camera: support multiple cameras within one instance #4308
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| name: Build and Test | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| tags: | |
| - 'v*' | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| 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. -DASAN=ON | |
| - name: build | |
| run: cmake --build build/macos -j2 --target install | |
| - name: unit tests | |
| run: ./build/macos/src/unit_tests/unit_tests_runner | |
| - name: set camera debugging | |
| run: echo "MAVSDK_CAMERA_DEBUGGING=1" >> $GITHUB_ENV | |
| - 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 |