mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
co-authored by
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
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After Width: | Height: | Size: 83 KiB |
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@@ -0,0 +1,31 @@
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||||
<!DOCTYPE html>
|
||||
<html lang="en-us">
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<link href="data:;base64,iVBORw0KGgo=" rel="icon" />
|
||||
<meta content="text/html; charset=utf-8" http-equiv="Content-Type" />
|
||||
<title>FUN AND GAMES</title>
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
Search: <input id="search" type="text" /> Preset:
|
||||
<select id="select-graph" name="select-graph">
|
||||
<option value="graph_full_no_mavlink.json">
|
||||
All Modules (w/o mavlink)
|
||||
</option>
|
||||
<option value="graph_full.json">All Modules</option>
|
||||
<option value="graph_px4_sitl.json">SITL Modules</option>
|
||||
<option value="graph_px4_fmu-v5.json">FMUv5 Modules</option>
|
||||
<option value="graph_px4_fmu-v4.json">FMUv4 Modules</option>
|
||||
<option value="graph_px4_fmu-v2.json">FMUv2 Modules</option>
|
||||
</select>
|
||||
<br />
|
||||
<svg id="svg-graph" width="1200" height="1400"></svg>
|
||||
<script
|
||||
type="application/javascript"
|
||||
src="https://d3js.org/d3.v4.min.js"
|
||||
asysc
|
||||
></script>
|
||||
<script type="application/javascript" src="uorb_graph.js" asysc></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,483 @@
|
||||
// the d3.js script might not yet be loaded (because it's not in <head>), so we
|
||||
// wrap everything in a function and retry until d3 is available
|
||||
function initializeGraph() {
|
||||
if (typeof d3 === 'undefined') {
|
||||
// try again later
|
||||
setTimeout(initializeGraph, 500);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
var graph_option = document.getElementById("select-graph");
|
||||
var default_json_file = graph_option.value;
|
||||
var minOpacity = 0.1; // opacity when a node/link is faded
|
||||
|
||||
/* search field: highlight all matching nodes on text change */
|
||||
var g_filterText = "";
|
||||
function searchTextChanged() {
|
||||
var textField = document.getElementById("search");
|
||||
var searchText = textField.value;
|
||||
var opacity = minOpacity;
|
||||
if (searchText == "" || document.activeElement != textField) {
|
||||
opacity = 1;
|
||||
g_filterText = "";
|
||||
} else {
|
||||
g_filterText = searchText;
|
||||
}
|
||||
|
||||
/* change opacity */
|
||||
// TODO: call fade() instead?
|
||||
node.style("stroke-opacity", function(o) {
|
||||
thisOpacity = o.name.includes(searchText) ? 1 : opacity;
|
||||
this.setAttribute('fill-opacity', thisOpacity);
|
||||
return thisOpacity;
|
||||
});
|
||||
|
||||
text.style("stroke-opacity", function(o) {
|
||||
thisOpacity = o.name.includes(searchText) ? 1 : opacity;
|
||||
this.setAttribute('fill-opacity', thisOpacity);
|
||||
return thisOpacity;
|
||||
});
|
||||
link.style("stroke-opacity", function(o) {
|
||||
return opacity;
|
||||
});
|
||||
}
|
||||
