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main.yml
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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