camera: support multiple cameras within one instance #4255
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| name: Build and Test | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| tags: | |
| - 'v*' | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| coverage: | |
| name: Coverage (ubuntu-22.04) | |
| runs-on: ubuntu-22.04 | |
| env: | |
| NODE_OPTIONS: --max_old_space_size=4096 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/third_party/install | |
| key: ${{ github.job }}-${{ hashFiles('./third_party/**') }} | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/third_party/install" >> $GITHUB_ENV | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get install -y lcov python3-future | |
| - name: configure | |
| run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DWERROR=ON -DENABLE_CPPTRACE=On -Bbuild -H. | |
| - name: build | |
| run: cmake --build build -j2 | |
| - name: unit tests | |
| run: ./build/src/unit_tests/unit_tests_runner | |
| - name: system tests | |
| run: ./build/src/system_tests/system_tests_runner | |
| - name: run lcov | |
| run: lcov --capture --directory . --no-external --exclude "*/third_party/*" --output-file lcov.info | |
| - name: check size of lcov.info | |
| run: | | |
| ls -l lcov.info | |
| - name: Coveralls | |
| uses: coverallsapp/github-action@v2 | |
| with: | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| path-to-lcov: "./lcov.info" | |
| ubuntu-non-superbuild: | |
| name: ${{ matrix.ubuntu_image }} (non-mavsdk_server, non-superbuild) | |
| runs-on: ${{ matrix.ubuntu_image }} | |
| strategy: | |
| matrix: | |
| include: | |
| - ubuntu_image: ubuntu-20.04 | |
| - ubuntu_image: ubuntu-22.04 | |
| - ubuntu_image: ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: install | |
| run: sudo apt-get update && sudo apt-get install -y libjsoncpp-dev libcurl4-openssl-dev libtinyxml2-dev libgtest-dev libgmock-dev liblzma-dev | |
| - name: install mavlink on the system | |
| run: | | |
| cmake -Bthird_party/mavlink/build -Sthird_party/mavlink | |
| sudo cmake --build third_party/mavlink/build | |
| - name: configure | |
| run: cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSUPERBUILD=OFF -DWERROR=ON -DENABLE_CPPTRACE=On -Bbuild/release -H. | |
| - name: build | |
| run: cmake --build build/release -j2 | |
| - name: unit tests | |
| run: ./build/release/src/unit_tests/unit_tests_runner | |
| - name: system tests | |
| run: ./build/release/src/system_tests/system_tests_runner | |
| ubuntu-superbuild: | |
| name: ${{ matrix.ubuntu_image }} (mavsdk_server, superbuild) | |
| runs-on: ${{ matrix.ubuntu_image }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - ubuntu_image: ubuntu-20.04 | |
| cc: gcc | |
| cxx: g++ | |
| description: Ubuntu 20.04 (GCC) | |
| - ubuntu_image: ubuntu-22.04 | |
| cc: gcc | |
| cxx: g++ | |
| description: Ubuntu 22.04 (GCC) | |
| - ubuntu_image: ubuntu-24.04 | |
| cc: gcc-13 | |
| cxx: g++-13 | |
| description: Ubuntu 24.04 (GCC 13) | |
| - ubuntu_image: ubuntu-24.04 | |
| cc: gcc-14 | |
| cxx: g++-14 | |
| description: Ubuntu 24.04 (GCC 14) | |
| - ubuntu_image: ubuntu-24.04 | |
| cc: clang-18 | |
| cxx: clang++-18 | |
| description: Ubuntu 24.04 (clang 18) | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/release/third_party/install | |
| key: ${{ github.job }}-${{ matrix.ubuntu_image }}-${{ matrix.cc }}-${{ hashFiles('./third_party/**') }}-1 | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" >> $GITHUB_ENV | |
| - name: configure | |
| run: | | |
| echo "CC=${{ matrix.cc }}" >> $GITHUB_ENV | |
| echo "CXX=${{ matrix.cxx }}" >> $GITHUB_ENV | |
| cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=ON -DWERROR=ON -DENABLE_CPPTRACE=On -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H. | |
| - name: cleanup to save space | |
| run: | | |
| rm -rf ./build/release/third_party/absl | |
| rm -rf ./build/release/third_party/cares | |
| rm -rf ./build/release/third_party/cpptrace | |
| rm -rf ./build/release/third_party/curl | |
| rm -rf ./build/release/third_party/grpc | |
| rm -rf ./build/release/third_party/gtest | |
| rm -rf ./build/release/third_party/jsoncpp | |
| rm -rf ./build/release/third_party/libevents | |
| rm -rf ./build/release/third_party/liblzma | |
| rm -rf ./build/release/third_party/mavlink | |
| rm -rf ./build/release/third_party/openssl | |
| rm -rf ./build/release/third_party/protobuf | |
| rm -rf ./build/release/third_party/re2 | |
| rm -rf ./build/release/third_party/tinyxml2 | |
| rm -rf ./build/release/third_party/zlib | |
| rm -rf ./build/release/third_party/zlib-ng | |
| - name: build | |
| run: cmake --build build/release -j2 | |
| - name: install | |
