mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-09-27 00:29:13 +08:00
247 lines
8.4 KiB
Python
247 lines
8.4 KiB
Python
# Configuration file for the Sphinx documentation builder.
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#
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# This file does only contain a selection of the most common options.
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# For a full list, refer to: http://www.sphinx-doc.org/en/master/config
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from lxml import etree
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import os
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import subprocess
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import sys
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from pathlib import Path
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DIR = Path(__file__).parent.resolve()
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# If extensions (or modules to document with autodoc) are in another directory,
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# add these directories to sys.path here. If the directory is relative to the
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# documentation root, use os.path.abspath to make it absolute, like shown here.
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# sys.path.insert(0, os.path.abspath('.'))
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# -- General configuration ------------------------------------------------
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# If your documentation needs a minimal Sphinx version, state it here.
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# needs_sphinx = '1.0'
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# Add any Sphinx extension module names here, as strings. They can be
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# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
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# ones.
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extensions = [
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"breathe",
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"sphinx_copybutton",
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"sphinx.ext.autodoc",
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"sphinx.ext.autosummary",
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"sphinx.ext.intersphinx",
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"sphinx.ext.napoleon",
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"sphinx.ext.extlinks",
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]
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breathe_projects = {"mtc": DIR / "_doxygenxml"}
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breathe_default_project = "mtc"
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breathe_domain_by_extension = {"h": "cpp"}
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autosummary_generate = True
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autoclass_content = "both" # Add __init__ doc (ie. params) to class summaries
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html_show_sourcelink = False # Remove 'view source code' from top of page (for html, not python)
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autodoc_inherit_docstrings = True # If no docstring, inherit from base class
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set_type_checking_flag = True # Enable 'expensive' imports for sphinx_autodoc_typehints
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add_module_names = False
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# Add any paths that contain templates here, relative to this directory.
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templates_path = ["_templates"]
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# The suffix(es) of source filenames.
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# You can specify multiple suffix as a list of string:
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# source_suffix = ['.rst', '.md']
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source_suffix = ".rst"
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# The encoding of source files.
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# source_encoding = 'utf-8-sig'
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# The master toctree document.
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master_doc = "index"
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# General information about the project.
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project = "MoveIt Task Constructor"
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author = "Michael Görner, Robert Haschke"
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# The version info for the project you're documenting, acts as replacement for
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# |version| and |release|, also used in various other places throughout the
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# built documents.
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#
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# Read version from package.xml
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xml = etree.parse("../package.xml")
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version = str(xml.xpath("/package/version/text()")[0])
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# The language for content autogenerated by Sphinx. Refer to documentation
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# for a list of supported languages.
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#
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# This is also used if you do content translation via gettext catalogs.
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# Usually you set "language" from the command line for these cases.
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language = "en"
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# There are two options for replacing |today|: either, you set today to some
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# non-false value, then it is used:
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# today = ''
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# Else, today_fmt is used as the format for a strftime call.
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# today_fmt = '%B %d, %Y'
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# List of patterns, relative to source directory, that match files and
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# directories to ignore when looking for source files.
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exclude_patterns = [".build", "python/pybind11"]
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# The reST default role (used for this markup: `text`) to use for all
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# documents.
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# default_role = None
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# If true, '()' will be appended to :func: etc. cross-reference text.
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# add_function_parentheses = True
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# If true, the current module name will be prepended to all description
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# unit titles (such as .. function::).
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# add_module_names = True
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# If true, sectionauthor and moduleauthor directives will be shown in the
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# output. They are ignored by default.
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# show_authors = False
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# The name of the Pygments (syntax highlighting) style to use.
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# pygments_style = 'monokai'
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# A list of ignored prefixes for module index sorting.
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# modindex_common_prefix = []
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# If true, keep warnings as "system message" paragraphs in the built documents.
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# keep_warnings = False
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# If true, `todo` and `todoList` produce output, else they produce nothing.
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todo_include_todos = False
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# -- Options for HTML output ----------------------------------------------
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# The theme to use for HTML and HTML Help pages. See the documentation for
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# a list of builtin themes.
