-frames/job_{id}/reconstruction.glb
Généré à la demande. 5M points, ~76 MB.
+
+
+
+Budget disque observé
+
+
+
+
+Type
Taille typique
Base de calcul
+
+Frames JPEG par job
~11 GB
job 45 min à 2 fps, 1920x1080
PLY par job (reconstruction)
2 – 5 GB
dépend de la densité de la scène
GLB par job (export web)
~76 MB
5M points (job_21 observé)
PLY stitch AUV
variable
somme des PLY segments
PLY global
variable
somme de tous les AUV
+
+Pour un AUV avec 4 jobs de 45 min chacun :
+
+Frames : 4 x 11 GB = ~44 GB (supprimables après validation)
PLY jobs : 4 x 3.5 GB = ~14 GB
PLY stitch AUV : ~6-10 GB
+
+
+Politique de nettoyage
+
+Frames JPEG
+Les frames sont conservées uniquement pour permettre la reprise sur crash.
+Une fois le stitch per_auv validé visuellement, les frames peuvent être supprimées .
+# Supprimer les frames d'un job (conserver le PLY !)
+rm -rf /cosma-qc-frames/job_ID/frame_*.jpg
+rm -f /cosma-qc-frames/job_ID/.video_*.done
+
+# Vérifier que le PLY est intact avant suppression
+ls -lh /cosma-qc-frames/job_ID/reconstruction.ply
+
+
+
+
+Vérification espace disque
+# Espace total workers
+ssh floppyrj45@192.168.0.84 "df -h /cosma-qc-frames"
+ssh floppyrj45@192.168.0.87 "df -h /cosma-qc-frames"
+
+# Taille par job
+du -sh /cosma-qc-frames/job_*/
+
+# Top consommateurs
+du -sh /cosma-qc-frames/* | sort -rh | head -20
+
+
+
+
+Export GLB
+Le GLB est une version allégée du nuage de points pour visualisation web.
+Génération via l’API dashboard :
+ -X POST http://192.168.0.82:3849/jobs/ID/export_glb
+
+
Génération manuelle sur le worker :
+import trimesh , numpy as np
+pc = trimesh . load ( '/cosma-qc-frames/job_ID/reconstruction.ply' )
+idx = np . random . choice ( len ( pc . vertices ), 5_000_000 , replace = False )
+sub = trimesh . PointCloud ( pc . vertices [ idx ], colors = pc . colors [ idx ])
+sub . export ( '/cosma-qc-frames/job_ID/reconstruction.glb' )
+
+
Téléchargement :
+# Lancer le serveur HTTP sur le worker
+ssh floppyrj45@192.168.0.84 \
+ "python3 -m http.server 8300 --directory /cosma-qc-frames"
+
+# Télécharger depuis PC
+wget http://192.168.0.84:8300/job_ID/reconstruction.glb
+
+
+
+Reprise sur crash — marqueurs .done
+Chaque MP4 extrait avec succès génère un fichier marqueur :
+
+
En cas de crash, la reprise saute automatiquement les vidéos déjà traitées.
+Pour forcer une ré-extraction complète :
+ /cosma-qc-frames/job_ID/.video_*.done
+
+
+
+
+
+
+
+
+
+
+
Index — cosma-qc 1.0 documentation
+ cosma-qc — Documentation — cosma-qc 1.0 documentation
+
+
+
+
+
+
+ cosma-qc
+
+
+
+
+
+
+
+
+
+cosma-qc — Documentation
+Pipeline de contrôle qualité vidéo pour drones sous-marins AUV COSMA.
+
+
+
+
+
+
+
+
+
+
Infrastructure — cosma-qc 1.0 documentation
+
+
+
+
+
+
+ cosma-qc
+
+
+
+
+
+
+
+
+
+Infrastructure
+
+Réseau LAN — 192.168.0.0/24
+
+
+
+Nœud core (.82)
+Rôle : orchestrateur central du pipeline.
+Services actifs :
+
+Dispatcher — service systemd cosma-qc-dispatcher.
