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135
.gitignore
vendored
|
@ -3,7 +3,7 @@
|
|||
|
||||
# Production
|
||||
/build
|
||||
|
||||
.env
|
||||
# Generated files
|
||||
.docusaurus
|
||||
.cache-loader
|
||||
|
@ -14,9 +14,138 @@
|
|||
.env.development.local
|
||||
.env.test.local
|
||||
.env.production.local
|
||||
.vs
|
||||
|
||||
npm-debug.log*
|
||||
yarn-debug.log*
|
||||
yarn-error.log*
|
||||
.vscode
|
||||
|
||||
# Logs
|
||||
logs
|
||||
*.log
|
||||
npm-debug.log*
|
||||
yarn-debug.log*
|
||||
yarn-error.log*
|
||||
lerna-debug.log*
|
||||
.pnpm-debug.log*
|
||||
|
||||
# Diagnostic reports (https://nodejs.org/api/report.html)
|
||||
report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json
|
||||
|
||||
# Runtime data
|
||||
pids
|
||||
*.pid
|
||||
*.seed
|
||||
*.pid.lock
|
||||
|
||||
# Directory for instrumented libs generated by jscoverage/JSCover
|
||||
lib-cov
|
||||
|
||||
# Coverage directory used by tools like istanbul
|
||||
coverage
|
||||
*.lcov
|
||||
|
||||
# nyc test coverage
|
||||
.nyc_output
|
||||
|
||||
# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files)
|
||||
.grunt
|
||||
|
||||
# Bower dependency directory (https://bower.io/)
|
||||
bower_components
|
||||
|
||||
# node-waf configuration
|
||||
.lock-wscript
|
||||
|
||||
# Compiled binary addons (https://nodejs.org/api/addons.html)
|
||||
build/Release
|
||||
|
||||
# Dependency directories
|
||||
node_modules/
|
||||
jspm_packages/
|
||||
|
||||
# Snowpack dependency directory (https://snowpack.dev/)
|
||||
web_modules/
|
||||
|
||||
# TypeScript cache
|
||||
*.tsbuildinfo
|
||||
|
||||
# Optional npm cache directory
|
||||
.npm
|
||||
|
||||
# Optional eslint cache
|
||||
.eslintcache
|
||||
|
||||
# Optional stylelint cache
|
||||
.stylelintcache
|
||||
|
||||
# Microbundle cache
|
||||
.rpt2_cache/
|
||||
.rts2_cache_cjs/
|
||||
.rts2_cache_es/
|
||||
.rts2_cache_umd/
|
||||
|
||||
# Optional REPL history
|
||||
.node_repl_history
|
||||
|
||||
# Output of 'npm pack'
|
||||
*.tgz
|
||||
|
||||
# Yarn Integrity file
|
||||
.yarn-integrity
|
||||
|
||||
# dotenv environment variable files
|
||||
.env
|
||||
.env.development.local
|
||||
.env.test.local
|
||||
.env.production.local
|
||||
.env.local
|
||||
|
||||
# parcel-bundler cache (https://parceljs.org/)
|
||||
.cache
|
||||
.parcel-cache
|
||||
|
||||
# Next.js build output
|
||||
.next
|
||||
out
|
||||
|
||||
# Nuxt.js build / generate output
|
||||
.nuxt
|
||||
dist
|
||||
|
||||
# Gatsby files
|
||||
.cache/
|
||||
# Comment in the public line in if your project uses Gatsby and not Next.js
|
||||
# https://nextjs.org/blog/next-9-1#public-directory-support
|
||||
# public
|
||||
|
||||
# vuepress build output
|
||||
.vuepress/dist
|
||||
|
||||
# vuepress v2.x temp and cache directory
|
||||
.temp
|
||||
.cache
|
||||
|
||||
# Docusaurus cache and generated files
|
||||
.docusaurus
|
||||
|
||||
# Serverless directories
|
||||
.serverless/
|
||||
|
||||
# FuseBox cache
|
||||
.fusebox/
|
||||
|
||||
# DynamoDB Local files
|
||||
.dynamodb/
|
||||
|
||||
# TernJS port file
|
||||
.tern-port
|
||||
|
||||
# Stores VSCode versions used for testing VSCode extensions
|
||||
.vscode-test
|
||||
|
||||
# yarn v2
|
||||
.yarn/cache
|
||||
.yarn/unplugged
|
||||
.yarn/build-state.yml
|
||||
.yarn/install-state.gz
|
||||
.pnp.*
|
||||
|
|
|
@ -1,4 +1,4 @@
|
|||
image: node:16.15.1-alpine3.16
|
||||
image: node:23.3.0-alpine3.21
|
||||
|
||||
stages:
|
||||
- test
|
||||
|
|
674
LICENSE
|
@ -1,674 +0,0 @@
|
|||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 3, 29 June 2007
|
||||
|
||||
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
|
||||
The GNU General Public License is a free, copyleft license for
|
||||
software and other kinds of works.
|
||||
|
||||
The licenses for most software and other practical works are designed
|
||||
to take away your freedom to share and change the works. By contrast,
|
||||
the GNU General Public License is intended to guarantee your freedom to
|
||||
share and change all versions of a program--to make sure it remains free
|
||||
software for all its users. We, the Free Software Foundation, use the
|
||||
GNU General Public License for most of our software; it applies also to
|
||||
any other work released this way by its authors. You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
them if you wish), that you receive source code or can get it if you
|
||||
want it, that you can change the software or use pieces of it in new
|
||||
free programs, and that you know you can do these things.
|
||||
|
||||
To protect your rights, we need to prevent others from denying you
|
||||
these rights or asking you to surrender the rights. Therefore, you have
|
||||
certain responsibilities if you distribute copies of the software, or if
|
||||
you modify it: responsibilities to respect the freedom of others.
|
||||
|
||||
For example, if you distribute copies of such a program, whether
|
||||
gratis or for a fee, you must pass on to the recipients the same
|
||||
freedoms that you received. You must make sure that they, too, receive
|
||||
or can get the source code. And you must show them these terms so they
|
||||
know their rights.
|
||||
|
||||
Developers that use the GNU GPL protect your rights with two steps:
|
||||
(1) assert copyright on the software, and (2) offer you this License
|
||||
giving you legal permission to copy, distribute and/or modify it.
|
||||
|
||||
For the developers' and authors' protection, the GPL clearly explains
|
||||
that there is no warranty for this free software. For both users' and
|
||||
authors' sake, the GPL requires that modified versions be marked as
|
||||
changed, so that their problems will not be attributed erroneously to
|
||||
authors of previous versions.
|
||||
|
||||
Some devices are designed to deny users access to install or run
|
||||
modified versions of the software inside them, although the manufacturer
|
||||
can do so. This is fundamentally incompatible with the aim of
|
||||
protecting users' freedom to change the software. The systematic
|
||||
pattern of such abuse occurs in the area of products for individuals to
|
||||
use, which is precisely where it is most unacceptable. Therefore, we
|
||||
have designed this version of the GPL to prohibit the practice for those
|
||||
products. If such problems arise substantially in other domains, we
|
||||
stand ready to extend this provision to those domains in future versions
|
||||
of the GPL, as needed to protect the freedom of users.
|
||||
|
||||
Finally, every program is threatened constantly by software patents.
|
||||
States should not allow patents to restrict development and use of
|
||||
software on general-purpose computers, but in those that do, we wish to
|
||||
avoid the special danger that patents applied to a free program could
|
||||
make it effectively proprietary. To prevent this, the GPL assures that
|
||||
patents cannot be used to render the program non-free.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
TERMS AND CONDITIONS
|
||||
|
||||
0. Definitions.
|
||||
|
||||
"This License" refers to version 3 of the GNU General Public License.
|
||||
|
||||
"Copyright" also means copyright-like laws that apply to other kinds of
|
||||
works, such as semiconductor masks.
|
||||
|
||||
"The Program" refers to any copyrightable work licensed under this
|
||||
License. Each licensee is addressed as "you". "Licensees" and
|
||||
"recipients" may be individuals or organizations.
|
||||
|
||||
To "modify" a work means to copy from or adapt all or part of the work
|
||||
in a fashion requiring copyright permission, other than the making of an
|
||||
exact copy. The resulting work is called a "modified version" of the
|
||||
earlier work or a work "based on" the earlier work.
|
||||
|
||||
A "covered work" means either the unmodified Program or a work based
|
||||
on the Program.
|
||||
|
||||
To "propagate" a work means to do anything with it that, without
|
||||
permission, would make you directly or secondarily liable for
|
||||
infringement under applicable copyright law, except executing it on a
|
||||
computer or modifying a private copy. Propagation includes copying,
|
||||
distribution (with or without modification), making available to the
|
||||
public, and in some countries other activities as well.
|
||||
|
||||
To "convey" a work means any kind of propagation that enables other
|
||||
parties to make or receive copies. Mere interaction with a user through
|
||||
a computer network, with no transfer of a copy, is not conveying.
|
||||
|
||||
An interactive user interface displays "Appropriate Legal Notices"
|
||||
to the extent that it includes a convenient and prominently visible
|
||||
feature that (1) displays an appropriate copyright notice, and (2)
|
||||
tells the user that there is no warranty for the work (except to the
|
||||
extent that warranties are provided), that licensees may convey the
|
||||
work under this License, and how to view a copy of this License. If
|
||||
the interface presents a list of user commands or options, such as a
|
||||
menu, a prominent item in the list meets this criterion.
|
||||
|
||||
1. Source Code.
|
||||
|
||||
The "source code" for a work means the preferred form of the work
|
||||
for making modifications to it. "Object code" means any non-source
|
||||
form of a work.
|
||||
|
||||
A "Standard Interface" means an interface that either is an official
|
||||
standard defined by a recognized standards body, or, in the case of
|
||||
interfaces specified for a particular programming language, one that
|
||||
is widely used among developers working in that language.
|
||||
|
||||
The "System Libraries" of an executable work include anything, other
|
||||
than the work as a whole, that (a) is included in the normal form of
|
||||
packaging a Major Component, but which is not part of that Major
|
||||
Component, and (b) serves only to enable use of the work with that
|
||||
Major Component, or to implement a Standard Interface for which an
|
||||
implementation is available to the public in source code form. A
|
||||
"Major Component", in this context, means a major essential component
|
||||
(kernel, window system, and so on) of the specific operating system
|
||||
(if any) on which the executable work runs, or a compiler used to
|
||||
produce the work, or an object code interpreter used to run it.
|
||||
|
||||
The "Corresponding Source" for a work in object code form means all
|
||||
the source code needed to generate, install, and (for an executable
|
||||
work) run the object code and to modify the work, including scripts to
|
||||
control those activities. However, it does not include the work's
|
||||
System Libraries, or general-purpose tools or generally available free
|
||||
programs which are used unmodified in performing those activities but
|
||||
which are not part of the work. For example, Corresponding Source
|
||||
includes interface definition files associated with source files for
|
||||
the work, and the source code for shared libraries and dynamically
|
||||
linked subprograms that the work is specifically designed to require,
|
||||
such as by intimate data communication or control flow between those
|
||||
subprograms and other parts of the work.
|
||||
|
||||
The Corresponding Source need not include anything that users
|
||||
can regenerate automatically from other parts of the Corresponding
|
||||
Source.
|
||||
|
||||
The Corresponding Source for a work in source code form is that
|
||||
same work.
|
||||
|
||||
2. Basic Permissions.
|
||||
|
||||
All rights granted under this License are granted for the term of
|
||||
copyright on the Program, and are irrevocable provided the stated
|
||||
conditions are met. This License explicitly affirms your unlimited
|
||||
permission to run the unmodified Program. The output from running a
|
||||
covered work is covered by this License only if the output, given its
|
||||
content, constitutes a covered work. This License acknowledges your
|
||||
rights of fair use or other equivalent, as provided by copyright law.
|
||||
|
||||
You may make, run and propagate covered works that you do not
|
||||
convey, without conditions so long as your license otherwise remains
|
||||
in force. You may convey covered works to others for the sole purpose
|
||||
of having them make modifications exclusively for you, or provide you
|
||||
with facilities for running those works, provided that you comply with
|
||||
the terms of this License in conveying all material for which you do
|
||||
not control copyright. Those thus making or running the covered works
|
||||
for you must do so exclusively on your behalf, under your direction
|
||||
and control, on terms that prohibit them from making any copies of
|
||||
your copyrighted material outside their relationship with you.
|
||||
|
||||
Conveying under any other circumstances is permitted solely under
|
||||
the conditions stated below. Sublicensing is not allowed; section 10
|
||||
makes it unnecessary.
|
||||
|
||||
3. Protecting Users' Legal Rights From Anti-Circumvention Law.
|
||||
|
||||
No covered work shall be deemed part of an effective technological
|
||||
measure under any applicable law fulfilling obligations under article
|
||||
11 of the WIPO copyright treaty adopted on 20 December 1996, or
|
||||
similar laws prohibiting or restricting circumvention of such
|
||||
measures.
|
||||
|
||||
When you convey a covered work, you waive any legal power to forbid
|
||||
circumvention of technological measures to the extent such circumvention
|
||||
is effected by exercising rights under this License with respect to
|
||||
the covered work, and you disclaim any intention to limit operation or
|
||||
modification of the work as a means of enforcing, against the work's
|
||||
users, your or third parties' legal rights to forbid circumvention of
|
||||
technological measures.
|
||||
|
||||
4. Conveying Verbatim Copies.
|
||||
|
||||
You may convey verbatim copies of the Program's source code as you
|
||||
receive it, in any medium, provided that you conspicuously and
|
||||
appropriately publish on each copy an appropriate copyright notice;
|
||||
keep intact all notices stating that this License and any
|
||||
non-permissive terms added in accord with section 7 apply to the code;
|
||||
keep intact all notices of the absence of any warranty; and give all
|
||||
recipients a copy of this License along with the Program.
|
||||
|
||||
You may charge any price or no price for each copy that you convey,
|
||||
and you may offer support or warranty protection for a fee.
|
||||
|
||||
5. Conveying Modified Source Versions.
|
||||
|
||||
You may convey a work based on the Program, or the modifications to
|
||||
produce it from the Program, in the form of source code under the
|
||||
terms of section 4, provided that you also meet all of these conditions:
|
||||
|
||||
a) The work must carry prominent notices stating that you modified
|
||||
it, and giving a relevant date.
|
||||
|
||||
b) The work must carry prominent notices stating that it is
|
||||
released under this License and any conditions added under section
|
||||
7. This requirement modifies the requirement in section 4 to
|
||||
"keep intact all notices".
|
||||
|
||||
c) You must license the entire work, as a whole, under this
|
||||
License to anyone who comes into possession of a copy. This
|
||||
License will therefore apply, along with any applicable section 7
|
||||
additional terms, to the whole of the work, and all its parts,
|
||||
regardless of how they are packaged. This License gives no
|
||||
permission to license the work in any other way, but it does not
|
||||
invalidate such permission if you have separately received it.
