feat: docs Sphinx pipeline + lien dashboard header

docs/_build/html/.buildinfo

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+# Sphinx build info version 1
+# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: fa99f5b27a6838059f5aa6cbfb8873ec
+tags: 645f666f9bcd5a90fca523b33c5a78b7

docs/_build/html/_sources/data.rst.txt

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+Données — Stockage et budget disque
+=====================================
+
+Où sont stockées les données
+------------------------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 30 20 50
+
+   * - 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
+----------------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 40 30 30
+
+   * - 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**.
+
+.. code-block:: bash
+
+    # 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
+
+PLY intermédiaires
+^^^^^^^^^^^^^^^^^^
+
+Les PLY par job peuvent être supprimés après que le stitch per_auv est validé
+et sauvegardé hors-ligne.
+
+.. code-block:: bash
+
+    # Conserver uniquement le stitch, supprimer les PLY jobs
+    rm /cosma-qc-frames/job_ID/reconstruction.ply
+
+Vérification espace disque
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. code-block:: bash
+
+    # 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 :
+
+.. code-block:: bash
+
+    curl -X POST http://192.168.0.82:3849/jobs/ID/export_glb
+
+Génération manuelle sur le worker :
+
+.. code-block:: python
+
+    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 :
+
+.. code-block:: bash
+
+    # 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 :
+
+.. code-block:: text
+
+    /cosma-qc-frames/job_ID/.video_0.done
+    /cosma-qc-frames/job_ID/.video_1.done
+    ...
+
+En cas de crash, la reprise saute automatiquement les vidéos déjà traitées.
+
+Pour forcer une ré-extraction complète :
+
+.. code-block:: bash
+
+    rm /cosma-qc-frames/job_ID/.video_*.done

docs/_build/html/_sources/index.rst.txt

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+cosma-qc — Documentation
+=========================
+
+Pipeline de contrôle qualité vidéo pour drones sous-marins AUV COSMA.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contenu
+
+   pipeline
+   infrastructure
+   data
+   usage

docs/_build/html/_sources/infrastructure.rst.txt

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+Infrastructure
+==============
+
+Réseau LAN — 192.168.0.0/24
+-----------------------------
+
+.. code-block:: text
+
+    ┌─────────────────────────────────────────────────────────┐
+    │                  LAN 192.168.0.0/24                     │
+    │                                                          │
+    │  .82  CORE       Dispatcher (systemd) + FastAPI :3849   │
+    │                  Gitea + Grafana + InfluxDB + Caddy      │
+    │                                                          │
+    │  .84  ml-stack   GPU worker  RTX 3090 24GB               │
+    │  .87  gpu        GPU worker  RTX 3060 12GB               │
+    │                                                          │
+    │  .168 z620       Proxmox host  HP Z620                   │
+    │                  SSD → /mnt/portablessd  (MP4 bruts)     │
+    └─────────────────────────────────────────────────────────┘
+
+
+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 :
+
+.. code-block:: bash
+
+    # 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)
+--------------------------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 15 25 20 40
+
+   * - 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 :
+
+.. code-block:: text
+
+    /cosma-qc-frames/
+    ├── job_1/
+    │   ├── frame_000001.jpg  …  frame_NNNNNN.jpg
+    │   ├── .video_0.done
+    │   ├── reconstruction.ply
+    │   └── reconstruction.glb   (généré à la demande)
+    ├── job_2/
+    │   └── …
+    └── stitch_1.ply
+
+
+Nœud z620 (.168)
+-----------------
+
+**Rôle :** stockage des MP4 bruts GoPro.
+
+- Proxmox host HP Z620.
+- SSD monté sur /mnt/portablessd.
+- Les MP4 **ne quittent jamais** z620 — ffmpeg s'y exécute via SSH.
+
+Accès SSH depuis core :
+
+.. code-block:: bash
+
+    ssh floppyrj45@192.168.0.168
+
+
+Service systemd dispatcher
+---------------------------
+
+Fichier de service : /etc/systemd/system/cosma-qc-dispatcher.service
+
+.. code-block:: ini
+
+    [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 :
+
+.. code-block:: bash
+
+    sudo 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.
+
+.. code-block:: bash
+
+    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
+----------------------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 15 15 70
+
+   * - 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

docs/_build/html/_sources/pipeline.rst.txt

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+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
+----------------------
+
+.. code-block:: text
+
+    z620 (/mnt/portablessd)
+    ├── GX*.MP4  (brut)
+         │
+         ▼  [1. Ingest]
+    SQLite DB (jobs)
+         │
+         ▼  [2. Extraction ffmpeg]
+    GPU worker  /cosma-qc-frames/job_{id}/frame_%06d.jpg
+         │
+         ▼  [3. Reconstruction lingbot-map]
+    GPU worker  /cosma-qc-frames/job_{id}/reconstruction.ply
+         │
+         ▼  [4. Stitch per_auv]
+    GPU worker  /cosma-qc-frames/stitch_{N}.ply  (par AUV)
+         │
+         ▼  [5. Stitch cross_auv]
+    GPU worker  /cosma-qc-frames/stitch_global.ply
+         │
+         ▼  [6. Export GLB  (à la demande)]
+    GPU worker  /cosma-qc-frames/job_{id}/reconstruction.glb
+
+
+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 :
+
+.. code-block:: sql
+
+    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 2 — Extraction des frames
+---------------------------------
+
+**Fonction :** do_extract dans le dispatcher (core .82)
+
+**Outil :** ffmpeg
+
+Paramètres d'extraction :
+
+.. code-block:: bash
+
+    ffmpeg -i input.mp4         -vf fps=2,scale=1920:1080         -q:v 2         {frames_dir}/job_{id}/frame_%06d.jpg
+
+**Particularité z620 :** lorsque la source est z620:/..., ffmpeg s'exécute
+**directement sur z620** via SSH — seuls les JPEG voyagent sur le réseau.
+Les MP4 bruts ne quittent jamais z620.
+
+Filtre hors-eau (heuristique de luminosité) :
+
+- Les frames dont la luminosité moyenne est au-dessus d'un seuil sont supprimées
+  (ciel, surface, hors-eau).
+- Ce filtre réduit le bruit dans la reconstruction.
+
+Reprise sur crash :
+
+- Un fichier marqueur .video_N.done est créé après chaque MP4 traité.
+- En cas de redémarrage, les vidéos déjà traitées sont ignorées.
+
+
+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.
+
+.. code-block:: bash
+
+    # 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 :
+
+.. code-block:: bash
+
+    # 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
+---------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 20 80
+
+   * - 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

docs/_build/html/_sources/usage.rst.txt

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+Utilisation
+===========
+
+Ingérer une nouvelle acquisition
+----------------------------------
+
+1. Connecter le SSD GoPro à z620 (ou s'assurer que les MP4 sont dans ``/mnt/portablessd``).
+
+2. Lancer l'ingest depuis core :
+
+.. code-block:: bash
+
+    ssh floppyrj45@192.168.0.82
+    cd /home/floppyrj45/docker/cosma-qc
+    python3 scripts/ingest.py --path /mnt/portablessd/AUV009/
+
+3. Vérifier les jobs créés :
+
+.. code-block:: bash
+
+    python3 -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()
+    "
+
+4. Le dispatcher prend automatiquement en charge les jobs en statut ``pending``.
+
+
+Surveiller les jobs
+--------------------
+
+Dashboard web
+^^^^^^^^^^^^^
+
+Accéder au dashboard : http://192.168.0.82:3849
+
+Il affiche en temps réel :
+
+- Statut de chaque job (pending / running / done / failed)
+- Worker assigné
+- Progression des frames
+- Liens vers les PLY et GLB
+
+Logs dispatcher
+^^^^^^^^^^^^^^^
+
+.. code-block:: bash
+
+    # 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
+^^^^^^^^^^^^^^^
+
+.. code-block:: bash
+
+    # 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) :
+
+.. code-block:: bash
+
+    # 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) :
+
+.. code-block:: bash
+
+    # Copier le PLY vers PC
+    scp floppyrj45@192.168.0.84:/cosma-qc-frames/job_ID/reconstruction.ply ./
+    # Ouvrir dans CloudCompare
+
+
+Télécharger un GLB
+-------------------
+
+1. Générer le GLB via l'API :
+
+.. code-block:: bash
+
+    curl -X POST http://192.168.0.82:3849/jobs/ID/export_glb
+
+2. Attendre la fin de la génération (peut prendre quelques minutes selon la taille du PLY).
+
+3. Lancer le serveur HTTP sur le worker concerné :
+
+.. code-block:: bash
+
+    ssh floppyrj45@192.168.0.84 \
+        "nohup python3 -m http.server 8300 --directory /cosma-qc-frames > /tmp/http8300.log 2>&1 &"
+
+4. Télécharger :
+
+.. code-block:: bash
+
+    wget http://192.168.0.84:8300/job_ID/reconstruction.glb
+
+5. Arrêter le serveur HTTP après téléchargement :
+
+.. code-block:: bash
+
+    ssh floppyrj45@192.168.0.84 "pkill -f 'http.server 8300'"
+
+
+Relancer un job échoué
+-----------------------
+
+.. code-block:: bash
+
+    # 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
+--------------------------------
+
+.. code-block:: bash
+
+    # 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
+------------------------------------
+
+.. code-block:: bash
+
+    # 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"

docs/_build/html/_static/_sphinx_javascript_frameworks_compat.js

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+/* Compatability shim for jQuery and underscores.js.
+ *
+ * Copyright Sphinx contributors
+ * Released under the two clause BSD licence
+ */
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+    if (!x) {
+        return x
+    }
+    return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+    if (typeof s === 'undefined')
+        s = document.location.search;
+    var parts = s.substr(s.indexOf('?') + 1).split('&');
+    var result = {};
+    for (var i = 0; i < parts.length; i++) {
+        var tmp = parts[i].split('=', 2);
+        var key = jQuery.urldecode(tmp[0]);
+        var value = jQuery.urldecode(tmp[1]);
+        if (key in result)
+            result[key].push(value);
+        else
+            result[key] = [value];
+    }
+    return result;
+};
+
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+    function highlight(node, addItems) {
+        if (node.nodeType === 3) {
+            var val = node.nodeValue;
+            var pos = val.toLowerCase().indexOf(text);
+            if (pos >= 0 &&
+                !jQuery(node.parentNode).hasClass(className) &&
+                !jQuery(node.parentNode).hasClass("nohighlight")) {
+                var span;
+                var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+                if (isInSVG) {
+                    span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+                } else {
+                    span = document.createElement("span");
+                    span.className = className;
+                }
+                span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+                node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+                    document.createTextNode(val.substr(pos + text.length)),
+                    node.nextSibling));
+                node.nodeValue = val.substr(0, pos);
+                if (isInSVG) {
+                    var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+                    var bbox = node.parentElement.getBBox();
+                    rect.x.baseVal.value = bbox.x;
+                    rect.y.baseVal.value = bbox.y;
+                    rect.width.baseVal.value = bbox.width;
+                    rect.height.baseVal.value = bbox.height;
+                    rect.setAttribute('class', className);
+                    addItems.push({
+                        "parent": node.parentNode,
+                        "target": rect});
+                }
+            }
+        }
+        else if (!jQuery(node).is("button, select, textarea")) {
+            jQuery.each(node.childNodes, function() {
+                highlight(this, addItems);
+            });
+        }
+    }
+    var addItems = [];
+    var result = this.each(function() {
+        highlight(this, addItems);
+    });
+    for (var i = 0; i < addItems.length; ++i) {
+        jQuery(addItems[i].parent).before(addItems[i].target);
+    }
+    return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+    jQuery.uaMatch = function(ua) {
+        ua = ua.toLowerCase();
+
+        var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+            /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+            /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+            /(msie) ([\w.]+)/.exec(ua) ||
+            ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+            [];
+
+        return {
+            browser: match[ 1 ] || "",
+            version: match[ 2 ] || "0"
+        };
+    };
+    jQuery.browser = {};
+    jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}

