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Support MAVLink 32 bit sysid #1565

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Support MAVLink 32 bit sysid

Support MAVLink 32 bit sysid #1565

Workflow file for this run

.github/workflows/linux.yml at b9fa16d
name: Linux Build and Test
on:
push:
branches:
- 'main'
tags:
- 'v*'
paths-ignore:
- 'docs/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/workflows/docs_deploy.yml'
workflow_dispatch:
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: ${{ github.ref != 'refs/heads/main' }}
defaults:
run:
working-directory: cpp
jobs:
check-docker-changes:
name: Check Docker Changes
runs-on: ubuntu-24.04
outputs:
docker_changed: ${{ steps.set-any-changed.outputs.docker_changed }}
docker_tag: ${{ steps.set-docker-tag.outputs.docker_tag}}
steps:
- uses: actions/checkout@v6
with:
fetch-depth: 0
- name: Get changed files
id: check-changes
uses: tj-actions/changed-files@24d32ffd492484c1d75e0c0b894501ddb9d30d62 # v47
with:
files: ../docker/**
since_last_remote_commit: true
- name: List all changed files
id: set-any-changed
run: |
echo "docker_changed=${{ steps.check-changes.outputs.any_changed }}" >> $GITHUB_OUTPUT
- name: Set docker tag
id: set-docker-tag
run: |
if [ "${{ github.event_name }}" = "pull_request" ] && [ "${{ steps.check-changes.outputs.any_changed }}" = "true" ]; then
echo "docker_tag=pr-${{ github.event.pull_request.number }}" >> $GITHUB_OUTPUT
else
echo "docker_tag=latest" >> $GITHUB_OUTPUT
fi
update-docker-images:
name: Update Docker Images
needs: check-docker-changes
if: needs.check-docker-changes.outputs.docker_changed == 'true'
uses: ./.github/workflows/docker.yml
secrets: inherit
ubuntu-debug:
name: Ubuntu 24.04 (Debug Build)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-24.04:${{ needs.check-docker-changes.outputs.docker_tag }}
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/debug/third_party/install
key: ${{ github.job }}-${{ hashFiles('./cpp/third_party/**') }}-4
- 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/debug/third_party/install" >> $GITHUB_ENV
- name: configure
run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DWERROR=ON -Bbuild/debug -H.
- name: build
run: cmake --build build/debug -j$(nproc)
- name: unit tests
run: ./build/debug/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build/debug/src/system_tests/system_tests_runner
timeout-minutes: 15
ubuntu-asan:
name: Ubuntu 24.04 (AddressSanitizer)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-24.04:${{ needs.check-docker-changes.outputs.docker_tag }}
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/asan/third_party/install
key: ${{ github.job }}-${{ hashFiles('./cpp/third_party/**') }}-4
- 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/asan/third_party/install" >> $GITHUB_ENV
- name: configure
run: |
export CC=clang-19
export CXX=clang++-19
cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DASAN=ON -DWERROR=ON -Bbuild/asan -H.
- name: build
run: cmake --build build/asan -j$(nproc)
- name: unit tests
run: ./build/asan/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build/asan/src/system_tests/system_tests_runner
timeout-minutes: 15
ubuntu-tsan:
name: Ubuntu 24.04 (ThreadSanitizer)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-24.04:${{ needs.check-docker-changes.outputs.docker_tag }}
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/tsan/third_party/install
key: ${{ github.job }}-${{ hashFiles('./cpp/third_party/**') }}-4
- 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/tsan/third_party/install" >> $GITHUB_ENV
- name: configure
run: |
export CC=clang-19
export CXX=clang++-19
cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DTSAN=ON -DWERROR=ON -Bbuild/tsan -H.
- name: build
run: cmake --build build/tsan -j$(nproc)
- name: unit tests
run: ./build/tsan/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build/tsan/src/system_tests/system_tests_runner
timeout-minutes: 15
ubuntu-ubsan:
name: Ubuntu 24.04 (UndefinedBehaviour)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-24.04:${{ needs.check-docker-changes.outputs.docker_tag }}
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/ubsan/third_party/install
key: ${{ github.job }}-${{ hashFiles('./cpp/third_party/**') }}-4
- 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/ubsan/third_party/install" >> $GITHUB_ENV
- name: Install clang-19
run: sudo apt-get update && sudo apt-get install -y clang-19
- name: configure
run: |
export CC=clang-19
export CXX=clang++-19
cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DUBSAN=ON -DWERROR=ON -Bbuild/ubsan -H.