| run: cmake --build build/release --target install | |
| - name: temporary workaround for Ubuntu 22.04 | |
| if: ${{ matrix.ubuntu_image }} == "ubuntu-22.04" | |
| run: | | |
| echo 'APT::Get::Always-Include-Phased-Updates "true";' | sudo tee -a /etc/apt/apt.conf.d/99-phased-updates | |
| sudo apt-get update | |
| - name: install examples dependencies | |
| run: sudo apt-get install libsdl2-dev ${{ matrix.cc }} ${{ matrix.cxx }} | |
| - name: configure examples | |
| run: cmake -DCMAKE_PREFIX_PATH="$(pwd)/install;$(pwd)/build/release/third_party/install" -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWERROR=ON -Bexamples/build -Hexamples | |
| - name: build examples | |
| run: cmake --build examples/build -j2 | |
| - name: unit tests | |
| run: ./build/release/src/unit_tests/unit_tests_runner | |
| # - name: system tests | |
| # run: ./build/release/src/system_tests/system_tests_runner | |
| - name: test (mavsdk_server) | |
| run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server | |
| ubuntu-hunter: | |
| name: ${{ matrix.ubuntu_image }} (non-mavsdk_server, hunter) | |
| runs-on: ${{ matrix.ubuntu_image }} | |
| strategy: | |
| matrix: | |
| include: | |
| - ubuntu_image: ubuntu-20.04 | |
| - ubuntu_image: ubuntu-22.04 | |
| - ubuntu_image: ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ~/.hunter | |
| key: ${{ github.job }}-${{ matrix.ubuntu_image }}-${{ hashFiles('~/.hunter/**') }}-2 | |
| - name: install mavlink on the system | |
| run: | | |
| cmake -Bthird_party/mavlink/build -Sthird_party/mavlink | |
| sudo cmake --build third_party/mavlink/build | |
| - name: configure | |
| run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -DENABLE_CPPTRACE=On -Bbuild -H. | |
| - name: build | |
| run: cmake --build build -j2 | |
| - name: unit tests | |
| run: ./build/src/unit_tests/unit_tests_runner | |
| #- name: system tests | |
| # run: ./build/src/system_tests/system_tests_runner | |
| ubuntu24-style-and-proto-check: | |
| name: ubuntu-24.04 (style and proto check) | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: install dependencies | |
| run: sudo apt-get update && sudo apt-get install -y clang-format-18 | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/default/third_party/install | |
| key: ${{ github.job }}-${{ hashFiles('./third_party/**') }} | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/default/third_party/install" >> $GITHUB_ENV | |
| - name: build necessary protoc tooling | |
| run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=ON -DENABLE_CPPTRACE=On -Bbuild/default -H. | |
| - name: generate code from protos | |
| run: PATH="$PATH:$HOME/.local/bin" tools/generate_from_protos.sh | |
| - name: fix style | |
| run: tools/fix_style.sh . || true | |
| - name: check for diff | |
| run: git diff --exit-code | |
| deb-package: | |
| name: ${{ matrix.container_name }} (package, non-mavsdk_server) | |
| runs-on: ${{ matrix.container_name }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| container_name: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: git permission workaround | |
| run: | | |
| git config --global --add safe.directory "$GITHUB_WORKSPACE" | |
| git config --global --add safe.directory /github/workspace | |
| - name: Install ruby, gem, and fpm | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y ruby-dev | |
| sudo gem install --no-document fpm | |
| - name: configure | |
| run: cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -Bbuild/release -H. | |
| - name: build | |
| run: cmake --build build/release --target install -- -j2 | |
| - name: Package | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| run: tools/create_packages.sh ./install . amd64 libmavsdk-dev | |
| - name: Publish artefacts | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file_glob: true | |
| file: '*.deb' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| dockcross-linux-arm: | |
| name: linux-${{ matrix.docker_name }} | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - docker_name: armv6 | |
| arch_name: armv6 | |
| - docker_name: armv7 | |
| arch_name: armv7 | |
| - docker_name: arm64 | |
| arch_name: arm64 | |
| - docker_name: arm64-lts | |
| arch_name: arm64 | |
| rename_distro: true | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: setup dockcross | |
| run: docker run --rm docker.io/mavsdk/mavsdk-dockcross-linux-${{ matrix.docker_name }}-custom > ./dockcross-linux-${{ matrix.docker_name }}-custom; chmod +x ./dockcross-linux-${{ matrix.docker_name }}-custom | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/linux-${{ matrix.docker_name }}/third_party/install | |