+Boucle principale qui dispatch les jobs aux workers GPU.
Dashboard FastAPI — conteneur Docker exposé sur le port 3849 .
+Interface web de monitoring des jobs.
Gitea — dépôt source floppyrj45/cosma-qc.
Grafana / InfluxDB — monitoring infrastructure.
+Commandes utiles :
+# Statut dispatcher
+sudo systemctl status cosma-qc-dispatcher
+
+# Logs dispatcher temps réel
+sudo journalctl -u cosma-qc-dispatcher -f
+
+# Dashboard
+http://192.168.0.82:3849
+
+
+
+Nœuds GPU workers (.84 et .87)
+
+
+
+
+IP
Nom
GPU
VRAM
+
+.84
ml-stack
RTX 3090
24 GB
.87
gpu
RTX 3060
12 GB
+
+Rôle : exécution de ffmpeg (extraction frames) et lingbot-map (reconstruction 3D).
+Répertoire de travail sur chaque worker :
+
+
+
+Nœud z620 (.168)
+Rôle : stockage des MP4 bruts GoPro.
+
+Accès SSH depuis core :
+ floppyrj45@192.168.0.168
+
+
+
+Service systemd dispatcher
+Fichier de service : /etc/systemd/system/cosma-qc-dispatcher.service
+[Unit]
+Description = COSMA QC Dispatcher
+After = network.target
+
+[Service]
+User = floppyrj45
+WorkingDirectory = /home/floppyrj45/docker/cosma-qc
+ExecStart = /usr/bin/python3 app/dispatcher.py
+Restart = on-failure
+RestartSec = 10
+
+[Install]
+WantedBy = multi-user.target
+
+
Commandes de gestion :
+ systemctl start cosma-qc-dispatcher
+sudo systemctl stop cosma-qc-dispatcher
+sudo systemctl restart cosma-qc-dispatcher
+sudo systemctl enable cosma-qc-dispatcher # démarrage auto
+
+
+
+Conteneur Docker dashboard
+Le dashboard FastAPI tourne dans un conteneur Docker.
+cd /home/floppyrj45/docker/cosma-qc
+docker compose up -d # démarrer
+docker compose down # arrêter
+docker compose logs -f # logs
+
+
Accès : http://192.168.0.82:3849
+
+
+Ports réseau récapitulatifs
+
+
+
+
+Host
Port
Service
+
+.82
3849
Dashboard FastAPI cosma-qc
.84 / .87
8100+N
Viser viewer (reconstruction job N)
.84 / .87
8300
HTTP server GLB export
+
+
+
+
+
+
+
+
+
+
+
Pipeline cosma-qc — cosma-qc 1.0 documentation
+
+
+
+
+
+
+ cosma-qc
+
+
+
+
+
+
+
+
+
+Pipeline cosma-qc
+
+Vue d’ensemble
+Le pipeline cosma-qc traite les vidéos GoPro brutes acquises par les drones sous-marins
+AUV COSMA pour produire des nuages de points 3D denses (PLY) et des exports web (GLB).
+
+
+Flux de données global
+
+
+
+Étape 1 — Ingest
+Script : scripts/ingest.py
+Rôle : Scanner le SSD de z620, regrouper les MP4 GoPro par AUV/GoPro/segment
+temporel et écrire les jobs dans la base SQLite.
+Logique de regroupement :
+
+Les fichiers sont groupés par numéro de caméra GoPro (GXXX).
Un nouveau segment est créé si l’écart entre deux fichiers dépasse 5 minutes .
Chaque segment → un job en base avec statut pending.
+Structure d’un job en base :
+CREATE TABLE jobs (
+ id INTEGER PRIMARY KEY ,
+ auv TEXT ,
+ gopro TEXT ,
+ segment INTEGER ,
+ files TEXT , -- JSON list of z620:/path/GX*.MP4
+ status TEXT , -- pending / running / done / failed
+ worker TEXT ,
+ created_at TIMESTAMP ,
+ updated_at TIMESTAMP
+);
+
+
Les chemins vidéo sont stockés sous la forme z620:/chemin/absolu/GX*.MP4
+pour indiquer que la source est sur z620, pas sur le worker GPU.