- name: build
run: cmake --build build/ubsan -j$(nproc)
- name: unit tests
run: ./build/ubsan/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build/ubsan/src/system_tests/system_tests_runner
timeout-minutes: 15
ubuntu-superbuild:
name: ${{ matrix.description }}
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-${{ matrix.ubuntu_version }}:${{ needs.check-docker-changes.outputs.docker_tag }}
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
strategy:
fail-fast: false
matrix:
include:
- ubuntu_version: "24.04"
cc: gcc-13
cxx: g++-13
description: Ubuntu 24.04 (GCC 13)
- ubuntu_version: "24.04"
cc: gcc-14
cxx: g++-14
description: Ubuntu 24.04 (GCC 14)
- ubuntu_version: "24.04"
cc: clang-19
cxx: clang++-19
description: Ubuntu 24.04 (clang 19)
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- name: configure core dumps
run: |
ulimit -c unlimited
echo '/tmp/core.%h.%e.%t' | sudo tee /proc/sys/kernel/core_pattern
echo 'Core dump pattern set to:'
cat /proc/sys/kernel/core_pattern
- name: install dependencies for examples
run: |
sudo apt-get update && sudo apt-get install -y \
libsdl2-dev \
nlohmann-json3-dev
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/release/third_party/install
key: ${{ github.job }}-${{ matrix.ubuntu_version }}-${{ matrix.cc }}-${{ hashFiles('./cpp/third_party/**') }}-3
- 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" >> $GITHUB_ENV
- name: configure
run: |
export CC=${{ matrix.cc }}
export CXX=${{ matrix.cxx }}
cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=ON -DWERROR=ON -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H.
- name: build
run: cmake --build build/release -j$(nproc)
- name: install
run: cmake --build build/release --target install
- name: configure examples
run: cmake -DCMAKE_PREFIX_PATH="$(pwd)/install" -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWERROR=ON -Bexamples/build -Hexamples
- name: build examples
run: cmake --build examples/build -j$(nproc)
- name: unit tests
run: ./build/release/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build/release/src/system_tests/system_tests_runner
timeout-minutes: 15
- name: test (mavsdk_server)
run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
- name: upload core dumps
if: failure()
uses: actions/upload-artifact@v7
with:
name: core-dumps-${{ matrix.description }}-${{ github.run_id }}
path: /tmp/core.*
retention-days: 7
if-no-files-found: ignore
- name: upload test binaries for core dump analysis
if: failure()
uses: actions/upload-artifact@v7
with:
name: test-binaries-${{ matrix.description }}-${{ github.run_id }}
path: |
./cpp/build/src/unit_tests/unit_tests_runner
./cpp/build/release/src/system_tests/system_tests_runner
./cpp/build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
./cpp/build/release/src/mavsdk/libmavsdk.so*
./cpp/build/release/src/mavsdk_server/src/libmavsdk_server.so*
retention-days: 7
ubuntu-no-curl:
name: Ubuntu 24.04 (mavsdk, without curl)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-24.04:${{ needs.check-docker-changes.outputs.docker_tag }}
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/release/third_party/install
key: ${{ github.job }}-${{ hashFiles('./cpp/third_party/**') }}-4
- 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 $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=OFF -DBUILD_WITHOUT_CURL=ON -DWERROR=ON -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H.