| key: ${{ github.job }}-linux-${{ matrix.docker_name }}-${{ hashFiles('./third_party/**') }}-6 | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=/work/build/linux-${{ matrix.docker_name }}/third_party/install" >> $GITHUB_ENV | |
| - name: configure | |
| run: ./dockcross-linux-${{ matrix.docker_name }}-custom /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/linux-${{ matrix.docker_name }}/install -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DWERROR=ON -Bbuild/linux-${{ matrix.docker_name }} -H." | |
| - name: build | |
| run: ./dockcross-linux-${{ matrix.docker_name }}-custom cmake --build build/linux-${{ matrix.docker_name }} -j2 --target install | |
| - name: create deb packages | |
| run: ./dockcross-linux-${{ matrix.docker_name }}-custom tools/create_packages.sh ./build/linux-${{ matrix.docker_name }}/install . ${{ matrix.arch_name }} libmavsdk-dev | |
| - if: ${{ matrix.rename_distro }} | |
| name: Rename LTS versions from debian12 to debian11 | |
| run: | | |
| sudo apt update && sudo apt install -y rename | |
| rename 's/debian12_arm64/debian11_arm64/' *.deb | |
| - name: Publish artefacts | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file_glob: true | |
| file: '*.deb' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| alpine-linux: | |
| name: alpine 3.19.0 (musl) | |
| runs-on: ubuntu-20.04 | |
| container: alpine:3.19.0 | |
| steps: | |
| - name: install tools | |
| run: apk update && apk add build-base cmake git linux-headers perl tar python3 py3-pip rust cargo | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: git permission workaround | |
| run: | | |
| git config --global --add safe.directory "$GITHUB_WORKSPACE" | |
| git config --global --add safe.directory /github/workspace | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/release/third_party/install | |
| key: ${{ github.job }}-${{ hashFiles('./third_party/**') }}-1 | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" >> $GITHUB_ENV | |
| - name: configure | |
| run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -DENABLE_CPPTRACE=On -Bbuild/release -H. | |
| - name: build | |
| run: cmake --build build/release --target install -- -j2 | |
| - name: unit tests | |
| run: ./build/release/src/unit_tests/unit_tests_runner | |
| - name: system tests | |
| run: ./build/release/src/system_tests/system_tests_runner | |
| - name: test (mavsdk_server) | |
| run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server | |
| - name: Upload as artefact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: mavsdk_server_musl_x86_64 | |
| path: ./install/bin/mavsdk_server | |
| retention-days: 2 | |
| - name: Publish artefacts | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: 'install/bin/mavsdk_server' | |
| asset_name: 'mavsdk_server_musl_x86_64' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| dockcross-linux-musl: | |
| name: ${{ matrix.arch_name }} | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| arch_name: [linux-armv6-musl, linux-armv7l-musl, linux-arm64-musl] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: setup dockcross | |
| run: docker run --rm dockcross/${{ matrix.arch_name }} > ./dockcross-${{ matrix.arch_name }}; chmod +x ./dockcross-${{ matrix.arch_name }} | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/${{ matrix.arch_name }}/third_party/install | |
| key: ${{ github.job }}-${{ matrix.arch_name }}-${{ hashFiles('./third_party/**') }} | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=/work/build/${{ matrix.arch_name }}/third_party/install" >> $GITHUB_ENV | |
| - name: configure | |
| run: ./dockcross-${{ matrix.arch_name }} /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/${{ matrix.arch_name }}/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DWERROR=ON -Bbuild/${{ matrix.arch_name }} -H." | |
| - name: build | |
| run: ./dockcross-${{ matrix.arch_name }} cmake --build build/${{ matrix.arch_name }} -j2 --target install | |
| - name: Publish artefacts | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: 'build/${{ matrix.arch_name }}/install/bin/mavsdk_server' | |
| asset_name: 'mavsdk_server_${{ matrix.arch_name }}' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| dockcross-android: | |
| name: ${{ matrix.name }} | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - name: android-arm | |
| arch: armeabi-v7a | |
| - name: android-arm64 | |
| arch: arm64-v8a | |
| - name: android-x86 | |
| arch: x86 | |
| - name: android-x86_64 | |
| arch: x86_64 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: setup dockcross | |
| run: docker run --rm dockcross/${{ matrix.name }} > ./dockcross-${{ matrix.name }}; chmod +x ./dockcross-${{ matrix.name }} | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/${{ matrix.name }}/third_party/install | |