|
||||
|
||||
d) If the work has interactive user interfaces, each must display
|
||||
Appropriate Legal Notices; however, if the Program has interactive
|
||||
interfaces that do not display Appropriate Legal Notices, your
|
||||
work need not make them do so.
|
||||
|
||||
A compilation of a covered work with other separate and independent
|
||||
works, which are not by their nature extensions of the covered work,
|
||||
and which are not combined with it such as to form a larger program,
|
||||
in or on a volume of a storage or distribution medium, is called an
|
||||
"aggregate" if the compilation and its resulting copyright are not
|
||||
used to limit the access or legal rights of the compilation's users
|
||||
beyond what the individual works permit. Inclusion of a covered work
|
||||
in an aggregate does not cause this License to apply to the other
|
||||
parts of the aggregate.
|
||||
|
||||
6. Conveying Non-Source Forms.
|
||||
|
||||
You may convey a covered work in object code form under the terms
|
||||
of sections 4 and 5, provided that you also convey the
|
||||
machine-readable Corresponding Source under the terms of this License,
|
||||
in one of these ways:
|
||||
|
||||
a) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by the
|
||||
Corresponding Source fixed on a durable physical medium
|
||||
customarily used for software interchange.
|
||||
|
||||
b) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by a
|
||||
written offer, valid for at least three years and valid for as
|
||||
long as you offer spare parts or customer support for that product
|
||||
model, to give anyone who possesses the object code either (1) a
|
||||
copy of the Corresponding Source for all the software in the
|
||||
product that is covered by this License, on a durable physical
|
||||
medium customarily used for software interchange, for a price no
|
||||
more than your reasonable cost of physically performing this
|
||||
conveying of source, or (2) access to copy the
|
||||
Corresponding Source from a network server at no charge.
|
||||
|
||||
c) Convey individual copies of the object code with a copy of the
|
||||
written offer to provide the Corresponding Source. This
|
||||
alternative is allowed only occasionally and noncommercially, and
|
||||
only if you received the object code with such an offer, in accord
|
||||
with subsection 6b.
|
||||
|
||||
d) Convey the object code by offering access from a designated
|
||||
place (gratis or for a charge), and offer equivalent access to the
|
||||
Corresponding Source in the same way through the same place at no
|
||||
further charge. You need not require recipients to copy the
|
||||
Corresponding Source along with the object code. If the place to
|
||||
copy the object code is a network server, the Corresponding Source
|
||||
may be on a different server (operated by you or a third party)
|
||||
that supports equivalent copying facilities, provided you maintain
|
||||
clear directions next to the object code saying where to find the
|
||||
Corresponding Source. Regardless of what server hosts the
|
||||
Corresponding Source, you remain obligated to ensure that it is
|
||||
available for as long as needed to satisfy these requirements.
|
||||
|
||||
e) Convey the object code using peer-to-peer transmission, provided
|
||||
you inform other peers where the object code and Corresponding
|
||||
Source of the work are being offered to the general public at no
|
||||
charge under subsection 6d.
|
||||
|
||||
A separable portion of the object code, whose source code is excluded
|
||||
from the Corresponding Source as a System Library, need not be
|
||||
included in conveying the object code work.
|
||||
|
||||
A "User Product" is either (1) a "consumer product", which means any
|
||||
tangible personal property which is normally used for personal, family,
|
||||
or household purposes, or (2) anything designed or sold for incorporation
|
||||
into a dwelling. In determining whether a product is a consumer product,
|
||||
doubtful cases shall be resolved in favor of coverage. For a particular
|
||||
product received by a particular user, "normally used" refers to a
|
||||
typical or common use of that class of product, regardless of the status
|
||||
of the particular user or of the way in which the particular user
|
||||
actually uses, or expects or is expected to use, the product. A product
|
||||
is a consumer product regardless of whether the product has substantial
|
||||
commercial, industrial or non-consumer uses, unless such uses represent
|
||||
the only significant mode of use of the product.
|
||||
|
||||
"Installation Information" for a User Product means any methods,
|
||||
procedures, authorization keys, or other information required to install
|
||||
and execute modified versions of a covered work in that User Product from
|
||||
a modified version of its Corresponding Source. The information must
|
||||
suffice to ensure that the continued functioning of the modified object
|
||||
code is in no case prevented or interfered with solely because
|
||||
modification has been made.
|
||||
|
||||
If you convey an object code work under this section in, or with, or
|
||||
specifically for use in, a User Product, and the conveying occurs as
|
||||
part of a transaction in which the right of possession and use of the
|
||||
User Product is transferred to the recipient in perpetuity or for a
|
||||
fixed term (regardless of how the transaction is characterized), the
|
||||
Corresponding Source conveyed under this section must be accompanied
|
||||
by the Installation Information. But this requirement does not apply
|
||||
if neither you nor any third party retains the ability to install
|
||||
modified object code on the User Product (for example, the work has
|
||||
been installed in ROM).
|
||||
|
||||
The requirement to provide Installation Information does not include a
|
||||
requirement to continue to provide support service, warranty, or updates
|
||||
for a work that has been modified or installed by the recipient, or for
|
||||
the User Product in which it has been modified or installed. Access to a
|
||||
network may be denied when the modification itself materially and
|
||||
adversely affects the operation of the network or violates the rules and
|
||||
protocols for communication across the network.
|
||||
|
||||
Corresponding Source conveyed, and Installation Information provided,
|
||||
in accord with this section must be in a format that is publicly
|
||||
documented (and with an implementation available to the public in
|
||||
source code form), and must require no special password or key for
|
||||
unpacking, reading or copying.
|
||||
|
||||
7. Additional Terms.
|
||||
|
||||
"Additional permissions" are terms that supplement the terms of this
|
||||
License by making exceptions from one or more of its conditions.
|
||||
Additional permissions that are applicable to the entire Program shall
|
||||
be treated as though they were included in this License, to the extent
|
||||
that they are valid under applicable law. If additional permissions
|
||||
apply only to part of the Program, that part may be used separately
|
||||
under those permissions, but the entire Program remains governed by
|
||||
this License without regard to the additional permissions.
|
||||
|
||||
When you convey a copy of a covered work, you may at your option
|
||||
remove any additional permissions from that copy, or from any part of
|
||||
it. (Additional permissions may be written to require their own
|
||||
removal in certain cases when you modify the work.) You may place
|
||||
additional permissions on material, added by you to a covered work,
|
||||
for which you have or can give appropriate copyright permission.
|
||||
|
||||
Notwithstanding any other provision of this License, for material you
|
||||
add to a covered work, you may (if authorized by the copyright holders of
|
||||
that material) supplement the terms of this License with terms:
|
||||
|
||||
a) Disclaiming warranty or limiting liability differently from the
|
||||
terms of sections 15 and 16 of this License; or
|
||||
|
||||
b) Requiring preservation of specified reasonable legal notices or
|
||||
author attributions in that material or in the Appropriate Legal
|
||||
Notices displayed by works containing it; or
|
||||
|
||||
c) Prohibiting misrepresentation of the origin of that material, or
|
||||
requiring that modified versions of such material be marked in
|
||||
reasonable ways as different from the original version; or
|
||||
|
||||
d) Limiting the use for publicity purposes of names of licensors or
|
||||
authors of the material; or
|
||||
|
||||
e) Declining to grant rights under trademark law for use of some
|
||||
trade names, trademarks, or service marks; or
|
||||
|
||||
f) Requiring indemnification of licensors and authors of that
|
||||
material by anyone who conveys the material (or modified versions of
|
||||
it) with contractual assumptions of liability to the recipient, for
|
||||
any liability that these contractual assumptions directly impose on
|
||||
those licensors and authors.
|
||||
|
||||
All other non-permissive additional terms are considered "further
|
||||
restrictions" within the meaning of section 10. If the Program as you
|
||||
received it, or any part of it, contains a notice stating that it is
|
||||
governed by this License along with a term that is a further
|
||||
restriction, you may remove that term. If a license document contains
|
||||
a further restriction but permits relicensing or conveying under this
|
||||
License, you may add to a covered work material governed by the terms
|
||||
of that license document, provided that the further restriction does
|
||||
not survive such relicensing or conveying.
|
||||
|
||||
If you add terms to a covered work in accord with this section, you
|
||||
must place, in the relevant source files, a statement of the
|
||||
additional terms that apply to those files, or a notice indicating
|
||||
where to find the applicable terms.
|
||||
|
||||
Additional terms, permissive or non-permissive, may be stated in the
|
||||
form of a separately written license, or stated as exceptions;
|
||||
the above requirements apply either way.
|
||||
|
||||
8. Termination.
|
||||
|
||||
You may not propagate or modify a covered work except as expressly
|
||||
provided under this License. Any attempt otherwise to propagate or
|
||||
modify it is void, and will automatically terminate your rights under
|
||||
this License (including any patent licenses granted under the third
|
||||
paragraph of section 11).
|
||||
|
||||
However, if you cease all violation of this License, then your
|
||||
license from a particular copyright holder is reinstated (a)
|
||||
provisionally, unless and until the copyright holder explicitly and
|
||||
finally terminates your license, and (b) permanently, if the copyright
|
||||
holder fails to notify you of the violation by some reasonable means
|
||||
prior to 60 days after the cessation.
|
||||
|
||||
Moreover, your license from a particular copyright holder is
|
||||
reinstated permanently if the copyright holder notifies you of the
|
||||
violation by some reasonable means, this is the first time you have
|
||||
received notice of violation of this License (for any work) from that
|
||||
copyright holder, and you cure the violation prior to 30 days after
|
||||
your receipt of the notice.
|
||||
|
||||
Termination of your rights under this section does not terminate the
|
||||
licenses of parties who have received copies or rights from you under
|
||||
this License. If your rights have been terminated and not permanently
|
||||
reinstated, you do not qualify to receive new licenses for the same
|
||||
material under section 10.
|
||||
|
||||
9. Acceptance Not Required for Having Copies.
|
||||
|
||||
You are not required to accept this License in order to receive or
|
||||
run a copy of the Program. Ancillary propagation of a covered work
|
||||
occurring solely as a consequence of using peer-to-peer transmission
|
||||
to receive a copy likewise does not require acceptance. However,
|
||||
nothing other than this License grants you permission to propagate or
|
||||
modify any covered work. These actions infringe copyright if you do
|
||||
not accept this License. Therefore, by modifying or propagating a
|
||||
covered work, you indicate your acceptance of this License to do so.
|
||||
|
||||
10. Automatic Licensing of Downstream Recipients.
|
||||
|
||||
Each time you convey a covered work, the recipient automatically
|
||||
receives a license from the original licensors, to run, modify and
|
||||
propagate that work, subject to this License. You are not responsible
|
||||
for enforcing compliance by third parties with this License.
|
||||
|
||||
An "entity transaction" is a transaction transferring control of an
|
||||
organization, or substantially all assets of one, or subdividing an
|
||||
organization, or merging organizations. If propagation of a covered
|
||||
work results from an entity transaction, each party to that
|
||||
transaction who receives a copy of the work also receives whatever
|
||||
licenses to the work the party's predecessor in interest had or could
|
||||
give under the previous paragraph, plus a right to possession of the
|
||||
Corresponding Source of the work from the predecessor in interest, if
|
||||
the predecessor has it or can get it with reasonable efforts.
|
||||
|
||||
You may not impose any further restrictions on the exercise of the
|
||||
rights granted or affirmed under this License. For example, you may
|
||||
not impose a license fee, royalty, or other charge for exercise of
|
||||
rights granted under this License, and you may not initiate litigation
|
||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||
any patent claim is infringed by making, using, selling, offering for
|
||||
sale, or importing the Program or any portion of it.
|
||||
|
||||
11. Patents.
|
||||
|
||||
A "contributor" is a copyright holder who authorizes use under this
|
||||
License of the Program or a work on which the Program is based. The
|
||||
work thus licensed is called the contributor's "contributor version".
|
||||
|
||||
A contributor's "essential patent claims" are all patent claims
|
||||
owned or controlled by the contributor, whether already acquired or
|
||||
hereafter acquired, that would be infringed by some manner, permitted
|
||||
by this License, of making, using, or selling its contributor version,
|
||||
but do not include claims that would be infringed only as a
|
||||
consequence of further modification of the contributor version. For
|
||||
purposes of this definition, "control" includes the right to grant
|
||||
patent sublicenses in a manner consistent with the requirements of
|
||||
this License.
|
||||
|
||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||
patent license under the contributor's essential patent claims, to
|
||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||
propagate the contents of its contributor version.
|
||||
|
||||
In the following three paragraphs, a "patent license" is any express
|
||||
agreement or commitment, however denominated, not to enforce a patent
|
||||
(such as an express permission to practice a patent or covenant not to
|
||||
sue for patent infringement). To "grant" such a patent license to a
|
||||
party means to make such an agreement or commitment not to enforce a
|
||||
patent against the party.
|
||||
|
||||
If you convey a covered work, knowingly relying on a patent license,
|
||||
and the Corresponding Source of the work is not available for anyone
|
||||
to copy, free of charge and under the terms of this License, through a
|
||||
publicly available network server or other readily accessible means,
|
||||
then you must either (1) cause the Corresponding Source to be so
|
||||
available, or (2) arrange to deprive yourself of the benefit of the
|
||||
patent license for this particular work, or (3) arrange, in a manner
|
||||
consistent with the requirements of this License, to extend the patent
|
||||
license to downstream recipients. "Knowingly relying" means you have
|
||||
actual knowledge that, but for the patent license, your conveying the
|
||||
covered work in a country, or your recipient's use of the covered work
|
||||
in a country, would infringe one or more identifiable patents in that
|
||||
country that you have reason to believe are valid.
|
||||
|
||||
If, pursuant to or in connection with a single transaction or
|
||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||
covered work, and grant a patent license to some of the parties
|
||||
receiving the covered work authorizing them to use, propagate, modify
|
||||
or convey a specific copy of the covered work, then the patent license
|
||||
you grant is automatically extended to all recipients of the covered
|
||||
work and works based on it.
|
||||
|
||||
A patent license is "discriminatory" if it does not include within
|
||||
the scope of its coverage, prohibits the exercise of, or is
|
||||
conditioned on the non-exercise of one or more of the rights that are
|
||||
specifically granted under this License. You may not convey a covered
|
||||
work if you are a party to an arrangement with a third party that is
|
||||
in the business of distributing software, under which you make payment
|
||||
to the third party based on the extent of your activity of conveying
|
||||
the work, and under which the third party grants, to any of the
|
||||
parties who would receive the covered work from you, a discriminatory
|
||||
patent license (a) in connection with copies of the covered work
|
||||
conveyed by you (or copies made from those copies), or (b) primarily
|
||||
for and in connection with specific products or compilations that
|
||||
contain the covered work, unless you entered into that arrangement,
|
||||
or that patent license was granted, prior to 28 March 2007.
|
||||
|
||||
Nothing in this License shall be construed as excluding or limiting
|
||||
any implied license or other defenses to infringement that may
|
||||
otherwise be available to you under applicable patent law.