- name: build
run: cmake --build build/release -j$(nproc)
ubuntu-superbuild-off:
name: Ubuntu 24.04 (SUPERBUILD=OFF)
runs-on: ubuntu-24.04
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: Install dependencies
run: |
sudo apt-get update
sudo apt-get install -y liblzma-dev libtinyxml2-dev nlohmann-json3-dev libcurl4-openssl-dev libssl-dev libasio-dev libfmt-dev
- name: Build with system dependencies
run: ./tools/build-with-system-deps.sh
- name: unit tests
run: ./build-release/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build-release/src/system_tests/system_tests_runner
timeout-minutes: 15
ubuntu24-style-and-proto-check:
name: ubuntu-24.04 (style and proto check)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-24.04:${{ needs.check-docker-changes.outputs.docker_tag }}
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: Install tools
run: |
sudo apt-get update && sudo apt-get install -y \
python3-venv \
libasio-dev \
libfmt-dev \
nlohmann-json3-dev \
openjdk-21-jdk-headless
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/release/third_party/install
key: ${{ github.job }}-${{ hashFiles('./cpp/third_party/**') }}-4
restore-keys: |
ubuntu-superbuild-24.04-gcc-13-${{ hashFiles('./cpp/third_party/**') }}-
ubuntu-superbuild-
- name: disable superbuild on cache restore
run: |
if [ -f "build/release/third_party/install/bin/protoc" ]; then
echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV
echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" >> $GITHUB_ENV
fi
- name: build necessary protoc tooling
run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=ON -Bbuild/release -H.
- name: generate code from protos
working-directory: .
run: PATH="$PATH:$HOME/.local/bin:$(pwd)/cpp/build/release/third_party/install/bin" tools/generate_from_protos.bash
- name: fix style
run: tools/fix_style.py . || true
- name: fix kotlin style
working-directory: kt/mavsdk-kotlin
run: ./gradlew ktfmtFormat --console=plain
- name: check for diff
run: git diff --exit-code
ubuntu24-docs-check:
name: ubuntu-24.04 (docs check)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-ubuntu-24.04:${{ needs.check-docker-changes.outputs.docker_tag }}
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- name: generate docs
run: tools/generate_docs.sh --overwrite
- name: check for diff
run: git diff --exit-code
deb-package:
name: ${{ matrix.os_name }} ${{ matrix.os_version }} (package, non-mavsdk_server)
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
container:
image: docker.io/mavsdk/mavsdk-${{ matrix.os_type }}-${{ matrix.os_version }}:${{ needs.check-docker-changes.outputs.docker_tag }}
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
strategy:
fail-fast: false
matrix:
include:
- os_type: ubuntu
os_name: Ubuntu
os_version: "22.04"
- os_type: ubuntu
os_name: Ubuntu
os_version: "24.04"
- os_type: debian
os_name: Debian
os_version: "11"
- os_type: debian
os_name: Debian
os_version: "12"
- os_type: debian
os_name: Debian
os_version: "13"
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- name: configure core dumps
run: |
ulimit -c unlimited
echo '/tmp/core.%h.%e.%t' | sudo tee /proc/sys/kernel/core_pattern
echo 'Core dump pattern set to:'
cat /proc/sys/kernel/core_pattern
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/release/third_party/install
key: ${{ github.job }}-${{ matrix.os_type }}-${{ matrix.os_version }}-${{ hashFiles('./cpp/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: install asio (non-superbuild fallback)
if: steps.cache.outputs.cache-hit == 'true'
run: sudo apt-get update && sudo apt-get install -y libasio-dev
- name: configure
run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -Bbuild/release -H.
- name: build
run: cmake --build build/release -- -j$(nproc)
- name: unit tests
run: ./build/release/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build/release/src/system_tests/system_tests_runner
timeout-minutes: 15
- name: upload core dumps
if: failure()
uses: actions/upload-artifact@v7
with:
name: core-dumps-${{ matrix.os_type }}-${{ matrix.os_version }}-${{ github.run_id }}
path: /tmp/core.*
retention-days: 7
if-no-files-found: ignore
- name: upload test binaries for core dump analysis