| key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**') }} | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=/work/build/${{ matrix.name }}/third_party/install" >> $GITHUB_ENV | |
| - name: configure | |
| run: ./dockcross-${{ matrix.name }} /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/${{ matrix.name }}/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -Bbuild/${{ matrix.name }} -H." | |
| - name: build | |
| run: ./dockcross-${{ matrix.name }} cmake --build build/${{ matrix.name }} -j2 --target install | |
| - name: create tar with header and library | |
| run: mkdir -p build/${{ matrix.name }}/export/include; cp build/${{ matrix.name }}/install/include/mavsdk/mavsdk_server/mavsdk_server_api.h build/${{ matrix.name }}/export/include; mkdir -p build/${{ matrix.name }}/export/${{ matrix.arch }}; cp build/${{ matrix.name }}/install/lib/libmavsdk_server.so build/${{ matrix.name }}/export/${{ matrix.arch }}; tar -C build/${{ matrix.name }}/export -cf build/${{ matrix.name }}/export/mavsdk_server_${{ matrix.name }}.tar ${{ matrix.arch }} include; | |
| - name: Publish artefacts | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: 'build/${{ matrix.name }}/export/mavsdk_server_${{ matrix.name }}.tar' | |
| asset_name: 'mavsdk_server_${{ matrix.name }}.tar' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| macOS: | |
| name: ${{ matrix.name }} | |
| runs-on: ${{ matrix.runner }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - name: macOS x64 | |
| build-framework: OFF | |
| runner: macos-13 | |
| architecture: 'x64' | |
| - name: macOS arm64 | |
| build-framework: OFF | |
| runner: macos-14 | |
| architecture: 'arm64' | |
| - name: macOS framework x64 | |
| build-framework: ON | |
| runner: macos-13 | |
| architecture: 'x64' | |
| - name: macOS framework arm64 | |
| build-framework: ON | |
| runner: macos-14 | |
| architecture: 'arm64' | |
| steps: | |
| - name: Install Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.11' | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| fetch-depth: 0 | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/macos/third_party/install | |
| key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**') }}-1 | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/macos/third_party/install" >> $GITHUB_ENV | |
| - name: set SDKROOT value | |
| run: echo "SDKROOT=$(xcrun --sdk macosx --show-sdk-path)" >> $GITHUB_ENV | |
| - name: configure | |
| run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/macos/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DMACOS_FRAMEWORK=${{ matrix.build-framework }} -DWERROR=ON -DENABLE_CPPTRACE=On -Bbuild/macos -H. | |
| - name: build | |
| run: cmake --build build/macos -j2 --target install | |
| - name: unit tests | |
| run: ./build/macos/src/unit_tests/unit_tests_runner | |
| - name: system tests | |
| run: ./build/macos/src/system_tests/system_tests_runner | |
| - name: test (mavsdk_server) | |
| run: ./build/macos/src/mavsdk_server/test/unit_tests_mavsdk_server | |
| - name: Upload framework as artefact | |
| if: ${{ matrix.build-framework == 'ON' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: mavsdk_server_macos_${{ matrix.architecture }}.framework | |
| path: ./build/macos/src/mavsdk_server/src/mavsdk_server.framework | |
| retention-days: 2 | |
| - name: Upload binary as artefact | |
| if: ${{ matrix.build-framework == 'OFF' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: mavsdk_server_macos_${{ matrix.architecture }} | |
| path: build/macos/install/bin/mavsdk_server | |
| retention-days: 2 | |
| - name: Publish mavsdk_server_macos to github release | |
| if: ${{ startsWith(github.ref, 'refs/tags/v') && matrix.build-framework == 'OFF' }} | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: build/macos/install/bin/mavsdk_server | |
| asset_name: mavsdk_server_macos_${{ matrix.architecture }} | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| iOS: | |
| name: ${{ matrix.name }} | |
| runs-on: ${{ matrix.runner }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - name: ios | |
| platform: OS64 | |
| sdk: iphoneos | |
| runner: macos-14 | |
| - name: ios_simulator_x64 | |
| platform: SIMULATOR64 | |
| sdk: iphonesimulator | |
| runner: macos-13 | |
| - name: ios_simulator_arm64 | |
| platform: SIMULATORARM64 | |
| sdk: iphonesimulator | |
| runner: macos-14 | |
| steps: | |
| - name: Install Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.11' | |
| architecture: 'x64' | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| fetch-depth: 0 | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/${{ matrix.name }}/third_party/install | |
