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conf.py
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conf.py
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# -*- coding: utf-8 -*-
#
# rosindex documentation build configuration file, created by
# sphinx-quickstart on Tue Oct 2 16:34:57 2018.
#
# This file is execfile()d with the current directory set to its
# containing dir.
#
# Note that not all possible configuration values are present in this
# autogenerated file.
#
# All configuration values have a default; values that are commented out
# serve to show the default.
# If extensions (or modules to document with auexamplesc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
#
import itertools
import os
import sys
import time
from docutils.parsers.rst import Directive
sys.path.append(os.path.abspath("./sphinx-multiversion"))
sys.path.append(os.path.abspath("./_scripts"))
# The suffix(es) of source filenames.
# You can specify multiple suffix as a list of string:
#
# The master toctree document.
master_doc = "index"
# Define the default role to use for links
default_role = "any"
# The set of warnings to suppress.
suppress_warnings = ["image.nonlocal_uri"]
# General information about the project.
project = "MoveIt documentation"
author = "PickNik Robotics"
copyright = "{}, {}".format(time.strftime("%Y"), author)
# The version info for the project you're documenting, acts as replacement for
# |version| and |release|, also used in various other places throughout the
# built documents.
#
# The short X.Y version.
version = ""
# The full version, including alpha/beta/rc tags.
release = ""
# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.
#
# This is also used if you do content translation via gettext catalogs.
# Usually you set "language" from the command line for these cases.
language = "en"
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This patterns also effect to html_static_path and html_extra_path
exclude_patterns = ["**/_*.rst"]
# The name of the Pygments (syntax highlighting) style to use.
pygments_style = "sphinx"
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
extensions = [
"sphinx.ext.autosectionlabel",
"sphinxcontrib.doxylink",
"sphinx.ext.extlinks",
"tutorialformatter",
"sphinx.ext.intersphinx",
"sphinx_tabs.tabs",
"sphinx_multiversion",
"sphinx_rtd_theme",
"sphinx.ext.ifconfig",
"sphinx_copybutton",
"sphinx.ext.napoleon",
"sphinx.ext.autodoc",
"sphinx.ext.autosummary",
]
autosectionlabel_prefix_document = True
intersphinx_mapping = {
"ros2": ("https://docs.ros.org/en/rolling/", None),
"catkin_pkg": ("http://docs.ros.org/en/independent/api/catkin_pkg/html", None),
"jenkins_tools": (
"http://docs.ros.org/en/independent/api/jenkins_tools/html",
None,
),
"rosdep": ("http://docs.ros.org/en/independent/api/rosdep/html", None),
"rosdistro": ("http://docs.ros.org/en/independent/api/rosdistro/html", None),
"rosinstall": ("http://docs.ros.org/en/independent/api/rosinstall/html", None),
"rospkg": ("http://docs.ros.org/en/independent/api/rospkg/html", None),
"vcstools": ("http://docs.ros.org/en/independent/api/vcstools/html", None),
}
# -- Options for HTML output ----------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
#
html_theme = "sphinx_rtd_theme"
html_theme_options = {
"collapse_navigation": True,
"sticky_navigation": True,
"navigation_depth": -1,
# This is the Google Analytics account used by moveit.ros.org, not picknik.ai
"analytics_id": "UA-108532843-1",
# Only display the logo image, do not display the project name at the top of the sidebar
"logo_only": True,
}
html_context = {
"display_github": True,
"github_user": "moveit",
"github_repo": "moveit2_tutorials",
"github_version": "main/",
"conf_py_path": "",
"source_suffix": ".rst",
}
templates_path = [
"_templates",
]
# smv_tag_whitelist = None
smv_branch_whitelist = r"^(main|humble)$"
smv_released_pattern = r"^refs/(heads|remotes/[^/]+)/(main|humble).*$"
smv_latest_version = "main"
smv_eol_versions = []
smv_remote_whitelist = r"^(origin|upstream)$"
smv_prefer_remote_refs = True
current_dir = os.getcwd()
distro_full_names = {
"humble": "Humble Hawksbill",
"rolling": "Rolling Ridley",
}
# These default values will be overridden when building multiversion
macros = {
"DISTRO": "rolling",
"DISTRO_TITLE": "Rolling",
"DISTRO_TITLE_FULL": "Rolling Ridley",
"REPOS_FILE_BRANCH": "main",
}
# Set the the browser icon
html_favicon = "_static/images/favicon.ico"
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = ["_static"]
# These paths are either relative to html_static_path
# or fully qualified paths (eg. https://...)
html_css_files = [
"css/override.css",
]
# Drop any source link suffix
html_sourcelink_suffix = ""
# -- Options for HTMLHelp output ------------------------------------------
# Output file base name for HTML help builder.
htmlhelp_basename = "MoveItDocumentation"
html_baseurl = "https://moveit.picknik.ai/rolling/"
