macos.yml

name: macOS Build and Test

on:
  push:
    branches:
    - 'main'
    tags:
    - 'v*'
    paths-ignore:
    - 'docs/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
    - 'docs/**'
    - '.github/workflows/docs_deploy.yml'

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: ${{ github.ref != 'refs/heads/main' }}

defaults:
  run:
    working-directory: cpp

jobs:
  macOS:
    name: ${{ matrix.name }}
    runs-on: ${{ matrix.runner }}
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: macOS 15 x64
            build-framework: OFF
            runner: macos-15-intel
            architecture: 'x64'
            python_plat_name: macosx_15_0_x86_64
          - name: macOS 15 arm64
            build-framework: OFF
            runner: macos-15
            architecture: 'arm64'
            python_plat_name: macosx_15_0_arm64
          - name: macOS 15 framework x64
            build-framework: ON
            runner: macos-15-intel
            architecture: 'x64'
          - name: macOS 15 framework arm64
            build-framework: ON
            runner: macos-15
            architecture: 'arm64'
    steps:
      - name: Install Python
        uses: actions/setup-python@v6
        with:
          python-version: '3.11'
      - uses: actions/checkout@v6
        with:
          submodules: recursive
          fetch-depth: 0
      - uses: actions/cache@v5
        id: cache
        with:
          path: ./cpp/build/macos/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/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.
      - name: build
        run: cmake --build build/macos -j$(sysctl -n hw.ncpu) --target install
      - name: unit tests
        run: ./build/macos/src/unit_tests/unit_tests_runner
      - name: system tests
        run: ./build/macos/src/system_tests/system_tests_runner
        timeout-minutes: 10
      - name: test (mavsdk_server)
        run: ./build/macos/src/mavsdk_server/test/unit_tests_mavsdk_server
      - name: build C wrapper
        working-directory: ./c
        run: |
          cmake -DCMAKE_INSTALL_PREFIX=build/install -DCMAKE_PREFIX_PATH="$(pwd)/../cpp/build/macos/install;$(pwd)/../cpp/build/macos/third_party/install" -DBUILD_SHARED_LIBS=ON -Bbuild -S.
          cmake --build build --target install
      - name: Upload framework as artefact
        if: ${{ matrix.build-framework == 'ON' }}
        uses: actions/upload-artifact@v7
        with:
          name: mavsdk_server_macos_${{ matrix.architecture }}.framework
          path: ./cpp/build/macos/src/mavsdk_server/src/mavsdk_server.framework
          retention-days: 2
      - name: Upload binary as artefact
        if: ${{ matrix.build-framework == 'OFF' }}
        uses: actions/upload-artifact@v7
        with:
          name: mavsdk_server_macos_${{ matrix.architecture }}
          path: cpp/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: ${{ secrets.GITHUB_TOKEN }}
          file: cpp/build/macos/install/bin/mavsdk_server
          asset_name: mavsdk_server_macos_${{ matrix.architecture }}
          tag: ${{ github.ref }}
          overwrite: true
      - name: build mavsdk wheel
        if: ${{ matrix.build-framework == 'OFF' }}
        working-directory: .
        run: |
          pip install -r py/requirements-dev.txt delocate
          mkdir -p py/mavsdk/mavsdk/lib
          cp c/build/install/lib/libcmavsdk.dylib py/mavsdk/mavsdk/lib/libcmavsdk.dylib
          cd py/mavsdk
          python3 setup.py bdist_wheel --plat-name ${{ matrix.python_plat_name }}
          delocate-wheel -w wheelhouse dist/mavsdk4-*-macosx_*.whl
      - name: upload mavsdk wheel
        if: ${{ matrix.build-framework == 'OFF' }}
        uses: actions/upload-artifact@v7
        with:
          name: mavsdk_wheel_macos_${{ matrix.architecture }}
          path: py/mavsdk/wheelhouse/*.whl
          retention-days: 2

  iOS:
    name: ${{ matrix.name }}
    runs-on: ${{ matrix.runner }}
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: ios
            platform: OS64
            sdk: iphoneos
            runner: macos-15
          - name: ios_simulator_x64
            platform: SIMULATOR64
            sdk: iphonesimulator
            runner: macos-15-intel
          - name: ios_simulator_arm64
            platform: SIMULATORARM64
            sdk: iphonesimulator
            runner: macos-15
    steps:
      - name: Install Python
        uses: actions/setup-python@v6
        with:
          python-version: '3.11'
          architecture: 'x64'
      - uses: actions/checkout@v6
        with:
          submodules: recursive
          fetch-depth: 0
      - uses: actions/cache@v5
        id: cache
        with:
          path: ./cpp/build/${{ matrix.name }}/third_party/install
          key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./cpp/third_party/**', './cpp/cmake/ios.toolchain.cmake') }}-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" >> $GITHUB_ENV
      - name: set SDK-related environment variables (for non-cmake deps)
        run: |
          echo "SDKROOT=$(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)/cmake/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/${{ matrix.name }} -j$(sysctl -n hw.ncpu)
      - uses: actions/upload-artifact@v7
        with:
          name: mavsdk_server_${{ matrix.name }}.framework
          path: ./cpp/build/${{ matrix.name }}/src/mavsdk_server/src/mavsdk_server.framework
          retention-days: 2

  iOS-XCFramework:
    name: iOS XCFramework
    needs: [macOS, iOS]
    runs-on: macos-15
    steps:
      - uses: actions/checkout@v6
        with:
          submodules: recursive
      - uses: actions/download-artifact@v7
        with:
          name: mavsdk_server_ios.framework
          path: ./cpp/build/ios/src/mavsdk_server/src/mavsdk_server.framework
      - uses: actions/download-artifact@v7
        with:
          name: mavsdk_server_ios_simulator_x64.framework
          path: ./cpp/build/ios_simulator_x64/src/mavsdk_server/src/mavsdk_server.framework
      - uses: actions/download-artifact@v7
        with:
          name: mavsdk_server_ios_simulator_arm64.framework
          path: ./cpp/build/ios_simulator_arm64/src/mavsdk_server/src/mavsdk_server.framework
      - uses: actions/download-artifact@v7
        with:
          name: mavsdk_server_macos_x64.framework
          path: ./cpp/build/macos_x64/src/mavsdk_server/src/mavsdk_server.framework
      - uses: actions/download-artifact@v7
        with:
          name: mavsdk_server_macos_arm64.framework
          path: ./cpp/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@v7
        with:
          name: mavsdk_server.xcframework
          path: ./cpp/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: 'cpp/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: 'cpp/build/mavsdk_server.xcframework.zip.sha256'
          asset_name: 'mavsdk_server.xcframework.zip.sha256'
          tag: ${{ github.ref }}
          overwrite: true