document.getElementById("search").addEventListener("keyup", searchTextChanged);
|
||||
document.getElementById("search").addEventListener("focusout", searchTextChanged);
|
||||
document.getElementById("search").addEventListener("focusin", searchTextChanged);
|
||||
document.getElementById("select-graph").addEventListener("change", reloadSimulation);
|
||||
|
||||
|
||||
|
||||
var svg = d3.select("#svg-graph"),
|
||||
width = +svg.attr("width"),
|
||||
height = +svg.attr("height");
|
||||
|
||||
|
||||
var collisionForce = rectCollide()
|
||||
.size(function (d) { return [d.width+10, d.height+6]; });
|
||||
|
||||
var boxForce = boundedBox()
|
||||
.bounds([[0, 0], [width, height]])
|
||||
.size(function (d) { return [d.width, d.height]; });
|
||||
|
||||
var simulation = d3.forceSimulation()
|
||||
.velocityDecay(0.3) // default: 0.4
|
||||
// alpha: initially 1, then reduced at each step, reducing the forces, so
|
||||
// that the simulation comes to a stop eventually
|
||||
.alphaMin(0.0001) // default: 0.001
|
||||
.alphaDecay(0.0428) // default: 0.0228
|
||||
//.alphaTarget(1) // enabling this will make sure the simulation never comes
|
||||
// to a stop (and the nodes will either keep fighting for their position, or
|
||||
// find an equilibrium)
|
||||
.force("link", d3.forceLink().id(function(d) { return d.id; })
|
||||
.distance(100)//.strength(0.02) // default: 30, 1 / Math.min(count(link.source), count(link.target));
|
||||
// distance: desired link distance
|
||||
// .iterations(1) // default: 1, greater = increased rigidity
|
||||
)
|
||||
.force("charge", d3.forceManyBody().strength(-250)) // decrease to make the
|
||||
// graph spread more (distance has a similar effect, but affects the
|
||||
// leaf nodes more)
|
||||
.force('box', boxForce) // keep the nodes inside the visible area
|
||||
.force('collision', collisionForce)
|
||||
.force("center", d3.forceCenter(width / 2, height / 2));
|
||||
|
||||
// SVG elements
|
||||
var node = null;
|
||||
var text = null;
|
||||
var link = null;
|
||||
|
||||
function loadSimulation(json_file_name) {
|
||||
|
||||
d3.json(json_file_name, function(error, graph) {
|
||||
if (error) throw error;
|
||||
|
||||
// module filtering (does not remove 'orphaned' topics)
|
||||
/*
|
||||
var ignored_modules = ["mavlink", "commander"];
|
||||
for (var i = 0; i < ignored_modules.length; ++i) {
|
||||
var module_id = "m_"+ignored_modules[i];
|
||||
// links
|
||||
for (var j = 0; j < graph.links.length; ++j) {
|
||||
if (graph.links[j].source == module_id ||
|
||||
graph.links[j].target == module_id) {
|
||||
graph.links.splice(j, 1);
|
||||
--j;
|
||||
}
|
||||
}
|
||||
// nodes
|
||||
for (var j = 0; j < graph.nodes.length; ++j) {
|
||||
if (graph.nodes[j].id == module_id) {
|
||||
graph.nodes.splice(j, 1);
|
||||
--j;
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
// change style for bidirectional edges
|
||||
const edgeMap = new Map();
|
||||
var i = 0;
|
||||
while(i<graph.links.length) {
|
||||
var curr_source = graph.links[i].source;
|
||||
var curr_target = graph.links[i].target;
|
||||
if (edgeMap.has(curr_target + curr_source) == true) {
|
||||
