Build: (a7333e6) Address Xilinx#69 dependency issues

Signed-off-by: Víctor Mayoral Vilches <[email protected]>

sphinx/build/html/.buildinfo

@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: b8834c6161e4ccaa853f267de9cdff0d
+config: f238b53b9fcafa1ea6dc98e16e8f0cb4
 tags: 645f666f9bcd5a90fca523b33c5a78b7

sphinx/build/html/_sources/docs/install.md.txt

@@ -96,7 +96,7 @@ repositories:
 
   firmware/acceleration_firmware_kv260:
     type: zip
-    url: https://drive.google.com/file/d/1gzrGHB-J_fKNBmcGYhClXdWo6wGw8k43
+    url: https://www.xilinx.com/bin/public/openDownload?filename=acceleration_firmware_kv260.zip
 
   acceleration/adaptive_component:
     type: git
@@ -184,6 +184,7 @@ sudo apt-get -y install curl build-essential libssl-dev git wget \
                           ocl-icd-* opencl-headers python3-vcstool \
                           python3-colcon-common-extensions python3-colcon-mixin \
                           kpartx u-boot-tools pv gcc-multilib
+sudo apt-get -y install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
 
 ###################################################
 # 2. create a new ROS 2 workspace with examples and
@@ -286,10 +287,30 @@ source install/setup.bash
 
     Ubuntu 22.04 sysroot is not fully prepared for cross-compilation (but for native builds instead) and thereby, while invoking FindPython, it's just picking the host resources, instead of the target/sysroot ones, which leads to ROS 2 packages relying on Python 3 getting a dependency against the host (which doesn't exist), instead of against the sysroot.
 
-    A **workaround** for this is symlinking the Python3 library of the host to the sysroot one, so that it gets picked while cross-compiling against the Ubuntu 22.04 sysroot. The following should do: `sudo ln -s ~/krs_ws/src/install/../acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/aarch64-linux-gnu/libpython3.10.so.1.0 /usr/lib/aarch64-linux-gnu/libpython3.10.so`)
+    A **workaround** for this is symlinking the Python3 library of the host to the sysroot one, so that it gets picked while cross-compiling against the Ubuntu 22.04 sysroot. The following should do: `sudo ln -s ~/krs_ws/install/../acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/aarch64-linux-gnu/libpython3.10.so.1.0 /usr/lib/aarch64-linux-gnu/libpython3.10.so`)
 ```
 
 ``` shell
+###################################################
+# 6.B workaround for KR260 additional firmware elements
+#   see https://github.com/Xilinx/KRS/issues/62#issue-1292007180
+#
+# TODO: remove this once these artifacts are added to KR260
+#   firmware ROS package (acceleration_firmware_kr260)
+###################################################
+# fetch KV260 firmware
+cd ~/krs_ws
+wget https://www.xilinx.com/bin/public/openDownload?filename=acceleration_firmware_kv260.zip -P src/firmware/acceleration_firmware_kv260
+unzip src/firmware/acceleration_firmware_kv260/openDownload\?filename\=acceleration_firmware_kv260.zip -d src/firmware/acceleration_firmware_kv260/
+
+# deploy KV260 firmware
+colcon build --merge-install --packages-select acceleration_firmware_kv260
+
+# select KV260 firmware artifacts and re-build accelerators targeting KR260 build configuration
+source install/setup.bash
+colcon acceleration select kv260
+
+
 ###################################################
 # 7.A cross-compile and generate ONLY CPU binaries
 ###################################################
@@ -522,4 +543,4 @@ sudo umount ~/krs_ws/acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/v
 
 ```
 
-Now that we've built binaries, next's to run them in hardware. See [examples](https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/0_ros2_publisher.html).
+Now that we've built binaries, next's to run them in hardware. See [examples](https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/0_ros2_publisher.html).

sphinx/build/html/_static/_sphinx_javascript_frameworks_compat.js

@@ -0,0 +1,134 @@
+/*
+ * _sphinx_javascript_frameworks_compat.js
+ * ~~~~~~~~~~
+ *
+ * Compatability shim for jQuery and underscores.js.
+ *
+ * WILL BE REMOVED IN Sphinx 6.0
+ * xref RemovedInSphinx60Warning
+ *
+ */
+
+/**
+ * select a different prefix for underscore
+ */
+$u = _.noConflict();
+
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+    if (!x) {
+        return x
+    }
+    return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+    if (typeof s === 'undefined')
+        s = document.location.search;
+    var parts = s.substr(s.indexOf('?') + 1).split('&');
+    var result = {};
+    for (var i = 0; i < parts.length; i++) {
+        var tmp = parts[i].split('=', 2);
+        var key = jQuery.urldecode(tmp[0]);
+        var value = jQuery.urldecode(tmp[1]);
+        if (key in result)
+            result[key].push(value);
+        else
+            result[key] = [value];
+    }
+    return result;
+};
+
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+    function highlight(node, addItems) {
+        if (node.nodeType === 3) {
+            var val = node.nodeValue;
+            var pos = val.toLowerCase().indexOf(text);
+            if (pos >= 0 &&
+                !jQuery(node.parentNode).hasClass(className) &&
+                !jQuery(node.parentNode).hasClass("nohighlight")) {
+                var span;
+                var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+                if (isInSVG) {
+                    span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+                } else {
+                    span = document.createElement("span");
+                    span.className = className;
+                }
+                span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+                node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+                    document.createTextNode(val.substr(pos + text.length)),
+                    node.nextSibling));
+                node.nodeValue = val.substr(0, pos);
+                if (isInSVG) {
+                    var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+                    var bbox = node.parentElement.getBBox();
+                    rect.x.baseVal.value = bbox.x;
+                    rect.y.baseVal.value = bbox.y;
+                    rect.width.baseVal.value = bbox.width;
+                    rect.height.baseVal.value = bbox.height;
+                    rect.setAttribute('class', className);
+                    addItems.push({
+                        "parent": node.parentNode,
+                        "target": rect});
+                }
+            }
+        }
+        else if (!jQuery(node).is("button, select, textarea")) {
+            jQuery.each(node.childNodes, function() {
+                highlight(this, addItems);
+            });
+        }
+    }
+    var addItems = [];
+    var result = this.each(function() {
+        highlight(this, addItems);
+    });
+    for (var i = 0; i < addItems.length; ++i) {
+        jQuery(addItems[i].parent).before(addItems[i].target);
+    }
+    return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+    jQuery.uaMatch = function(ua) {
+        ua = ua.toLowerCase();
+
+        var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+            /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+            /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+            /(msie) ([\w.]+)/.exec(ua) ||
+            ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+            [];
+
+        return {
+            browser: match[ 1 ] || "",
+            version: match[ 2 ] || "0"
+        };
+    };
+    jQuery.browser = {};
+    jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}