|
||||
|
||||
12. No Surrender of Others' Freedom.
|
||||
|
||||
If conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot convey a
|
||||
covered work so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you may
|
||||
not convey it at all. For example, if you agree to terms that obligate you
|
||||
to collect a royalty for further conveying from those to whom you convey
|
||||
the Program, the only way you could satisfy both those terms and this
|
||||
License would be to refrain entirely from conveying the Program.
|
||||
|
||||
13. Use with the GNU Affero General Public License.
|
||||
|
||||
Notwithstanding any other provision of this License, you have
|
||||
permission to link or combine any covered work with a work licensed
|
||||
under version 3 of the GNU Affero General Public License into a single
|
||||
combined work, and to convey the resulting work. The terms of this
|
||||
License will continue to apply to the part which is the covered work,
|
||||
but the special requirements of the GNU Affero General Public License,
|
||||
section 13, concerning interaction through a network will apply to the
|
||||
combination as such.
|
||||
|
||||
14. Revised Versions of this License.
|
||||
|
||||
The Free Software Foundation may publish revised and/or new versions of
|
||||
the GNU General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the
|
||||
Program specifies that a certain numbered version of the GNU General
|
||||
Public License "or any later version" applies to it, you have the
|
||||
option of following the terms and conditions either of that numbered
|
||||
version or of any later version published by the Free Software
|
||||
Foundation. If the Program does not specify a version number of the
|
||||
GNU General Public License, you may choose any version ever published
|
||||
by the Free Software Foundation.
|
||||
|
||||
If the Program specifies that a proxy can decide which future
|
||||
versions of the GNU General Public License can be used, that proxy's
|
||||
public statement of acceptance of a version permanently authorizes you
|
||||
to choose that version for the Program.
|
||||
|
||||
Later license versions may give you additional or different
|
||||
permissions. However, no additional obligations are imposed on any
|
||||
author or copyright holder as a result of your choosing to follow a
|
||||
later version.
|
||||
|
||||
15. Disclaimer of Warranty.
|
||||
|
||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. Limitation of Liability.
|
||||
|
||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGES.
|
||||
|
||||
17. Interpretation of Sections 15 and 16.
|
||||
|
||||
If the disclaimer of warranty and limitation of liability provided
|
||||
above cannot be given local legal effect according to their terms,
|
||||
reviewing courts shall apply local law that most closely approximates
|
||||
an absolute waiver of all civil liability in connection with the
|
||||
Program, unless a warranty or assumption of liability accompanies a
|
||||
copy of the Program in return for a fee.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
state the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the program's name and a brief idea of what it does.>
|
||||
Copyright (C) 2021 Igor Brylyov
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program does terminal interaction, make it output a short
|
||||
notice like this when it starts in an interactive mode:
|
||||
|
||||
<program> Copyright (C) 2021 Igor Brylyov
|
||||
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, your program's commands
|
||||
might be different; for a GUI interface, you would use an "about box".
|
||||
|
||||
You should also get your employer (if you work as a programmer) or school,
|
||||
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||
For more information on this, and how to apply and follow the GNU GPL, see
|
||||
<https://www.gnu.org/licenses/>.
|
||||
|
||||
The GNU General Public License does not permit incorporating your program
|
||||
into proprietary programs. If your program is a subroutine library, you
|
||||
may consider it more useful to permit linking proprietary applications with
|
||||
the library. If this is what you want to do, use the GNU Lesser General
|
||||
Public License instead of this License. But first, please read
|
||||
<https://www.gnu.org/licenses/why-not-lgpl.html>.
|
38
algolia.config.json
Normal file
|
@ -0,0 +1,38 @@
|
|||
{
|
||||
"index_name": "test_index",
|
||||
"sitemap_urls": ["https://docusaurus-template-eight.vercel.app/sitemap.xml"],
|
||||
"start_urls": ["https://docusaurus-template-eight.vercel.app/"],
|
||||
"stop_urls": [],
|
||||
|
||||
"sitemap_alternate_links": true,
|
||||
"selectors": {
|
||||
"lvl0": {
|
||||
"selector": "(//ul[contains(@class,'menu__list')]//a[contains(@class, 'menu__link menu__link--sublist menu__link--active')]/text() | //nav[contains(@class, 'navbar')]//a[contains(@class, 'navbar__link--active')]/text())[last()]",
|
||||
"type": "xpath",
|
||||
"global": true,
|
||||
"default_value": "Documentation"
|
||||
},
|
||||
"lvl1": "header h1",
|
||||
"lvl2": "article h2",
|
||||
"lvl3": "article h3",
|
||||
"lvl4": "article h4",
|
||||
"lvl5": "article h5, article td:first-child",
|
||||
"lvl6": "article h6",
|
||||
"text": "article p, article li, article td:last-child"
|
||||
},
|
||||
|
||||
"strip_chars": " .,;:#",
|
||||
"custom_settings": {
|
||||
"separatorsToIndex": "_",
|
||||
"attributesForFaceting": ["language", "version", "type", "docusaurus_tag"],
|
||||
"attributesToRetrieve": [
|
||||
"hierarchy",
|
||||
"content",
|
||||
"anchor",
|
||||
"url",
|
||||
"url_without_anchor",
|
||||
"type"
|
||||
]
|
||||
},
|
||||
"js_render": true
|
||||
}
|
|
@ -68,7 +68,7 @@ _В этой заметке один из участников проекта А
|
|||
### I акт. Создание общего плана (происхождение замысла). Акт творческий (интуиция)
|
||||
На этом этапе определяется, что хочет проектировщик. Проектирование машины предполагает, что условия задачи ясно осознаны. Это творческий акт конструирования идеи машины, удовлетворяющей всем поставленным условиям. Он распадается на две стадии:
|
||||
1. Творчество, дающее идею (идея уже есть полное решение задачи, это полная машина со всеми деталями, которые еще только не видны): «процесс проектирования начинается с возникновения в уме изобретателя темной идеи, которая есть неясное, но полное решение задачи» (убеждение в том, что это лучшее решение, пока основано на вере); на этом этапе главное — изобретательность и личный опыт. Идея машины представляется самому ее носителю загадкой, он вглядывается в нее, вынашивает идею, «думает о ней». «Эта работа, по-моему, должна происходить исключительно умозрительным путем. Бумага и карандаш, которые дальше окажутся необходимыми, теперь наоборот только могут помешать, и это по двум причинам: во-первых, потому, что бумага имеет только два измерения, между тем как машина почти всегда имеет три, пока стоит, и четыре, пока движется; во-вторых, потому, что теперь всего нужнее припомнить как можно больше разных механизмов и чтобы они готовы были несколько видоизменяться и прилаживаться к требованиям идеи-сфинкса; а это возможно только при образах воображаемых».
|
||||
2. Внутреннее чтение идеи для выяснения главных частей, в результате которого составится общий план машины. Память и конструктивное воображение — вот деятели первого акта во второй его половине. «Первый акт проектирования окончен, когда идея машины возникла и изобретатель настолько ее распознал, что уяснил себе общий план машины, т. е. ее характер и главные рабочие органы». Теперь идея машины представляется в виде «карты» малоизученной земли — есть оазисы, но еще много белых пятен, их связывающих областей. Результат этого акта — принцип машины, в котором выражена сама ее суть. Он дает то, что хотя и не достаточно, но необходимо для достижения данного эффекта. Принцип характеризует целый ряд машин, самое существенное в них. II акт. Выработка схемы {логическое представление).
|
||||
2. Внутреннее чтение идеи для выяснения главных частей, в результате которого составится общий план машины. Память и конструктивное воображение — вот деятели первого акта во второй его половине. «Первый акт проектирования окончен, когда идея машины возникла и изобретатель настолько ее распознал, что уяснил себе общий план машины, т. е. ее характер и главные рабочие органы». Теперь идея машины представляется в виде «карты» малоизученной земли — есть оазисы, но еще много белых пятен, их связывающих областей. Результат этого акта — принцип машины, в котором выражена сама ее суть. Он дает то, что хотя и не достаточно, но необходимо для достижения данного эффекта. Принцип характеризует целый ряд машин, самое существенное в них. II акт. Выработка схемы "логическое представление".
|
||||
|
||||
### II Акт. Научный (знание)
|
||||
На этом этапе выясняется, что может проектировщик. «Второй акт получает машину в виде нескольких отдельно стоящих органов, и задача его заключается в том, чтобы выработать промежуточные члены и чтобы получить таким образом полную схему машины». Теперь конструктора занимают образы не столько формы, сколько движения. Здесь фактически дается кинематическое представление машины, но в более общем виде: речь идет о применении не только кинематики, а и математики, физики, механики, вообще естествознания, науки в собственном смысле слова [ 32, с. 47]. Творческий элемент здесь играет все еще важную роль, поскольку продолжается искание: математика только облегчает приемы искания, естествознание дает самый материал для искания, но руководит этим исканием и выбором все та же «идея-сфинкс». На этом этапе выясняются все промежуточные органы, их расположение, главные размеры будущих деталей и т. д. Второй акт ведется с помощью карандаша и бумаги. Здесь еще рано перелистывать справочники (это может только помешать), а нужны теоретические руководства. В результате второго акта «машина предстанет перед нами вся, во всех частях, но только изображенная схематически». Второй акт дает схему (для сооружения), систему (для машины) или план (для действия). Схема дает то, что необходимо и достаточно для эффекта, т. е. полное идейное содержание данного изобретения (или проекта), полную мысль о нем. Говоря о системе машины, мы отвлекаемся от ее вещественной формы, а берем только ее схему. План для известного действия — все равно что схема для сооружения и система для машины (к способам производства, например, лучше подходит слово «план»).
|
||||
|
|
45
docs/plan.md
|
@ -1,45 +0,0 @@
|
|||
---
|
||||
title: План разработки
|
||||
---
|
||||
|
||||
План разработки самосборочной линии для роботов манипуляторов
|
||||
|
||||
### Этап 1 (апрель-май 2021)
|
||||
1. Унификация элементной базы манипулятора
|
||||
2. Задача подбора материала-наполнителя для звена манипулятора; Провести совещание по теме;
|
||||
3. Задача подбора сменных инструментов; на выходе - перечень требуемых инструментов;
|
||||
4. Спецификация производственной системы - станок 5-осевой, станок токарный, пресс, три манипулятора (4-5 шт), набор рабочих столов, тележка-транспортёр;
|
||||
5. Компоновка манипулятора (технология сборки) - разделение подсборки/узлы
|
||||
6. Разработка технологических карт в привязке к узлам - после п.1
|
||||
7. Стандарт публикации технологических карт;
|
||||
8. Создание кинематической модели манипулятора в Gazebo;
|
||||
9. Проработать экспорт Solidworks -> URDF (https://blogs.solidworks.com/teacher/wp-content/uploads/sites/3/WPI-Robotics-SolidWorks-to-Gazebo.pdf);
|
||||
|
||||
### Этап 2 (июнь-август 2021)
|
||||
1. Проработка технологий для сборки манипулятора (адаптеры, вспомогательные рабочие столы для стыковки с ЧПУ и другими элементами сборочной линии)
|
||||
2. Архитектура автоматизированного рабочего места (АРМ)
|
||||
3. Технологические карты сборки манипулятора
|
||||
|
||||
### Этап 3 (сентябрь-ноябрь 2021)
|
||||
1. Разработка инструментальной части манипулятора (приспособления для захвата и других операций)
|
||||
2. Разработка модели сборки манипулятора с помощью АРМ
|
||||
|
||||
### Этап 4 (декабрь 2021 - январь 2022)
|
||||
1. Проработка технологий сборки АРМа (адаптер, рабочий стол)
|
||||
2. Разработка технологических карт сборки
|
||||
3. Программирование
|
||||
|
||||
### Этап 5 (февраль-март 2022)
|
||||
1. Проработка технологий сборки сервопривода
|
||||
2. Разработка технологических карт сборки сервопривода
|
||||
3. Программирование
|
||||
|
||||
## Результат проекта
|
||||
|
||||
Динамическая модель автономной сборочной линии для роботов манипуляторов
|
||||
|
||||
## Команда
|
||||
|
||||
* Конструкторы-технологи: [Станислав Сгонов](https://gitlab.com/StasjokSS), [Сергей Бикмаев](https://gitlab.com/proton-fx)
|
||||
* Лидер команды: [Игорь Брылёв](https://gitlab.com/movefasta)
|
||||
* Системные инженеры: [Алексей Топтун](https://gitlab.com/AlexxTop), [Александр Оликевич](https://gitlab.com/openfablab)
|
|
@ -3,15 +3,16 @@ title: Обзор проекта
|
|||
slug: /
|
||||
---
|
||||
|
||||
Цель проекта - создание ___симуляции___ автономной производственной линии, где роботы-манипуляторы собирают свои копии, осуществляют их наладку и ввод в эксплуатацию, чем достигается частичное самовоспроизводство. Проектирование _изначально автономной_ производственной системы позволит использовать материалы, технологии и условия эксплуатации, недопустимые для классических промышленных систем.
|
||||
Цель проекта Robossembler - создание свободных для использования и модификации робототехнических комплексов, позволяющих каждому желающему приобщиться к их разработке и производству.
|
||||
|
||||
## Аппаратные компоненты
|
||||
|
||||
### Роботы-манипуляторы
|
||||
Роботы-манипуляторы Robossembler со сменными инструментами покрывают большой класс производственных задач. Они проектируются для автономной сборки и эксплуатации, поэтому к ним не предъявляются характерные для коллаборативных роботов требования безопасности, эстетичности и быстродействия.
|
||||
|
||||
В проекте разрабатываются два варианта исполнения манипулятора:
|
||||
- [Манипулятор](https://gitlab.com/robossembler/roboarm) с 6-ю степенями свободы для изготовления с помощью литья в [прессформе](https://gitlab.com/robossembler/cnc/roboarm-link-mold). Звено данного манипулятора состоит из двух оригинальных [сервоприводов](https://gitlab.com/robossembler/servo) и производится методом заливки компаундом, перестановкой оснастки на позицию будущего звена и дальнейшей закладкой приводов и кабелей. Данное технологические решение позволяет избавиться от крепёжных, кабельных и ременных соединений, а также необходимости отдельно производить корпус. Материал компаунда подбирается таким образом, чтобы обеспечить оптимальный теплоотвод, дешевизну, удобную утилизацию и повторную переработку компонентов манипулятора. Типы компаунда могут варьироваться в зависимости от нагрузок на конкретные разновидности звеньев.
|
||||
- [Манипулятор](https://gitlab.com/robossembler/roboarm-diy-version) с 6-ю степенями свободы для изготовления с помощью 3D-печати. Все детали манипулятора, кроме электрических плат, проводов и катушек индуктивности, изготавливаются с помощью технологии трёхмерной печати, но могут и отливаться в прессформах. Конструкция манипулятора адаптирована для автономной автоматической сборки.