docs/_build/html/_static/base-stemmer.js

@@ -0,0 +1,476 @@
+// @ts-check
+
+/**@constructor*/
+BaseStemmer = function() {
+    /** @protected */
+    this.current = '';
+    this.cursor = 0;
+    this.limit = 0;
+    this.limit_backward = 0;
+    this.bra = 0;
+    this.ket = 0;
+
+    /**
+     * @param {string} value
+     */
+    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;
+    };
+
+    /**
+     * @return {string}
+     */
+    this.getCurrent = function() {
+        return this.current;
+    };
+
+    /**
+     * @param {BaseStemmer} other
+     */
+    this.copy_from = function(other) {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.in_grouping = function(s, min, max) {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_in_grouping = function(s, min, max) {
+        /** @protected */
+        while (this.cursor < this.limit) {
+            var ch = this.current.charCodeAt(this.cursor);
+            if (ch > max || ch < min)
+                return true;
+            ch -= min;
+            if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0)
+                return true;
+            this.cursor++;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.in_grouping_b = function(s, min, max) {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_in_grouping_b = function(s, min, max) {
+        /** @protected */
+        while (this.cursor > this.limit_backward) {
+            var ch = this.current.charCodeAt(this.cursor - 1);
+            if (ch > max || ch < min) return true;
+            ch -= min;
+            if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return true;
+            this.cursor--;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.out_grouping = function(s, min, max) {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_out_grouping = function(s, min, max) {
+        /** @protected */
+        while (this.cursor < this.limit) {
+            var ch = this.current.charCodeAt(this.cursor);
+            if (ch <= max && ch >= min) {
+                ch -= min;
+                if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) != 0) {
+                    return true;
+                }
+            }
+            this.cursor++;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.out_grouping_b = function(s, min, max) {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_out_grouping_b = function(s, min, max) {
+        /** @protected */
+        while (this.cursor > this.limit_backward) {
+            var ch = this.current.charCodeAt(this.cursor - 1);
+            if (ch <= max && ch >= min) {
+                ch -= min;
+                if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) != 0) {
+                    return true;
+                }
+            }
+            this.cursor--;
+        }
+        return false;
+    };
+
+    /**
+     * @param {string} s
+     * @return {boolean}
+     */
+    this.eq_s = function(s)
+    {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @param {string} s
+     * @return {boolean}
+     */
+    this.eq_s_b = function(s)
+    {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @param {Among[]} v
+     * @return {number}
+     */
+    this.find_among = function(v)
+    {
+        /** @protected */
+        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
+    /**
+     * @param {Among[]} v
+     * @return {number}
+     */
+    this.find_among_b = function(v)
+    {
+        /** @protected */
+        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.
+     */
+    /**
+     * @param {number} c_bra
+     * @param {number} c_ket
+     * @param {string} s
+     * @return {number}
+     */
+    this.replace_s = function(c_bra, c_ket, s)
+    {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @return {boolean}
+     */
+    this.slice_check = function()
+    {
+        /** @protected */
+        if (this.bra < 0 ||
+            this.bra > this.ket ||
+            this.ket > this.limit ||
+            this.limit > this.current.length)
+        {
+            return false;
+        }
+        return true;
+    };
+
+    /**
+     * @param {number} c_bra
+     * @return {boolean}
+     */
+    this.slice_from = function(s)
+    {
+        /** @protected */
+        var result = false;
+        if (this.slice_check())
+        {
+            this.replace_s(this.bra, this.ket, s);
+            result = true;
+        }
+        return result;
+    };
+
+    /**
+     * @return {boolean}
+     */
+    this.slice_del = function()
+    {
+        /** @protected */
+        return this.slice_from("");
+    };
+
+    /**
+     * @param {number} c_bra
+     * @param {number} c_ket
+     * @param {string} s
+     */
+    this.insert = function(c_bra, c_ket, s)
+    {
+        /** @protected */
+        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;
+    };
+
+    /**
+     * @return {string}
+     */
+    this.slice_to = function()
+    {
+        /** @protected */
+        var result = '';
+        if (this.slice_check())
+        {
+            result = this.current.slice(this.bra, this.ket);
+        }
+        return result;
+    };
+
+    /**
+     * @return {string}
+     */
+    this.assign_to = function()
+    {
+        /** @protected */
+        return this.current.slice(0, this.limit);
+    };
+};

