8be13016bc
Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
104 lines
3.3 KiB
JavaScript
104 lines
3.3 KiB
JavaScript
// Fill the {actuator} placeholder in the usage code examples with the motor
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// chosen via the ?motor=<name> query parameter (set by the buttons on the
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// "Identified actuators" page). When no motor is given, xl330 is used as the
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// default. Only whitelisted motor names are ever inserted.
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(function () {
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"use strict";
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// name -> human-readable label
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var MOTORS = {
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mx64: "MX-64",
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mx106: "MX-106",
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xl320: "XL-320",
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xl330: "XL-330",
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feetech_sts3215_7_4V: "STS3215 (7.4V)",
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};
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var DEFAULT_MOTOR = "xl330";
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var PLACEHOLDER = "{actuator}";
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function selectedMotor() {
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var value = new URLSearchParams(window.location.search).get("motor");
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if (value && Object.prototype.hasOwnProperty.call(MOTORS, value)) {
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return value;
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}
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return DEFAULT_MOTOR;
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}
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function pageHasPlaceholder() {
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var blocks = document.querySelectorAll("div.highlight pre");
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for (var i = 0; i < blocks.length; i++) {
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if (blocks[i].textContent.indexOf(PLACEHOLDER) !== -1) return true;
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}
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return false;
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}
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function updateCodeBlocks(motor) {
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// The placeholder is a contiguous token inside a string literal, so a plain
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// substring replace on innerHTML is enough (motor is whitelisted).
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document.querySelectorAll("div.highlight pre").forEach(function (pre) {
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if (pre.textContent.indexOf(PLACEHOLDER) === -1) return;
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pre.innerHTML = pre.innerHTML.split(PLACEHOLDER).join(motor);
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});
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}
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// Derive the "_static/" URL prefix from an existing asset link, so the motor
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// image resolves correctly regardless of the current page's depth.
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function staticBase() {
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var link = document.querySelector('link[href*="_static/"]');
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if (link) {
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var href = link.getAttribute("href");
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var idx = href.indexOf("_static/");
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if (idx !== -1) return href.slice(0, idx + "_static/".length);
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}
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return "_static/";
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}
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function showBanner(motor) {
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var article =
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document.querySelector("article") ||
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document.querySelector("main") ||
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document.body;
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var heading = article.querySelector("h1");
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var img = staticBase() + "actuator_" + motor + ".png";
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var banner = document.createElement("div");
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banner.className = "admonition tip motor-banner";
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banner.innerHTML =
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'<img class="motor-banner-img" src="' +
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img +
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'" alt="' +
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MOTORS[motor] +
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'">' +
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'<div class="motor-banner-text">' +
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'<p class="admonition-title">Motor selected</p>' +
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"<p>Examples on this page are shown for " +
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'<code class="docutils literal notranslate"><span class="pre">' +
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motor +
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"</span></code> (" +
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MOTORS[motor] +
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"). " +
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'<a href="actuators.html">Choose a different motor</a>.</p>' +
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"</div>";
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if (heading && heading.parentNode) {
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heading.parentNode.insertBefore(banner, heading.nextSibling);
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} else {
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article.insertBefore(banner, article.firstChild);
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}
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}
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function apply() {
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// Only act on pages that actually carry the {actuator} placeholder.
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if (!pageHasPlaceholder()) return;
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var motor = selectedMotor();
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updateCodeBlocks(motor);
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showBanner(motor);
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}
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if (document.readyState === "loading") {
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document.addEventListener("DOMContentLoaded", apply);
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} else {
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apply();
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}
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})();
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