# Add any paths that contain custom themes here, relative to this directory.
# Links
ros_distro = "rolling"
lang = "en"
ros1_distro = "noetic"
extlinks = {
"codedir": (
"https://github.com/"
+ html_context["github_user"]
+ "/moveit2_tutorials/blob/"
+ html_context["github_version"]
+ "doc/%s",
"",
),
"moveit_codedir": (
"https://github.com/"
+ html_context["github_user"]
+ "/moveit2/blob/"
+ html_context["github_version"]
+ "%s",
"",
),
"moveit_msgs_codedir": (
"https://github.com/"
+ html_context["github_user"]
+ "/moveit_msgs/blob/ros2"
+ "/%s",
"",
),
"common_interfaces_codedir": (
"https://github.com/ros2/common_interfaces/blob/master/%s",
"",
),
"panda_codedir": (
"https://github.com/"
+ html_context["github_user"]
+ "/panda_moveit_config/blob/"
+ "melodic-devel"
+ "/%s",
"",
),
"moveit_resources_codedir": (
"https://github.com/"
+ html_context["github_user"]
+ "/moveit_resources/tree/ros2"
+ "/%s",
"",
), # TODO(dlu): use ros_distro when noetic-devel branch is available
# NEED DOCS.ROS.ORG equivalent for foxy
"ros_documentation": (
f"https://docs.ros.org/{lang}/{ros_distro}/%s",
"",
),
"rosdocs": ("http://docs.ros.org/" + ros1_distro + "/api/%s", ""),
"moveit_website": ("http://moveit.ros.org/%s/", ""),
"sensor_msgs": (
"http://docs.ros.org/" + ros1_distro + "/api/sensor_msgs/html/msg/%s.html",
"",
),
"moveit_msgs": (
"http://docs.ros.org/" + ros1_distro + "/api/moveit_msgs/html/msg/%s.html",
"",
),
"tf2": (
"http://docs.ros.org/"
+ ros1_distro
+ "/api/tf2_ros/html/c++/classtf2__ros_1_1%s.html",
"",
),
}
# Only used for local build, multiversion overwrites this in the smv_rewrite_configs() function
doxylink = {"cpp_api": ("build/html/api/MoveIt.tag", "api/html")}
add_function_parentheses = True
# Needed to support previous versions that did not include python bindings
try:
import moveit
except Exception as e:
autodoc_mock_imports = [
"moveit",
"moveit.core",
"moveit.planning",
"moveit.servo_client",
]
autodoc_typehints = "signature"
autodoc_default_options = {
"members": True,
"undoc-members": True,
"member-order": "bysource",
}
autosummary_generate = True
# Napoleon settings
napoleon_google_docstring = True
napoleon_numpy_docstring = False
napoleon_include_init_with_doc = False
napoleon_include_private_with_doc = False
napoleon_include_special_with_doc = False
napoleon_use_admonition_for_examples = False
napoleon_use_admonition_for_notes = False
napoleon_use_admonition_for_references = False
napoleon_use_ivar = False
napoleon_use_param = False
napoleon_use_rtype = False
class RedirectFrom(Directive):
has_content = True
template_name = "layout.html"
redirections = {}
@classmethod
def register(cls, app):
app.connect("html-collect-pages", cls.generate)
app.add_directive("redirect-from", cls)
return app
@classmethod
def generate(cls, app):
from sphinx.builders.html import StandaloneHTMLBuilder
if not isinstance(app.builder, StandaloneHTMLBuilder):
return
redirect_html_fragment = """
<link rel="canonical" href="{base_url}/{url}" />
<meta http-equiv="refresh" content="0; url={url}" />
<script>
window.location.href = '{url}';
</script>
"""
redirections = {
os.path.splitext(os.path.relpath(document_path, app.srcdir))[
0
]: redirect_urls
for document_path, redirect_urls in cls.redirections.items()
}
redirection_conflict = next(
(
(canon_1, canon_2, redirs_1.intersection(redirs_2))
for (canon_1, redirs_1), (canon_2, redirs_2) in itertools.combinations(
redirections.items(), 2
)
if redirs_1.intersection(redirs_2)
),
None,
)
if redirection_conflict:
canonical_url_1, canonical_url_2 = redirection_conflict[:2]
conflicting_redirect_urls = redirection_conflict[-1]