docs/_build/html/_static/basic.css

@@ -0,0 +1,906 @@
+/*
+ * Sphinx stylesheet -- basic theme.
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+    clear: both;
+}
+
+div.section::after {
+    display: block;
+    content: '';
+    clear: left;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+    width: 100%;
+    font-size: 90%;
+}
+
+div.related h3 {
+    display: none;
+}
+
+div.related ul {
+    margin: 0;
+    padding: 0 0 0 10px;
+    list-style: none;
+}
+
+div.related li {
+    display: inline;
+}
+
+div.related li.right {
+    float: right;
+    margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
+
+div.sphinxsidebarwrapper {
+    padding: 10px 5px 0 10px;
+}
+
+div.sphinxsidebar {
+    float: left;
+    width: 230px;
+    margin-left: -100%;
+    font-size: 90%;
+    word-wrap: break-word;
+    overflow-wrap : break-word;
+}
+
+div.sphinxsidebar ul {
+    list-style: none;
+}
+
+div.sphinxsidebar ul ul,
+div.sphinxsidebar ul.want-points {
+    margin-left: 20px;
+    list-style: square;
+}
+
+div.sphinxsidebar ul ul {
+    margin-top: 0;
+    margin-bottom: 0;
+}
+
+div.sphinxsidebar form {
+    margin-top: 10px;
+}
+
+div.sphinxsidebar input {
+    border: 1px solid #98dbcc;
+    font-family: sans-serif;
+    font-size: 1em;
+}
+
+div.sphinxsidebar #searchbox form.search {
+    overflow: hidden;
+}
+
+div.sphinxsidebar #searchbox input[type="text"] {
+    float: left;
+    width: 80%;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+div.sphinxsidebar #searchbox input[type="submit"] {
+    float: left;
+    width: 20%;
+    border-left: none;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+
+img {
+    border: 0;
+    max-width: 100%;
+}
+
+/* -- search page ----------------------------------------------------------- */
+
+ul.search {
+    margin-top: 10px;
+}
+
+ul.search li {
+    padding: 5px 0;
+}
+
+ul.search li a {
+    font-weight: bold;
+}
+
+ul.search li p.context {
+    color: #888;
+    margin: 2px 0 0 30px;
+    text-align: left;
+}
+
+ul.keywordmatches li.goodmatch a {
+    font-weight: bold;
+}
+
+/* -- index page ------------------------------------------------------------ */
+
+table.contentstable {
+    width: 90%;
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.contentstable p.biglink {
+    line-height: 150%;
+}
+
+a.biglink {
+    font-size: 1.3em;
+}
+
+span.linkdescr {
+    font-style: italic;
+    padding-top: 5px;
+    font-size: 90%;
+}
+
+/* -- general index --------------------------------------------------------- */
+
+table.indextable {
+    width: 100%;
+}
+
+table.indextable td {
+    text-align: left;
+    vertical-align: top;
+}
+
+table.indextable ul {
+    margin-top: 0;
+    margin-bottom: 0;
+    list-style-type: none;
+}
+
+table.indextable > tbody > tr > td > ul {
+    padding-left: 0em;
+}
+
+table.indextable tr.pcap {
+    height: 10px;
+}
+
+table.indextable tr.cap {
+    margin-top: 10px;
+    background-color: #f2f2f2;
+}
+
+img.toggler {
+    margin-right: 3px;
+    margin-top: 3px;
+    cursor: pointer;
+}
+
+div.modindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+div.genindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+/* -- domain module index --------------------------------------------------- */
+
+table.modindextable td {
+    padding: 2px;
+    border-collapse: collapse;
+}
+
+/* -- general body styles --------------------------------------------------- */
+
+div.body {
+    min-width: 360px;
+    max-width: 800px;
+}
+
+div.body p, div.body dd, div.body li, div.body blockquote {
+    -moz-hyphens: auto;
+    -ms-hyphens: auto;
+    -webkit-hyphens: auto;
+    hyphens: auto;
+}
+
+a.headerlink {
+    visibility: hidden;
+}
+
+a:visited {
+    color: #551A8B;
+}
+
+h1:hover > a.headerlink,
+h2:hover > a.headerlink,
+h3:hover > a.headerlink,
+h4:hover > a.headerlink,
+h5:hover > a.headerlink,
+h6:hover > a.headerlink,
+dt:hover > a.headerlink,
+caption:hover > a.headerlink,
+p.caption:hover > a.headerlink,
+div.code-block-caption:hover > a.headerlink {
+    visibility: visible;
+}
+
+div.body p.caption {
+    text-align: inherit;
+}
+
+div.body td {
+    text-align: left;
+}
+
+.first {
+    margin-top: 0 !important;
+}
+
+p.rubric {
+    margin-top: 30px;
+    font-weight: bold;
+}
+
+img.align-left, figure.align-left, .figure.align-left, object.align-left {
+    clear: left;
+    float: left;
+    margin-right: 1em;
+}
+
+img.align-right, figure.align-right, .figure.align-right, object.align-right {
+    clear: right;
+    float: right;
+    margin-left: 1em;
+}
+
+img.align-center, figure.align-center, .figure.align-center, object.align-center {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+img.align-default, figure.align-default, .figure.align-default {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+.align-left {
+    text-align: left;
+}
+
+.align-center {
+    text-align: center;
+}
+
+.align-default {
+    text-align: center;
+}
+
+.align-right {
+    text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar,
+aside.sidebar {
+    margin: 0 0 0.5em 1em;
+    border: 1px solid #ddb;
+    padding: 7px;
+    background-color: #ffe;
+    width: 40%;
+    float: right;
+    clear: right;
+    overflow-x: auto;
+}
+
+p.sidebar-title {
+    font-weight: bold;
+}
+
+nav.contents,
+aside.topic,
+div.admonition, div.topic, blockquote {
+    clear: left;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+nav.contents,
+aside.topic,
+div.topic {
+    border: 1px solid #ccc;
+    padding: 7px;
+    margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+    font-size: 1.1em;
+    font-weight: bold;
+    margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    padding: 7px;
+}
+
+div.admonition dt {
+    font-weight: bold;
+}
+
+p.admonition-title {
+    margin: 0px 10px 5px 0px;
+    font-weight: bold;
+}
+
+div.body p.centered {
+    text-align: center;
+    margin-top: 25px;
+}
+
+/* -- content of sidebars/topics/admonitions -------------------------------- */
+
+div.sidebar > :last-child,
+aside.sidebar > :last-child,
+nav.contents > :last-child,
+aside.topic > :last-child,
+div.topic > :last-child,
+div.admonition > :last-child {
+    margin-bottom: 0;
+}
+
+div.sidebar::after,
+aside.sidebar::after,
+nav.contents::after,
+aside.topic::after,
+div.topic::after,
+div.admonition::after,
+blockquote::after {
+    display: block;
+    content: '';
+    clear: both;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    border: 0;
+    border-collapse: collapse;
+}
+
+table.align-center {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.align-default {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table caption span.caption-number {
+    font-style: italic;
+}
+
+table caption span.caption-text {
+}
+
+table.docutils td, table.docutils th {
+    padding: 1px 8px 1px 5px;
+    border-top: 0;
+    border-left: 0;
+    border-right: 0;
+    border-bottom: 1px solid #aaa;
+}
+
+th {
+    text-align: left;
+    padding-right: 5px;
+}
+
+table.citation {
+    border-left: solid 1px gray;
+    margin-left: 1px;
+}
+
+table.citation td {
+    border-bottom: none;
+}
+
+th > :first-child,
+td > :first-child {
+    margin-top: 0px;
+}
+
+th > :last-child,
+td > :last-child {
+    margin-bottom: 0px;
+}
+
+/* -- figures --------------------------------------------------------------- */
+
+div.figure, figure {
+    margin: 0.5em;
+    padding: 0.5em;
+}
+
+div.figure p.caption, figcaption {
+    padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number,
+figcaption span.caption-number {
+    font-style: italic;
+}
+
+div.figure p.caption span.caption-text,
+figcaption span.caption-text {
+}
+
+/* -- field list styles ----------------------------------------------------- */
+
+table.field-list td, table.field-list th {
+    border: 0 !important;
+}
+
+.field-list ul {
+    margin: 0;
+    padding-left: 1em;
+}
+
+.field-list p {
+    margin: 0;
+}
+
+.field-name {
+    -moz-hyphens: manual;
+    -ms-hyphens: manual;
+    -webkit-hyphens: manual;
+    hyphens: manual;
+}
+
+/* -- hlist styles ---------------------------------------------------------- */
+
+table.hlist {
+    margin: 1em 0;
+}
+
+table.hlist td {
+    vertical-align: top;
+}
+
+/* -- object description styles --------------------------------------------- */
+
+.sig {
+	font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
+}
+
+.sig-name, code.descname {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+.sig-name {
+	font-size: 1.1em;
+}
+
+code.descname {
+    font-size: 1.2em;
+}
+
+.sig-prename, code.descclassname {
+    background-color: transparent;
+}
+
+.optional {
+    font-size: 1.3em;
+}
+
+.sig-paren {
+    font-size: larger;
+}
+
+.sig-param.n {
+	font-style: italic;
+}
+
+/* C++ specific styling */
+
+.sig-inline.c-texpr,
+.sig-inline.cpp-texpr {
+	font-family: unset;
+}
+
+.sig.c   .k, .sig.c   .kt,
+.sig.cpp .k, .sig.cpp .kt {
+	color: #0033B3;
+}
+
+.sig.c   .m,
+.sig.cpp .m {
+	color: #1750EB;
+}
+
+.sig.c   .s, .sig.c   .sc,
+.sig.cpp .s, .sig.cpp .sc {
+	color: #067D17;
+}
+
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+    list-style: decimal;
+}
+
+ol.loweralpha {
+    list-style: lower-alpha;
+}
+
+ol.upperalpha {
+    list-style: upper-alpha;
+}
+
+ol.lowerroman {
+    list-style: lower-roman;
+}
+
+ol.upperroman {
+    list-style: upper-roman;
+}
+
+:not(li) > ol > li:first-child > :first-child,
+:not(li) > ul > li:first-child > :first-child {
+    margin-top: 0px;
+}
+
+:not(li) > ol > li:last-child > :last-child,
+:not(li) > ul > li:last-child > :last-child {
+    margin-bottom: 0px;
+}
+
+ol.simple ol p,
+ol.simple ul p,
+ul.simple ol p,
+ul.simple ul p {
+    margin-top: 0;
+}
+
+ol.simple > li:not(:first-child) > p,
+ul.simple > li:not(:first-child) > p {
+    margin-top: 0;
+}
+
+ol.simple p,
+ul.simple p {
+    margin-bottom: 0;
+}
+
+aside.footnote > span,
+div.citation > span {
+    float: left;
+}
+aside.footnote > span:last-of-type,
+div.citation > span:last-of-type {
+  padding-right: 0.5em;
+}
+aside.footnote > p {
+  margin-left: 2em;
+}
+div.citation > p {
+  margin-left: 4em;
+}
+aside.footnote > p:last-of-type,
+div.citation > p:last-of-type {
+    margin-bottom: 0em;
+}
+aside.footnote > p:last-of-type:after,
+div.citation > p:last-of-type:after {
+    content: "";
+    clear: both;
+}
+
+dl.field-list {
+    display: grid;
+    grid-template-columns: fit-content(30%) auto;
+}
+
+dl.field-list > dt {
+    font-weight: bold;
+    word-break: break-word;
+    padding-left: 0.5em;
+    padding-right: 5px;
+}
+
+dl.field-list > dd {
+    padding-left: 0.5em;
+    margin-top: 0em;
+    margin-left: 0em;
+    margin-bottom: 0em;
+}
+
+dl {
+    margin-bottom: 15px;
+}
+
+dd > :first-child {
+    margin-top: 0px;
+}
+
+dd ul, dd table {
+    margin-bottom: 10px;
+}
+
+dd {
+    margin-top: 3px;
+    margin-bottom: 10px;
+    margin-left: 30px;
+}
+
+.sig dd {
+    margin-top: 0px;
+    margin-bottom: 0px;
+}
+
+.sig dl {
+    margin-top: 0px;
+    margin-bottom: 0px;
+}
+
+dl > dd:last-child,
+dl > dd:last-child > :last-child {
+    margin-bottom: 0;
+}
+
+dt:target, span.highlighted {
+    background-color: #fbe54e;
+}
+
+rect.highlighted {
+    fill: #fbe54e;
+}
+
+dl.glossary dt {
+    font-weight: bold;
+    font-size: 1.1em;
+}
+
+.versionmodified {
+    font-style: italic;
+}
+
+.system-message {
+    background-color: #fda;
+    padding: 5px;
+    border: 3px solid red;
+}
+
+.footnote:target  {
+    background-color: #ffa;
+}
+
+.line-block {
+    display: block;
+    margin-top: 1em;
+    margin-bottom: 1em;
+}
+
+.line-block .line-block {
+    margin-top: 0;
+    margin-bottom: 0;
+    margin-left: 1.5em;
+}
+
+.guilabel, .menuselection {
+    font-family: sans-serif;
+}
+
+.accelerator {
+    text-decoration: underline;
+}
+
+.classifier {
+    font-style: oblique;
+}
+
+.classifier:before {
+    font-style: normal;
+    margin: 0 0.5em;
+    content: ":";
+    display: inline-block;
+}
+
+abbr, acronym {
+    border-bottom: dotted 1px;
+    cursor: help;
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+    overflow: auto;
+    overflow-y: hidden;  /* fixes display issues on Chrome browsers */
+}
+
+pre, div[class*="highlight-"] {
+    clear: both;
+}
+
+span.pre {
+    -moz-hyphens: none;
+    -ms-hyphens: none;
+    -webkit-hyphens: none;
+    hyphens: none;
+    white-space: nowrap;
+}
+
+div[class*="highlight-"] {
+    margin: 1em 0;
+}
+
+td.linenos pre {
+    border: 0;
+    background-color: transparent;
+    color: #aaa;
+}
+
+table.highlighttable {
+    display: block;
+}
+
+table.highlighttable tbody {
+    display: block;
+}
+
+table.highlighttable tr {
+    display: flex;
+}
+
+table.highlighttable td {
+    margin: 0;
+    padding: 0;
+}
+
+table.highlighttable td.linenos {
+    padding-right: 0.5em;
+}
+
+table.highlighttable td.code {
+    flex: 1;
+    overflow: hidden;
+}
+
+.highlight .hll {
+    display: block;
+}
+
+div.highlight pre,
+table.highlighttable pre {
+    margin: 0;
+}
+
+div.code-block-caption + div {
+    margin-top: 0;
+}
+
+div.code-block-caption {
+    margin-top: 1em;
+    padding: 2px 5px;
+    font-size: small;
+}
+
+div.code-block-caption code {
+    background-color: transparent;
+}
+
+table.highlighttable td.linenos,
+span.linenos,
+div.highlight span.gp {  /* gp: Generic.Prompt */
+  user-select: none;
+  -webkit-user-select: text; /* Safari fallback only */
+  -webkit-user-select: none; /* Chrome/Safari */
+  -moz-user-select: none; /* Firefox */
+  -ms-user-select: none; /* IE10+ */
+}
+
+div.code-block-caption span.caption-number {
+    padding: 0.1em 0.3em;
+    font-style: italic;
+}
+
+div.code-block-caption span.caption-text {
+}
+
+div.literal-block-wrapper {
+    margin: 1em 0;
+}
+
+code.xref, a code {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+h1 code, h2 code, h3 code, h4 code, h5 code, h6 code {
+    background-color: transparent;
+}
+
+.viewcode-link {
+    float: right;
+}
+
+.viewcode-back {
+    float: right;
+    font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+    margin: -1px -10px;
+    padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+    vertical-align: middle;
+}
+
+div.body div.math p {
+    text-align: center;
+}
+
+span.eqno {
+    float: right;
+}
+
+span.eqno a.headerlink {
+    position: absolute;
+    z-index: 1;
+}
+
+div.math:hover a.headerlink {
+    visibility: visible;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+    div.document,
+    div.documentwrapper,
+    div.bodywrapper {
+        margin: 0 !important;
+        width: 100%;
+    }
+
+    div.sphinxsidebar,
+    div.related,
+    div.footer,
+    #top-link {
+        display: none;
+    }
+}