graph.links.splice(i,1);
|
||||
graph.links[edgeMap.get(curr_target + curr_source)].style = "dot-dashed";
|
||||
}
|
||||
else
|
||||
edgeMap.set(curr_source + curr_target, i++);
|
||||
}
|
||||
|
||||
// explanation for the following syntax: https://bost.ocks.org/mike/join/
|
||||
link = svg.append("g")
|
||||
.attr("class", "links")
|
||||
.selectAll("line")
|
||||
.data(graph.links)
|
||||
.enter().append("line")
|
||||
.attr("stroke-opacity", 0.7)
|
||||
.attr("stroke", function(d) { return d.color; })
|
||||
.style("stroke-dasharray", function(d) {
|
||||
if (d.style == "dashed") return "3, 3";
|
||||
if (d.style == "dot-dashed") return "3, 3, 9, 3";
|
||||
return "1, 0";
|
||||
});
|
||||
|
||||
var g = svg.append("g").selectAll("g").data(graph.nodes).enter().append("g");
|
||||
node = g.append("rect")
|
||||
// rounded corners (somewhat more expensive to render)
|
||||
.attr("rx", function(d) { return d.type == "module" ? 8 : 0; });
|
||||
|
||||
text = g.append("text")
|
||||
.attr("class", "labels")
|
||||
.style("font-size", "12px")
|
||||
.attr("fill", function(d) { return "#fff"; })
|
||||
.attr("dy", ".35em")
|
||||
.attr("text-anchor", "middle")
|
||||
.text(function(d) { return d.name; })
|
||||
.on("mouseover", fadeAnimated(minOpacity))
|
||||
.on("mouseout", fadeAnimated(1))
|
||||
.on("dblclick", openLink);
|
||||
|
||||
var paddingLeftRight = 18; // adjust the padding values depending on font and font size
|
||||
var paddingTopBottom = 5;
|
||||
|
||||
svg.selectAll("text").each(function(d, i) {
|
||||
var curPaddingLeftRight = paddingLeftRight;
|
||||
var curPaddingTopBottom = paddingTopBottom;
|
||||
if (graph.nodes[i].type == "module") {
|
||||
curPaddingLeftRight *= 1.5;
|
||||
curPaddingTopBottom *= 1.5;
|
||||
}
|
||||
|
||||
// get bounding box of text field and store it
|
||||
graph.nodes[i].width = this.getBBox().width+curPaddingLeftRight;
|
||||
graph.nodes[i].height = this.getBBox().height+curPaddingTopBottom;
|
||||
|
||||
graph.nodes[i].vx = 0;
|
||||
graph.nodes[i].vy = 0;
|
||||
});
|
||||
|
||||
|
||||
simulation
|
||||
.nodes(graph.nodes)
|
||||
.on("tick", ticked);
|
||||
|
||||
simulation.force("link")
|
||||
.links(graph.links);
|
||||
|
||||
function ticked() {
|
||||
link
|
||||
.attr("x1", function(d) { return d.source.x; })
|
||||
.attr("y1", function(d) { return d.source.y; })
|
||||
.attr("x2", function(d) { return d.target.x; })
|
||||
.attr("y2", function(d) { return d.target.y; });
|
||||
|
||||
text
|
||||
.attr("x", function(d) { return d.x; })
|
||||
.attr("y", function(d) { return d.y; });
|
||||
|
||||
svg.selectAll("rect")
|
||||
.attr("x", function(d) { return d.x - d.width/2; })
|
||||
.attr("y", function(d) { return d.y - d.height/2; })
|
||||
.attr("width", function(d) { return d.width; })
|
||||
.attr("height", function(d) { return d.height; })
|
||||
.attr("fill", function(d) { return d.color; });
|
||||
}
|
||||
|
||||
// open the 'node.url' attribute in a new tab, if it exists
|
||||
function openLink(n) {
|
||||
if (typeof n.url !== 'undefined') {
|
||||
window.open(n.url, '_blank');
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// smooth fade in/out
