Release 2.6.0. (#103)

Author: jbondenv

.dockerignore

@@ -22,3 +22,5 @@ tags
 *.pcap
 *.deb
 configurator/*
+# Docker build environment files
+docker/*

.gitignore

@@ -8,12 +8,16 @@ cscope.*
 .vscode/
 # cache
 .cache
-# build folders
+# build folders and artifacts
 build
 *.egg-info
+*.whl
 # tao peoplenet files
 *.fp16
 *.onnx
+# body-pose estimation
+*.fp32
+*.pt
 # NSight profiler files
 *.ncu-rep
 *.nsys-rep

CMakeLists.txt

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2024-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2024-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -13,7 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.20)
+cmake_minimum_required(VERSION 3.24)
 
 # Options
 option(HOLOLINK_BUILD_PYTHON "Build Hololink Python Bindings" ON)
@@ -25,6 +25,13 @@ option(HOLOLINK_BUILD_ARGUS_ISP "Build Argus ISP support" OFF)
 option(HOLOLINK_BUILD_SIPL "Build NvSIPL capture components" OFF)
 option(HOLOLINK_BUILD_EMULATOR "Build HSB Emulator components" ON)
 option(HOLOLINK_BUILD_FUSA "Build NvFusa capture components" OFF)
+option(HOLOLINK_BUILD_PVA "Build PVA CRC components" OFF)
+option(HOLOLINK_BUILD_CPACK "Build DEB package" OFF)
+option(HOLOLINK_BUILD_EXPORT "Install Hololink targets" ON)
+option(HOLOLINK_BUILD_ROCE "Build Hololink with RoCE support" ON)
+option(HOLOLINK_BUILD_GPUNETIO_ROCE "Build DOCA GPUNetIO RoCE transceiver (requires DOCA gpunetio/verbs)" ON)
+option(HOLOLINK_BUILD_SOCKET "Build Hololink with Linux Socket support" ON)
+option(HOLOLINK_ROCE_USE_GPU_VRAM "Prefer GPU VRAM for RoCE receiver frame buffers (requires GPUDirect RDMA). When OFF, always use pinned host memory, which avoids IOMMU write-access faults at the cost of an extra PCIe hop for GPU access." ON)
 
 if (HOLOLINK_BUILD_PYTHON AND NOT HOLOLINK_BUILD_EMULATOR)
   message(FATAL_ERROR "If building Python bindings, HOLOLINK_BUILD_EMULATOR must be ON")
@@ -44,14 +51,14 @@ project(hololink
   VERSION ${HOLOLINK_VERSION_NUM})
 
 # To discover our custom CMake modules
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH ${hololink_SOURCE_DIR}/cmake)
 
 # Find globally required dependencies
-include(hololink_deps/fmt)
-
 if (NOT HOLOLINK_BUILD_ONLY_NATIVE)
-  # Find Holoscan
-  find_package(holoscan 3.6 REQUIRED CONFIG PATHS "/opt/nvidia/holoscan")
+  # Find Holoscan if it is not already defined for source build with FetchContent
+  if(NOT holoscan_SOURCE_DIR)
+    find_package(holoscan 4.0 REQUIRED CONFIG PATHS "/opt/nvidia/holoscan")
+  endif()
 
   # enabled trace and debug log messages in debug build only
   if(CMAKE_BUILD_TYPE STREQUAL "Release")
@@ -61,6 +68,10 @@ if (NOT HOLOLINK_BUILD_ONLY_NATIVE)
   endif()
 endif()
 
+# if HSDK is present/used, fmt should discover HSDK's version, which is cleaner
+# if fmt discovery is after HSDK; especially after HSDK 4.0 provides fmt targets downstream.
+include(hololink_deps/fmt)
+
 if(NOT CMAKE_INSTALL_LIBDIR)
   set(CMAKE_INSTALL_LIBDIR lib)
 endif()
@@ -73,6 +84,9 @@ endif()
 
 # Add subdirectories based on the build options
 add_subdirectory(src)
+if(HOLOLINK_BUILD_TESTS)
+  enable_testing()
+endif()
 if(HOLOLINK_BUILD_TOOLS)
   add_subdirectory(tools)
 endif()
@@ -90,7 +104,11 @@ add_subdirectory(scripts)
 endif()
 
 # Add packaging
-include(cmake/HololinkCPack.cmake)
+if(HOLOLINK_BUILD_CPACK)
+  include(cmake/HololinkCPack.cmake)
+endif()
 
 # Add export
-include(cmake/HololinkExport.cmake)
+if(HOLOLINK_BUILD_EXPORT)
+  include(cmake/HololinkExport.cmake)
+endif()