docs/_build/html/_static/css/badge_only.css

@@ -0,0 +1 @@
+.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}@font-face{font-family:FontAwesome;font-style:normal;font-weight:400;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) format("woff"),url(fonts/fontawesome-webfont.ttf?b06871f281fee6b241d60582ae9369b9) format("truetype"),url(fonts/fontawesome-webfont.svg?912ec66d7572ff821749319396470bde#FontAwesome) format("svg")}.fa:before{font-family:FontAwesome;font-style:normal;font-weight:400;line-height:1}.fa:before,a .fa{text-decoration:inherit}.fa:before,a .fa,li .fa{display:inline-block}li .fa-large:before{width:1.875em}ul.fas{list-style-type:none;margin-left:2em;text-indent:-.8em}ul.fas li .fa{width:.8em}ul.fas li .fa-large:before{vertical-align:baseline}.fa-book:before,.icon-book:before{content:"\f02d"}.fa-caret-down:before,.icon-caret-down:before{content:"\f0d7"}.fa-caret-up:before,.icon-caret-up:before{content:"\f0d8"}.fa-caret-left:before,.icon-caret-left:before{content:"\f0d9"}.fa-caret-right:before,.icon-caret-right:before{content:"\f0da"}.rst-versions{position:fixed;bottom:0;left:0;width:300px;color:#fcfcfc;background:#1f1d1d;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;z-index:400}.rst-versions a{color:#2980b9;text-decoration:none}.rst-versions .rst-badge-small{display:none}.rst-versions .rst-current-version{padding:12px;background-color:#272525;display:block;text-align:right;font-size:90%;cursor:pointer;color:#27ae60}.rst-versions .rst-current-version:after{clear:both;content:"";display:block}.rst-versions .rst-current-version .fa{color:#fcfcfc}.rst-versions .rst-current-version .fa-book,.rst-versions .rst-current-version .icon-book{float:left}.rst-versions .rst-current-version.rst-out-of-date{background-color:#e74c3c;color:#fff}.rst-versions .rst-current-version.rst-active-old-version{background-color:#f1c40f;color:#000}.rst-versions.shift-up{height:auto;max-height:100%;overflow-y:scroll}.rst-versions.shift-up .rst-other-versions{display:block}.rst-versions .rst-other-versions{font-size:90%;padding:12px;color:grey;display:none}.rst-versions .rst-other-versions hr{display:block;height:1px;border:0;margin:20px 0;padding:0;border-top:1px solid #413d3d}.rst-versions .rst-other-versions dd{display:inline-block;margin:0}.rst-versions .rst-other-versions dd a{display:inline-block;padding:6px;color:#fcfcfc}.rst-versions .rst-other-versions .rtd-current-item{font-weight:700}.rst-versions.rst-badge{width:auto;bottom:20px;right:20px;left:auto;border:none;max-width:300px;max-height:90%}.rst-versions.rst-badge .fa-book,.rst-versions.rst-badge .icon-book{float:none;line-height:30px}.rst-versions.rst-badge.shift-up .rst-current-version{text-align:right}.rst-versions.rst-badge.shift-up .rst-current-version .fa-book,.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge>.rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width:768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}}#flyout-search-form{padding:6px}

docs/_build/html/_static/doctools.js

@@ -0,0 +1,150 @@
+/*
+ * Base JavaScript utilities for all Sphinx HTML documentation.
+ */
+"use strict";
+
+const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
+  "TEXTAREA",
+  "INPUT",
+  "SELECT",
+  "BUTTON",
+]);
+
+const _ready = (callback) => {
+  if (document.readyState !== "loading") {
+    callback();
+  } else {
+    document.addEventListener("DOMContentLoaded", callback);
+  }
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const Documentation = {
+  init: () => {
+    Documentation.initDomainIndexTable();
+    Documentation.initOnKeyListeners();
+  },
+
+  /**
+   * i18n support
+   */
+  TRANSLATIONS: {},
+  PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
+  LOCALE: "unknown",
+
+  // gettext and ngettext don't access this so that the functions
+  // can safely bound to a different name (_ = Documentation.gettext)
+  gettext: (string) => {
+    const translated = Documentation.TRANSLATIONS[string];
+    switch (typeof translated) {
+      case "undefined":
+        return string; // no translation
+      case "string":
+        return translated; // translation exists
+      default:
+        return translated[0]; // (singular, plural) translation tuple exists
+    }
+  },
+
+  ngettext: (singular, plural, n) => {
+    const translated = Documentation.TRANSLATIONS[singular];
+    if (typeof translated !== "undefined")
+      return translated[Documentation.PLURAL_EXPR(n)];
+    return n === 1 ? singular : plural;
+  },
+
+  addTranslations: (catalog) => {
+    Object.assign(Documentation.TRANSLATIONS, catalog.messages);
+    Documentation.PLURAL_EXPR = new Function(
+      "n",
+      `return (${catalog.plural_expr})`,
+    );
+    Documentation.LOCALE = catalog.locale;
+  },
+
+  /**
+   * helper function to focus on search bar
+   */
+  focusSearchBar: () => {
+    document.querySelectorAll("input[name=q]")[0]?.focus();
+  },
+
+  /**
+   * Initialise the domain index toggle buttons
+   */
+  initDomainIndexTable: () => {
+    const toggler = (el) => {
+      const idNumber = el.id.substr(7);
+      const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
+      if (el.src.substr(-9) === "minus.png") {
+        el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
+        toggledRows.forEach((el) => (el.style.display = "none"));
+      } else {
+        el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
+        toggledRows.forEach((el) => (el.style.display = ""));
+      }
+    };
+
+    const togglerElements = document.querySelectorAll("img.toggler");
+    togglerElements.forEach((el) =>
+      el.addEventListener("click", (event) => toggler(event.currentTarget)),
+    );
+    togglerElements.forEach((el) => (el.style.display = ""));
+    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+  },
+
+  initOnKeyListeners: () => {
+    // only install a listener if it is really needed
+    if (
+      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS
+      && !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+    )
+      return;
+
+    document.addEventListener("keydown", (event) => {
+      // bail for input elements
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName))
+        return;
+      // bail with special keys
+      if (event.altKey || event.ctrlKey || event.metaKey) return;
+
+      if (!event.shiftKey) {
+        switch (event.key) {
+          case "ArrowLeft":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const prevLink = document.querySelector('link[rel="prev"]');
+            if (prevLink && prevLink.href) {
+              window.location.href = prevLink.href;
+              event.preventDefault();
+            }
+            break;
+          case "ArrowRight":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const nextLink = document.querySelector('link[rel="next"]');
+            if (nextLink && nextLink.href) {
+              window.location.href = nextLink.href;
+              event.preventDefault();
+            }
+            break;
+        }
+      }
+
+      // some keyboard layouts may need Shift to get /
+      switch (event.key) {
+        case "/":
+          if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
+          Documentation.focusSearchBar();
+          event.preventDefault();
+      }
+    });
+  },
+};
+
+// quick alias for translations
+const _ = Documentation.gettext;
+
+_ready(Documentation.init);

docs/_build/html/_static/documentation_options.js

@@ -0,0 +1,13 @@
+const DOCUMENTATION_OPTIONS = {
+    VERSION: '1.0',
+    LANGUAGE: 'en',
+    COLLAPSE_INDEX: false,
+    BUILDER: 'html',
+    FILE_SUFFIX: '.html',
+    LINK_SUFFIX: '.html',
+    HAS_SOURCE: true,
+    SOURCELINK_SUFFIX: '.txt',
+    NAVIGATION_WITH_KEYS: false,
+    SHOW_SEARCH_SUMMARY: true,
+    ENABLE_SEARCH_SHORTCUTS: true,
+};

docs/_build/html/_static/js/badge_only.js

@@ -0,0 +1 @@
+!function(e){var t={};function r(n){if(t[n])return t[n].exports;var o=t[n]={i:n,l:!1,exports:{}};return e[n].call(o.exports,o,o.exports,r),o.l=!0,o.exports}r.m=e,r.c=t,r.d=function(e,t,n){r.o(e,t)||Object.defineProperty(e,t,{enumerable:!0,get:n})},r.r=function(e){"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(e,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(e,"__esModule",{value:!0})},r.t=function(e,t){if(1&t&&(e=r(e)),8&t)return e;if(4&t&&"object"==typeof e&&e&&e.__esModule)return e;var n=Object.create(null);if(r.r(n),Object.defineProperty(n,"default",{enumerable:!0,value:e}),2&t&&"string"!=typeof e)for(var o in e)r.d(n,o,function(t){return e[t]}.bind(null,o));return n},r.n=function(e){var t=e&&e.__esModule?function(){return e.default}:function(){return e};return r.d(t,"a",t),t},r.o=function(e,t){return Object.prototype.hasOwnProperty.call(e,t)},r.p="",r(r.s=4)}({4:function(e,t,r){}});

docs/_build/html/_static/js/versions.js

@@ -0,0 +1,228 @@
+const themeFlyoutDisplay = "hidden";
+const themeVersionSelector = true;
+const themeLanguageSelector = true;
+
+if (themeFlyoutDisplay === "attached") {
+  function renderLanguages(config) {
+    if (!config.projects.translations.length) {
+      return "";
+    }
+
+    // Insert 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 languagesHTML = `
+      <dl>
+        <dt>Languages</dt>
+        ${languages
+          .map(
+            (translation) => `
+        <dd ${translation.slug == config.projects.current.slug ? 'class="rtd-current-item"' : ""}>
+          <a href="${translation.urls.documentation}">${translation.language.code}</a>
+        </dd>
+        `,
+          )
+          .join("\n")}
+      </dl>
+    `;
+    return languagesHTML;
+  }
+
+  function renderVersions(config) {
+    if (!config.versions.active.length) {
+      return "";
+    }
+    const versionsHTML = `
+      <dl>
+        <dt>Versions</dt>
+        ${config.versions.active
+          .map(
+            (version) => `
+        <dd ${version.slug === config.versions.current.slug ? 'class="rtd-current-item"' : ""}>
+          <a href="${version.urls.documentation}">${version.slug}</a>
+        </dd>
+        `,
+          )
+          .join("\n")}
+      </dl>
+    `;
+    return versionsHTML;
+  }
+
+  function renderDownloads(config) {
+    if (!Object.keys(config.versions.current.downloads).length) {
+      return "";
+    }
+    const downloadsNameDisplay = {
+      pdf: "PDF",
+      epub: "Epub",
+      htmlzip: "HTML",
+    };
+
+    const downloadsHTML = `
+      <dl>
+        <dt>Downloads</dt>
+        ${Object.entries(config.versions.current.downloads)
+          .map(
+            ([name, url]) => `
+          <dd>
+            <a href="${url}">${downloadsNameDisplay[name]}</a>
+          </dd>
+        `,
+          )
+          .join("\n")}
+      </dl>
+    `;
+    return downloadsHTML;
+  }
+
+  document.addEventListener("readthedocs-addons-data-ready", function (event) {
+    const config = event.detail.data();
+
+    const flyout = `
+      <div class="rst-versions" data-toggle="rst-versions" role="note">
+        <span class="rst-current-version" data-toggle="rst-current-version">
+          <span class="fa fa-book"> Read the Docs</span>
+          v: ${config.versions.current.slug}
+          <span class="fa fa-caret-down"></span>
+        </span>
+        <div class="rst-other-versions">
+          <div class="injected">
+            ${renderLanguages(config)}
+            ${renderVersions(config)}
+            ${renderDownloads(config)}
+            <dl>
+              <dt>On Read the Docs</dt>
+              <dd>
+                <a href="${config.projects.current.urls.home}">Project Home</a>
+              </dd>
+              <dd>
+                <a href="${config.projects.current.urls.builds}">Builds</a>
+              </dd>
+              <dd>
+                <a href="${config.projects.current.urls.downloads}">Downloads</a>
+              </dd>
+            </dl>
+            <dl>
+              <dt>Search</dt>
+              <dd>
+                <form id="flyout-search-form">
+                  <input
+                    class="wy-form"
+                    type="text"
+                    name="q"
+                    aria-label="Search docs"
+                    placeholder="Search docs"
+                    />
+                </form>
+              </dd>
+            </dl>
+            <hr />
+            <small>
+              <span>Hosted by <a href="https://about.readthedocs.org/?utm_source=&utm_content=flyout">Read the Docs</a></span>
+            </small>
+          </div>
+        </div>
+    `;
+
+    // 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 = `
+    <select>
+      ${versions
+        .map(
+          (version) => `
+        <option
+  value="${version.slug}"
+  ${config.versions.current.slug === version.slug ? 'selected="selected"' : ""}
+              data-url="${version.urls.documentation}">
+              ${version.slug}
+          </option>`,
+        )
+        .join("\n")}
+    </select>
+  `;
+
+      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 = `
+      <select>
+        ${languages
+          .map(
+            (language) => `
+              <option
+                  value="${language.language.code}"
+                  ${config.projects.current.slug === language.slug ? 'selected="selected"' : ""}
+                  data-url="${language.urls.documentation}">
+                  ${language.language.name}
+              </option>`,
+          )
+          .join("\n")}
+       </select>
+    `;
+
+        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);
+    });
+});

