Merge pull request #2146 from mavlink/pr-backport-offboard-actuator-f… #3417

Workflow file for this run

	name: Build and Test

	on:
	push:
	branches:
	- 'main'
	tags:
	- 'v*'
	pull_request:
	branches:
	- '*'


	jobs:
	coverage:
	name: coverage (ubuntu-20.04)
	runs-on: ubuntu-20.04
	env:
	NODE_OPTIONS: --max_old_space_size=4096
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- uses: actions/cache@v2
	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
	- name: install pymavlink dependencies
	run: sudo apt-get install -y python3-future
	- name: configure
	run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DWERROR=OFF -Bbuild -H.
	- name: build
	run: cmake --build build -j2
	- name: test
	run: ./build/src/unit_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@master
	with:
	github-token: ${{ secrets.GITHUB_TOKEN }}
	path-to-lcov: "./lcov.info"

	ubuntu20-non-superbuild:
	name: ubuntu-20.04 (non-mavsdk_server, non-superbuild)
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- name: install
	run: sudo apt-get update && sudo apt-get install -y libjsoncpp-dev libcurl4-openssl-dev libtinyxml2-dev
	- name: install pymavlink dependencies
	run: sudo apt-get install -y python3-future
	- name: configure
	run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=OFF -DWERROR=OFF -Bbuild/release -H.
	- name: build
	run: cmake --build build/release -j2
	- name: test
	run: ./build/release/src/unit_tests_runner

	ubuntu20-superbuild:
	name: ubuntu-20.04 (mavsdk_server, superbuild)
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- uses: actions/cache@v2
	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: install pymavlink dependencies
	run: sudo apt-get update && sudo apt-get install -y python3-future
	- name: configure
	run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DWERROR=OFF -Bbuild/release -H.
	- name: build
	run: cmake --build build/release -j2
	- name: install
	run: sudo cmake --build build/release --target install
	- name: install examples dependencies
	run: sudo apt-get install -y libsdl2-dev
	- name: configure examples
	run: (cd examples && cmake -DCMAKE_BUILD_TYPE=Release -DWERROR=OFF -Bbuild -H.)
	- name: build examples
	run: (cd examples && cmake --build build -j2)
	- name: test
	run: ./build/release/src/unit_tests_runner
	- name: test (mavsdk_server)
	run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
	- name: test FTP server
	run: ./build/release/src/integration_tests/integration_tests_runner --gtest_filter="FtpTest.TestServer"

	ubuntu20-hunter:
	name: ubuntu-20.04 (mavsdk, hunter)
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- uses: actions/cache@v2
	id: cache
	with:
	path: ~/.hunter
	key: ${{ github.job }}-${{ hashFiles('~/.hunter/**') }}
	- name: install pymavlink dependencies
	run: sudo apt-get update && sudo apt-get install -y python3-future
	- name: prepare mavlink headers because this is without superbuild
	run: tools/generate_mavlink_headers.sh
	- name: configure
	run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -DMAVLINK_HEADERS=mavlink-headers/include -Bbuild -H.
	- name: build
	run: cmake --build build -j2
	- name: run unit test
	run: build/src/unit_tests_runner

	ubuntu20-proto-check:
	name: ubuntu-20.04 (proto check)
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- name: install clang-format
	run: sudo apt-get update && sudo apt-get install -y clang-format-10
	- name: install pymavlink dependencies
	run: sudo apt-get install -y python3-future
	- name: install protoc-gen-mavsdk
	run: \|
	cd proto/pb_plugins
	pip3 install --user -r requirements.txt
	pip3 install --user -e .
	- uses: actions/cache@v2
	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 $cmake_prefix_path -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
	- name: generate code from protos
	run: PATH="$PATH:$HOME/.local/bin" tools/generate_from_protos.sh
	- name: fix style
	run: tools/fix_style.sh . \|\| true
	- name: check for diff
	run: git diff --exit-code

	ubuntu20-check-style:
	name: ubuntu-20.04 (check style and docs)
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- name: install dependencies
	run: sudo apt-get update && sudo apt-get install -y doxygen clang-format-10
	- name: install pymavlink dependencies
	run: sudo apt-get install -y python3-future
	- name: check style
	run: ./tools/fix_style.sh .
	- name: check docs
	run: tools/generate_docs.sh

	deb-package:
	name: ${{ matrix.container_name }} (package, non-mavsdk_server)
	runs-on: ubuntu-20.04
	container: mavsdk/mavsdk-${{ matrix.container_name }}
	strategy:
	matrix:
	container_name: [ubuntu-18.04, ubuntu-20.04]
	steps:
	- uses: actions/checkout@v2
	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 latest cmake
	run: \|
	sudo apt-get update
	sudo apt-get install -y apt-transport-https ca-certificates gnupg software-properties-common wget
	wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null \| sudo apt-key add -
	sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
	sudo apt-get update
	sudo apt-get install -y cmake
	- name: install pymavlink dependencies
	run: sudo apt-get install -y python3-future
	- name: configure
	run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -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