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html_theme = "furo"
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# Theme options are theme-specific and customize the look and feel of a theme
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# further. For a list of options available for each theme, see the
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# documentation.
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# html_theme_options = {}
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# Add any paths that contain custom themes here, relative to this directory.
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# html_theme_path = []
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# The name for this set of Sphinx documents. If None, it defaults to
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# "<project> v<release> documentation".
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# html_title = None
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# A shorter title for the navigation bar. Default is the same as html_title.
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# html_short_title = None
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# The name of an image file (relative to this directory) to place at the top
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# of the sidebar.
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# html_logo = None
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# The name of an image file (within the static path) to use as favicon of the
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# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
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# pixels large.
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# html_favicon = None
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# Add any paths that contain custom static files (such as style sheets) here,
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# relative to this directory. They are copied after the builtin static files,
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# so a file named "default.css" will overwrite the builtin "default.css".
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# html_static_path = ["_static"]
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# Add any extra paths that contain custom files (such as robots.txt or
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# .htaccess) here, relative to this directory. These files are copied
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# directly to the root of the documentation.
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# html_extra_path = []
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# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
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# using the given strftime format.
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# html_last_updated_fmt = '%b %d, %Y'
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# If true, SmartyPants will be used to convert quotes and dashes to
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# typographically correct entities.
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# html_use_smartypants = True
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# Custom sidebar templates, maps document names to template names.
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# html_sidebars = {}
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# Additional templates that should be rendered to pages, maps page names to
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# template names.
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# html_additional_pages = {}
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# If false, no module index is generated.
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# html_domain_indices = True
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# If false, no index is generated.
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# html_use_index = True
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# If true, the index is split into individual pages for each letter.
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# html_split_index = False
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# If true, links to the reST sources are added to the pages.
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# html_show_sourcelink = True
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# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
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# html_show_sphinx = True
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# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
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# html_show_copyright = True
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# If true, an OpenSearch description file will be output, and all pages will
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# contain a <link> tag referring to it. The value of this option must be the
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# base URL from which the finished HTML is served.
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# html_use_opensearch = ''
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# This is the file name suffix for HTML files (e.g. ".xhtml").
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# html_file_suffix = None
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# Language to be used for generating the HTML full-text search index.
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# Sphinx supports the following languages:
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# html_search_language = 'en'
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# A dictionary with options for the search language support, empty by default.
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# Now only 'ja' uses this config value
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# html_search_options = {'type': 'default'}
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# The name of a javascript file (relative to the configuration directory) that
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# implements a search results scorer. If empty, the default will be used.
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# html_search_scorer = 'scorer.js'
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# Output file base name for HTML help builder.
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htmlhelp_basename = "mtcdoc"
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# Example configuration for intersphinx: refer to the Python standard library.
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intersphinx_mapping = {"python": ("https://docs.python.org/3", None)}
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ros_distro = "noetic"
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ros_docs = f"http://docs.ros.org/{ros_distro}/api"
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extlinks = {
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"rosdocs": (f"{ros_docs}/%s", "%s"),
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"msgs": (f"{ros_docs}/moveit_task_constructor/html/msg/%s.html", "%s"),
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"moveit_msgs": (f"{ros_docs}/moveit_msgs/html/msg/%s.html", "%s"),
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"geometry_msgs": (f"{ros_docs}/geometry_msgs/html/msg/%s.html", "%s"),
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"visualization_msgs": (f"{ros_docs}/visualization_msgs/html/msg/%s.html", "%s"),
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}
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def generate_doxygen_xml(app):
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build_dir = os.path.join(app.confdir, ".build")
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if not os.path.exists(build_dir):
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os.mkdir(build_dir)
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print("Running doxygen")
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try:
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subprocess.call(["doxygen", "--version"])
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retcode = subprocess.call(["doxygen"], cwd=app.confdir)
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if retcode < 0:
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sys.stderr.write(f"doxygen error code: {-retcode}\n")
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except OSError as e:
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sys.stderr.write(f"doxygen execution failed: {e}\n")
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def setup(app):
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# Add hook for building doxygen xml when needed
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app.connect("builder-inited", generate_doxygen_xml)
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