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 */

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, "\\$&"); // $& means the whole matched string
+
+const _escapeHTML = (text) => {
+  return text
+    .replaceAll("&", "&")
+    .replaceAll("<", "&lt;")
+    .replaceAll(">", "&gt;")
+    .replaceAll('"', "&quot;")
+    .replaceAll("'", "&apos;");
+};
+
+const _displayItem = (item, searchTerms, highlightTerms) => {
+  const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
+  const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+  const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+  const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
+  const contentRoot = document.documentElement.dataset.content_root;
+
+  const [docName, title, anchor, descr, score, _filename, kind] = item;
+
+  let listItem = document.createElement("li");
+  // Add a class representing the item's type:
+  // can be used by a theme's CSS selector for styling
+  // See SearchResultKind for the class names.
+  listItem.classList.add(`kind-${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);

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(
+          '<p class="highlight-link">'
+            + '<a href="javascript:SphinxHighlight.hideSearchWords()">'
+            + _("Hide Search Matches")
+            + "</a></p>",
+        ),
+    );
+  },
+
+  /**
+   * 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();
+});

docs/_build/html/data.html

@@ -0,0 +1,288 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" data-content_root="./">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Données — Stockage et budget disque &mdash; cosma-qc 1.0 documentation</title>
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=9edc463e" />
+
+  
+      <script src="_static/jquery.js?v=5d32c60e"></script>
+      <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="_static/documentation_options.js?v=f2a433a1"></script>
+      <script src="_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="_static/sphinx_highlight.js?v=6ffebe34"></script>
+    <script src="_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
+    <link rel="search" title="Search" href="search.html" />
+    <link rel="next" title="Utilisation" href="usage.html" />
+    <link rel="prev" title="Infrastructure" href="infrastructure.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
+          
+          <a href="index.html" class="icon icon-home">
+            cosma-qc
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <p class="caption" role="heading"><span class="caption-text">Contenu</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="pipeline.html">Pipeline cosma-qc</a></li>
+<li class="toctree-l1"><a class="reference internal" href="infrastructure.html">Infrastructure</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Données — Stockage et budget disque</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#ou-sont-stockees-les-donnees">Où sont stockées les données</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#budget-disque-observe">Budget disque observé</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#politique-de-nettoyage">Politique de nettoyage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#frames-jpeg">Frames JPEG</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#ply-intermediaires">PLY intermédiaires</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#verification-espace-disque">Vérification espace disque</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="#export-glb">Export GLB</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#reprise-sur-crash-marqueurs-done">Reprise sur crash — marqueurs .done</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="usage.html">Utilisation</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="index.html">cosma-qc</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="index.html" class="icon icon-home" aria-label="Home"></a></li>
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+      <li class="wy-breadcrumbs-aside">
+            <a href="_sources/data.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="donnees-stockage-et-budget-disque">
+<h1>Données — Stockage et budget disque<a class="headerlink" href="#donnees-stockage-et-budget-disque" title="Link to this heading"></a></h1>
+<section id="ou-sont-stockees-les-donnees">
+<h2>Où sont stockées les données<a class="headerlink" href="#ou-sont-stockees-les-donnees" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 30.0%" />
+<col style="width: 20.0%" />
+<col style="width: 50.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Type de donnée</p></th>
+<th class="head"><p>Emplacement</p></th>
+<th class="head"><p>Remarques</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>MP4 bruts GoPro</p></td>
+<td><p>z620 <code class="docutils literal notranslate"><span class="pre">/mnt/portablessd</span></code></p></td>
+<td><p>Ne quittent jamais z620. Jamais copiés sur workers.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Frames JPEG</p></td>
+<td><p>Worker <code class="docutils literal notranslate"><span class="pre">/cosma-qc-frames/job_{id}/frame_*.jpg</span></code></p></td>
+<td><p>Conservés pour reprise sur crash. Supprimables après validation du stitch.</p></td>
+</tr>
+<tr class="row-even"><td><p>PLY par job</p></td>
+<td><p>Worker <code class="docutils literal notranslate"><span class="pre">/cosma-qc-frames/job_{id}/reconstruction.ply</span></code></p></td>
+<td><p>Entrée du stitch per_auv.</p></td>
+</tr>
+<tr class="row-odd"><td><p>PLY stitch par AUV</p></td>
+<td><p>Worker <code class="docutils literal notranslate"><span class="pre">/cosma-qc-frames/stitch_{N}.ply</span></code></p></td>
+<td><p>Fusion des segments d’un AUV.</p></td>
+</tr>
+<tr class="row-even"><td><p>PLY stitch global</p></td>
+<td><p>Worker <code class="docutils literal notranslate"><span class="pre">/cosma-qc-frames/stitch_global.ply</span></code></p></td>
+<td><p>Nuage de points final toute mission.</p></td>
+</tr>
+<tr class="row-odd"><td><p>GLB (export web)</p></td>
+<td><p>Worker <code class="docutils literal notranslate"><span class="pre">/cosma-qc-frames/job_{id}/reconstruction.glb</span></code></p></td>
+<td><p>Généré à la demande. 5M points, ~76 MB.</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="budget-disque-observe">
+<h2>Budget disque observé<a class="headerlink" href="#budget-disque-observe" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 40.0%" />
+<col style="width: 30.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Type</p></th>
+<th class="head"><p>Taille typique</p></th>
+<th class="head"><p>Base de calcul</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Frames JPEG par job</p></td>
+<td><p>~11 GB</p></td>
+<td><p>job 45 min à 2 fps, 1920x1080</p></td>
+</tr>
+<tr class="row-odd"><td><p>PLY par job (reconstruction)</p></td>
+<td><p>2 – 5 GB</p></td>
+<td><p>dépend de la densité de la scène</p></td>
+</tr>
+<tr class="row-even"><td><p>GLB par job (export web)</p></td>
+<td><p>~76 MB</p></td>
+<td><p>5M points (job_21 observé)</p></td>
+</tr>
+<tr class="row-odd"><td><p>PLY stitch AUV</p></td>
+<td><p>variable</p></td>
+<td><p>somme des PLY segments</p></td>
+</tr>
+<tr class="row-even"><td><p>PLY global</p></td>
+<td><p>variable</p></td>
+<td><p>somme de tous les AUV</p></td>
+</tr>
+</tbody>
+</table>
+<p>Pour un AUV avec 4 jobs de 45 min chacun :</p>
+<ul class="simple">
+<li><p>Frames : 4 x 11 GB = <strong>~44 GB</strong> (supprimables après validation)</p></li>
+<li><p>PLY jobs : 4 x 3.5 GB = <strong>~14 GB</strong></p></li>
+<li><p>PLY stitch AUV : <strong>~6-10 GB</strong></p></li>
+</ul>
+</section>
+<section id="politique-de-nettoyage">
+<h2>Politique de nettoyage<a class="headerlink" href="#politique-de-nettoyage" title="Link to this heading"></a></h2>
+<section id="frames-jpeg">
+<h3>Frames JPEG<a class="headerlink" href="#frames-jpeg" title="Link to this heading"></a></h3>
+<p>Les frames sont conservées uniquement pour permettre la reprise sur crash.
+Une fois le stitch per_auv validé visuellement, <strong>les frames peuvent être supprimées</strong>.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Supprimer les frames d&#39;un job (conserver le PLY !)</span>
+rm<span class="w"> </span>-rf<span class="w"> </span>/cosma-qc-frames/job_ID/frame_*.jpg
+rm<span class="w"> </span>-f<span class="w">  </span>/cosma-qc-frames/job_ID/.video_*.done
+
+<span class="c1"># Vérifier que le PLY est intact avant suppression</span>
+ls<span class="w"> </span>-lh<span class="w"> </span>/cosma-qc-frames/job_ID/reconstruction.ply
+</pre></div>
+</div>
+</section>
+<section id="ply-intermediaires">
+<h3>PLY intermédiaires<a class="headerlink" href="#ply-intermediaires" title="Link to this heading"></a></h3>
+<p>Les PLY par job peuvent être supprimés après que le stitch per_auv est validé
+et sauvegardé hors-ligne.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Conserver uniquement le stitch, supprimer les PLY jobs</span>
+rm<span class="w"> </span>/cosma-qc-frames/job_ID/reconstruction.ply
+</pre></div>
+</div>
+</section>
+<section id="verification-espace-disque">
+<h3>Vérification espace disque<a class="headerlink" href="#verification-espace-disque" title="Link to this heading"></a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Espace total workers</span>
+ssh<span class="w"> </span>floppyrj45@192.168.0.84<span class="w"> </span><span class="s2">&quot;df -h /cosma-qc-frames&quot;</span>
+ssh<span class="w"> </span>floppyrj45@192.168.0.87<span class="w"> </span><span class="s2">&quot;df -h /cosma-qc-frames&quot;</span>
+
+<span class="c1"># Taille par job</span>
+du<span class="w"> </span>-sh<span class="w"> </span>/cosma-qc-frames/job_*/
+
+<span class="c1"># Top consommateurs</span>
+du<span class="w"> </span>-sh<span class="w"> </span>/cosma-qc-frames/*<span class="w"> </span><span class="p">|</span><span class="w"> </span>sort<span class="w"> </span>-rh<span class="w"> </span><span class="p">|</span><span class="w"> </span>head<span class="w"> </span>-20
+</pre></div>
+</div>
+</section>
+</section>
+<section id="export-glb">
+<h2>Export GLB<a class="headerlink" href="#export-glb" title="Link to this heading"></a></h2>
+<p>Le GLB est une version allégée du nuage de points pour visualisation web.</p>
+<p>Génération via l’API dashboard :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>curl<span class="w"> </span>-X<span class="w"> </span>POST<span class="w"> </span>http://192.168.0.82:3849/jobs/ID/export_glb
+</pre></div>
+</div>
+<p>Génération manuelle sur le worker :</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">trimesh</span><span class="o">,</span><span class="w"> </span><span class="nn">numpy</span><span class="w"> </span><span class="k">as</span><span class="w"> </span><span class="nn">np</span>