|
||||
var animationTimer = null;
|
||||
var currentOpacity = 1;
|
||||
var destOpacity = 1;
|
||||
function fadeAnimated(opacity) {
|
||||
return function(d) {
|
||||
if (animationTimer != null)
|
||||
animationTimer.stop();
|
||||
|
||||
destOpacity = opacity;
|
||||
|
||||
animationTimer = d3.interval(function(elapsed) {
|
||||
var newOpacity = currentOpacity + (destOpacity-currentOpacity) * elapsed/300;
|
||||
// check if we overshot the destination opacity
|
||||
if ((currentOpacity - destOpacity) * (newOpacity - destOpacity) < 0) {
|
||||
currentOpacity = destOpacity;
|
||||
} else {
|
||||
currentOpacity = newOpacity;
|
||||
}
|
||||
fade(currentOpacity)(d);
|
||||
if (Math.abs(currentOpacity - destOpacity) < 0.005) {
|
||||
animationTimer.stop();
|
||||
animationTimer = null;
|
||||
}
|
||||
}, 30);
|
||||
}
|
||||
}
|
||||
|
||||
// mouse over functionality: fade the rest of the graph
|
||||
|
||||
var linkedByIndex = {};
|
||||
graph.links.forEach(function(d) {
|
||||
linkedByIndex[d.source.index + "," + d.target.index] = 1;
|
||||
});
|
||||
function isConnected(a, b) {
|
||||
return linkedByIndex[a.index + "," + b.index] || linkedByIndex[b.index + "," + a.index] || a.index == b.index;
|
||||
}
|
||||
function fade(opacity) {
|
||||
return function(d) {
|
||||
/* The graph opacity is using the following behavior:
|
||||
* - no filtering (g_filterText == ""):
|
||||
* - mouse hovers over a node: the node and it's connected
|
||||
* nodes are visible, the rest is faded
|
||||
* - else: all nodes and links are visible
|
||||
* - filtering:
|
||||
* - all nodes matching the filter are always visible
|
||||
* - mouse hovers over a node: the connected nodes are visible
|
||||
* - no hovering: rest of the non-matching nodes are faded
|
||||
* (and all the links too)
|
||||
*/
|
||||
var invertedOpacity = (1+minOpacity) - opacity;
|
||||
if (g_filterText != "") {
|
||||
// in case of filtering, the default is to fade non-matching
|
||||
// nodes
|
||||
opacity = minOpacity;
|
||||
}
|
||||
|
||||
function nodeOpacity(o) {
|
||||
if (g_filterText != "" && o.name.includes(g_filterText)) {
|
||||
thisOpacity = 1; // always visible if filter matches
|
||||
} else if (isConnected(d, o)) {
|
||||
if (g_filterText == "") {
|
||||
thisOpacity = 1; // connected w/o filtering -> show it
|
||||
} else if (d.name.includes(g_filterText)) {
|
||||
thisOpacity = invertedOpacity;
|
||||
} else {
|
||||
thisOpacity = opacity;
|
||||
}
|
||||
} else {
|
||||
thisOpacity = opacity;
|
||||
}
|
||||
|
||||
this.setAttribute('fill-opacity', thisOpacity);
|
||||
return thisOpacity;
|
||||
}
|
||||
|
||||
node.style("stroke-opacity", nodeOpacity);
|
||||
text.style("stroke-opacity", nodeOpacity);
|
||||
|
||||
var linkOpacity = opacity;
|
||||
var linkOpacityConnected = 1;
|
||||
if (g_filterText != "") {
|
||||
if (d.name.includes(g_filterText)) {
|
||||
linkOpacityConnected = invertedOpacity;
|
||||
} else {
|
||||
linkOpacityConnected = minOpacity;
|
||||
}
|
||||
linkOpacity = minOpacity;
|
||||
}
|
||||
link.style("stroke-opacity", function(o) {
|
||||
return o.source === d || o.target === d ?