|
||||
- [Манипулятор](https://gitlab.com/robossembler/roboarm) с 6-ю степенями свободы для изготовления с помощью литья в [прессформе](https://gitlab.com/robossembler/cnc/roboarm-link-mold). Звено данного манипулятора состоит из двух оригинальных [сервоприводов](https://gitlab.com/robossembler/servo) и производится методом заливки компаундом, перестановкой оснастки на позицию будущего звена и дальнейшей закладкой приводов и кабелей. Данное технологические решение позволяет избавиться от крепёжных, кабельных и ременных соединений, а также необходимости отдельно производить корпус. Материал компаунда подбирается таким образом, чтобы обеспечить оптимальный теплоотвод, дешевизну, удобную утилизацию и повторную переработку компонентов манипулятора. Типы компаунда могут варьироваться в зависимости от нагрузок на конкретные разновидности звеньев.
|
||||
|
||||
### Приспособления для манипуляторов
|
||||
Все приспособления монтируются к манипулятору через [стыковочный интерфейс](https://gitlab.com/robossembler/arm-tools/connection-tool). Для смены и хранения двух и более приспособлений используется [Библиотека приспособлений](https://gitlab.com/robossembler/arm-tools/tools-library), к которой в дальнейшем будут присоединяться узлы подачи материалов.
|
||||
|
@ -28,25 +29,25 @@ slug: /
|
|||
Рабочий стол и подключённые к нему манипуляторы с приспособлениями формируют Автоматизированное рабочее место (АРМ), которое может быть объединено с другими рабочими местами, формируя сложные производственные комплексы. Конфигурация конкретного АРМ формируется исходя из требований к производственному процессу.
|
||||
|
||||
### Оборудование для формирования модульных рабочих пространств
|
||||
- [Модульный каркас для роботизированных ячеек](https://gitlab.com/robossembler/cnc/cubic-modular-workspace). Состоит из компонентов двух типов:
|
||||
- *Пластины* служат стыковочным интерфейсом для подключения роботов манипуляторов и их приспособлений. Также в них могут размещаться компоненты встраиваемой электроники для управления подключаемым оборудованием.
|
||||
- *Стойки* обеспечивают электрическое соединение между пластинами для передачи электронергии и управляющих сигналов. Модульная архитектура каркаса позволяет собирать разноообразные роботизированные ячейки под нужды технологического процесса и объединять их в производственные линии.
|
||||
- [Шестигранные рабочие столы](https://gitlab.com/robossembler/cnc/roboarm-workspace). Роботы-манипуляторы оснащаются рабочими столами - местами, где будет осуществляться сборка и другие технологические операции. Рабочий стол имеет форму пчелиной соты и содержит в себе вычислительный узел для управления рабочим местом. Столы предполагают:
|
||||
- Легкое подключение к ним манипуляторов с помощью специальных надёжных электрических разъемов
|
||||
- Электропитание и управление - рабочий стол будет включать в себя систему управления для всех подключаемых к нему манипуляторов
|
||||
- Подключение к себе других рабочих столов для создания связанной локальной сети и производственной линии
|
||||
- Подключение к рабочим столам [транспортных модулей](https://gitlab.com/robossembler/transport-module) для превращения их в передвижные платформы.
|
||||
- [Модульный каркас для роботизированных ячеек](https://gitlab.com/robossembler/cnc/cubic-modular-workspace). Состоит из компонентов двух типов:
|
||||
- *Пластины* служат стыковочным интерфейсом для подключения роботов манипуляторов и их приспособлений. Также в них могут размещаться компоненты встраиваемой электроники для управления подключаемым оборудованием.
|
||||
- *Стойки* обеспечивают электрическое соединение между пластинами для передачи электронергии и управляющих сигналов. Модульная архитектура каркаса позволяет собирать разноообразные роботизированные ячейки под нужды технологического процесса и объединять их в производственные линии.
|
||||
|
||||
## Программные компоненты
|
||||
Все программные компоненты в совокупности составляют собой *фреймворк* для симуляции и отладки алгоритмов сборки сложных многосоставных изделий манипуляторами.
|
||||
|
||||
- [ARBench](https://gitlab.com/robossembler/forks/ARBench) - плагин для *FreeCAD*. Основные функции:
|
||||
- [Framework](https://gitlab.com/robossembler/framework). Основные функции:
|
||||
- разметка CAD моделей изделий - геометрические фреймы, позиции захвата, материалы
|
||||
- парсинг моделей сборок CAD и представление их в виде моделей отдельных деталей и мета-информации об их взаимном расположении (матрица смежности или подобное представление)
|
||||
- преобразование моделей в последовательность сборки (*Assembly Sequence, AS*) с помощью *Assembly Sequence Planner*
|
||||
- формирование спецификации задачи в формате *Planning Domain Definition Language (PDDL)*
|
||||
- экспорт деталей и подсборок в виде пакетов формата *Simulation Description Format (SDF)* для загрузки в симулятор *Gazebo*
|
||||
* [Robossembler](https://gitlab.com/robossembler/robossembler-ros2) - набор пакетов для *ROS2*. Основные функции:
|
||||
* [Runtime](https://gitlab.com/robossembler/robossembler-ros2) - набор пакетов для *ROS2*. Основные функции:
|
||||
- отслеживание событий в блокчейне *Robonomics* с помощью python-библиотеки *robonomics-interface*
|
||||
- загрузка данных из сети IPFS с помощью python-библиотеки *ipfshttpclient*
|
||||
- формирование плана исполнения (*Task Plan, TP*) в соответствии со спецификациями предметной области (*domain*) и задачи (*problem*) на языке PDDL
|
||||
|
|
|
@ -1,3 +0,0 @@
|
|||
# Презентация "Nix/NixOS - ОС-независимая сборка пакетов ROS" на ROS-Meetup'2023
|
||||
|
||||
Для просмотра скопируйте содержимое директории и откройте `ros-meetup-slides.html` в любом браузере.
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<text x="35.5" y="33.5" text-anchor="end">30000</text>
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<text fill="#000000" x="650.5" y="410.5">DPorts</text>
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<text fill="#000000" x="51.5" y="781.5">MX Linux MX-17</text>
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<text fill="#000000" x="61.5" y="773.5">LEDE trunk AArch64 generic</text>
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<text fill="#000000" x="53.5" y="778.5">RPM Fusion Fedora 27</text>
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<text fill="#000000" x="59.5" y="779.5">MX Linux MX-15 Testing</text>
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<text fill="#000000" x="47.5" y="781.5">RPM Fusion EL 7</text>
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<text fill="#000000" x="151.5" y="699.5">Linuxbrew</text>
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<text fill="#000000" x="104.5" y="729.5">Stackage LTS Haskell</text>
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<text fill="#000000" x="51.5" y="779.5">Libregamewiki</text>
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<text fill="#000000" x="205.5" y="698.5">GNU Guix</text>
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<text fill="#000000" x="76.5" y="762.5">CRUX 3.3</text>
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<text fill="#000000" x="643.5" y="614.5">Ubuntu 16.04</text>
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<text fill="#000000" x="60.5" y="773.5">openSUSE Games Tumbleweed</text>
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<text fill="#000000" x="502.5" y="597.5">Funtoo</text>
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<text fill="#000000" x="715.5" y="558.5">Raspbian Stable</text>
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<text fill="#000000" x="48.5" y="780.5">Arch Testing</text>
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<text fill="#000000" x="48.5" y="782.5">Sabayon</text>
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<text fill="#000000" x="540.5" y="655.5">Debian Oldstable</text>
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<text fill="#000000" x="345.5" y="468.5">CRAN</text>
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<text fill="#000000" x="78.5" y="770.5">CRUX 3.2</text>
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<text fill="#000000" x="60.5" y="781.5">SteamOS alchemist</text>
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<text fill="#000000" x="67.5" y="774.5">Debian Stable Backports</text>
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<text fill="#000000" x="61.5" y="771.5">Scoop</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="46.5" y="782.5">Trisquel 8.0 backports</text>
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<text fill="#000000" x="46.5" y="782.5">Trisquel 8.0 backports</text>
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<text fill="#000000" x="57.5" y="782.5">KDE neon Dev Unstable</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="49.5" y="780.5">UnitedRPMs Fedora 25</text>
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<text fill="#000000" x="49.5" y="780.5">UnitedRPMs Fedora 25</text>
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<text fill="#000000" x="552.5" y="664.5">Trisquel 7.0</text>
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<text fill="#000000" x="644.5" y="578.5">Pardus</text>
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<text fill="#000000" x="61.5" y="773.5">LEDE trunk ARM XScale</text>
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<text fill="#000000" x="296.5" y="632.5">openSUSE Tumbleweed</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="55.5" y="782.5">Linux Mint 17.2</text>
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<text fill="#000000" x="55.5" y="782.5">Linux Mint 17.2</text>
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<text fill="#000000" x="45.5" y="782.5">Tails stable</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="53.5" y="779.5">RPM Fusion Fedora 25</text>
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<text fill="#000000" x="53.5" y="779.5">RPM Fusion Fedora 25</text>
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<text fill="#000000" x="140.5" y="753.5">Astra Linux Orel</text>
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<text fill="#000000" x="56.5" y="780.5">MX Linux MX-15</text>
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<text fill="#000000" x="45.5" y="782.5">GetDeb Yakkety Testing</text>
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<text fill="#000000" x="87.5" y="756.5">KaOS</text>
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<text fill="#000000" x="89.5" y="762.5">HaikuPorts master</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="699.5" y="438.5">Kali Linux Rolling</text>
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<text fill="#000000" x="699.5" y="438.5">Kali Linux Rolling</text>
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<text fill="#000000" x="93.5" y="776.5">Debian Oldstable Backports</text>
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<text fill="#000000" x="61.5" y="773.5">LEDE trunk ARM Cortex A9 VFPv3</text>
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<text fill="#000000" x="46.5" y="782.5">Ubuntu 18.04 Proposed</text>
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<text fill="#000000" x="382.5" y="612.5">pkgsrc current</text>
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<text fill="#000000" x="60.5" y="779.5">LEDE 17.01 x86_64</text>
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<text fill="#000000" x="560.5" y="663.5">Ubuntu 14.04</text>
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<text fill="#000000" x="49.5" y="782.5">Linux Mint 18.2</text>
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<text fill="#000000" x="681.5" y="445.5">PureOS landing</text>
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<text fill="#000000" x="732.5" y="544.5">Deepin</text>
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<text fill="#000000" x="185.5" y="683.5">OpenMandriva Cooker</text>
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<text fill="#000000" x="46.5" y="782.5">Rudix</text>
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<text fill="#000000" x="53.5" y="777.5">Deb Multimedia Unstable</text>
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<text fill="#000000" x="962.5" y="147.5">nixpkgs stable</text>
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<text fill="#000000" x="689.5" y="443.5">Debian Testing</text>
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<text fill="#000000" x="535.5" y="523.5">Fedora 27</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="254.5" y="627.5">Manjaro Unstable</text>
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<text fill="#000000" x="254.5" y="627.5">Manjaro Unstable</text>
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<text fill="#000000" x="106.5" y="721.5">RubyGems</text>
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<text fill="#000000" x="45.5" y="782.5">Tails devel</text>
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<text fill="#000000" x="55.5" y="782.5">Linux Mint 17.3</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="61.5" y="773.5">LEDE trunk x86_64</text>
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<text fill="#000000" x="61.5" y="773.5">LEDE trunk x86_64</text>
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<text fill="#000000" x="540.5" y="655.5">Devuan Stable</text>
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<text fill="#000000" x="60.5" y="778.5">OpenWrt trunk x86</text>
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<text fill="#000000" x="58.5" y="780.5">HaikuPorts release</text>
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<text fill="#000000" x="46.5" y="782.5">PlayDeb Xenial Testing</text>
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<text fill="#000000" x="379.5" y="632.5">pkgsrc-2018Q1</text>
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<text fill="#000000" x="728.5" y="478.5">Ubuntu 18.04</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="254.5" y="637.5">Manjaro Testing</text>
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<text fill="#000000" x="254.5" y="637.5">Manjaro Testing</text>
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<text fill="#000000" x="369.5" y="663.5">pkgsrc-2017Q2</text>
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<text fill="#000000" x="49.5" y="781.5">UnitedRPMs Fedora 24</text>
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<text fill="#000000" x="48.5" y="782.5">antiX-16</text>
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<text fill="#000000" x="50.5" y="781.5">Sparky</text>
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<text fill="#000000" x="59.5" y="777.5">Vcpkg</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="320.5" y="668.5">MacPorts</text>
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<text fill="#000000" x="320.5" y="668.5">MacPorts</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="52.5" y="780.5">MX Linux MX-17 Testing</text>
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<text fill="#000000" x="52.5" y="780.5">MX Linux MX-17 Testing</text>
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<text fill="#000000" x="56.5" y="776.5">KDE neon User LTS</text>
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<text fill="#000000" x="1086.5" y="523.5">AUR</text>
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<text fill="#f0f0f0" stroke="#f0f0f0" stroke-width="3" stroke-linecap="round" x="74.5" y="781.5">Maemo Fremantle</text>
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<text fill="#000000" x="74.5" y="781.5">Maemo Fremantle</text>
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<text fill="#000000" x="205.5" y="729.5">EPEL 7</text>
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---
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marp: true
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theme: uncover
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paginate: true
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|
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---
|
||||
<!--
|
||||
Чтобы сгенерировать из этого файла презентацию в pdf, html или pptx, нужно воспользоваться утилитой Marp https://marp.app/ или одноимённым расширением VSCode https://marketplace.visualstudio.com/items?itemName=marp-team.marp-vscode.
|
||||
-->
|
||||
# Nix/Nixos
|
||||
ОС-независимая сборка пакетов ROS
|
||||
|
||||
|
|
||||
|
||||
Брылёв Игорь
|
||||
robossembler.org
|
||||
|
||||
---
|
||||
|
||||
# Что же такое ROS?
|
||||
|
||||
<!--
|
||||
В сообществе часто спорят по поводу того чем является или не является ROS. ROS звучит буквально как операционная система для роботов, однако де-факто операционной системой не является. Как правило, все сходятся на том, что ROS включает в себя много разных сущностей - это и стандарт, и фреймворк, и формат взаимодействия приложений, и непосредственно программное обеспечение - стандартная библиотека, если хотите. Но конкретно в этом докладе я бы хотел поговорить о ROS в немного другом свете - как о системе сборки и дистрибьюции программного обеспечения, что тоже имеет место быть. Причём этот аспект я считаю весьма важным, потому что почти любое ROS-приложение в среднем на 95% состоит из подгруженного из пакетных репозиториев кода, из которых на долю ROS-экосистемы приходится меньшая часть.
|
||||
-->
|
||||
|
||||
* Стандарт
|
||||
* Фреймворк
|
||||
* Набор форматов
|
||||
* ...
|
||||
* Система сборки и дистрибьюции ПО
|
||||
---
|
||||
|
||||
<!--
|
||||
Итак метод сборки и дострибьюции пакетов в ROS в значительной опирается на пакетных менеджер apt и пакетные базы debian/ubuntu (по статистике ros index 2100 пакетов представляют собой системные зависимости, предоставляемые операционной системой), а следовательно зависит от них. Многие пакеты ROS-экосистемы представляют в качестве рекомендуемого способа установки именно установку из своих репозиториев собранных заранее бинарных пакетов. Компиляция проектов их исходников редко практикуется и достаточно сложна. В целом, apt свойственны следующие проблемы.
