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doc: fix broken RTD build
The project was created some years ago and RTD defaults to some ancient Sphinx version that recently broke due to a docutils update. Use a configuration file and pin the required packages to make the build reproducible.
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.readthedocs.yaml

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version: 2
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sphinx:
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configuration: doc/conf.py
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python:
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version: 3.8
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install:
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- requirements: doc/requirements.txt

doc/requirements.txt

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sphinx==4.2.0
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sphinx_rtd_theme==1.0.0
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readthedocs-sphinx-search==0.1.1

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