+<span class="n">pc</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">load</span><span class="p">(</span><span class="s1">&#39;/cosma-qc-frames/job_ID/reconstruction.ply&#39;</span><span class="p">)</span>
+<span class="n">idx</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">pc</span><span class="o">.</span><span class="n">vertices</span><span class="p">),</span> <span class="mi">5_000_000</span><span class="p">,</span> <span class="n">replace</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+<span class="n">sub</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">PointCloud</span><span class="p">(</span><span class="n">pc</span><span class="o">.</span><span class="n">vertices</span><span class="p">[</span><span class="n">idx</span><span class="p">],</span> <span class="n">colors</span><span class="o">=</span><span class="n">pc</span><span class="o">.</span><span class="n">colors</span><span class="p">[</span><span class="n">idx</span><span class="p">])</span>
+<span class="n">sub</span><span class="o">.</span><span class="n">export</span><span class="p">(</span><span class="s1">&#39;/cosma-qc-frames/job_ID/reconstruction.glb&#39;</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Téléchargement :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Lancer le serveur HTTP sur le worker</span>
+ssh<span class="w"> </span>floppyrj45@192.168.0.84<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="s2">&quot;python3 -m http.server 8300 --directory /cosma-qc-frames&quot;</span>
+
+<span class="c1"># Télécharger depuis PC</span>
+wget<span class="w"> </span>http://192.168.0.84:8300/job_ID/reconstruction.glb
+</pre></div>
+</div>
+</section>
+<section id="reprise-sur-crash-marqueurs-done">
+<h2>Reprise sur crash — marqueurs .done<a class="headerlink" href="#reprise-sur-crash-marqueurs-done" title="Link to this heading"></a></h2>
+<p>Chaque MP4 extrait avec succès génère un fichier marqueur :</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>/cosma-qc-frames/job_ID/.video_0.done
+/cosma-qc-frames/job_ID/.video_1.done
+...
+</pre></div>
+</div>
+<p>En cas de crash, la reprise saute automatiquement les vidéos déjà traitées.</p>
+<p>Pour forcer une ré-extraction complète :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rm<span class="w"> </span>/cosma-qc-frames/job_ID/.video_*.done
+</pre></div>
+</div>
+</section>
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+<h1>cosma-qc — Documentation<a class="headerlink" href="#cosma-qc-documentation" title="Link to this heading"></a></h1>
+<p>Pipeline de contrôle qualité vidéo pour drones sous-marins AUV COSMA.</p>
+<div class="toctree-wrapper compound">
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+<ul>
+<li class="toctree-l1"><a class="reference internal" href="pipeline.html">Pipeline cosma-qc</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="pipeline.html#vue-d-ensemble">Vue d’ensemble</a></li>
+<li class="toctree-l2"><a class="reference internal" href="pipeline.html#flux-de-donnees-global">Flux de données global</a></li>
+<li class="toctree-l2"><a class="reference internal" href="pipeline.html#etape-1-ingest">Étape 1 — Ingest</a></li>
+<li class="toctree-l2"><a class="reference internal" href="pipeline.html#etape-2-extraction-des-frames">Étape 2 — Extraction des frames</a></li>
+<li class="toctree-l2"><a class="reference internal" href="pipeline.html#etape-3-reconstruction-3d">Étape 3 — Reconstruction 3D</a></li>
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+             
+  <section id="infrastructure">
+<h1>Infrastructure<a class="headerlink" href="#infrastructure" title="Link to this heading"></a></h1>
+<section id="reseau-lan-192-168-0-0-24">
+<h2>Réseau LAN — 192.168.0.0/24<a class="headerlink" href="#reseau-lan-192-168-0-0-24" title="Link to this heading"></a></h2>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>┌─────────────────────────────────────────────────────────┐
+│                  LAN 192.168.0.0/24                     │
+│                                                          │
+│  .82  CORE       Dispatcher (systemd) + FastAPI :3849   │
+│                  Gitea + Grafana + InfluxDB + Caddy      │
+│                                                          │
+│  .84  ml-stack   GPU worker  RTX 3090 24GB               │
+│  .87  gpu        GPU worker  RTX 3060 12GB               │
+│                                                          │
+│  .168 z620       Proxmox host  HP Z620                   │
+│                  SSD → /mnt/portablessd  (MP4 bruts)     │
+└─────────────────────────────────────────────────────────┘
+</pre></div>
+</div>
+</section>
+<section id="noeud-core-82">
+<h2>Nœud core (.82)<a class="headerlink" href="#noeud-core-82" title="Link to this heading"></a></h2>
+<p><strong>Rôle :</strong> orchestrateur central du pipeline.</p>
+<p>Services actifs :</p>
+<ul class="simple">
+<li><p><strong>Dispatcher</strong> — service systemd cosma-qc-dispatcher.
+Boucle principale qui dispatch les jobs aux workers GPU.</p></li>
+<li><p><strong>Dashboard FastAPI</strong> — conteneur Docker exposé sur le port <strong>3849</strong>.
+Interface web de monitoring des jobs.</p></li>
+<li><p><strong>Gitea</strong> — dépôt source floppyrj45/cosma-qc.</p></li>
+<li><p><strong>Grafana / InfluxDB</strong> — monitoring infrastructure.</p></li>
+</ul>
+<p>Commandes utiles :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Statut dispatcher</span>
+sudo<span class="w"> </span>systemctl<span class="w"> </span>status<span class="w"> </span>cosma-qc-dispatcher
+
+<span class="c1"># Logs dispatcher temps réel</span>
+sudo<span class="w"> </span>journalctl<span class="w"> </span>-u<span class="w"> </span>cosma-qc-dispatcher<span class="w"> </span>-f
+
+<span class="c1"># Dashboard</span>
+http://192.168.0.82:3849
+</pre></div>
+</div>
+</section>
+<section id="noeuds-gpu-workers-84-et-87">
+<h2>Nœuds GPU workers (.84 et .87)<a class="headerlink" href="#noeuds-gpu-workers-84-et-87" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 15.0%" />
+<col style="width: 25.0%" />
+<col style="width: 20.0%" />
+<col style="width: 40.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>IP</p></th>
+<th class="head"><p>Nom</p></th>
+<th class="head"><p>GPU</p></th>
+<th class="head"><p>VRAM</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>.84</p></td>
+<td><p>ml-stack</p></td>
+<td><p>RTX 3090</p></td>
+<td><p>24 GB</p></td>
+</tr>
+<tr class="row-odd"><td><p>.87</p></td>
+<td><p>gpu</p></td>
+<td><p>RTX 3060</p></td>
+<td><p>12 GB</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Rôle :</strong> exécution de ffmpeg (extraction frames) et lingbot-map (reconstruction 3D).</p>
+<p>Répertoire de travail sur chaque worker :</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>/cosma-qc-frames/
+├── job_1/
+│   ├── frame_000001.jpg  …  frame_NNNNNN.jpg
+│   ├── .video_0.done
+│   ├── reconstruction.ply
+│   └── reconstruction.glb   (généré à la demande)
+├── job_2/
+│   └── …
+└── stitch_1.ply
+</pre></div>
+</div>
+</section>
+<section id="noeud-z620-168">
+<h2>Nœud z620 (.168)<a class="headerlink" href="#noeud-z620-168" title="Link to this heading"></a></h2>
+<p><strong>Rôle :</strong> stockage des MP4 bruts GoPro.</p>
+<ul class="simple">
+<li><p>Proxmox host HP Z620.</p></li>
+<li><p>SSD monté sur /mnt/portablessd.</p></li>
+<li><p>Les MP4 <strong>ne quittent jamais</strong> z620 — ffmpeg s’y exécute via SSH.</p></li>
+</ul>
+<p>Accès SSH depuis core :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>floppyrj45@192.168.0.168
+</pre></div>
+</div>
+</section>
+<section id="service-systemd-dispatcher">
+<h2>Service systemd dispatcher<a class="headerlink" href="#service-systemd-dispatcher" title="Link to this heading"></a></h2>
+<p>Fichier de service : /etc/systemd/system/cosma-qc-dispatcher.service</p>
+<div class="highlight-ini notranslate"><div class="highlight"><pre><span></span><span class="k">[Unit]</span>
+<span class="na">Description</span><span class="o">=</span><span class="s">COSMA QC Dispatcher</span>
+<span class="na">After</span><span class="o">=</span><span class="s">network.target</span>
+
+<span class="k">[Service]</span>
+<span class="na">User</span><span class="o">=</span><span class="s">floppyrj45</span>
+<span class="na">WorkingDirectory</span><span class="o">=</span><span class="s">/home/floppyrj45/docker/cosma-qc</span>
+<span class="na">ExecStart</span><span class="o">=</span><span class="s">/usr/bin/python3 app/dispatcher.py</span>
+<span class="na">Restart</span><span class="o">=</span><span class="s">on-failure</span>
+<span class="na">RestartSec</span><span class="o">=</span><span class="s">10</span>
+
+<span class="k">[Install]</span>
+<span class="na">WantedBy</span><span class="o">=</span><span class="s">multi-user.target</span>
+</pre></div>
+</div>
+<p>Commandes de gestion :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>systemctl<span class="w"> </span>start<span class="w"> </span>cosma-qc-dispatcher
+sudo<span class="w"> </span>systemctl<span class="w"> </span>stop<span class="w"> </span>cosma-qc-dispatcher
+sudo<span class="w"> </span>systemctl<span class="w"> </span>restart<span class="w"> </span>cosma-qc-dispatcher
+sudo<span class="w"> </span>systemctl<span class="w"> </span><span class="nb">enable</span><span class="w"> </span>cosma-qc-dispatcher<span class="w">   </span><span class="c1"># démarrage auto</span>
+</pre></div>
+</div>
+</section>
+<section id="conteneur-docker-dashboard">
+<h2>Conteneur Docker dashboard<a class="headerlink" href="#conteneur-docker-dashboard" title="Link to this heading"></a></h2>
+<p>Le dashboard FastAPI tourne dans un conteneur Docker.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>/home/floppyrj45/docker/cosma-qc
+docker<span class="w"> </span>compose<span class="w"> </span>up<span class="w"> </span>-d<span class="w">       </span><span class="c1"># démarrer</span>
+docker<span class="w"> </span>compose<span class="w"> </span>down<span class="w">        </span><span class="c1"># arrêter</span>
+docker<span class="w"> </span>compose<span class="w"> </span>logs<span class="w"> </span>-f<span class="w">     </span><span class="c1"># logs</span>
+</pre></div>
+</div>
+<p>Accès : <a class="reference external" href="http://192.168.0.82:3849">http://192.168.0.82:3849</a></p>
+</section>
+<section id="ports-reseau-recapitulatifs">
+<h2>Ports réseau récapitulatifs<a class="headerlink" href="#ports-reseau-recapitulatifs" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 15.0%" />
+<col style="width: 15.0%" />
+<col style="width: 70.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Host</p></th>