|
||||
-->
|
||||
|
||||
### Проблемы пакетных менеджеров
|
||||
|
||||
* Апгрейд конфигурации безвозвратно изменяет состояние системы
|
||||
* Сборки не детерминированы
|
||||
* Не поддерживаются разные версии бинарников и библиотек
|
||||
* Конфликты пакетов
|
||||
|
||||
---
|
||||
|
||||
#### Проблемы управления зависимостями в ROS
|
||||
|
||||
* Зависимость от Ubuntu и её системных зависимостей (apt-пакеты)
|
||||
* Сложность интеграции с ПО вне ROS-экосистемы
|
||||
* Подготовить для удобного запуска сложный ROS-проект - трудоёмкая задача
|
||||
|
||||
---
|
||||
|
||||
# Тренды
|
||||
|
||||
* Из набора библиотек для одного робота ROS становится стандартом для роботизированных кибер-физических систем
|
||||
* В робототехнику проникают инструменты из других ниш: web, машинное обучение, DevOps
|
||||
|
||||
---
|
||||
<!--
|
||||
Когда рассказываешь про nix часто у инженеров возникает прочная ассциация с Docker. А не решает ли Docker ту же самую проблему? Да, действительно, эти инструменты решают одну и ту же проблему, которую можно было бы кратко сформулировать так
|
||||
-->
|
||||
# А как же Docker?
|
||||
---
|
||||
<!--
|
||||
С проблемой сталкиваются нууууу почти все - от первой линии службы технической поддержки до программистов. Это проблема состояния окружения - если ваша программа или приложение в какой-то степени опирается на него, то неизбежно будут возникать проблемы с его корректной работы на компьютерах с другим окружением.
|
||||
-->
|
||||

|
||||
|
||||
---
|
||||
<!-- Как добиться того, чтобы программа запущенная успешно на одном компьютере, была также успешно запущена на другом? Современные проекты представляют собой зачастую сложную комбинацию инструментов, библиотек и обеспечить воспроизводимость в этих условиях непросто. Классическое управление зависимостями в Linux-системах не позволяло добиться хорошей воспроизводимости. Docker появился во многом в ответ на эту проблему плохого управления зависимостями в операционной системе. Как это решил Docker? -->
|
||||
|
||||
# "В"
|
||||
воспроизводимость
|
||||
|
||||
---
|
||||
<!-- Как мы знаем, Docker создаёт своеобразную песочницу вокруг вашего приложения и вы передаёте его вместе с ней, чтобы состояние машины пользователя не влияло на работоспособность. Идеальная картика выглядит так: на входе Dockerfile, на выходе Образ. Вроде всё круто -->
|
||||
|
||||
# Теория
|
||||
Dockerfile -> Image
|
||||
|
||||
---
|
||||
<!-- Но де-факто с одним и тем же докерфайлом вы можете получить кучу разных образов. Почему так происходит? -->
|
||||
|
||||
# Реальность
|
||||
Dockerfile -> Image1 || Image2 ... ImageN
|
||||
|
||||
---
|
||||
<!--
|
||||
Если посмотреть вглубь, то можно обнаружить, что в типичном Docker-файле для ROS есть сразу несколько мест, которые сделают вашу сборку невоспроизводимой на другом компьютере:
|
||||
1. hub.docker.com
|
||||
2. apt-репозиторий
|
||||
3. rosdep-репозиторий
|
||||
3. файл, взятый по имени
|
||||
|
||||
Но есть другие недостатки:
|
||||
1. Возможность комбинировать зависимости (docker позволяет создавать контейнеры только наследуя от одного базового - нельзя добавить несколько базовых контейнеров)
|
||||
2. Необходимость тянуть с собой все зависимости, даже если они представлены в системе
|
||||
-->
|
||||
|
||||
# Типичный Dockerfile для ROS
|
||||
FROM ros:foxy-ros-base-focal
|
||||
...
|
||||
RUN rosdep update && apt-get update
|
||||
...
|
||||
RUN apk add --no-cache python g++ make
|
||||
...
|
||||
RUN curl -sSL http://get.gazebosim.org | sh
|
||||
...
|
||||
CMD [ "ros2", "launch", "app", "app_bringup.launch.py" ]
|
||||
---
|
||||
<!-- # Что предлагает Nix? -->
|
||||
# Ключевая идея nix
|
||||
Описывать сборку в виде _чистой функции_ или уравнения(derivation), результат исполнения строго детерминирован входными параметрами.
|
||||
|
||||
---
|
||||
<!-- Именно эта идея и легла в основу диссертации автора nix под названием ___, где как раз и описывались недостатки классической системы использования динамических библиотек в unix-подобных системах. Данный подход получил название декларативным в противовес императивного. -->
|
||||

|
||||
Eelco Dolstra
|
||||
## The Purely Functional Software Deployment Model
|
||||
PhD Thesis'2006
|
||||
https://edolstra.github.io/pubs/phd-thesis.pdf
|
||||
|
||||
---
|
||||
# Парадигмы программирования
|
||||
* Императивная (как?) - C, C++, Java
|
||||
* Декларативная (что?) - Lisp, Prolog, Nix
|
||||
|
||||
---
|
||||
<!--
|
||||
nix использует функциональный язык программирования для описания процесса сборки. Тут можно сделать некоторое отступление о том, что ROS создан робототехниками для робототехников, а у них по прежнему был и остаётся доминирующим императивный подход к программированию, что обусловлено высокими требованиями к производительности и реальному времени исполнения. Собственно, императивная парадигма распространилась не только на сферу низкоуровневых программ, но и на управление операционной системой. Однако, сфера сборки ПО не требует гарантий реального времени или высокой производительности, в ней куда важнее как раз воспроизводимость, отсутствие неявных обращений к состоянию системы.
|
||||
-->
|
||||
|
||||
# Парадигмы конфигурации
|
||||
|
||||
* Императивная конфигурация (apt)
|
||||
- Изменение состояния (dependency hell, неконсистентные состояния)
|
||||
* Декларативная конфигурация (nix)
|
||||
- Пакеты = иммутабельные переменные (нельзя изменить напрямую, только через функцию)
|
||||
- Одно и то же nix-выражение даёт всегда один и тот же результат
|
||||
|
||||
---
|
||||
<!-- как выглядит типичное Nix-выражение. Это уравнение превращается в такой json-образный файл, где и прописаны все версии с хэшами конкретных зависимостей. Этот файл и является по сути инструкцией или чистой функцией, на выходе которой мы получаем конкретные артефакты в виде пакетов, бинарников, динамических библиотек и т.п. -->
|
||||
{
|
||||
pname = "hello";
|
||||
version = "2.12.1";
|
||||
src = fetchurl {
|
||||
url = "http://github.com/hello-${version}.tar.bz2";
|
||||
sha256 = "0x2g1jqy...";
|
||||
};
|
||||
buildInputs = [ libbar perl ncurses ];
|
||||
buildPhase = ''gcc hello.c -o hello'';
|
||||
installPhase = ''mkdir -p $out/bin && cp hello $out/bin'';
|
||||
}
|
||||
---
|
||||
{
|
||||
"builder": "/nix/store/561wgc73s0x1250hrgp7jm22hhv7yfln-bash-5.2-p15/bin/bash",
|
||||
"env": {
|
||||
"builder": "/nix/store/561wgc73s0x1250hrgp7jm22hhv7yfln-bash-5.2-p15/bin/bash",
|
||||
"out": "/nix/store/260q5867crm1xjs4khgqpl6vr9kywql1-hello-2.12.1",
|
||||
"src": "/nix/store/pa10z4ngm0g83kx9mssrqzz30s84vq7k-hello-2.12.1.tar.gz",
|
||||
"stdenv": "/nix/store/b09v23lirgvci3wzszh22mbkdfj0h0yq-stdenv-linux",
|
||||
"version": "2.12.1"
|
||||
},
|
||||
"inputDrvs": {
|
||||
"/nix/store/0hnjp6s8k71xm62157v37zg3qzwvl8lx-bash-5.2-p15.drv": [ "out" ],
|
||||
"/nix/store/8n3ib41pb90nkq3vv49z520qinf4q9c0-hello-2.12.1.tar.gz.drv": [ "out" ],
|
||||
"/nix/store/r2h029bx2fbyxxj84s5hf1abp2vfkah2-stdenv-linux.drv": [ "out" ]
|
||||
},
|
||||
"inputSrcs": [ "/nix/store/6xg259477c90a229xwmb53pdfkn6ig3g-default-builder.sh" ],
|
||||
"outputs": {
|
||||
"out": { "path": "/nix/store/260q5867crm1xjs4khgqpl6vr9kywql1-hello-2.12.1" }
|
||||
},
|
||||
"system": "x86_64-linux"
|
||||
}
|
||||
}
|
||||
|
||||
---
|
||||
<!-- А вот как это выглядит на диске. Заметьте, имя каждого пакета снабжается хэшом, который позволяет избежать коллизий при совпадении имён и даже совпадении имён и версий, а ещё даёт использовать несколько версий библиотеки одновременно. Откуда берётся этот хэш? -->
|
||||
|
||||
$ ls /nix/store/ | grep humble
|
||||
00z4hg8q0cxhsl5jq4s7iq81zz54j8vy-ros-humble-ament-lint-common-0.12.5-r1
|
||||
01nvrmwbf0zbchb3d25kb49rl8jzspv6-ros-humble-ament-cmake-cppcheck-0.12.5-r1
|
||||
02gdrzn2yrngmqih4hq0j17vj2hgiiz3-ros-humble-unique-identifier-msgs-2.2.1-r3
|
||||
08s5gvg7gaypllyxvzd17w21ijqx3hgd-ros-humble-tf2-msgs-0.25.2-r1
|
||||
0hwva9zk3250hd6spwq11ayk0aq4flnm-ros-humble-control-msgs-4.1.0-r1
|
||||
|
||||
---
|
||||
<!-- Собственно этот хэш и получается с помощью криптографической хэш-функции применённой ко всем входным зависимостям -->
|
||||

|
||||
|
||||
---
|
||||
<!-- Вы не полагаетесь на apt, можете при желании собрать систему полностью из исходников. -->
|
||||
|
||||
# Что это даёт для ROS?
|
||||
|
||||
* Возможность запустить проект ROS на любой ОС, даже без apt
|
||||
* Контролируемое управление зависимостями
|
||||
* Возможность использования разных версий одних и тех же пакетов и библиотек
|
||||
* Детерминированные сборки одной командой
|
||||
* CACHE!!!
|
||||
|
||||
---
|
||||
<!--
|
||||
|
||||
-->
|
||||
|
||||
# Основные компоненты nix
|
||||
|
||||
* Nix (менеджер пакетов и язык программирования)
|
||||
* Nixpkgs (репозиторий пакетов и стандартная библиотека)
|
||||
* NixOS (операционная система)
|
||||
* NixOps (DevOps инструмент)
|
||||
|
||||
---
|
||||
<!--
|
||||
# Текущее состояние nixpkgs -->
|
||||
|
||||

|
||||
|
||||
---
|
||||
|
||||
## Nix ROS Overlay
|
||||
https://github.com/lopsided98/nix-ros-overlay
|
||||
|
||||
Автоматическая генерация nix-выражений для сборки пакетов ROS из официальных репозиториев (github:ros/rosdistro).
|
||||
|
||||
---
|
||||
{ lib, buildRosPackage, fetchurl, ament-cmake ... }:
|
||||
buildRosPackage {
|
||||
pname = "ros-rolling-std-msgs";
|
||||
version = "4.6.1-r1";
|
||||
src = fetchurl {
|
||||
url = "https://github.com/ros2-gbp/common_interfaces/std_msgs/4.6.1-1.tar.gz";
|
||||
name = "4.6.1-1.tar.gz";
|
||||
sha256 = "87eee895c2c60a8335ae2a63b05f99773f0897e451e5bf7f45a14a6c36295640";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
buildInputs = [ ament-cmake rosidl-default-generators ];
|
||||
checkInputs = [ ament-lint-common ];
|
||||
propagatedBuildInputs = [ builtin-interfaces rosidl-default-runtime ];
|
||||
nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
|
||||
|
||||
meta = {
|
||||
description = ''A package containing some standard message definitions.'';
|
||||
license = with lib.licenses; [ asl20 ];
|
||||
};
|
||||
}
|
||||
---
|
||||
|
||||
# Недостатки
|
||||
|
||||
* Пологая кривая обучения
|
||||
* Некоторая разрозненность документации
|
||||
* Не все пакеты ROS адаптированы в nix
|
||||
* Необходимость сборки мусора
|
||||
|
||||
|
||||
---
|
||||
# Полезные ресурсы
|
||||
|
||||

|
||||
Русскоязычное сообщество Telegram
|
||||
@ru_nixos
|
||||
|
||||
Туториал для новичков
|
||||
zero-to-nix.com
|
|
@ -1,10 +1,16 @@
|
|||
/** @type {import('@docusaurus/types').DocusaurusConfig} */
|
||||
const math = require('remark-math');
|
||||
const katex = require('rehype-katex');
|
||||
module.exports = {
|
||||
import {themes as prismThemes} from 'prism-react-renderer';
|
||||
import type {Config} from '@docusaurus/types';
|
||||
import type * as Preset from '@docusaurus/preset-classic';
|
||||
|
||||
import remarkMath from 'remark-math';
|
||||
import rehypeKatex from 'rehype-katex';
|
||||
|
||||
// This runs in Node.js - Don't use client-side code here (browser APIs, JSX...)
|
||||
|
||||
const config: Config = {
|
||||
title: 'Robossembler',
|
||||
tagline: 'Отворённая Робототехника',
|
||||
url: 'https://robossembler.gitlab.io',
|
||||
url: 'https://robossembler.org',
|
||||
baseUrl: '/',
|
||||
onBrokenLinks: 'throw',
|
||||
onBrokenMarkdownLinks: 'warn',
|
||||
|
@ -20,13 +26,10 @@ module.exports = {
|
|||
src: 'img/logo.svg',
|
||||
},
|
||||
items: [
|
||||
{
|
||||
to: 'docs/',
|
||||
activeBasePath: 'docs',
|
||||
label: 'Документация',
|
||||
position: 'left',
|
||||
},
|
||||
{to: 'blog', label: 'Проекты', position: 'left'},
|
||||
{to: 'blog', label: 'Новости', position: 'left'},
|
||||
{to: 'blog', label: 'Команда', position: 'left'},
|
||||
{to: 'blog', label: 'Как помочь', position: 'left'},
|
||||
{
|
||||
href: 'https://t.me/robossembler_ru',
|
||||
label: 'Telegram',
|
||||
|
@ -76,20 +79,25 @@ module.exports = {
|
|||
],
|
||||
copyright: `Copyleft © ${new Date().getFullYear()} Команда Robossembler, сайт сделан при помощи Docusaurus. ООО «Робосборище», ИНН 5024227970, ОГРН 1225000134677`
|
||||
},
|
||||
},
|
||||
prism: {
|
||||
theme: prismThemes.github,
|
||||
darkTheme: prismThemes.dracula,
|
||||
},
|
||||
} satisfies Preset.ThemeConfig,
|
||||
|
||||
presets: [
|
||||
[
|
||||
'@docusaurus/preset-classic',
|
||||
{
|
||||
docs: {
|
||||
sidebarPath: require.resolve('./sidebars.js'),
|
||||
sidebarPath: require.resolve('./sidebars.ts'),
|
||||
// Please change this to your repo.
