linux.yml

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
        env:
          MALLOC_PERTURB_: "165"
      - name: system tests
        run: ./build/release/src/system_tests/system_tests_runner
        timeout-minutes: 15
        env:
          MALLOC_PERTURB_: "165"
      - name: test (mavsdk_server)
        run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
      - name: analyze core dumps
        if: failure()
        run: tools/analyze_core_dumps.sh build/release
      - 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
        env:
          MALLOC_PERTURB_: "165"
      - name: system tests
        run: ./build/release/src/system_tests/system_tests_runner
        timeout-minutes: 15
        env:
          MALLOC_PERTURB_: "165"
      - name: analyze core dumps
        if: failure()
        run: tools/analyze_core_dumps.sh build/release
      - 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