if: failure()
uses: actions/upload-artifact@v7
with:
name: test-binaries-${{ matrix.os_type }}-${{ matrix.os_version }}-${{ github.run_id }}
path: |
./cpp/build/release/src/unit_tests/unit_tests_runner
./cpp/build/release/src/system_tests/system_tests_runner
./cpp/build/release/src/system_tests/standalone_param_test
./cpp/build/release/src/system_tests/standalone_ftp_test
./cpp/build/release/src/mavsdk/libmavsdk.so*
./cpp/build/release/src/mavsdk_server/src/libmavsdk_server.so*
retention-days: 7
- name: install
run: cmake --build build/release --target install
- name: Package
if: startsWith(github.ref, 'refs/tags/v')
run: tools/create_packages.sh ./install . amd64 libmavsdk-dev
- name: Upload as artifact
if: startsWith(github.ref, 'refs/tags/v')
uses: actions/upload-artifact@v7
with:
name: libmavsdk-dev-${{ matrix.os_type }}-${{ matrix.os_version }}
path: '*.deb'
retention-days: 2
- name: Publish artifacts
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: ${{ github.ref }}
overwrite: true
dockcross-linux:
name: linux-${{ matrix.docker_name }}
needs: [check-docker-changes, update-docker-images]
if: always() && needs.check-docker-changes.result == 'success'
runs-on: ubuntu-24.04
env:
ARG_IMAGE: docker.io/mavsdk/mavsdk-dockcross-linux-${{ matrix.docker_name }}-custom:${{ needs.check-docker-changes.outputs.docker_tag }}
OCI_EXE: docker
strategy:
fail-fast: false
matrix:
include:
- docker_name: armv6
arch_name: armv6
- docker_name: armv7
arch_name: armv7
- docker_name: arm64
arch_name: arm64
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: Free Disk Space
uses: jlumbroso/free-disk-space@v1.3.1
continue-on-error: true
- name: setup dockcross
run: |
for i in 1 2 3 4 5; do
docker run --rm ${{ env.ARG_IMAGE }} > ./dockcross-linux-${{ matrix.docker_name }}-custom && break
echo "::warning::docker run for dockcross image failed (attempt $i/5), retrying in 15s"
sleep 15
done
chmod +x ./dockcross-linux-${{ matrix.docker_name }}-custom
test -s ./dockcross-linux-${{ matrix.docker_name }}-custom
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/linux-${{ matrix.docker_name }}/third_party/install
key: ${{ github.job }}-linux-${{ matrix.docker_name }}-${{ hashFiles('./cpp/third_party/**') }}-3
- 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/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-${{ matrix.docker_name }} -j$(nproc) --target install
- name: create deb packages
if: startsWith(github.ref, 'refs/tags/v')
working-directory: .
run: ./cpp/dockcross-linux-${{ matrix.docker_name }}-custom cpp/tools/create_packages.sh ./cpp/build/linux-${{ matrix.docker_name }}/install . ${{ matrix.arch_name }} libmavsdk-dev
- if: startsWith(github.ref, 'refs/tags/v') && 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 artifacts
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: ${{ github.ref }}
overwrite: true
alpine-linux:
name: alpine 3.19.0 (musl)
runs-on: ubuntu-24.04
container: alpine:3.19.0
steps:
- name: install tools
working-directory: .
run: apk update && apk add build-base cmake git linux-headers perl tar python3 py3-pip rust cargo
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: git permission workaround
run: |
git config --global --add safe.directory "$GITHUB_WORKSPACE"
git config --global --add safe.directory /github/workspace
- name: git get version tags
run: git fetch --tags
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/release/third_party/install
key: ${{ github.job }}-${{ hashFiles('./cpp/third_party/**') }}-4
- 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 $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -Bbuild/release -H.
- name: build
run: cmake --build build/release --target install -- -j$(nproc)
- name: unit tests
run: ./build/release/src/unit_tests/unit_tests_runner
- name: system tests
run: ./build/release/src/system_tests/system_tests_runner
timeout-minutes: 15
- name: test (mavsdk_server)
run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
- name: build C wrapper
working-directory: ./c
run: |
cmake -DCMAKE_INSTALL_PREFIX=build/install -DCMAKE_PREFIX_PATH="$(pwd)/../cpp/install;$(pwd)/../cpp/build/release/third_party/install" -DBUILD_SHARED_LIBS=ON -Bbuild -S.