|
||||
editUrl:
|
||||
'https://gitlab.com/robossembler/robossembler.gitlab.io/-/edit/master/',
|
||||
showLastUpdateAuthor: true,
|
||||
showLastUpdateTime: true,
|
||||
remarkPlugins: [math],
|
||||
rehypePlugins: [katex],
|
||||
remarkPlugins: [remarkMath],
|
||||
rehypePlugins: [rehypeKatex],
|
||||
},
|
||||
blog: {
|
||||
showReadingTime: true,
|
||||
|
@ -100,15 +108,34 @@ module.exports = {
|
|||
theme: {
|
||||
customCss: require.resolve('./src/css/custom.css'),
|
||||
},
|
||||
},
|
||||
} satisfies Preset.Options,
|
||||
],
|
||||
],
|
||||
stylesheets: [
|
||||
{
|
||||
href: 'https://cdn.jsdelivr.net/npm/katex@0.13.11/dist/katex.min.css',
|
||||
href: 'https://cdn.jsdelivr.net/npm/katex@0.13.24/dist/katex.min.css',
|
||||
type: 'text/css',
|
||||
integrity:
|
||||
'sha384-Um5gpz1odJg5Z4HAmzPtgZKdTBHZdw8S29IecapCSB31ligYPhHQZMIlWLYQGVoc',
|
||||
'sha384-odtC+0UGzzFL/6PNoE8rX/SPcQDXBJ+uRepguP4QkPCm2LBxH3FA3y+fKSiJ+AmM',
|
||||
crossorigin: 'anonymous',
|
||||
},
|
||||
],
|
||||
|
||||
plugins: [
|
||||
async function myPlugin(context, options) {
|
||||
return {
|
||||
name: "docusaurus-tailwindcss",
|
||||
configurePostCss(postcssOptions) {
|
||||
postcssOptions.plugins = [
|
||||
require('postcss-import'),
|
||||
require('tailwindcss'),
|
||||
require('autoprefixer'),
|
||||
];
|
||||
return postcssOptions;
|
||||
},
|
||||
};
|
||||
},
|
||||
],
|
||||
};
|
||||
|
||||
export default config;
|
61
flake.lock
generated
Normal file
|
@ -0,0 +1,61 @@
|
|||
{
|
||||
"nodes": {
|
||||
"flake-utils": {
|
||||
"inputs": {
|
||||
"systems": "systems"
|
||||
},
|
||||
"locked": {
|
||||
"lastModified": 1731533236,
|
||||
"narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
|
||||
"owner": "numtide",
|
||||
"repo": "flake-utils",
|
||||
"rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
|
||||
"type": "github"
|
||||
},
|
||||
"original": {
|
||||
"owner": "numtide",
|
||||
"repo": "flake-utils",
|
||||
"type": "github"
|
||||
}
|
||||
},
|
||||
"nixpkgs": {
|
||||
"locked": {
|
||||
"lastModified": 1739275533,
|
||||
"narHash": "sha256-vIDgZfJEwVGn7ky3ykEQ7FSOmK5I9ytrWjyEQqrZfgs=",
|
||||
"owner": "NixOS",
|
||||
"repo": "nixpkgs",
|
||||
"rev": "b64b41e8d6498e97643fd245a94874ecf9f50031",
|
||||
"type": "github"
|
||||
},
|
||||
"original": {
|
||||
"owner": "NixOS",
|
||||
"ref": "master",
|
||||
"repo": "nixpkgs",
|
||||
"type": "github"
|
||||
}
|
||||
},
|
||||
"root": {
|
||||
"inputs": {
|
||||
"flake-utils": "flake-utils",
|
||||
"nixpkgs": "nixpkgs"
|
||||
}
|
||||
},
|
||||
"systems": {
|
||||
"locked": {
|
||||
"lastModified": 1681028828,
|
||||
"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
|
||||
"owner": "nix-systems",
|
||||
"repo": "default",
|
||||
"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
|
||||
"type": "github"
|
||||
},
|
||||
"original": {
|
||||
"owner": "nix-systems",
|
||||
"repo": "default",
|
||||
"type": "github"
|
||||
}
|
||||
}
|
||||
},
|
||||
"root": "root",
|
||||
"version": 7
|
||||
}
|
30
flake.nix
Normal file
|
@ -0,0 +1,30 @@
|
|||
{
|
||||
description = "Robossembler Development Environments on Nix";
|
||||
inputs = {
|
||||
nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
|
||||
flake-utils.url = "github:numtide/flake-utils";
|
||||
};
|
||||
|
||||
outputs = { self, nixpkgs, flake-utils }:
|
||||
flake-utils.lib.eachDefaultSystem
|
||||
(system:
|
||||
let
|
||||
pkgs = import nixpkgs { inherit system; overlays = []; };
|
||||
in
|
||||
{
|
||||
packages = {
|
||||
frontend = pkgs.writeShellApplication {
|
||||
name = "frontend";
|
||||
runtimeInputs = [ pkgs.nodejs ];
|
||||
text = ''
|
||||
yarn install && yarn start
|
||||
'';
|
||||
};
|
||||
};
|
||||
|
||||
devShells = {
|
||||
default = pkgs.mkShell { packages = with pkgs; [ nodejs ]; };
|
||||
};
|
||||
}
|
||||
);
|
||||
}
|
44
package.json
|
@ -1,5 +1,5 @@
|
|||
{
|
||||
"name": "robossembler.gitlab.io",
|
||||
"name": "docusaurus-template",
|
||||
"version": "0.0.0",
|
||||
"private": true,
|
||||
"scripts": {
|
||||
|
@ -12,18 +12,31 @@
|
|||
"serve": "docusaurus serve",
|
||||
"write-translations": "docusaurus write-translations",
|
||||
"write-heading-ids": "docusaurus write-heading-ids",
|
||||
"build:gitlab": "docusaurus build --out-dir public"
|
||||
"typecheck": "tsc"
|
||||
},
|
||||
"dependencies": {
|
||||
"@docusaurus/core": "^2.1.0",
|
||||
"@docusaurus/preset-classic": "^2.1.0",
|
||||
"@mdx-js/react": "^1.6.21",
|
||||
"clsx": "^1.1.1",
|
||||
"hast-util-is-element": "1.1.0",
|
||||
"react": "^17.0.1",
|
||||
"react-dom": "^17.0.1",
|
||||
"rehype-katex": "4",
|
||||
"remark-math": "3"
|
||||
"@docusaurus/core": "3.7.0",
|
||||
"@docusaurus/preset-classic": "3.7.0",
|
||||
"@mdx-js/react": "^3.0.0",
|
||||
"clsx": "^2.0.0",
|
||||
"prism-react-renderer": "^2.3.0",
|
||||
"react": "^19.0.0",
|
||||
"react-dom": "^19.0.0",
|
||||
"rehype-katex": "7",
|
||||
"remark-math": "6"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@docusaurus/module-type-aliases": "3.7.0",
|
||||
"@docusaurus/tsconfig": "3.7.0",
|
||||
"@docusaurus/types": "3.7.0",
|
||||
"autoprefixer": "^10.4.20",
|
||||
"postcss": "^8.5.2",
|
||||
"prettier-plugin-tailwindcss": "^0.6.11",
|
||||
"tailwind-merge": "^2.6.0",
|
||||
"tailwindcss": "^3.4.17",
|
||||
"tailwindcss-animate": "^1.0.7",
|
||||
"@tailwindcss/typography": "^0.5.10",
|
||||
"typescript": "~5.6.2"
|
||||
},
|
||||
"browserslist": {
|
||||
"production": [
|
||||
|
@ -32,9 +45,12 @@
|
|||
"not op_mini all"
|
||||
],
|
||||
"development": [
|
||||
"last 1 chrome version",
|
||||
"last 1 firefox version",
|
||||
"last 1 safari version"
|
||||
"last 3 chrome version",
|
||||
"last 3 firefox version",
|
||||
"last 5 safari version"
|
||||
]
|
||||
},
|
||||
"engines": {
|
||||
"node": ">=18.0"
|
||||
}
|
||||
}
|
||||
|
|
15
plugins/tailwind-config.cjs
Normal file
|
@ -0,0 +1,15 @@
|
|||
function tailwindPlugin(context, options) {
|
||||
return {
|
||||
name: "tailwind-plugin",
|
||||
configurePostCss(postcssOptions) {
|
||||
postcssOptions.plugins = [
|
||||
require("postcss-import"),
|
||||
require("tailwindcss"),
|
||||
require("autoprefixer"),
|
||||
];
|
||||
return postcssOptions;
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
module.exports = tailwindPlugin;
|
|
@ -1,4 +1,19 @@
|
|||
module.exports = {
|
||||
import type {SidebarsConfig} from '@docusaurus/plugin-content-docs';
|
||||
|
||||
// This runs in Node.js - Don't use client-side code here (browser APIs, JSX...)
|
||||
|
||||
/**
|
||||
* Creating a sidebar enables you to:
|
||||
- create an ordered group of docs
|
||||
- render a sidebar for each doc of that group
|
||||
- provide next/previous navigation
|
||||
|
||||
The sidebars can be generated from the filesystem, or explicitly defined here.
|
||||
|
||||
Create as many sidebars as you want.
|
||||
*/
|
||||
const sidebars: SidebarsConfig = {
|
||||
// By default, Docusaurus generates a sidebar from the docs folder structure
|
||||
docs: [
|
||||
{
|
||||
type: 'category',
|
||||
|
@ -167,3 +182,5 @@ module.exports = {
|
|||
},
|
||||
],
|
||||
};
|
||||
|
||||
export default sidebars;
|
40
src/components/Button/index.tsx
Normal file
|
@ -0,0 +1,40 @@
|
|||
import React from "react";
|
||||
import clsx from "clsx";
|
||||
import Link, { Props } from "@docusaurus/Link";
|
||||
|
||||
type ButtonProps = Props & {
|
||||
variant: "primary" | "secondary";
|
||||
};
|
||||
|
||||
export default function Button({
|
||||
children,
|
||||
variant,
|
||||
className,
|
||||
...rest
|
||||
}: ButtonProps) {
|
||||
const computedClassName = clsx(
|
||||
"border font-bold h-12 px-6 flex items-center hover:no-underline transition-colors",
|
||||
variant === "primary" &&
|
||||
"bg-brand-500 text-gray-900 hover:bg-brand-600 border-brand-500 hover:border-brand-600 hover:text-gray-900",
|
||||
variant === "secondary" &&
|
||||
"border-gray-200 dark:border-gray-800 text-gray-900 dark:text-gray-50 bg-transparent hover:border-gray-900 dark:hover:border-gray-50 hover:text-gray-900 dark:hover:text-gray-50 aria-selected:border-gray-900 dark:aria-selected:border-gray-50",
|
||||
className,
|
||||
);
|
||||
|
||||
if ("href" in rest) {
|
||||
return (
|
||||
<Link {...rest} className={computedClassName}>
|
||||
{children}
|
||||
</Link>
|
||||
);
|
||||
}
|
||||
|
||||
return (
|
||||
<button
|
||||
{...(rest as unknown as React.ButtonHTMLAttributes<HTMLButtonElement>)}
|
||||
className={computedClassName}
|
||||
>
|
||||
{children}
|
||||
</button>
|
||||
);
|
||||
}
|
49
src/components/Goals/index.tsx
Normal file
|
@ -0,0 +1,49 @@
|
|||
import React, { ComponentType, SVGProps } from "react";
|
||||
import ExpandIcon from "../../icons/expand.svg";
|
||||
import DotsIcon from "../../icons/dots.svg";
|
||||
import ScaleIcon from "../../icons/scale.svg";
|
||||
import LayersIcon from "../../icons/layers.svg";
|
||||
import HumidityIcon from "../../icons/humidity.svg";
|
||||
|
||||
type GoalProps = {
|
||||
icon: ComponentType<SVGProps<SVGSVGElement>>;
|
||||
title: string;
|
||||
description: string;
|
||||
};
|
||||
|
||||
function Goal({ icon: Icon, title, description }: GoalProps) {
|
||||
return (
|
||||
<div className="bg-white dark:bg-blue-900 p-6">
|
||||
<Icon className="w-12 mb-4" aria-hidden />
|
||||
<h3 className="text-xl mb-2">{title}</h3>
|
||||
<p className="text-gray-600 dark:text-gray-500">{description}</p>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
export default function Goals() {
|
||||
return (
|
||||
<section className="py-6 md:py-12 mx-auto container px-4">
|
||||
<h2 className="text-center text-3xl md:text-5xl font-bold mb-6 md:mb-12">
|
||||
Наши принципы
|
||||
</h2>
|
||||
<div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-6">
|
||||
<Goal
|
||||
icon={ExpandIcon}
|
||||
title="Open Source"
|
||||
description="Робосборщик выстраивает мост между инженерами, потребителями и производителями, позволяя добиться оптимального результата."
|
||||
/>
|
||||
<Goal
|
||||
icon={DotsIcon}
|
||||
title="Полная автоматизация"
|
||||
description="Робосборщик выстраивает мост между инженерами, потребителями и производителями, позволяя добиться оптимального результата."
|
||||
/>
|
||||
<Goal
|
||||
icon={ScaleIcon}
|
||||
title="Децентрализация"
|
||||
description="Робосборщик выстраивает мост между инженерами, потребителями и производителями, позволяя добиться оптимального результата."