raise RuntimeError(
"Documents {} and {} define conflicting redirects: {}".format(
canonical_url_1, canonical_url_2, conflicting_redirect_urls
)
)
all_canonical_urls = set(redirections.keys())
all_redirect_urls = {
redirect_url
for redirect_urls in redirections.values()
for redirect_url in redirect_urls
}
conflicting_urls = all_canonical_urls.intersection(all_redirect_urls)
if conflicting_urls:
raise RuntimeError(
"Some redirects conflict with existing documents: {}".format(
conflicting_urls
)
)
for canonical_url, redirect_urls in redirections.items():
for redirect_url in redirect_urls:
context = {
"canonical_url": os.path.relpath(canonical_url, redirect_url),
"title": os.path.basename(redirect_url),
"metatags": redirect_html_fragment.format(
base_url=app.config.html_baseurl,
url=app.builder.get_relative_uri(redirect_url, canonical_url),
),
}
yield (redirect_url, context, cls.template_name)
def run(self):
document_path = self.state.document.current_source
if document_path not in RedirectFrom.redirections:
RedirectFrom.redirections[document_path] = set()
RedirectFrom.redirections[document_path].update(self.content)
return []
def make_router(origin, destination):
def _missing_reference(app, env, node, contnode):
from docutils import nodes
from docutils.utils import relative_path
from sphinx.util import docname_join
doctarget = docname_join(node["refdoc"], node["reftarget"])
if doctarget.startswith(origin):
routed_doctarget = doctarget.replace(origin, destination)
if routed_doctarget in env.all_docs:
newnode = nodes.reference("", contnode.astext(), internal=True)
newnode["refuri"] = app.builder.get_relative_uri(
node["refdoc"], routed_doctarget
)
return newnode
return _missing_reference
def smv_rewrite_configs(app, config):
# When using Sphinx multiversion, there is no way at initial configuration time
# to determine the distribution we are currently targeting (conf.py is read before
# external defines are setup, and environment variables aren't passed through to
# conf.py). Instead, hook into the 'config-inited' event which is late enough
# to rewrite the various configuration items with the current version.
if app.config.smv_current_version != "":
branch_distro = {
"main": "rolling",
"humble": "humble",
}
# Override default values
branch = app.config.smv_current_version
distro = branch_distro[branch]
app.config.macros = {
"DISTRO": distro,
"DISTRO_TITLE": distro.title(),
"DISTRO_TITLE_FULL": distro_full_names[distro],
"REPOS_FILE_BRANCH": branch,
}
app.config.html_baseurl = app.config.html_baseurl + "/" + distro + "/"
app.config.project = "MoveIt Documentation: " + distro.title()
app.config.html_logo = "_static/images/" + distro + "-small.png"
app.config.doxylink = {
"cpp_api": (
current_dir + "/build/html/" + branch + "/api/MoveIt.tag",
"api/html",
)
}
else:
# If we are not building a multiversion build, default to the rolling logo
app.config.html_logo = "_static/images/rolling-small.png"
def github_link_rewrite_branch(app, pagename, templatename, context, doctree):
if app.config.smv_current_version != "":
context["github_version"] = app.config.smv_current_version + "/"
context["eol_versions"] = app.config.smv_eol_versions
def expand_macros(app, docname, source):
result = source[0]
for key, value in app.config.macros.items():
result = result.replace(f"{{{key}}}", value)
source[0] = result
def setup(app):
app.connect("config-inited", smv_rewrite_configs)
app.connect("html-page-context", github_link_rewrite_branch)
app.connect("source-read", expand_macros)
app.add_config_value("smv_eol_versions", [], "html")
app.add_config_value("macros", {}, True)
RedirectFrom.register(app)