|
||||
linkOpacityConnected : linkOpacity;
|
||||
});
|
||||
};
|
||||
}
|
||||
|
||||
});
|
||||
}
|
||||
|
||||
function reloadSimulation(e) {
|
||||
json_file_name = e.target.value;
|
||||
console.log(json_file_name);
|
||||
d3.selectAll("svg > *").remove();
|
||||
loadSimulation(json_file_name);
|
||||
simulation.alpha(1).restart();
|
||||
}
|
||||
|
||||
/* initial graph */
|
||||
loadSimulation(default_json_file);
|
||||
|
||||
|
||||
function rectCollide() {
|
||||
var nodes, sizes, masses;
|
||||
var size = constant([0, 0]);
|
||||
var strength = 0.3;
|
||||
var iterations = 20;
|
||||
|
||||
function force() {
|
||||
var node, size, mass, xi, yi;
|
||||
var i = -1;
|
||||
while (++i < iterations) { iterate(); }
|
||||
|
||||
function iterate() {
|
||||
var j = -1;
|
||||
var tree = d3.quadtree(nodes, xCenter, yCenter).visitAfter(prepare);
|
||||
|
||||
while (++j < nodes.length) {
|
||||
node = nodes[j];
|
||||
size = sizes[j];
|
||||
mass = masses[j];
|
||||
xi = xCenter(node);
|
||||
yi = yCenter(node);
|
||||
|
||||
tree.visit(apply);
|
||||
}
|
||||
}
|
||||
|
||||
function apply(quad, x0, y0, x1, y1) {
|
||||
var data = quad.data;
|
||||
var xSize = (size[0] + quad.size[0]) / 2;
|
||||
var ySize = (size[1] + quad.size[1]) / 2;
|
||||
if (data) {
|
||||
if (data.index <= node.index) { return; }
|
||||
|
||||
var x = xi - xCenter(data);
|
||||
var y = yi - yCenter(data);
|
||||
var xd = Math.abs(x) - xSize;
|
||||
var yd = Math.abs(y) - ySize;
|
||||
|
||||
if (xd < 0 && yd < 0) {
|
||||
var l = Math.sqrt(x * x + y * y);
|
||||
var m = masses[data.index] / (mass + masses[data.index]);
|
||||
|
||||
if (l > 0.000001) {
|
||||
if (xd > yd) {
|
||||
node.vx -= (x *= xd / l * strength) * m;
|
||||
data.vx += x * (1 - m);
|
||||
} else {
|
||||
node.vy -= (y *= yd / l * strength) * m;
|
||||
data.vy += y * (1 - m);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return x0 > xi + xSize || y0 > yi + ySize ||
|
||||
x1 < xi - xSize || y1 < yi - ySize;
|
||||
}
|
||||
|
||||
function prepare(quad) {
|
||||
if (quad.data) {
|
||||
quad.size = sizes[quad.data.index];
|
||||
} else {
|
||||
quad.size = [0, 0];
|
||||
var i = -1;
|
||||
while (++i < 4) {
|
||||
if (quad[i] && quad[i].size) {
|
||||
quad.size[0] = Math.max(quad.size[0], quad[i].size[0]);
|
||||
quad.size[1] = Math.max(quad.size[1], quad[i].size[1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function xCenter(d) { return d.x + d.vx; }
|
||||
function yCenter(d) { return d.y + d.vy; }
|
||||
|
||||
force.initialize = function (_) {
|
||||
sizes = (nodes = _).map(size);
|
||||
masses = sizes.map(function (d) { return d[0] * d[1] });
|
||||
}
|
||||
|
||||
force.size = function (_) {
|
||||
return (arguments.length
|
||||
? (size = typeof _ === 'function' ? _ : constant(_), force)
|
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}
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force.strength = function (_) {
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force.iterations = function (_) {
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var i = -1;
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while (++i < nodes.length) {
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node = nodes[i];
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xi = node.x + node.vx;
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x0 = bounds[0][0] - (xi - size[0]/2);
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x1 = bounds[1][0] - (xi + size[0]/2);
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yi = node.y + node.vy;
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y0 = bounds[0][1] - (yi - size[1]/2);
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y1 = bounds[1][1] - (yi + size[1]/2);
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if (x0 > 0 || x1 < 0) {
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node.x += node.vx;
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node.vx = -node.vx;
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if (y0 > 0 || y1 < 0) {
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node.y += node.vy;
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node.vy = -node.vy;
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if (node.vy < y0) { node.vy += y0 - node.vy; }
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if (node.vy > y1) { node.vy += y1 - node.vy; }
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}
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}
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}
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force.initialize = function (_) {
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sizes = (nodes = _).map(size);
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force.size = function (_) {
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function constant(_) {
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Reference in New Issue
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