cmake --build build --target install
- name: Upload as artifact
uses: actions/upload-artifact@v7
with:
name: mavsdk_server_musl_x86_64
path: ./cpp/install/bin/mavsdk_server
retention-days: 2
- name: Upload C wrapper as artifact
uses: actions/upload-artifact@v7
with:
name: libcmavsdk_musl_x86_64
path: ./c/build/install/lib/
retention-days: 2
- name: Publish artifacts
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: ${{ matrix.arch_name }}
runs-on: ubuntu-24.04
env:
OCI_EXE: docker
strategy:
fail-fast: false
matrix:
arch_name: [linux-armv6-musl, linux-armv7l-musl, linux-arm64-musl]
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: setup dockcross
run: |
for i in 1 2 3 4 5; do
docker run --rm dockcross/${{ matrix.arch_name }}:20250818-0a27819 > ./dockcross-${{ matrix.arch_name }} && break
echo "::warning::docker run for dockcross image failed (attempt $i/5), retrying in 15s"
sleep 15
done
chmod +x ./dockcross-${{ matrix.arch_name }}
test -s ./dockcross-${{ matrix.arch_name }}
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/${{ matrix.arch_name }}/third_party/install
key: ${{ github.job }}-${{ matrix.arch_name }}-${{ hashFiles('./cpp/third_party/**') }}-3
- 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.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/${{ matrix.arch_name }} -j$(nproc) --target install
- name: Upload as artifact
uses: actions/upload-artifact@v7
with:
name: mavsdk_server_${{ matrix.arch_name }}
path: 'cpp/build/${{ matrix.arch_name }}/install/bin/mavsdk_server'
retention-days: 2
- name: Publish artifacts
if: startsWith(github.ref, 'refs/tags/v')
uses: svenstaro/upload-release-action@v1-release
with:
repo_token: ${{ secrets.GITHUB_TOKEN }}
file: 'cpp/build/${{ matrix.arch_name }}/install/bin/mavsdk_server'
asset_name: 'mavsdk_server_${{ matrix.arch_name }}'
tag: ${{ github.ref }}
overwrite: true
dockcross-manylinux:
name: ${{ matrix.arch_name }}
runs-on: ubuntu-24.04
env:
OCI_EXE: docker
strategy:
fail-fast: false
matrix:
include:
- arch_name: manylinux_2_28-x64
artifact_arch: x86_64
python_exec: /opt/python/cp39-cp39/bin/python3
python_exec_pip: /opt/python/cp39-cp39/bin/pip
python_exec_auditwheel: /opt/python/cp39-cp39/bin/python3
python_plat_name_arg: ""
auditwheel_plat: manylinux_2_28_x86_64
- arch_name: manylinux2014-aarch64
artifact_arch: aarch64
python_exec: /opt/python/cp39-cp39-xc/bin/build-python3
python_exec_pip: /opt/python/cp39-cp39-xc/bin/build-pip
python_exec_auditwheel: /opt/python/cp39-cp39-xc/bin/cross-python3
python_plat_name_arg: "--plat-name linux_aarch64"
auditwheel_plat: manylinux2014_aarch64
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: setup dockcross
working-directory: .
run: |
for i in 1 2 3 4 5; do
docker run --rm dockcross/${{ matrix.arch_name }}:latest > ./dockcross-${{ matrix.arch_name }} && break
echo "::warning::docker run for dockcross image failed (attempt $i/5), retrying in 15s"
sleep 15
done
chmod +x ./dockcross-${{ matrix.arch_name }}
test -s ./dockcross-${{ matrix.arch_name }}
- uses: actions/cache@v5
id: cache
with:
path: ./build/manylinux/cpp/third_party/install
key: ${{ github.job }}-${{ matrix.arch_name }}-${{ hashFiles('./cpp/third_party/**') }}-2
- 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/manylinux/cpp/third_party/install" >> $GITHUB_ENV
- name: configure cpp
working-directory: .
run: ./dockcross-${{ matrix.arch_name }} /bin/bash -c "sudo yum install -y perl-core && cmake $superbuild $cmake_prefix_path -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_INSTALL_PREFIX=build/manylinux/cpp/install -DBUILD_MAVSDK_SERVER=OFF -Bbuild/manylinux/cpp -Scpp"
- name: build cpp
working-directory: .
run: ./dockcross-${{ matrix.arch_name }} cmake --build build/manylinux/cpp -j$(nproc) --target install
- name: configure c
working-directory: .
run: ./dockcross-${{ matrix.arch_name }} cmake -DCMAKE_INSTALL_PREFIX=build/manylinux/c/install -DCMAKE_PREFIX_PATH="/work/build/manylinux/cpp/install;/work/build/manylinux/cpp/third_party/install" -DBUILD_SHARED_LIBS=ON -DBUILD_EXAMPLES=OFF -DBUNDLE_STATIC_RUNTIME=ON -Bbuild/manylinux/c -Sc
- name: build c
working-directory: .