	debian-packaging:
	name: Ubuntu/Debian packaging (Ubuntu 20.04)
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	fetch-depth: 0
	- name: install packages
	run: sudo apt-get update && sudo apt-get install -y build-essential debhelper fakeroot libjsoncpp-dev libcurl4-openssl-dev libtinyxml2-dev libjsoncpp1 libcurl4 libtinyxml2-6a
	- name: install pymavlink dependencies
	run: sudo apt-get install -y python3-future
	- name: prepare mavlink headers because this is without superbuild
	run: tools/generate_mavlink_headers.sh
	- name: generate changelog
	run: ./tools/generate_debian_changelog.sh > debian/changelog
	- name: Build package
	run: dpkg-buildpackage -us -uc -b

	rpm-package:
	name: ${{ matrix.container_name }} (package, non-mavsdk_server)
	runs-on: ubuntu-20.04
	container: mavsdk/mavsdk-${{ matrix.container_name }}
	strategy:
	matrix:
	container_name: [fedora-34, fedora-35]
	steps:
	- uses: actions/checkout@v2
	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 pymavlink dependencies
	run: python3 -m pip install future
	- name: configure
	run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -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 . x86_64 mavsdk-devel
	- 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: '*.rpm'
	tag: ${{ github.ref }}
	overwrite: true

	dockcross-linux-arm:
	name: linux-${{ matrix.arch_name }}
	runs-on: ubuntu-20.04
	strategy:
	matrix:
	arch_name: [armv6, armv7, arm64]
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- name: install pymavlink dependencies
	run: sudo apt-get update && sudo apt-get install -y python3 python3-future
	- name: prepare mavlink headers
	run: tools/generate_mavlink_headers.sh
	- name: setup dockcross
	run: docker run --rm mavsdk/mavsdk-dockcross-linux-${{ matrix.arch_name }}-custom > ./dockcross-linux-${{ matrix.arch_name }}-custom; chmod +x ./dockcross-linux-${{ matrix.arch_name }}-custom
	- uses: actions/cache@v2
	id: cache
	with:
	path: ./build/linux-${{ matrix.arch_name }}/third_party/install
	key: ${{ github.job }}-linux-${{ matrix.arch_name }}-${{ hashFiles('./third_party/**') }}-4
	- name: disable superbuild on cache hit
	if: steps.cache.outputs.cache-hit == 'true'
	run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=/work/build/linux-${{ matrix.arch_name }}/third_party/install" >> $GITHUB_ENV
	- name: configure
	run: ./dockcross-linux-${{ matrix.arch_name }}-custom /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/linux-${{ matrix.arch_name }}/install -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DWERROR=OFF -DMAVLINK_HEADERS=mavlink-headers/include -Bbuild/linux-${{ matrix.arch_name }} -H."
	- name: build
	run: ./dockcross-linux-${{ matrix.arch_name }}-custom cmake --build build/linux-${{ matrix.arch_name }} -j2 --target install
	- name: create deb packages
	run: ./dockcross-linux-${{ matrix.arch_name }}-custom tools/create_packages.sh ./build/linux-${{ matrix.arch_name }}/install . ${{ matrix.arch_name }} 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-manylinux2010-x64:
	name: manylinux2010-x64
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- uses: actions/cache@v2
	id: cache
	with:
	path: ./build/manylinux2010-x64/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=/work/build/manylinux2010-x64/third_party/install" >> $GITHUB_ENV
	- name: install pymavlink dependencies
	run: sudo apt-get update && sudo apt-get install -y python3 python3-future
	- name: prepare mavlink headers
	run: tools/generate_mavlink_headers.sh
	- name: setup dockcross
	run: docker run --rm dockcross/manylinux2010-x64 > ./dockcross-manylinux2010-x64; chmod +x ./dockcross-manylinux2010-x64
	- name: configure
	run: ./dockcross-manylinux2010-x64 cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/manylinux2010-x64/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -DMAVLINK_HEADERS=mavlink-headers/include -Bbuild/manylinux2010-x64 -H.
	- name: build
	run: ./dockcross-manylinux2010-x64 cmake --build build/manylinux2010-x64 -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/manylinux2010-x64/install/bin/mavsdk_server'
	asset_name: 'mavsdk_server_manylinux2010-x64'
	tag: ${{ github.ref }}
	overwrite: true