RELEASE_NOTES.md

@@ -1,5 +1,101 @@
 # Release Notes
 
+## 2.6-GA, June 2026
+
+### Dependencies
+
+- IGX Orin:
+  [IGX-SW 1.1.3 Production Release](https://developer.nvidia.com/igx-downloads)
+- IGX Thor: [IGX-SW 2.0 Production Release](https://developer.nvidia.com/igx-downloads)
+- AGX Orin: Use [SDK Manager](https://developer.nvidia.com/sdk-manager) to set up
+  JetPack 7.2.
+- AGX Thor: Use [SDK Manager](https://developer.nvidia.com/sdk-manager) to set up
+  JetPack 7.2.
+- Holoscan Sensor Bridge, 10G; FPGA v2603.
+
+Be sure and follow the installation instructions included with the release, including
+PTP configuration and HSB device firmware updates. To generate documentation, in the
+host system, run `sh docs/make_docs.sh`, then use your browser to look at
+`docs/user_guide/_build/html/index.html`.
+
+### Updates from 2.6-EA2
+
+- **Jetpack 7.2** Support for AGX Orin and AGX Thor including updates to SIPL (Thor) and
+  Argus (Orin) frameworks
+- **HSDK** Update support to
+  [HSDK 4.2.0](https://docs.nvidia.com/holoscan/archive/4.2.0/index.html)
+- **LeopardImaging Eagle Camera** Support for 8-bit, 60 fps mode on AGX Thor
+- **Lattice IMX274** Support for 12-bit, 30 fps mode
+- **Firmware Setup** `hsb_flasher` as primary
+  [firmware setup](https://docs.nvidia.com/holoscan/sensor-bridge/latest/sensor_bridge_firmware_setup.html)
+  tool.
+- **CoE Offload Features** SIPLCaptureService for HSBs running sensors at heterogeneous
+  frame rates. More generic sensor frame/non-image layout support in FusaCoeCapture
+  operator
+- **SubFrameVisualizerOp** to improve support for sub-frame processing
+- **x86 Linux** added
+  [RoCE setup support](https://docs.nvidia.com/holoscan/sensor-bridge/latest/setup.html#sd-tab-item-4)
+- **Agentic AI** Added
+  [skills](https://github.com/nvidia-holoscan/holoscan-sensor-bridge/tree/main/skills)
+  directory for workflows or setup involving HSB
+
+on top of features from the 2.6-EA and 2.6-EA2 releases and many minor updates.
+
+## 2.6-EA2, April 2026
+
+### Dependencies
+
+- IGX: [IGX-SW 1.1.2 Production Release](https://developer.nvidia.com/igx-downloads)
+- AGX: Use [SDK Manager](https://developer.nvidia.com/sdk-manager) to set up JetPack
+  6.2.1.
+- Thor: Use [SDK Manager](https://developer.nvidia.com/sdk-manager) to set up JetPack
+  7.1.
+- Holoscan Sensor Bridge, 10G; FPGA v2603.
+
+Be sure and follow the installation instructions included with the release, including
+PTP configuration and HSB device firmware updates. To generate documentation, in the
+host system, run `sh docs/make_docs.sh`, then use your browser to look at
+`docs/user_guide/_build/html/index.html`.
+
+### Updates 2.6-EA
+
+- Numerous stability improvements
+- `hsb_flasher` is included but is still under development; continue to use the
+  traditional FPGA programming tools
+- Emulator updates
+- FPGA IP block stability updates
+
+NOTE an important stability improvement affects application code: An update to HSDK
+results in operators holding on to buffers longer, which can result in BlockMemoryPool
+instances running out of buffer space. For this reason, you'll see many of the examples
+and tests have been updated with increased values for `num_blocks`-- you may have to
+apply this same fix to your application code.
+
+### Updates from 2.5-GA
+
+- **HSDK 4.0** HSB is updated to support running under HSDK 4.0.
+- **Thor and JetPack 7.1** Support for receive-only RDMA on AGX Thor units (with mgbe
+  NICs) is provided.
+- **ComputeCrcOp** and **CheckCrcOp** use [nvCOMP](https://developer.nvidia.com/nvcomp)
+  to compute the CRC-32 of the received data frame. This CRC can be compared against the
+  CRC sent by the FPGA (available in pipeline metadata) to ensure the local data frame
+  has the same content as was received by the FPGA. See
+  `examples/imx274_frame_validation.py` for an example.
+- **ComputePvaCrcOp** and **CheckPvaCrcOp** use
+  [PVA](https://developer.nvidia.com/embedded/pva) to calculate the CRC in the same
+  manner as ComputeCrcOp, with an implementation that uses PVA instead of GPU. This is
+  only supported for systems that include PVA. See
+  `examples/imx274_pva_crc_validation.py` for details.
+- **Sub frame processing** Examples include support for video applications that can
+  begin ISP on parts of the received image, allowing pipelining of video processing with
+  receipt of data.
+- **UART support** Some HSB units include a UART block; APIs are added for control. See
+  `examples/uart_dual_board_loopback.py` for details.
+- **HSB Emulator** Code allowing STM32F767ZI to emulate the HSB IP block is provided,
+  and is intended to be portable across other environments.
+
+And many more minor updates.
+
 ## 2.5-GA, December 2025
 
 ### Dependencies

VERSION

@@ -1 +1 @@
-2.5.0
+2.6.0

ci/Dockerfile.lint

@@ -15,11 +15,13 @@
 #
 # See README.md for detailed information.
 