| key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**', './tools/ios.toolchain.cmake') }}-1 | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/${{ matrix.name }}/third_party/install" >> $GITHUB_ENV | |
| - name: set SDK-related environment variables (for non-cmake deps) | |
| run: | | |
| echo "SDKROOT=$(xcrun --sdk ${{ matrix.sdk }} --show-sdk-path)" >> $GITHUB_ENV | |
| - name: install pymavlink dependencies | |
| run: | | |
| python3 -m pip install --upgrade pip | |
| python3 -m pip install wheel | |
| python3 -m pip install future | |
| - name: configure | |
| run: cmake $superbuild $cmake_prefix_path -DENABLE_STRICT_TRY_COMPILE=ON -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE=$(pwd)/tools/ios.toolchain.cmake -DENABLE_BITCODE=Off -DPLATFORM=${{ matrix.platform }} -DDEPLOYMENT_TARGET=14.0 -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -Bbuild/${{ matrix.name }} -H. | |
| - name: build | |
| run: cmake --build build/${{ matrix.name }} -j$(nproc) | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: mavsdk_server_${{ matrix.name }}.framework | |
| path: ./build/${{ matrix.name }}/src/mavsdk_server/src/mavsdk_server.framework | |
| retention-days: 2 | |
| iOS-XCFramework: | |
| name: iOS XCFramework | |
| needs: [macOS, iOS] | |
| runs-on: macos-13 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: mavsdk_server_ios.framework | |
| path: ./build/ios/src/mavsdk_server/src/mavsdk_server.framework | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: mavsdk_server_ios_simulator_x64.framework | |
| path: ./build/ios_simulator_x64/src/mavsdk_server/src/mavsdk_server.framework | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: mavsdk_server_ios_simulator_arm64.framework | |
| path: ./build/ios_simulator_arm64/src/mavsdk_server/src/mavsdk_server.framework | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: mavsdk_server_macos_x64.framework | |
| path: ./build/macos_x64/src/mavsdk_server/src/mavsdk_server.framework | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: mavsdk_server_macos_arm64.framework | |
| path: ./build/macos_arm64/src/mavsdk_server/src/mavsdk_server.framework | |
| - name: Install tree | |
| run: brew install tree | |
| - name: Package | |
| run: bash ./src/mavsdk_server/tools/package_mavsdk_server_framework.bash | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: mavsdk_server.xcframework | |
| path: ./build/mavsdk_server.xcframework | |
| retention-days: 2 | |
| - name: Publish xcframework | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: 'build/mavsdk_server.xcframework.zip' | |
| asset_name: 'mavsdk_server.xcframework.zip' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| - name: Publish xcframework checksum | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: 'build/mavsdk_server.xcframework.zip.sha256' | |
| asset_name: 'mavsdk_server.xcframework.zip.sha256' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| Windows: | |
| name: Windows | |
| runs-on: windows-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: ./build/release/third_party/install | |
| key: ${{ github.job }}-${{ hashFiles('./third_party/**') }}-4 | |
| - name: disable superbuild on cache hit | |
| if: steps.cache.outputs.cache-hit == 'true' | |
| run: | | |
| echo "superbuild=-DSUPERBUILD=OFF" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: install packages | |
| run: | | |
| choco install nasm | |
| echo "C:\Program Files\NASM" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append | |
| - name: configure | |
| run: cmake -G "Visual Studio 17 2022" $env:superbuild $env:cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/release/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -Bbuild/release -S. | |
| - name: build | |
| run: cmake --build build/release -j2 --config RelWithDebInfo --target install | |
| - name: Create zip file mavsdk libraries | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| run: cd build/release/install && 7z.exe a -tzip ../../../mavsdk-windows-x64-release.zip . && cd ../../.. | |
| - name: Publish mavsdk libraries | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: 'mavsdk-windows-x64-release.zip' | |
| asset_name: 'mavsdk-windows-x64-release.zip' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| - name: Publish mavsdk_server binary | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| uses: svenstaro/upload-release-action@v1-release | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: 'build/release/install/bin/mavsdk_server_bin.exe' | |
| asset_name: 'mavsdk_server_win32.exe' | |
| tag: ${{ github.ref }} | |
| overwrite: true |