	alpine-linux:
	name: alpine 3.11.6 (musl)
	runs-on: ubuntu-20.04
	container: alpine:3.11.6
	steps:
	- name: install tools
	run: apk update && apk add build-base cmake git linux-headers perl tar python3 py3-future
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- uses: actions/cache@v2
	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=OFF -Bbuild/release -H.
	- name: build
	run: cmake --build build/release --target install -- -j2
	- name: test
	run: ./build/release/src/unit_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@v2
	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: ${{ matrix.arch_name }}
	runs-on: ubuntu-20.04
	strategy:
	matrix:
	arch_name: [linux-armv6-musl, linux-armv7l-musl, linux-arm64-musl]
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- name: install pymavlink dependencies
	run: sudo apt-get update && sudo apt-get install -y python3 python3-future
	- name: prepare mavlink headers
	run: tools/generate_mavlink_headers.sh
	- name: setup dockcross
	run: docker run --rm dockcross/${{ matrix.arch_name }} > ./dockcross-${{ matrix.arch_name }}; chmod +x ./dockcross-${{ matrix.arch_name }}
	- uses: actions/cache@v2
	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=OFF -DMAVLINK_HEADERS=mavlink-headers/include -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: ${{ matrix.name }}
	runs-on: ubuntu-20.04
	strategy:
	matrix:
	include:
	- name: android-arm
	arch: armeabi-v7a
	- name: android-arm64
	arch: arm64-v8a
	- name: android-x86
	arch: x86
	- name: android-x86_64
	arch: x86_64
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- name: install pymavlink dependencies
	run: sudo apt-get update && sudo apt-get install -y python3 python3-future
	- name: prepare mavlink headers
	run: tools/generate_mavlink_headers.sh
	- name: setup dockcross
	run: docker run --rm dockcross/${{ matrix.name }} > ./dockcross-${{ matrix.name }}; chmod +x ./dockcross-${{ matrix.name }}
	- uses: actions/cache@v2
	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 $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/${{ matrix.name }}/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -DMAVLINK_HEADERS=mavlink-headers/include -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: macos-latest
	strategy:
	matrix:
	include:
	- name: macOS
	build-framework: OFF
	- name: macOS-framework
	build-framework: ON
	steps:
	- uses: actions/checkout@v3
	with:
	submodules: recursive
	fetch-depth: 0
	- uses: actions/cache@v2
	id: cache
	with:
	path: ./build/macos/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/macos/third_party/install" >> $GITHUB_ENV
	- name: set SDKROOT value
	run: echo "SDKROOT=$(xcrun --sdk macosx --show-sdk-path)" >> $GITHUB_ENV
	- name: install pymavlink dependencies
	run: python3 -m pip install future
	- name: configure
	run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/macos/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DMACOS_FRAMEWORK=${{ matrix.build-framework }} -DWERROR=OFF -Bbuild/macos -H.
	- name: build
	run: cmake --build build/macos -j2 --target install
	- name: test (core)
	run: ./build/macos/src/unit_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@v2
	with:
	name: mavsdk_server_macos.framework
	path: ./build/macos/src/mavsdk_server/src/mavsdk_server.framework
	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'
	tag: ${{ github.ref }}
	overwrite: true

	iOS:
	name: ${{ matrix.name }}
	runs-on: macos-latest
	strategy:
	matrix:
	include:
	- name: ios
	platform: OS64
	sdk: iphoneos
	- name: ios_simulator
	platform: SIMULATOR64
	sdk: iphonesimulator
	steps:
	- uses: actions/checkout@v3
	with:
	submodules: recursive
	fetch-depth: 0
	- uses: actions/cache@v2
	id: cache
	with:
	path: ./build/${{ matrix.name }}/third_party/install
	key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**', './tools/ios.toolchain.cmake') }}
	- 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 future
	- name: configure
	run: cmake $superbuild $cmake_prefix_path -DENABLE_STRICT_TRY_COMPILE=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$(pwd)/tools/ios.toolchain.cmake -DPLATFORM=${{ matrix.platform }} -DDEPLOYMENT_TARGET=13.0 -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/${{ matrix.name }} -H.
	- name: build
	run: cmake --build build/${{ matrix.name }} -j2
	- uses: actions/upload-artifact@v2
	with:
	name: mavsdk_server_${{ 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-latest
	steps:
	- uses: actions/checkout@v2
	with:
	submodules: recursive
	- uses: actions/download-artifact@v2
	with:
	name: mavsdk_server_ios.framework
	path: ./build/ios/src/mavsdk_server/src/mavsdk_server.framework
	- uses: actions/download-artifact@v2
	with:
	name: mavsdk_server_ios_simulator.framework
	path: ./build/ios_simulator/src/mavsdk_server/src/mavsdk_server.framework
	- uses: actions/download-artifact@v2
	with:
	name: mavsdk_server_macos.framework
	path: ./build/macos/src/mavsdk_server/src/mavsdk_server.framework
	- name: Package
	run: bash ./src/mavsdk_server/tools/package_mavsdk_server_framework.bash
	- uses: actions/upload-artifact@v2
	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@v2
	with:
	submodules: recursive
	- uses: actions/cache@v2
	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" \| 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: install pymavlink dependencies
	run: \|
	python3 -m pip install --upgrade pip
	python3 -m pip install wheel
	python3 -m pip install future
	- name: configure
	run: cmake -G "Visual Studio 17 2022" $env:superbuild $env:cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/release/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/release -S.
	- name: build
	run: cmake --build build/release -j2 --config Release --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

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Merge pull request #2146 from mavlink/pr-backport-offboard-actuator-f… #3417

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Merge pull request #2146 from mavlink/pr-backport-offboard-actuator-f… #3417

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