|
||||
/>
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
20
src/components/Headline/index.tsx
Normal file
|
@ -0,0 +1,20 @@
|
|||
import clsx from "clsx";
|
||||
import React from "react";
|
||||
|
||||
type HeadlineProps = {
|
||||
children: React.ReactNode;
|
||||
className?: string;
|
||||
};
|
||||
|
||||
export default function Headline({ children, className }: HeadlineProps) {
|
||||
return (
|
||||
<h1
|
||||
className={clsx(
|
||||
"text-3xl sm:text-4xl md:text-5xl lg:text-6xl font-bold leading-normal lg:leading-tight tracking-wider text-center px-4",
|
||||
className,
|
||||
)}
|
||||
>
|
||||
{children}
|
||||
</h1>
|
||||
);
|
||||
}
|
23
src/components/Hero/index.tsx
Normal file
|
@ -0,0 +1,23 @@
|
|||
import React from "react";
|
||||
import Button from "../Button";
|
||||
import PatternBg from "../PatternBg";
|
||||
import Headline from "../Headline";
|
||||
|
||||
export default function Hero() {
|
||||
return (
|
||||
<header className="flex flex-col items-center py-10 md:py-20 px-6 md:px-16 mx-auto">
|
||||
<PatternBg />
|
||||
<Headline className="sm:max-w-2xl md:max-w-3xl lg:max-w-4xl">
|
||||
Отворённые роботы
|
||||
</Headline>
|
||||
<p className="my-6 text-xl sm:max-w-lg md:max-w-xl lg:max-w-2xl text-center text-gray-600 dark:text-gray-500">
|
||||
Мы в Robossembler создаём набор открытых технологий, чтобы самая современная робототехника стала доступной каждому
|
||||
</p>
|
||||
<div className="flex gap-4 pt-6">
|
||||
<Button variant="primary" href="/docs/intro/install">
|
||||
Проекты
|
||||
</Button>
|
||||
</div>
|
||||
</header>
|
||||
);
|
||||
}
|
11
src/components/PatternBg/index.tsx
Normal file
|
@ -0,0 +1,11 @@
|
|||
import React from "react";
|
||||
import styles from "./styles.module.css";
|
||||
|
||||
export default function PatternBg() {
|
||||
return (
|
||||
<div className="absolute top-0 left-0 right-0 h-[600px] -z-10" aria-hidden>
|
||||
<div className="absolute inset-0 z-10 bg-gradient-to-b from-transparent to-gray-50 dark:to-blue-950" />
|
||||
<div className={`${styles.bg} w-full h-full opacity-5`} />
|
||||
</div>
|
||||
);
|
||||
}
|
3
src/components/PatternBg/styles.module.css
Normal file
|
@ -0,0 +1,3 @@
|
|||
.bg {
|
||||
background-image: url('data:image/webp;base64,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');
|
||||
}
|
86
src/components/Projects/index.tsx
Normal file
|
@ -0,0 +1,86 @@
|
|||
import clsx from 'clsx';
|
||||
import Link from '@docusaurus/Link';
|
||||
import useBaseUrl from '@docusaurus/useBaseUrl';
|
||||
// import styles from './index.module.css';
|
||||
|
||||
const features = [
|
||||
{
|
||||
title: 'Сервопривод',
|
||||
imageUrl: 'img/servo-reducer-assembled.jpg',
|
||||
description: (
|
||||
<>
|
||||
Сервопривод собственной разработки с оригинальным контроллером, outrunner-двигателем и прецессирующим редуктором. Конструкция привода оптимизирована для простой сборки с минимальным количеством комплектующих. Большая часть деталей может быть изготовлена на 3D-принтере, включая статор.
|
||||
</>
|
||||
),
|
||||
repourl: 'https://gitlab.com/robossembler/servo',
|
||||
},
|
||||
{
|
||||
title: 'Робот-манипулятор',
|
||||
imageUrl: 'img/robossembler-arm.jpg',
|
||||
description: (
|
||||
<>
|
||||
Реконфигурируемый шести-осевой робот-манипулятор без металлического крепежа с симметричным стыковочным интерфейсом. Количество компонентов изделия сведено к минимуму – около 100 сборочных деталей. Дизайн подразумевает автоматическую сборку – в перспективе такие роботы смогут собирать себя сами.
|
||||
</>
|
||||
),
|
||||
repourl: 'https://gitlab.com/robossembler/roboarm-diy-version',
|
||||
},
|
||||
{
|
||||
title: 'Станок намотки',
|
||||
imageUrl: 'img/winder.jpg',
|
||||
description: (
|
||||
<>
|
||||
Намоточная машина для автоматического производства статоров/роторов. Программа намотки генерируется автоматически, исходя из параметров двигателя, что позволяет использовать станок для разных конфигураций малогабаритных электродвигателей. Большинство деталей станка могут быть изготовлены на 3D-принтере.
|
||||
</>
|
||||
),
|
||||
repourl: 'https://gitlab.com/robossembler/cnc/motor-wire-winder',
|
||||
},
|
||||
{
|
||||
title: 'Фреймворк Робосборщик',
|
||||
imageUrl: 'img/webservice.jpg',
|
||||
description: (
|
||||
<>
|
||||
Программный комплекс для программирования и обучения роботов на базе современных технологий робототехники: ROS 2 Jazzy, Lifecycle Nodes, Behavior Tree,
|
||||
</>
|
||||
),
|
||||
repourl: 'https://gitlab.com/robossembler/robossembler-ros2',
|
||||
},
|
||||
];
|
||||
|
||||
function Feature({ imageUrl, title, description }) {
|
||||
const imgUrl = useBaseUrl(imageUrl);
|
||||
return (
|
||||
<div className={clsx('col col--6')}>
|
||||
{imgUrl && (
|
||||
<div>
|
||||
<img src={imgUrl} alt={title} />
|
||||
</div>
|
||||
)}
|
||||
<h1>{title}</h1>
|
||||
<p>{description}</p>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
export default function Home() {
|
||||
return (
|
||||
<div>
|
||||
<h2 className="text-center text-3xl md:text-5xl font-bold mb-6 md:mb-12">
|
||||
Проекты
|
||||
</h2>
|
||||
<main>
|
||||
{features && features.length > 0 && (
|
||||
<section>
|
||||
<div className="container">
|
||||
<div className="row">
|
||||
{features.map((props, idx) => (
|
||||
<Feature key={idx} {...props} />
|
||||
))}
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
)}
|
||||
</main>
|
||||
|
||||
</div>
|
||||
);
|
||||
}
|
|
@ -1,25 +1,28 @@
|
|||
/* stylelint-disable docusaurus/copyright-header */
|
||||
/**
|
||||
* Any CSS included here will be global. The classic template
|
||||
* bundles Infima by default. Infima is a CSS framework designed to
|
||||
* work well for content-centric websites.
|
||||
*/
|
||||
@tailwind base;
|
||||
@tailwind components;
|
||||
@tailwind utilities;
|
||||
|
||||
/* You can override the default Infima variables here. */
|
||||
:root {
|
||||
--ifm-color-primary: #25c2a0;
|
||||
--ifm-color-primary-dark: rgb(33, 175, 144);
|
||||
--ifm-color-primary-darker: rgb(31, 165, 136);
|
||||
--ifm-color-primary-darkest: rgb(26, 136, 112);
|
||||
--ifm-color-primary-light: rgb(70, 203, 174);
|
||||
--ifm-color-primary-lighter: rgb(102, 212, 189);
|
||||
--ifm-color-primary-lightest: rgb(146, 224, 208);
|
||||
--ifm-color-primary: #2e8555;
|
||||
--ifm-color-primary-dark: #29784c;
|
||||
--ifm-color-primary-darker: #277148;
|
||||
--ifm-color-primary-darkest: #205d3b;
|
||||
--ifm-color-primary-light: #33925d;
|
||||
--ifm-color-primary-lighter: #359962;
|
||||
--ifm-color-primary-lightest: #3cad6e;
|
||||
--ifm-code-font-size: 95%;
|
||||
--docusaurus-highlighted-code-line-bg: rgba(0, 0, 0, 0.1);
|
||||
}
|
||||
|
||||
.docusaurus-highlight-code-line {
|
||||
background-color: rgb(72, 77, 91);
|
||||
display: block;
|
||||
margin: 0 calc(-1 * var(--ifm-pre-padding));
|
||||
padding: 0 var(--ifm-pre-padding);
|
||||
/* For readability concerns, you should choose a lighter palette in dark mode. */
|
||||
[data-theme="dark"] {
|
||||
--ifm-color-primary: #25c2a0;
|
||||
--ifm-color-primary-dark: #21af90;
|
||||
--ifm-color-primary-darker: #1fa588;
|
||||
--ifm-color-primary-darkest: #1a8870;
|
||||
--ifm-color-primary-light: #29d5b0;
|
||||
--ifm-color-primary-lighter: #32d8b4;
|
||||
--ifm-color-primary-lightest: #4fddbf;
|
||||
--docusaurus-highlighted-code-line-bg: rgba(0, 0, 0, 0.3);
|
||||
}
|
||||
|
|
93
src/fonts/LICENSE
Normal file
|
@ -0,0 +1,93 @@
|
|||
Copyright 2014 The DM Sans Project Authors (https://github.com/googlefonts/dm-fonts)
|
||||
|
||||
This Font Software is licensed under the SIL Open Font License, Version 1.1.
|
||||
This license is copied below, and is also available with a FAQ at:
|
||||
https://openfontlicense.org
|
||||
|
||||
|
||||
-----------------------------------------------------------
|
||||
SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
|
||||
-----------------------------------------------------------
|
||||
|
||||
PREAMBLE
|
||||
The goals of the Open Font License (OFL) are to stimulate worldwide
|
||||
development of collaborative font projects, to support the font creation
|
||||
efforts of academic and linguistic communities, and to provide a free and
|
||||
open framework in which fonts may be shared and improved in partnership
|
||||
with others.
|
||||
|
||||
The OFL allows the licensed fonts to be used, studied, modified and
|
||||
redistributed freely as long as they are not sold by themselves. The
|
||||
fonts, including any derivative works, can be bundled, embedded,
|
||||
redistributed and/or sold with any software provided that any reserved
|
||||
names are not used by derivative works. The fonts and derivatives,
|
||||
however, cannot be released under any other type of license. The
|
||||
requirement for fonts to remain under this license does not apply
|
||||
to any document created using the fonts or their derivatives.
|
||||
|
||||
DEFINITIONS
|
||||
"Font Software" refers to the set of files released by the Copyright
|
||||
Holder(s) under this license and clearly marked as such. This may
|
||||
include source files, build scripts and documentation.
|
||||
|
||||
"Reserved Font Name" refers to any names specified as such after the
|
||||
copyright statement(s).
|
||||
|
||||
"Original Version" refers to the collection of Font Software components as
|
||||
distributed by the Copyright Holder(s).
|
||||
|
||||
"Modified Version" refers to any derivative made by adding to, deleting,
|
||||
or substituting -- in part or in whole -- any of the components of the
|
||||
Original Version, by changing formats or by porting the Font Software to a
|
||||
new environment.
|
||||
|
||||
"Author" refers to any designer, engineer, programmer, technical
|
||||
writer or other person who contributed to the Font Software.
|
||||
|
||||
PERMISSION & CONDITIONS
|
||||
Permission is hereby granted, free of charge, to any person obtaining
|
||||
a copy of the Font Software, to use, study, copy, merge, embed, modify,
|
||||
redistribute, and sell modified and unmodified copies of the Font
|
||||
Software, subject to the following conditions:
|
||||
|
||||
1) Neither the Font Software nor any of its individual components,
|
||||
in Original or Modified Versions, may be sold by itself.
|
||||
|
||||
2) Original or Modified Versions of the Font Software may be bundled,
|
||||
redistributed and/or sold with any software, provided that each copy
|
||||
contains the above copyright notice and this license. These can be
|
||||
included either as stand-alone text files, human-readable headers or
|
||||
in the appropriate machine-readable metadata fields within text or
|
||||
binary files as long as those fields can be easily viewed by the user.
|
||||
|
||||
3) No Modified Version of the Font Software may use the Reserved Font
|
||||
Name(s) unless explicit written permission is granted by the corresponding
|
||||
Copyright Holder. This restriction only applies to the primary font name as
|
||||
presented to the users.
|
||||
|
||||
4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
|
||||
Software shall not be used to promote, endorse or advertise any
|
||||
Modified Version, except to acknowledge the contribution(s) of the
|
||||
Copyright Holder(s) and the Author(s) or with their explicit written
|
||||
permission.
|
||||
|
||||
5) The Font Software, modified or unmodified, in part or in whole,
|
||||
must be distributed entirely under this license, and must not be
|
||||
distributed under any other license. The requirement for fonts to
|
||||
remain under this license does not apply to any document created
|
||||
using the Font Software.
|
||||
|
||||
TERMINATION
|
||||
This license becomes null and void if any of the above conditions are
|
||||
not met.
|
||||
|
||||
DISCLAIMER
|
||||
THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
|
||||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
|
||||
OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
|
||||
COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||
INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
|
||||
DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||
FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
|
||||
OTHER DEALINGS IN THE FONT SOFTWARE.
|
BIN
src/fonts/dmsans-bold-latin-ext.woff2
Normal file
BIN
src/fonts/dmsans-bold-latin.woff2
Normal file
BIN
src/fonts/dmsans-latin-ext.woff2
Normal file
BIN
src/fonts/dmsans-latin.woff2
Normal file
14
src/icons/LICENSE
Normal file
|
@ -0,0 +1,14 @@
|
|||
Copyright © Nucleo
|
||||
|
||||
Version 1.3, January 3, 2024
|
||||
|
||||
Nucleo Icons
|
||||
|
||||
https://nucleoapp.com/
|
||||
|
||||
- Redistribution of icons is prohibited.
|
||||
- Icons are restricted for use only within the product they are bundled with.