+<th class="head"><p>Port</p></th>
+<th class="head"><p>Service</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>.82</p></td>
+<td><p>3849</p></td>
+<td><p>Dashboard FastAPI cosma-qc</p></td>
+</tr>
+<tr class="row-odd"><td><p>.84 / .87</p></td>
+<td><p>8100+N</p></td>
+<td><p>Viser viewer (reconstruction job N)</p></td>
+</tr>
+<tr class="row-even"><td><p>.84 / .87</p></td>
+<td><p>8300</p></td>
+<td><p>HTTP server GLB export</p></td>
+</tr>
+</tbody>
+</table>
+</section>
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+<li class="toctree-l2"><a class="reference internal" href="#vue-d-ensemble">Vue d’ensemble</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#flux-de-donnees-global">Flux de données global</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#etape-1-ingest">Étape 1 — Ingest</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#etape-2-extraction-des-frames">Étape 2 — Extraction des frames</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#etape-3-reconstruction-3d">Étape 3 — Reconstruction 3D</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#etape-4-stitch-par-auv">Étape 4 — Stitch par AUV</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#etape-5-stitch-cross-auv">Étape 5 — Stitch cross-AUV</a></li>
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+  <section id="pipeline-cosma-qc">
+<h1>Pipeline cosma-qc<a class="headerlink" href="#pipeline-cosma-qc" title="Link to this heading"></a></h1>
+<section id="vue-d-ensemble">
+<h2>Vue d’ensemble<a class="headerlink" href="#vue-d-ensemble" title="Link to this heading"></a></h2>
+<p>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).</p>
+</section>
+<section id="flux-de-donnees-global">
+<h2>Flux de données global<a class="headerlink" href="#flux-de-donnees-global" title="Link to this heading"></a></h2>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>z620 (/mnt/portablessd)
+├── GX*.MP4  (brut)
+     │
+     ▼  [1. Ingest]
+SQLite DB (jobs)
+     │
+     ▼  [2. Extraction ffmpeg]
+GPU worker  /cosma-qc-frames/job_{id}/frame_%06d.jpg
+     │
+     ▼  [3. Reconstruction lingbot-map]
+GPU worker  /cosma-qc-frames/job_{id}/reconstruction.ply
+     │
+     ▼  [4. Stitch per_auv]
+GPU worker  /cosma-qc-frames/stitch_{N}.ply  (par AUV)
+     │
+     ▼  [5. Stitch cross_auv]
+GPU worker  /cosma-qc-frames/stitch_global.ply
+     │
+     ▼  [6. Export GLB  (à la demande)]
+GPU worker  /cosma-qc-frames/job_{id}/reconstruction.glb
+</pre></div>
+</div>
+</section>
+<section id="etape-1-ingest">
+<h2>Étape 1 — Ingest<a class="headerlink" href="#etape-1-ingest" title="Link to this heading"></a></h2>
+<p><strong>Script :</strong> scripts/ingest.py</p>
+<p><strong>Rôle :</strong> Scanner le SSD de z620, regrouper les MP4 GoPro par AUV/GoPro/segment
+temporel et écrire les jobs dans la base SQLite.</p>
+<p>Logique de regroupement :</p>
+<ul class="simple">
+<li><p>Les fichiers sont groupés par numéro de caméra GoPro (GXXX).</p></li>
+<li><p>Un nouveau segment est créé si l’écart entre deux fichiers dépasse <strong>5 minutes</strong>.</p></li>
+<li><p>Chaque segment → un job en base avec statut pending.</p></li>
+</ul>
+<p>Structure d’un job en base :</p>
+<div class="highlight-sql notranslate"><div class="highlight"><pre><span></span><span class="k">CREATE</span><span class="w"> </span><span class="k">TABLE</span><span class="w"> </span><span class="n">jobs</span><span class="w"> </span><span class="p">(</span>
+<span class="w">    </span><span class="n">id</span><span class="w"> </span><span class="nb">INTEGER</span><span class="w"> </span><span class="k">PRIMARY</span><span class="w"> </span><span class="k">KEY</span><span class="p">,</span>
+<span class="w">    </span><span class="n">auv</span><span class="w"> </span><span class="nb">TEXT</span><span class="p">,</span>
+<span class="w">    </span><span class="n">gopro</span><span class="w"> </span><span class="nb">TEXT</span><span class="p">,</span>
+<span class="w">    </span><span class="n">segment</span><span class="w"> </span><span class="nb">INTEGER</span><span class="p">,</span>
+<span class="w">    </span><span class="n">files</span><span class="w"> </span><span class="nb">TEXT</span><span class="p">,</span><span class="w">          </span><span class="c1">-- JSON list of z620:/path/GX*.MP4</span>
+<span class="w">    </span><span class="n">status</span><span class="w"> </span><span class="nb">TEXT</span><span class="p">,</span><span class="w">         </span><span class="c1">-- pending / running / done / failed</span>
+<span class="w">    </span><span class="n">worker</span><span class="w"> </span><span class="nb">TEXT</span><span class="p">,</span>
+<span class="w">    </span><span class="n">created_at</span><span class="w"> </span><span class="k">TIMESTAMP</span><span class="p">,</span>
+<span class="w">    </span><span class="n">updated_at</span><span class="w"> </span><span class="k">TIMESTAMP</span>
+<span class="p">);</span>
+</pre></div>
+</div>
+<p>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.</p>
+</section>
+<section id="etape-2-extraction-des-frames">
+<h2>Étape 2 — Extraction des frames<a class="headerlink" href="#etape-2-extraction-des-frames" title="Link to this heading"></a></h2>
+<p><strong>Fonction :</strong> do_extract dans le dispatcher (core .82)</p>
+<p><strong>Outil :</strong> ffmpeg</p>
+<p>Paramètres d’extraction :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ffmpeg<span class="w"> </span>-i<span class="w"> </span>input.mp4<span class="w">         </span>-vf<span class="w"> </span><span class="nv">fps</span><span class="o">=</span><span class="m">2</span>,scale<span class="o">=</span><span class="m">1920</span>:1080<span class="w">         </span>-q:v<span class="w"> </span><span class="m">2</span><span class="w">         </span><span class="o">{</span>frames_dir<span class="o">}</span>/job_<span class="o">{</span>id<span class="o">}</span>/frame_%06d.jpg
+</pre></div>
+</div>
+<p><strong>Particularité z620 :</strong> lorsque la source est z620:/…, ffmpeg s’exécute
+<strong>directement sur z620</strong> via SSH — seuls les JPEG voyagent sur le réseau.
+Les MP4 bruts ne quittent jamais z620.</p>
+<p>Filtre hors-eau (heuristique de luminosité) :</p>
+<ul class="simple">
+<li><p>Les frames dont la luminosité moyenne est au-dessus d’un seuil sont supprimées
+(ciel, surface, hors-eau).</p></li>
+<li><p>Ce filtre réduit le bruit dans la reconstruction.</p></li>
+</ul>
+<p>Reprise sur crash :</p>
+<ul class="simple">
+<li><p>Un fichier marqueur .video_N.done est créé après chaque MP4 traité.</p></li>
+<li><p>En cas de redémarrage, les vidéos déjà traitées sont ignorées.</p></li>
+</ul>
+</section>
+<section id="etape-3-reconstruction-3d">
+<h2>Étape 3 — Reconstruction 3D<a class="headerlink" href="#etape-3-reconstruction-3d" title="Link to this heading"></a></h2>
+<p><strong>Fonction :</strong> do_reconstruct</p>
+<p><strong>Outil :</strong> lingbot-map (demo.py) sur le worker GPU</p>
+<p><strong>Entrée :</strong> répertoire de frames {worker_frames_dir}/job_{id}/</p>
+<p><strong>Sortie :</strong> {worker_frames_dir}/job_{id}/reconstruction.ply
+(nuage de points dense, jusqu’à <strong>150 millions de points</strong>)</p>
+<p>Un viewer Viser est automatiquement démarré sur le port 8100 + job_id
+pendant la reconstruction pour visualisation en temps réel.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Visualiser pendant reconstruction</span>
+<span class="c1"># naviguer vers http://{worker_ip}:{8100+job_id}</span>
+</pre></div>
+</div>
+</section>
+<section id="etape-4-stitch-par-auv">
+<h2>Étape 4 — Stitch par AUV<a class="headerlink" href="#etape-4-stitch-par-auv" title="Link to this heading"></a></h2>
+<p><strong>Fonction :</strong> do_stitch_per_auv</p>
+<p><strong>Déclenchement :</strong> automatique quand <strong>tous les jobs d’un AUV</strong> sont en statut done.</p>
+<p><strong>Outil :</strong> cosma-stitch.py</p>
+<p><strong>Opération :</strong> alignement et fusion des PLY de tous les segments d’un même AUV.</p>
+<p><strong>Sortie :</strong> {worker_frames_dir}/stitch_{N}.ply</p>
+<p>Ce stitch s’exécute sur le worker qui détient les PLY (pas de copie inter-workers).</p>
+</section>
+<section id="etape-5-stitch-cross-auv">
+<h2>Étape 5 — Stitch cross-AUV<a class="headerlink" href="#etape-5-stitch-cross-auv" title="Link to this heading"></a></h2>
+<p><strong>Fonction :</strong> do_stitch_cross_auv</p>
+<p><strong>Déclenchement :</strong> automatique quand <strong>tous les stitches per_auv</strong> sont validés.</p>
+<p><strong>Opération :</strong> fusion de tous les PLY par AUV en un nuage de points global final.</p>
+<p><strong>Sortie :</strong> {worker_frames_dir}/stitch_global.ply</p>
+</section>
+<section id="etape-6-export-glb-a-la-demande">
+<h2>Étape 6 — Export GLB (à la demande)<a class="headerlink" href="#etape-6-export-glb-a-la-demande" title="Link to this heading"></a></h2>
+<p><strong>Outil :</strong> trimesh (conversion PLY → GLB)</p>
+<p><strong>Sous-échantillonnage :</strong> 5 millions de points (adapté web/navigateur)</p>
+<p><strong>Sortie :</strong> {worker_frames_dir}/job_{id}/reconstruction.glb</p>
+<p>Un serveur HTTP minimal est lancé sur le worker (port <strong>8300</strong>) pour le téléchargement :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Sur le worker</span>
+python3<span class="w"> </span>-m<span class="w"> </span>http.server<span class="w"> </span><span class="m">8300</span><span class="w"> </span>--directory<span class="w"> </span><span class="o">{</span>worker_frames_dir<span class="o">}</span>
+
+<span class="c1"># Télécharger depuis un PC</span>
+wget<span class="w"> </span>http://<span class="o">{</span>worker_ip<span class="o">}</span>:8300/job_<span class="o">{</span>id<span class="o">}</span>/reconstruction.glb
+</pre></div>
+</div>
+</section>
+<section id="statuts-de-jobs">
+<h2>Statuts de jobs<a class="headerlink" href="#statuts-de-jobs" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 20.0%" />
+<col style="width: 80.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Statut</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>pending</p></td>
+<td><p>Job créé, en attente de dispatch</p></td>
+</tr>
+<tr class="row-odd"><td><p>running</p></td>
+<td><p>En cours de traitement (extraction ou reconstruction)</p></td>
+</tr>
+<tr class="row-even"><td><p>done</p></td>
+<td><p>Reconstruction terminée, PLY disponible</p></td>
+</tr>
+<tr class="row-odd"><td><p>failed</p></td>
+<td><p>Erreur — voir logs du dispatcher</p></td>
+</tr>
+</tbody>