+
+
+
+Étape 3 — Reconstruction 3D
+Fonction : do_reconstruct
+Outil : lingbot-map (demo.py) sur le worker GPU
+Entrée : répertoire de frames {worker_frames_dir}/job_{id}/
+Sortie : {worker_frames_dir}/job_{id}/reconstruction.ply
+(nuage de points dense, jusqu’à 150 millions de points )
+Un viewer Viser est automatiquement démarré sur le port 8100 + job_id
+pendant la reconstruction pour visualisation en temps réel.
+# Visualiser pendant reconstruction
+# naviguer vers http://{worker_ip}:{8100+job_id}
+
+
+
+Étape 4 — Stitch par AUV
+Fonction : do_stitch_per_auv
+Déclenchement : automatique quand tous les jobs d’un AUV sont en statut done.
+Outil : cosma-stitch.py
+Opération : alignement et fusion des PLY de tous les segments d’un même AUV.
+Sortie : {worker_frames_dir}/stitch_{N}.ply
+Ce stitch s’exécute sur le worker qui détient les PLY (pas de copie inter-workers).
+
+
+Étape 5 — Stitch cross-AUV
+Fonction : do_stitch_cross_auv
+Déclenchement : automatique quand tous les stitches per_auv sont validés.
+Opération : fusion de tous les PLY par AUV en un nuage de points global final.
+Sortie : {worker_frames_dir}/stitch_global.ply
+
+
+Étape 6 — Export GLB (à la demande)
+Outil : trimesh (conversion PLY → GLB)
+Sous-échantillonnage : 5 millions de points (adapté web/navigateur)
+Sortie : {worker_frames_dir}/job_{id}/reconstruction.glb
+Un serveur HTTP minimal est lancé sur le worker (port 8300 ) pour le téléchargement :
+# Sur le worker
+python3 -m http.server 8300 --directory { worker_frames_dir}
+
+# Télécharger depuis un PC
+wget http://{ worker_ip} :8300/job_{ id} /reconstruction.glb
+
+
+
+Statuts de jobs
+
+
+
+
+Statut
Description
+
+pending
Job créé, en attente de dispatch
running
En cours de traitement (extraction ou reconstruction)
done
Reconstruction terminée, PLY disponible
failed
Erreur — voir logs du dispatcher
+
+
+
+
+
+
+
+
+
+
+
Search — cosma-qc 1.0 documentation
+
+
+
+
+
+
+ cosma-qc
+
+
+
+
+
+
+
+
+
+
+
+ Please activate JavaScript to enable the search functionality.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Utilisation — cosma-qc 1.0 documentation
+
+
+
+
+
+
+ cosma-qc
+
+
+
+
+
+
+
+
+
+Utilisation
+
+Ingérer une nouvelle acquisition
+
+Connecter le SSD GoPro à z620 (ou s’assurer que les MP4 sont dans /mnt/portablessd
Lancer l’ingest depuis core :
+ floppyrj45@192.168.0.82
+cd /home/floppyrj45/docker/cosma-qc
+python3 scripts/ingest.py --path /mnt/portablessd/AUV009/
+
+
+Vérifier les jobs créés :
+ -c "
+import sqlite3
+conn = sqlite3.connect('cosma-qc.db')
+for row in conn.execute('SELECT id, auv, gopro, segment, status FROM jobs ORDER BY id'):
+ print(row)
+conn.close()
+"
+
+
+Le dispatcher prend automatiquement en charge les jobs en statut pending
+
+
+Surveiller les jobs
+
+
+Logs dispatcher
+# Logs temps réel
+sudo journalctl -u cosma-qc-dispatcher -f
+
+# Logs des 100 dernières lignes
+sudo journalctl -u cosma-qc-dispatcher -n 100
+
+# Filtrer erreurs
+sudo journalctl -u cosma-qc-dispatcher | grep -i error
+
+
+
+Base de données
+# État global des jobs
+sqlite3 /home/floppyrj45/docker/cosma-qc/cosma-qc.db \
+ "SELECT id, auv, status, worker, updated_at FROM jobs ORDER BY id;"
+
+# Jobs en cours
+sqlite3 cosma-qc.db \
+ "SELECT id, auv, worker FROM jobs WHERE status='running';"
+
+# Jobs échoués
+sqlite3 cosma-qc.db \
+ "SELECT id, auv, status FROM jobs WHERE status='failed';"
+
+
+
+
+Visualiser un nuage de points PLY
+Sur le worker avec viewer Viser (lancé automatiquement pendant reconstruction) :
+# Naviguer vers (remplacer ID par le numéro de job)
+http://192.168.0.84:8100 # pour job 0
+http://192.168.0.84:8101 # pour job 1
+# etc.
