# Configuration file for the Sphinx documentation builder. # # This file does only contain a selection of the most common options. # For a full list, refer to: http://www.sphinx-doc.org/en/master/config from lxml import etree import os import subprocess import sys from pathlib import Path DIR = Path(__file__).parent.resolve() # If extensions (or modules to document with autodoc) 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. # sys.path.insert(0, os.path.abspath('.')) # -- General configuration ------------------------------------------------ # If your documentation needs a minimal Sphinx version, state it here. # needs_sphinx = '1.0' # Add any Sphinx extension module names here, as strings. They can be # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom # ones. extensions = [ "breathe", "sphinx_copybutton", "sphinx.ext.autodoc", "sphinx.ext.autosummary", "sphinx.ext.intersphinx", "sphinx.ext.napoleon", "sphinx.ext.extlinks", ] breathe_projects = {"mtc": DIR / "_doxygenxml"} breathe_default_project = "mtc" breathe_domain_by_extension = {"h": "cpp"} autosummary_generate = True autoclass_content = "both" # Add __init__ doc (ie. params) to class summaries html_show_sourcelink = False # Remove 'view source code' from top of page (for html, not python) autodoc_inherit_docstrings = True # If no docstring, inherit from base class set_type_checking_flag = True # Enable 'expensive' imports for sphinx_autodoc_typehints add_module_names = False # Add any paths that contain templates here, relative to this directory. templates_path = ["_templates"] # The suffix(es) of source filenames. # You can specify multiple suffix as a list of string: # source_suffix = ['.rst', '.md'] source_suffix = ".rst" # The encoding of source files. # source_encoding = 'utf-8-sig' # The master toctree document. master_doc = "index" # General information about the project. project = "MoveIt Task Constructor" author = "Michael Görner, Robert Haschke" # 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. # # Read version from package.xml xml = etree.parse("../package.xml") version = str(xml.xpath("/package/version/text()")[0]) # 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" # There are two options for replacing |today|: either, you set today to some # non-false value, then it is used: # today = '' # Else, today_fmt is used as the format for a strftime call. # today_fmt = '%B %d, %Y' # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. exclude_patterns = [".build", "python/pybind11"] # The reST default role (used for this markup: `text`) to use for all # documents. # default_role = None # If true, '()' will be appended to :func: etc. cross-reference text. # add_function_parentheses = True # If true, the current module name will be prepended to all description # unit titles (such as .. function::). # add_module_names = True # If true, sectionauthor and moduleauthor directives will be shown in the # output. They are ignored by default. # show_authors = False # The name of the Pygments (syntax highlighting) style to use. # pygments_style = 'monokai' # A list of ignored prefixes for module index sorting. # modindex_common_prefix = [] # If true, keep warnings as "system message" paragraphs in the built documents. # keep_warnings = False # If true, `todo` and `todoList` produce output, else they produce nothing. todo_include_todos = False # -- 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 = "furo" # Theme options are theme-specific and customize the look and feel of a theme # further. For a list of options available for each theme, see the # documentation. # html_theme_options = {} # Add any paths that contain custom themes here, relative to this directory. # html_theme_path = [] # The name for this set of Sphinx documents. If None, it defaults to # " v documentation". # html_title = None # A shorter title for the navigation bar. Default is the same as html_title. # html_short_title = None # The name of an image file (relative to this directory) to place at the top # of the sidebar. # html_logo = None # The name of an image file (within the static path) to use as favicon of the # docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 # pixels large. # html_favicon = None # 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"] # Add any extra paths that contain custom files (such as robots.txt or # .htaccess) here, relative to this directory. These files are copied # directly to the root of the documentation. # html_extra_path = [] # If not '', a 'Last updated on:' timestamp is inserted at every page bottom, # using the given strftime format. # html_last_updated_fmt = '%b %d, %Y' # If true, SmartyPants will be used to convert quotes and dashes to # typographically correct entities. # html_use_smartypants = True # Custom sidebar templates, maps document names to template names. # html_sidebars = {} # Additional templates that should be rendered to pages, maps page names to # template names. # html_additional_pages = {} # If false, no module index is generated. # html_domain_indices = True # If false, no index is generated. # html_use_index = True # If true, the index is split into individual pages for each letter. # html_split_index = False # If true, links to the reST sources are added to the pages. # html_show_sourcelink = True # If true, "Created using Sphinx" is shown in the HTML footer. Default is True. # html_show_sphinx = True # If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. # html_show_copyright = True # If true, an OpenSearch description file will be output, and all pages will # contain a tag referring to it. The value of this option must be the # base URL from which the finished HTML is served. # html_use_opensearch = '' # This is the file name suffix for HTML files (e.g. ".xhtml"). # html_file_suffix = None # Language to be used for generating the HTML full-text search index. # Sphinx supports the following languages: # html_search_language = 'en' # A dictionary with options for the search language support, empty by default. # Now only 'ja' uses this config value # html_search_options = {'type': 'default'} # The name of a javascript file (relative to the configuration directory) that # implements a search results scorer. If empty, the default will be used. # html_search_scorer = 'scorer.js' # Output file base name for HTML help builder. htmlhelp_basename = "mtcdoc" # Example configuration for intersphinx: refer to the Python standard library. intersphinx_mapping = {"python": ("https://docs.python.org/3", None)} ros_distro = "noetic" ros_docs = f"http://docs.ros.org/{ros_distro}/api" extlinks = { "rosdocs": (f"{ros_docs}/%s", "%s"), "msgs": (f"{ros_docs}/moveit_task_constructor/html/msg/%s.html", "%s"), "moveit_msgs": (f"{ros_docs}/moveit_msgs/html/msg/%s.html", "%s"), "geometry_msgs": (f"{ros_docs}/geometry_msgs/html/msg/%s.html", "%s"), "visualization_msgs": (f"{ros_docs}/visualization_msgs/html/msg/%s.html", "%s"), } def generate_doxygen_xml(app): build_dir = os.path.join(app.confdir, ".build") if not os.path.exists(build_dir): os.mkdir(build_dir) print("Running doxygen") try: subprocess.call(["doxygen", "--version"]) retcode = subprocess.call(["doxygen"], cwd=app.confdir) if retcode < 0: sys.stderr.write(f"doxygen error code: {-retcode}\n") except OSError as e: sys.stderr.write(f"doxygen execution failed: {e}\n") def setup(app): # Add hook for building doxygen xml when needed app.connect("builder-inited", generate_doxygen_xml)