-FROM ubuntu:22.04
-
 ARG DEBIAN_FRONTEND=noninteractive    
+ARG APT_CACHE_MOUNT="--mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked"
+
+FROM ubuntu:22.04
 
-RUN apt-get update && apt-get install --no-install-recommends -y -q \
+RUN ${APT_CACHE_MOUNT} apt-get update && apt-get install --no-install-recommends -y -q \
         python3 \
         python3-dev \
         python3-pip \
@@ -28,7 +30,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y -q \
 
 RUN python3 -m pip install --upgrade pip --timeout 60 --retries 5
 
-RUN apt-get update && apt-get install --no-install-recommends -y -q \
+RUN ${APT_CACHE_MOUNT} apt-get update && apt-get install --no-install-recommends -y -q \
         clang-format \
     && rm -rf /var/lib/apt/lists/*
 

ci/acceptable_words.txt

@@ -1,4 +1,8 @@
 OEN
 inout
+ser
 Inouts
 NotIn
+som
+dout
+HSI

ci/lint.sh

@@ -61,19 +61,24 @@ SKIP=( \
     # black: Cannot parse: 18:7: from ._@MODULE_NAME@ import @MODULE_CLASS_NAME@
     cmake/pybind11/__init__.py
     scripts
+    skills
     build*
     # HSB100G user guide has users put build/VM config directories and 3rd party repos here with many lint errors. 
     # ignore the directories but retain other files.
     configurator/*/
 )
 
-# Codespell checks for spelling mistakes.  Don't include PDF files.
-CODESPELL_FILES=( `git ls-files | grep -v '.pdf$'` )
+# Codespell checks for spelling mistakes.  Don't include PDF files or skills/.
+# skills/ uses NVCARPS-convention formatting validated separately (see ai_rules MR !22).
+CODESPELL_FILES=( `git ls-files | grep -v '.pdf$' | grep -v '^skills/'` )
 
 C_FILES=( `git ls-files | egrep '.(cpp|hpp)$' ` )
-# added explicit exclude on mdformat docs/user_guide/emulation.md because 
+# added explicit exclude on mdformat docs/user_guide/emulation.md because
 # it is completely messing up tables and code formatting blocks used by sphinx
-DOCS_FILES=( `git ls-files | egrep -v 'docs/user_guide/emulation.md' | egrep '.md$' ` )
+# skills/ contains markdown-based Claude Code agent skill files authored under NVCARPS conventions.
+# They use formatting rules that differ from this project's mdformat rules and are validated
+# separately by the NVCARPS CI pipeline (see ai_rules MR !22).
+DOCS_FILES=( `git ls-files | egrep -v 'docs/user_guide/emulation.md' | egrep -v '^skills/' | egrep '.md$' ` )
 
 # Each command likes its list of inputs slightly different
 T=${SKIP[*]}

cmake/HololinkCPack.cmake

@@ -30,8 +30,8 @@ set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
 
 set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Julien Jomier")
 
-set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
-set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README.md")
+set(CPACK_RESOURCE_FILE_LICENSE "${hololink_SOURCE_DIR}/LICENSE")
+set(CPACK_RESOURCE_FILE_README "${hololink_SOURCE_DIR}/README.md")
 
 # Sets the package name as debian format
 set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)

cmake/HololinkExport.cmake

@@ -1,11 +1,32 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 # Package config export
 include(CMakePackageConfigHelpers)
 set(HOLOLINK_INSTALL_CMAKEDIR "${CMAKE_INSTALL_LIBDIR}/cmake/hololink")
 
+install(FILES "${CMAKE_CURRENT_LIST_DIR}/Findibverbs.cmake"
+  DESTINATION "${HOLOLINK_INSTALL_CMAKEDIR}"
+  COMPONENT hololink-cmake
+)
+
 install(EXPORT HololinkTargets
   NAMESPACE hololink::
   FILE HololinkTargets.cmake
   DESTINATION ${HOLOLINK_INSTALL_CMAKEDIR}
+  COMPONENT hololink-cmake
 )
 
 configure_package_config_file(
@@ -26,4 +47,5 @@ install(FILES
   ${CMAKE_CURRENT_BINARY_DIR}/HololinkConfig.cmake
   ${CMAKE_CURRENT_BINARY_DIR}/HololinkConfigVersion.cmake
   DESTINATION ${HOLOLINK_INSTALL_CMAKEDIR}
+  COMPONENT hololink-cmake
 )