+
+
Avec CloudCompare depuis un PC (si PLY téléchargé) :
+# Copier le PLY vers PC
+scp floppyrj45@192.168.0.84:/cosma-qc-frames/job_ID/reconstruction.ply ./
+# Ouvrir dans CloudCompare
+
+
+
+Télécharger un GLB
+
+Générer le GLB via l’API :
+ -X POST http://192.168.0.82:3849/jobs/ID/export_glb
+
+
+Attendre la fin de la génération (peut prendre quelques minutes selon la taille du PLY).
Lancer le serveur HTTP sur le worker concerné :
+ floppyrj45@192.168.0.84 \
+ "nohup python3 -m http.server 8300 --directory /cosma-qc-frames > /tmp/http8300.log 2>&1 &"
+
+
+Télécharger :
+ http://192.168.0.84:8300/job_ID/reconstruction.glb
+
+
+Arrêter le serveur HTTP après téléchargement :
+ floppyrj45@192.168.0.84 "pkill -f 'http.server 8300'"
+
+
+
+Relancer un job échoué
+# Remettre un job en pending
+sqlite3 /home/floppyrj45/docker/cosma-qc/cosma-qc.db \
+ "UPDATE jobs SET status='pending', worker=NULL WHERE id=ID;"
+
+# Supprimer les marqueurs .done pour forcer ré-extraction complète
+ssh floppyrj45@192.168.0.84 \
+ "rm -f /cosma-qc-frames/job_ID/.video_*.done"
+
+# Redémarrer le dispatcher si nécessaire
+sudo systemctl restart cosma-qc-dispatcher
+
+
Le dispatcher reprend le job au prochain cycle.
+
+
+Redémarrer le pipeline complet
+# Arrêter
+sudo systemctl stop cosma-qc-dispatcher
+docker compose -f /home/floppyrj45/docker/cosma-qc/docker-compose.yml down
+
+# Démarrer
+docker compose -f /home/floppyrj45/docker/cosma-qc/docker-compose.yml up -d
+sudo systemctl start cosma-qc-dispatcher
+
+
+
+Vérifications rapides post-mission
+# 1. Tous les jobs done ?
+sqlite3 cosma-qc.db "SELECT COUNT(*) FROM jobs WHERE status != 'done';"
+# Doit retourner 0
+
+# 2. Tous les PLY présents ?
+for id in $( sqlite3 cosma-qc.db "SELECT id FROM jobs WHERE status='done'" ) ; do
+ worker = $( sqlite3 cosma-qc.db "SELECT worker FROM jobs WHERE id= $id " )
+ ssh floppyrj45@$worker "ls -lh /cosma-qc-frames/job_ ${ id } /reconstruction.ply"
+done
+
+# 3. Espace disque OK ?
+ssh floppyrj45@192.168.0.84 "df -h /cosma-qc-frames"
+ssh floppyrj45@192.168.0.87 "df -h /cosma-qc-frames"
+
+
+
+
+
+
+
+
+
+
+