core: speed up deserialization using std::to_chars #455

Workflow file for this run

	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:

	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: ${{ steps.set-docker-tag.outputs.docker_tag}}
	steps:
	- uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- name: Get changed files
	id: check-changes
	uses: tj-actions/changed-files@ed68ef82c095e0d48ec87eccea555d944a631a4c # v46
	with:
	files: docker/**
	since_last_remote_commit: true
	- name: List all changed files
	id: set-any-changed
	run: \|
	echo "docker_changed=${{ 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

	coverage:
	# Use 22.04 for now because 24.04 throws a 'ERROR: mismatched end line ...'
	name: Coverage (ubuntu-22.04)
	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-22.04:${{ needs.check-docker-changes.outputs.docker_tag }}
	options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
	env:
	NODE_OPTIONS: --max_old_space_size=4096
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$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@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 lcov
	run: \|
	sudo apt-get update && sudo apt-get install -y \
	lcov \
	curl
	- name: configure
	run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DWERROR=ON -Bbuild -H.
	- name: build
	run: cmake --build build -j$(nproc)
	- name: unit tests
	run: ./build/src/unit_tests/unit_tests_runner
	- name: system tests
	run: ./build/src/system_tests/system_tests_runner
	- name: upload core dumps
	if: failure()
	uses: actions/upload-artifact@v4
	with:
	name: core-dumps-coverage-${{ github.run_id }}
	path: /tmp/core.*
	retention-days: 7
	if-no-files-found: ignore
	- name: upload test binary for core dump analysis
	if: failure()
	uses: actions/upload-artifact@v4
	with:
	name: test-binary-coverage-${{ github.run_id }}
	path: \|
	./build/src/unit_tests/unit_tests_runner
	./build/src/system_tests/system_tests_runner
	./build/src/mavsdk/libmavsdk.so*
	./build/src/mavsdk_server/src/libmavsdk_server.so*
	retention-days: 7
	- 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-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:${{ needs.check-docker-changes.outputs.docker_tag }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$GITHUB_WORKSPACE"
	git config --global --add safe.directory /github/workspace
	- name: git get version tags
	run: git fetch --tags
	- uses: actions/cache@v4
	id: cache
	with:
	path: ./build/debug/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/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

	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:${{ needs.check-docker-changes.outputs.docker_tag }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$GITHUB_WORKSPACE"
	git config --global --add safe.directory /github/workspace
	- name: git get version tags
	run: git fetch --tags
	- uses: actions/cache@v4
	id: cache
	with:
	path: ./build/asan/third_party/install
	key: ${{ github.job }}-${{ hashFiles('./third_party/**') }}-2
	- name: disable superbuild on cache hit
	if: steps.cache.outputs.cache-hit == 'true'
	run: \|
	echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV
	echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(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

	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:${{ needs.check-docker-changes.outputs.docker_tag }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$GITHUB_WORKSPACE"
	git config --global --add safe.directory /github/workspace
	- name: git get version tags
	run: git fetch --tags
	- uses: actions/cache@v4
	id: cache
	with:
	path: ./build/tsan/third_party/install
	key: ${{ github.job }}-${{ hashFiles('./third_party/**') }}-2
	- name: disable superbuild on cache hit
	if: steps.cache.outputs.cache-hit == 'true'
	run: \|
	echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV
	echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(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

	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:${{ needs.check-docker-changes.outputs.docker_tag }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$GITHUB_WORKSPACE"
	git config --global --add safe.directory /github/workspace
	- name: git get version tags
	run: git fetch --tags
	- uses: actions/cache@v4
	id: cache
	with:
	path: ./build/ubsan/third_party/install
	key: ${{ github.job }}-${{ hashFiles('./third_party/**') }}-2
	- name: disable superbuild on cache hit
	if: steps.cache.outputs.cache-hit == 'true'
	run: \|
	echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV
	echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(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

	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 }}:${{ needs.check-docker-changes.outputs.docker_tag }}
	options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
	strategy:
	fail-fast: false
	matrix:
	include:
	- ubuntu_version: "24.04"
	cc: gcc-13
	cxx: g++-13
	description: Ubuntu 24.04 (GCC 13)
	- ubuntu_version: "24.04"
	cc: gcc-14
	cxx: g++-14
	description: Ubuntu 24.04 (GCC 14)
	- ubuntu_version: "24.04"
	cc: clang-19
	cxx: clang++-19
	description: Ubuntu 24.04 (clang 19)
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$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
	- uses: actions/cache@v4
	id: cache
	with:
	path: ./build/release/third_party/install
	key: ${{ github.job }}-${{ matrix.ubuntu_version }}-${{ matrix.cc }}-${{ 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/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
	- 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@v4
	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@v4
	with:
	name: test-binaries-${{ matrix.description }}-${{ github.run_id }}
	path: \|
	./build/src/unit_tests/unit_tests_runner
	./build/release/src/system_tests/system_tests_runner
	./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
	./build/release/src/mavsdk/libmavsdk.so*
	./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@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- uses: actions/cache@v4
	id: cache
	with:
	path: ./build/release/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/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)