|
||||
|
||||
For more details:
|
||||
|
||||
https://nucleoapp.com/license
|
4
src/icons/dots.svg
Normal file
|
@ -0,0 +1,4 @@
|
|||
<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
|
||||
<path class="fill-brand-300" d="M19.75 18.25C20.917 19.417 22.333 20 24 20c1.667 0 3.083-.583 4.25-1.75C29.417 17.083 30 15.667 30 14c0-1.667-.583-3.083-1.75-4.25C27.083 8.583 25.667 8 24 8c-1.667 0-3.083.583-4.25 1.75C18.583 10.917 18 12.333 18 14c0 1.667.583 3.083 1.75 4.25Z"/>
|
||||
<path class="fill-brand-600" d="M12 40c-1.667 0-3.083-.583-4.25-1.75C6.583 37.083 6 35.667 6 34c0-1.667.583-3.083 1.75-4.25C8.917 28.583 10.333 28 12 28c1.667 0 3.083.583 4.25 1.75C17.417 30.917 18 32.333 18 34c0 1.667-.583 3.083-1.75 4.25C15.083 39.417 13.667 40 12 40Zm24 0c-1.667 0-3.083-.583-4.25-1.75C30.583 37.083 30 35.667 30 34c0-1.667.583-3.083 1.75-4.25C32.917 28.583 34.333 28 36 28c1.667 0 3.083.583 4.25 1.75C41.417 30.917 42 32.333 42 34c0 1.667-.583 3.083-1.75 4.25C39.083 39.417 37.667 40 36 40Z"/>
|
||||
</svg>
|
After Width: | Height: | Size: 876 B |
4
src/icons/expand.svg
Normal file
|
@ -0,0 +1,4 @@
|
|||
<svg viewBox="0 0 48 48" fill="none" xmlns="http://www.w3.org/2000/svg">
|
||||
<path d="M34 14V22H38V10H26V14H34Z" class="fill-brand-600"/>
|
||||
<path d="M10 38V26H14V34H22V38H10Z" class="fill-brand-300"/>
|
||||
</svg>
|
After Width: | Height: | Size: 202 B |
4
src/icons/humidity.svg
Normal file
|
@ -0,0 +1,4 @@
|
|||
<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
|
||||
<path class="fill-brand-300" d="m16.441 18.296 5.568 5.568-5.568 5.567a7.873 7.873 0 1 1 0-11.135Z"/>
|
||||
<path class="fill-brand-600" d="m29.703 18.296-5.567 5.568 5.567 5.567a7.874 7.874 0 1 0 0-11.135Z"/>
|
||||
</svg>
|
After Width: | Height: | Size: 284 B |
5
src/icons/layers.svg
Normal file
|
@ -0,0 +1,5 @@
|
|||
<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
|
||||
<path class="fill-brand-200" d="m33.645 24.99-9.14 6.444-9.14-6.444 9.14-6.433L33.645 25v-.01Z"/>
|
||||
<path class="fill-brand-300" d="M15.364 25 10 28.778 24.505 39l14.504-10.222L33.645 25l-9.14 6.443L15.365 25Z"/>
|
||||
<path class="fill-brand-600" d="M33.636 25 39 21.222 24.505 11 10 21.222 15.364 25l9.14-6.443L33.646 25h-.01Z"/>
|
||||
</svg>
|
After Width: | Height: | Size: 404 B |
5
src/icons/scale.svg
Normal file
|
@ -0,0 +1,5 @@
|
|||
<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
|
||||
<path class="fill-brand-600" d="M5.75 21.25C6.917 22.417 8.333 23 10 23c1.667 0 3.083-.583 4.25-1.75C15.417 20.083 16 18.667 16 17c0-1.667-.583-3.083-1.75-4.25C13.083 11.583 11.667 11 10 11c-1.667 0-3.083.583-4.25 1.75C4.583 13.917 4 15.333 4 17c0 1.667.583 3.083 1.75 4.25Z"/>
|
||||
<path class="fill-brand-300" d="M33.75 21.25C34.917 22.417 36.333 23 38 23c1.667 0 3.083-.583 4.25-1.75C43.417 20.083 44 18.667 44 17c0-1.667-.583-3.083-1.75-4.25C41.083 11.583 39.667 11 38 11c-1.667 0-3.083.583-4.25 1.75C32.583 13.917 32 15.333 32 17c0 1.667.583 3.083 1.75 4.25Z"/>
|
||||
<path class="fill-brand-200" d="M6 27h37v5H6zM30 41a6 6 0 1 0-12 0h12Z"/>
|
||||
</svg>
|
After Width: | Height: | Size: 716 B |
|
@ -1,137 +0,0 @@
|
|||
import React from 'react';
|
||||
import clsx from 'clsx';
|
||||
import Layout from '@theme/Layout';
|
||||
import Link from '@docusaurus/Link';
|
||||
import useDocusaurusContext from '@docusaurus/useDocusaurusContext';
|
||||
import useBaseUrl from '@docusaurus/useBaseUrl';
|
||||
import styles from './styles.module.css';
|
||||
|
||||
const features = [
|
||||
{
|
||||
title: 'Роботы-манипуляторы',
|
||||
imageUrl: 'img/robossembler-arm.png',
|
||||
description: (
|
||||
<>
|
||||
<ul>
|
||||
<li><a href="https://gitlab.com/robossembler/roboarm-diy-version">Robossembler Arm</a> - 6-DoF манипулятор для изготовления с помощью 3D-печати</li>
|
||||
<li><a href="https://gitlab.com/robossembler/roboarm">Манипулятор</a> - 6-DoF для изготовления с помощью литья в <a href="https://gitlab.com/robossembler/cnc/roboarm-link-mold" target="_blank" rel="noopener noreferrer">прессформе</a></li>
|
||||
</ul>
|
||||
</>
|
||||
),
|
||||
},
|
||||
{
|
||||
title: 'Приспособления',
|
||||
imageUrl: 'img/grip-tool.png',
|
||||
description: (
|
||||
<>
|
||||
<ul>
|
||||
<li><a href="https://gitlab.com/robossembler/arm-tools/grip-tool" target="_blank" rel="noopener noreferrer">Механический захват</a> <i>прототипируется</i></li>
|
||||
<li><a href="https://gitlab.com/robossembler/arm-tools/3d-print-tool" target="_blank" rel="noopener noreferrer">3D-печать</a>, <a href="https://gitlab.com/robossembler/arm-tools/extrude-melt-tool" target="_blank" rel="noopener noreferrer">Подача компаунда</a>, <a href="https://gitlab.com/robossembler/arm-tools/soldering-tool" target="_blank" rel="noopener noreferrer">Пайка</a>, <a href="https://gitlab.com/robossembler/arm-tools/welding-tool" target="_blank" rel="noopener noreferrer">Сварка</a>, <a href="https://gitlab.com/robossembler/arm-tools/post-processing-tool" target="_blank" rel="noopener noreferrer">Фрезерная и пост-обработка</a>, <a href="https://gitlab.com/robossembler/arm-tools/scan-tool" target="_blank" rel="noopener noreferrer">Сканирование и съёмка</a> <i>в разработке</i></li>
|
||||
</ul>
|
||||
</>
|
||||
),
|
||||
},
|
||||
{
|
||||
title: 'Серводвигатели',
|
||||
imageUrl: 'img/motor.png',
|
||||
description: (
|
||||
<>
|
||||
Оригинальные модели серводвигателей, ориентированные для автоматического производства
|
||||
<ul>
|
||||
<li><a href="https://gitlab.com/robossembler/roboarm-diy-version/-/tree/main/src/MOTOR" target="_blank" rel="noopener noreferrer">Сервопривод</a> для Robossembler Arm</li>
|
||||
<li><a href="https://gitlab.com/robossembler/servo" target="_blank" rel="noopener noreferrer">Сервопривод</a> для литьевого манипулятора</li>
|
||||
</ul>
|
||||
</>
|
||||
),
|
||||
},
|
||||
{
|
||||
title: 'Производственные модули',
|
||||
imageUrl: 'img/workspace.png',
|
||||
description: (
|
||||
<>
|
||||
Новые способы масштабирования роботизированных ячеек
|
||||
<li><a href="https://gitlab.com/robossembler/cnc/cubic-modular-workspace" target="_blank" rel="noopener noreferrer">Cubic</a> - ячейки на базе кубов</li>
|
||||
<li><a href="https://gitlab.com/robossembler/cnc/roboarm-workspace" target="_blank" rel="noopener noreferrer">Hexagonal</a> - ячейки на базе плоских шестигранников</li>
|
||||
</>
|
||||
),
|
||||
},
|
||||
{
|
||||
title: 'Прикладное ПО',
|
||||
imageUrl: 'img/ros2.jpg',
|
||||
description: (
|
||||
<>
|
||||
Разработка программного обеспечения с открытым исходным кодом для управления роботами
|
||||
<ul>
|
||||
<li><a href="docs/robossembler-framework/" target="_blank" rel="noopener noreferrer">Robossembler Framework</a> - комплекс ПО для автоматизации сборки произвольных изделий роботами-манипуляторами</li>
|
||||
</ul>
|
||||
</>
|
||||
),
|
||||
},
|
||||
{
|
||||
title: 'Инструменты поддержки CAD',
|
||||
imageUrl: 'img/freecad.svg',
|
||||
description: (
|
||||
<>
|
||||
Плагины к открытым системам проектирования для автоматизации разработки и производства
|
||||
<ul>
|
||||
<li><a href="https://gitlab.com/robossembler/forks/ARBench" target="_blank" rel="noopener noreferrer">ARBench</a> - плагин FreeCAD для подготовки изделий к роботизированной сборке</li>
|
||||
</ul>
|
||||
</>
|
||||
),
|
||||
},
|
||||
];
|
||||
|
||||
function Feature({ imageUrl, title, description }) {
|
||||
const imgUrl = useBaseUrl(imageUrl);
|
||||
return (
|
||||
<div className={clsx('col col--4', styles.feature)}>
|
||||
{imgUrl && (
|
||||
<div className="text--center">
|
||||
<img className={styles.featureImage} src={imgUrl} alt={title} />
|
||||
</div>
|
||||
)}
|
||||
<h3>{title}</h3>
|
||||
<p>{description}</p>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
export default function Home() {
|
||||
const context = useDocusaurusContext();
|
||||
const { siteConfig = {} } = context;
|
||||
return (
|
||||
<Layout
|
||||
title={`${siteConfig.title}`}
|
||||
description="Промышленная робототехника с открытыми конструкторской документацией и исходным кодом">
|
||||
<header className={clsx('hero hero--primary', styles.heroBanner)}>
|
||||
<div className="container">
|
||||
<h1 className="hero__title">{siteConfig.title}</h1>
|
||||
<p className="hero__subtitle">{siteConfig.tagline}</p>
|
||||
<div className={styles.buttons}>
|
||||
<Link
|
||||
className={clsx(
|
||||
'button button--outline button--secondary button--lg',
|
||||
styles.getStarted,
|
||||
)}
|
||||
to={useBaseUrl('docs/')}>
|
||||
Обзор репозиториев
|
||||
</Link>
|
||||
</div>
|
||||
</div>
|
||||
</header>
|
||||
<main>
|
||||
{features && features.length > 0 && (
|
||||
<section className={styles.features}>
|
||||
<div className="container">
|
||||
<div className="row">
|
||||
{features.map((props, idx) => (
|
||||
<Feature key={idx} {...props} />
|
||||
))}
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
)}
|
||||
</main>
|
||||
</Layout>
|
||||
);
|
||||
}
|
|
@ -1,5 +1,3 @@
|
|||
/* stylelint-disable docusaurus/copyright-header */
|
||||
|
||||
/**
|
||||
* CSS files with the .module.css suffix will be treated as CSS modules
|
||||
* and scoped locally.
|
||||
|
@ -12,7 +10,7 @@
|
|||
overflow: hidden;
|
||||
}
|
||||
|
||||
@media screen and (max-width: 966px) {
|
||||
@media screen and (max-width: 996px) {
|
||||
.heroBanner {
|
||||
padding: 2rem;
|
||||
}
|
||||
|
@ -23,15 +21,3 @@
|
|||
align-items: center;
|
||||
justify-content: center;
|
||||
}
|
||||
|
||||
.features {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
padding: 2rem 0;
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.featureImage {
|
||||
height: 200px;
|
||||
width: 200px;
|
||||
}
|
27
src/pages/index.tsx
Normal file
|
@ -0,0 +1,27 @@
|
|||
import React from "react";
|
||||
import Layout from "@theme/Layout";
|
||||
import Hero from "../components/Hero";
|
||||
import Projects from "../components/Projects";
|
||||
// import Supporters from "../components/Supporters";
|
||||
// import FAQ from "../components/FAQ";
|
||||
// import HowToContribute from "../components/HowToContribute";
|
||||
import useDocusaurusContext from '@docusaurus/useDocusaurusContext';
|
||||
import Goals from "../components/Goals";
|
||||
|
||||
export default function Home() {
|
||||
const {siteConfig} = useDocusaurusContext();
|
||||
|
||||
return (
|
||||
<Layout
|
||||
title={siteConfig.title}
|
||||
description="Промышленная робототехника с открытыми конструкторской документацией и исходным кодом">
|
||||
<Hero />
|
||||
<Goals />
|
||||
<Projects />
|
||||
{/* <Hero />
|
||||
<HowToContribute />
|
||||
<FAQ />
|
||||
<Supporters /> */}
|
||||
</Layout>
|
||||
);
|
||||
}
|
BIN
static/img/rbs-framework-simulation.jpg
Normal file
After Width: | Height: | Size: 202 KiB |
BIN
static/img/robossembler-arm-remount.jpg
Normal file
After Width: | Height: | Size: 22 KiB |
BIN
static/img/robossembler-arm.jpg
Normal file
After Width: | Height: | Size: 24 KiB |
Before Width: | Height: | Size: 9.5 KiB After Width: | Height: | Size: 195 KiB |
BIN
static/img/servo-reducer-assembled.jpg
Normal file
After Width: | Height: | Size: 33 KiB |
BIN
static/img/webservice.jpg
Normal file
After Width: | Height: | Size: 56 KiB |
BIN
static/img/winder.jpg
Normal file
After Width: | Height: | Size: 29 KiB |
BIN
static/img/winder1.webp
Normal file
After Width: | Height: | Size: 74 KiB |
BIN
static/img/winder2.webp
Normal file
After Width: | Height: | Size: 73 KiB |
69
tailwind.config.js
Normal file
|
@ -0,0 +1,69 @@
|
|||
const { fontFamily } = require("tailwindcss/defaultTheme");
|
||||
|
||||
/** @type {import('tailwindcss').Config} */
|
||||
module.exports = {
|
||||
corePlugins: {
|
||||
preflight: false,
|
||||
container: false,
|
||||
},
|
||||
darkMode: ["class", '[data-theme="dark"]'],
|
||||
content: ["./src/**/*.{js,jsx,ts,tsx,svg}"],
|
||||
theme: {
|
||||
extend: {
|
||||
fontFamily: {
|
||||
sans: ['"Inter"', ...fontFamily.sans],
|
||||
jakarta: ['"Plus Jakarta Sans"', ...fontFamily.sans],
|
||||
mono: ['"Fira Code"', ...fontFamily.mono],
|
||||
},
|
||||
borderRadius: {
|
||||
sm: "4px",
|
||||
},
|
||||
screens: {
|
||||
sm: "0px",
|
||||
lg: "997px",
|
||||
},
|
||||
colors: {
|
||||
fontSize: {
|
||||
"5xl": "2.5rem",
|
||||
},
|
||||
brand: {
|
||||
900: "#332c05",
|
||||
850: "#4d4107",
|
||||
800: "#66570a",
|
||||
700: "#b29911",
|
||||
650: "#e6b600",
|
||||
600: "#f0cd14",
|
||||
500: "#ffda18",
|
||||
400: "#ffe146",
|
||||
300: "#ffe974",
|
||||
200: "#fff0a3",
|
||||
150: "#fff4ba",
|
||||
100: "#fff8d1",
|
||||
50: "#fffbe8",
|
||||
},
|
||||
gray: {
|
||||
950: "#0D0E10",
|
||||
900: "#1B1D20",
|
||||
850: "#282B31",
|
||||
800: "#353A41",
|
||||
700: "#505661",
|
||||
600: "#6A7382",
|
||||
500: "#8590A2",
|
||||
400: "#9DA6B5",
|
||||
300: "#B6BCC7",
|
||||
200: "#CED3DA",
|
||||
150: "#DADEE3",
|
||||
100: "#E7E9EC",
|
||||
50: "#F9F9F9",
|
||||
},
|
||||
blue: {
|
||||
950: "#0c192b",
|
||||
900: "#14253D",
|
||||
},
|
||||
},
|
||||
},
|
||||
},
|
||||
plugins: [
|
||||
require("@tailwindcss/typography"),
|
||||
],
|
||||
};
|
7
tsconfig.json
Normal file
|
@ -0,0 +1,7 @@
|
|||
{
|
||||
// This file is not used in compilation. It is here just for a nice editor experience.
|
||||
"extends": "@docusaurus/tsconfig",
|
||||
"compilerOptions": {
|
||||
"baseUrl": "."
|
||||
}
|
||||
}
|