camera: support multiple cameras within one instance #4281
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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 | |
| if: ${{ matrix.ubuntu_image }} == "ubuntu-24.04" | |
| 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 |