run: ./dockcross-${{ matrix.arch_name }} cmake --build build/manylinux/c -j$(nproc) --target install
- name: upload libcmavsdk artifact
uses: actions/upload-artifact@v7
with:
name: libcmavsdk_${{ matrix.arch_name }}
path: 'build/manylinux/c/install/lib/libcmavsdk.so'
retention-days: 2
- name: build mavsdk wheel
working-directory: .
run: ./dockcross-${{ matrix.arch_name }} bash -c "
sudo ${{ matrix.python_exec_pip }} install -r /work/py/requirements-dev.txt auditwheel &&
sudo ${{ matrix.python_exec_auditwheel }} -m pip install auditwheel &&
mkdir -p /work/py/mavsdk/mavsdk/lib &&
cp /work/build/manylinux/c/install/lib/libcmavsdk.so /work/py/mavsdk/mavsdk/lib/libcmavsdk.so &&
cd /work/py/mavsdk &&
${{ matrix.python_exec }} setup.py bdist_wheel ${{ matrix.python_plat_name_arg }} &&
sudo ${{ matrix.python_exec_auditwheel }} -m auditwheel repair --plat ${{ matrix.auditwheel_plat }} dist/mavsdk4-*-linux_*.whl"
- name: upload mavsdk wheel
uses: actions/upload-artifact@v7
with:
name: mavsdk_wheel_${{ matrix.arch_name }}
path: py/mavsdk/wheelhouse/*.whl
retention-days: 2
# aiomavsdk is pure Python (py3-none-any), only needs to be built once
- name: build aiomavsdk wheel
if: matrix.artifact_arch == 'x86_64'
working-directory: .
run: ./dockcross-${{ matrix.arch_name }} bash -c "
sudo ${{ matrix.python_exec_pip }} install -r /work/py/requirements-dev.txt &&
cd /work/py/aiomavsdk &&
${{ matrix.python_exec }} setup.py bdist_wheel"
- name: upload aiomavsdk wheel
if: matrix.artifact_arch == 'x86_64'
uses: actions/upload-artifact@v7
with:
name: aiomavsdk_wheel
path: py/aiomavsdk/dist/*.whl
retention-days: 2
dockcross-android:
name: ${{ matrix.name }}
runs-on: ubuntu-24.04
env:
OCI_EXE: docker
strategy:
fail-fast: false
matrix:
include:
- name: android-arm
arch: armeabi-v7a
- name: android-arm64
arch: arm64-v8a
- name: android-x86
arch: x86
- name: android-x86_64
arch: x86_64
steps:
- uses: actions/checkout@v6
with:
submodules: recursive
fetch-depth: 0
- name: Free Disk Space
uses: jlumbroso/free-disk-space@v1.3.1
continue-on-error: true
- name: setup dockcross
run: |
for i in 1 2 3 4 5; do
docker run --rm dockcross/${{ matrix.name }}:20250818-0a27819 > ./dockcross-${{ matrix.name }} && break
echo "::warning::docker run for dockcross image failed (attempt $i/5), retrying in 15s"
sleep 15
done
chmod +x ./dockcross-${{ matrix.name }}
test -s ./dockcross-${{ matrix.name }}
- uses: actions/cache@v5
id: cache
with:
path: ./cpp/build/${{ matrix.name }}/third_party/install
key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./cpp/third_party/**') }}-3
- 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" >> $GITHUB_ENV
- name: configure
run: ./dockcross-${{ 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/${{ matrix.name }} -j$(nproc) --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/${{ matrix.name }}/install/include/mavsdk/mavsdk_export.h build/${{ 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 ${{ matrix.arch }} include;
- name: Upload as artifact
uses: actions/upload-artifact@v7
with:
name: mavsdk_server_${{ matrix.name }}.tar
path: 'cpp/build/${{ matrix.name }}/export/mavsdk_server_${{ matrix.name }}.tar'
retention-days: 2
- name: Publish artifacts
if: startsWith(github.ref, 'refs/tags/v')
uses: svenstaro/upload-release-action@v1-release
with:
repo_token: ${{ secrets.GITHUB_TOKEN }}
file: 'cpp/build/${{ matrix.name }}/export/mavsdk_server_${{ matrix.name }}.tar'
asset_name: 'mavsdk_server_${{ matrix.name }}.tar'
tag: ${{ github.ref }}
overwrite: true