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">Utilisation</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#ingerer-une-nouvelle-acquisition">Ingérer une nouvelle acquisition</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#surveiller-les-jobs">Surveiller les jobs</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#dashboard-web">Dashboard web</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#logs-dispatcher">Logs dispatcher</a></li>
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+</ul>
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+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="utilisation">
+<h1>Utilisation<a class="headerlink" href="#utilisation" title="Link to this heading"></a></h1>
+<section id="ingerer-une-nouvelle-acquisition">
+<h2>Ingérer une nouvelle acquisition<a class="headerlink" href="#ingerer-une-nouvelle-acquisition" title="Link to this heading"></a></h2>
+<ol class="arabic simple">
+<li><p>Connecter le SSD GoPro à z620 (ou s’assurer que les MP4 sont dans <code class="docutils literal notranslate"><span class="pre">/mnt/portablessd</span></code>).</p></li>
+<li><p>Lancer l’ingest depuis core :</p></li>
+</ol>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>floppyrj45@192.168.0.82
+<span class="nb">cd</span><span class="w"> </span>/home/floppyrj45/docker/cosma-qc
+python3<span class="w"> </span>scripts/ingest.py<span class="w"> </span>--path<span class="w"> </span>/mnt/portablessd/AUV009/
+</pre></div>
+</div>
+<ol class="arabic simple" start="3">
+<li><p>Vérifier les jobs créés :</p></li>
+</ol>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>-c<span class="w"> </span><span class="s2">&quot;</span>
+<span class="s2">import sqlite3</span>
+<span class="s2">conn = sqlite3.connect(&#39;cosma-qc.db&#39;)</span>
+<span class="s2">for row in conn.execute(&#39;SELECT id, auv, gopro, segment, status FROM jobs ORDER BY id&#39;):</span>
+<span class="s2">    print(row)</span>
+<span class="s2">conn.close()</span>
+<span class="s2">&quot;</span>
+</pre></div>
+</div>
+<ol class="arabic simple" start="4">
+<li><p>Le dispatcher prend automatiquement en charge les jobs en statut <code class="docutils literal notranslate"><span class="pre">pending</span></code>.</p></li>
+</ol>
+</section>
+<section id="surveiller-les-jobs">
+<h2>Surveiller les jobs<a class="headerlink" href="#surveiller-les-jobs" title="Link to this heading"></a></h2>
+<section id="dashboard-web">
+<h3>Dashboard web<a class="headerlink" href="#dashboard-web" title="Link to this heading"></a></h3>
+<p>Accéder au dashboard : <a class="reference external" href="http://192.168.0.82:3849">http://192.168.0.82:3849</a></p>
+<p>Il affiche en temps réel :</p>
+<ul class="simple">
+<li><p>Statut de chaque job (pending / running / done / failed)</p></li>
+<li><p>Worker assigné</p></li>
+<li><p>Progression des frames</p></li>
+<li><p>Liens vers les PLY et GLB</p></li>
+</ul>
+</section>
+<section id="logs-dispatcher">
+<h3>Logs dispatcher<a class="headerlink" href="#logs-dispatcher" title="Link to this heading"></a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Logs temps réel</span>
+sudo<span class="w"> </span>journalctl<span class="w"> </span>-u<span class="w"> </span>cosma-qc-dispatcher<span class="w"> </span>-f
+
+<span class="c1"># Logs des 100 dernières lignes</span>
+sudo<span class="w"> </span>journalctl<span class="w"> </span>-u<span class="w"> </span>cosma-qc-dispatcher<span class="w"> </span>-n<span class="w"> </span><span class="m">100</span>
+
+<span class="c1"># Filtrer erreurs</span>
+sudo<span class="w"> </span>journalctl<span class="w"> </span>-u<span class="w"> </span>cosma-qc-dispatcher<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>-i<span class="w"> </span>error
+</pre></div>
+</div>
+</section>
+<section id="base-de-donnees">
+<h3>Base de données<a class="headerlink" href="#base-de-donnees" title="Link to this heading"></a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># État global des jobs</span>
+sqlite3<span class="w"> </span>/home/floppyrj45/docker/cosma-qc/cosma-qc.db<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="s2">&quot;SELECT id, auv, status, worker, updated_at FROM jobs ORDER BY id;&quot;</span>
+
+<span class="c1"># Jobs en cours</span>
+sqlite3<span class="w"> </span>cosma-qc.db<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="s2">&quot;SELECT id, auv, worker FROM jobs WHERE status=&#39;running&#39;;&quot;</span>
+
+<span class="c1"># Jobs échoués</span>
+sqlite3<span class="w"> </span>cosma-qc.db<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="s2">&quot;SELECT id, auv, status FROM jobs WHERE status=&#39;failed&#39;;&quot;</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="visualiser-un-nuage-de-points-ply">
+<h2>Visualiser un nuage de points PLY<a class="headerlink" href="#visualiser-un-nuage-de-points-ply" title="Link to this heading"></a></h2>
+<p>Sur le worker avec viewer Viser (lancé automatiquement pendant reconstruction) :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Naviguer vers (remplacer ID par le numéro de job)</span>
+http://192.168.0.84:8100<span class="w">      </span><span class="c1"># pour job 0</span>
+http://192.168.0.84:8101<span class="w">      </span><span class="c1"># pour job 1</span>
+<span class="c1"># etc.</span>
+</pre></div>
+</div>
+<p>Avec CloudCompare depuis un PC (si PLY téléchargé) :</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copier le PLY vers PC</span>
+scp<span class="w"> </span>floppyrj45@192.168.0.84:/cosma-qc-frames/job_ID/reconstruction.ply<span class="w"> </span>./
+<span class="c1"># Ouvrir dans CloudCompare</span>
+</pre></div>
+</div>
+</section>
+<section id="telecharger-un-glb">
+<h2>Télécharger un GLB<a class="headerlink" href="#telecharger-un-glb" title="Link to this heading"></a></h2>
+<ol class="arabic simple">
+<li><p>Générer le GLB via l’API :</p></li>
+</ol>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>curl<span class="w"> </span>-X<span class="w"> </span>POST<span class="w"> </span>http://192.168.0.82:3849/jobs/ID/export_glb
+</pre></div>
+</div>
+<ol class="arabic simple" start="2">
+<li><p>Attendre la fin de la génération (peut prendre quelques minutes selon la taille du PLY).</p></li>
+<li><p>Lancer le serveur HTTP sur le worker concerné :</p></li>
+</ol>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>floppyrj45@192.168.0.84<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="s2">&quot;nohup python3 -m http.server 8300 --directory /cosma-qc-frames &gt; /tmp/http8300.log 2&gt;&amp;1 &amp;&quot;</span>
+</pre></div>
+</div>
+<ol class="arabic simple" start="4">
+<li><p>Télécharger :</p></li>
+</ol>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>wget<span class="w"> </span>http://192.168.0.84:8300/job_ID/reconstruction.glb
+</pre></div>
+</div>
+<ol class="arabic simple" start="5">
+<li><p>Arrêter le serveur HTTP après téléchargement :</p></li>
+</ol>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>floppyrj45@192.168.0.84<span class="w"> </span><span class="s2">&quot;pkill -f &#39;http.server 8300&#39;&quot;</span>
+</pre></div>
+</div>
+</section>
+<section id="relancer-un-job-echoue">
+<h2>Relancer un job échoué<a class="headerlink" href="#relancer-un-job-echoue" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Remettre un job en pending</span>
+sqlite3<span class="w"> </span>/home/floppyrj45/docker/cosma-qc/cosma-qc.db<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="s2">&quot;UPDATE jobs SET status=&#39;pending&#39;, worker=NULL WHERE id=ID;&quot;</span>
+
+<span class="c1"># Supprimer les marqueurs .done pour forcer ré-extraction complète</span>
+ssh<span class="w"> </span>floppyrj45@192.168.0.84<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="s2">&quot;rm -f /cosma-qc-frames/job_ID/.video_*.done&quot;</span>
+
+<span class="c1"># Redémarrer le dispatcher si nécessaire</span>
+sudo<span class="w"> </span>systemctl<span class="w"> </span>restart<span class="w"> </span>cosma-qc-dispatcher
+</pre></div>
+</div>
+<p>Le dispatcher reprend le job au prochain cycle.</p>
+</section>
+<section id="redemarrer-le-pipeline-complet">
+<h2>Redémarrer le pipeline complet<a class="headerlink" href="#redemarrer-le-pipeline-complet" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Arrêter</span>
+sudo<span class="w"> </span>systemctl<span class="w"> </span>stop<span class="w"> </span>cosma-qc-dispatcher
+docker<span class="w"> </span>compose<span class="w"> </span>-f<span class="w"> </span>/home/floppyrj45/docker/cosma-qc/docker-compose.yml<span class="w"> </span>down
+
+<span class="c1"># Démarrer</span>
+docker<span class="w"> </span>compose<span class="w"> </span>-f<span class="w"> </span>/home/floppyrj45/docker/cosma-qc/docker-compose.yml<span class="w"> </span>up<span class="w"> </span>-d
+sudo<span class="w"> </span>systemctl<span class="w"> </span>start<span class="w"> </span>cosma-qc-dispatcher
+</pre></div>
+</div>
+</section>
+<section id="verifications-rapides-post-mission">
+<h2>Vérifications rapides post-mission<a class="headerlink" href="#verifications-rapides-post-mission" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 1. Tous les jobs done ?</span>
+sqlite3<span class="w"> </span>cosma-qc.db<span class="w"> </span><span class="s2">&quot;SELECT COUNT(*) FROM jobs WHERE status != &#39;done&#39;;&quot;</span>
+<span class="c1"># Doit retourner 0</span>
+
+<span class="c1"># 2. Tous les PLY présents ?</span>
+<span class="k">for</span><span class="w"> </span>id<span class="w"> </span><span class="k">in</span><span class="w"> </span><span class="k">$(</span>sqlite3<span class="w"> </span>cosma-qc.db<span class="w"> </span><span class="s2">&quot;SELECT id FROM jobs WHERE status=&#39;done&#39;&quot;</span><span class="k">)</span><span class="p">;</span><span class="w"> </span><span class="k">do</span>
+<span class="w">    </span><span class="nv">worker</span><span class="o">=</span><span class="k">$(</span>sqlite3<span class="w"> </span>cosma-qc.db<span class="w"> </span><span class="s2">&quot;SELECT worker FROM jobs WHERE id=</span><span class="nv">$id</span><span class="s2">&quot;</span><span class="k">)</span>
+<span class="w">    </span>ssh<span class="w"> </span>floppyrj45@<span class="nv">$worker</span><span class="w"> </span><span class="s2">&quot;ls -lh /cosma-qc-frames/job_</span><span class="si">${</span><span class="nv">id</span><span class="si">}</span><span class="s2">/reconstruction.ply&quot;</span>
+<span class="k">done</span>
+
+<span class="c1"># 3. Espace disque OK ?</span>
+ssh<span class="w"> </span>floppyrj45@192.168.0.84<span class="w"> </span><span class="s2">&quot;df -h /cosma-qc-frames&quot;</span>
+ssh<span class="w"> </span>floppyrj45@192.168.0.87<span class="w"> </span><span class="s2">&quot;df -h /cosma-qc-frames&quot;</span>
+</pre></div>
+</div>
+</section>
+</section>
+
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