	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:${{ needs.check-docker-changes.outputs.docker_tag }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$GITHUB_WORKSPACE"
	git config --global --add safe.directory /github/workspace
	- name: git get version tags
	run: git fetch --tags
	- uses: actions/cache@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 $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
	- name: generate code from protos
	run: PATH="$PATH:$HOME/.local/bin" tools/generate_from_protos.sh
	- name: fix style
	run: tools/fix_style.py . \|\| true
	- 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:${{ needs.check-docker-changes.outputs.docker_tag }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$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: "20.04"
	- 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@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: git permission workaround
	run: \|
	git config --global --add safe.directory "$GITHUB_WORKSPACE"
	git config --global --add safe.directory /github/workspace
	- name: git get version tags
	run: git fetch --tags
	- name: configure core dumps
	run: \|
	ulimit -c unlimited
	echo '/tmp/core.%h.%e.%t' \| sudo tee /proc/sys/kernel/core_pattern
	echo 'Core dump pattern set to:'
	cat /proc/sys/kernel/core_pattern
	- name: configure
	run: cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -Bbuild/release -H.
	- name: build
	run: cmake --build build/release -- -j$(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
	- name: upload core dumps
	if: failure()
	uses: actions/upload-artifact@v4
	with:
	name: core-dumps-${{ matrix.os_type }}-${{ matrix.os_version }}-${{ github.run_id }}
	path: /tmp/core.*
	retention-days: 7
	if-no-files-found: ignore
	- name: upload test binaries for core dump analysis
	if: failure()
	uses: actions/upload-artifact@v4
	with:
	name: test-binaries-${{ matrix.os_type }}-${{ matrix.os_version }}-${{ github.run_id }}
	path: \|
	./build/release/src/unit_tests/unit_tests_runner
	./build/release/src/system_tests/system_tests_runner
	./build/release/src/system_tests/standalone_param_test
	./build/release/src/system_tests/standalone_ftp_test
	./build/release/src/mavsdk/libmavsdk.so*
	./build/release/src/mavsdk_server/src/libmavsdk_server.so*
	retention-days: 7
	- name: install
	run: cmake --build build/release --target install
	- name: Package
	run: tools/create_packages.sh ./install . amd64 libmavsdk-dev
	- name: Upload as artifact
	uses: actions/upload-artifact@v4
	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 }}
	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
	fetch-depth: 0
	- name: Free Disk Space
	uses: jlumbroso/[email protected]
	continue-on-error: true
	- name: setup dockcross
	run: docker run --rm ${{ env.ARG_IMAGE }} > ./dockcross-linux-${{ 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/**') }}
	- 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
	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 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
	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
	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@v4
	id: cache
	with:
	path: ./build/release/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/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
	- name: test (mavsdk_server)
	run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
	- name: Upload as artifact
	uses: actions/upload-artifact@v4
	with:
	name: mavsdk_server_musl_x86_64
	path: ./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: 'install/bin/mavsdk_server'
	asset_name: 'mavsdk_server_musl_x86_64'
	tag: ${{ github.ref }}
	overwrite: true

	dockcross-linux-musl:
	name: ${{ matrix.arch_name }}
	runs-on: ubuntu-24.04
	strategy:
	fail-fast: false
	matrix:
	arch_name: [linux-armv6-musl, linux-armv7l-musl, linux-arm64-musl]
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: setup dockcross
	run: docker run --rm dockcross/${{ matrix.arch_name }}:20250818-0a27819 > ./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" >> $GITHUB_ENV
	echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(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@v4
	with:
	name: mavsdk_server_${{ matrix.arch_name }}
	path: 'build/${{ 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: ${{ secrets.GITHUB_TOKEN }}
	file: 'build/${{ matrix.arch_name }}/install/bin/mavsdk_server'
	asset_name: 'mavsdk_server_${{ matrix.arch_name }}'
	tag: ${{ github.ref }}
	overwrite: true

	dockcross-android:
	name: ${{ matrix.name }}
	runs-on: ubuntu-24.04
	strategy:
	fail-fast: false
	matrix:
	include:
	- name: android-arm
	arch: armeabi-v7a
	- name: android-arm64
	arch: arm64-v8a
	- name: android-x86
	arch: x86
	- name: android-x86_64
	arch: x86_64
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: recursive
	fetch-depth: 0
	- name: Free Disk Space
	uses: jlumbroso/[email protected]
	continue-on-error: true
	- name: setup dockcross
	run: docker run --rm dockcross/${{ matrix.name }}:20250818-0a27819 > ./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" >> $GITHUB_ENV
	echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(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/${{ matrix.name }}/export/include; mkdir -p build/${{ 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 ${{ matrix.arch }} include;
	- name: Upload as artifact
	uses: actions/upload-artifact@v4
	with:
	name: mavsdk_server_${{ matrix.name }}.tar
	path: '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: ${{ secrets.GITHUB_TOKEN }}
	file: 'build/${{ matrix.name }}/export/mavsdk_server_${{ matrix.name }}.tar'
	asset_name: 'mavsdk_server_${{ matrix.name }}.tar'
	tag: ${{ github.ref }}
	overwrite: true

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