Merge branch 'develop'

mavlink · May 7, 2020 · 0ad7baf · 0ad7baf
2 parents a517ee1 + bef25ff
commit 0ad7baf
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Showing 363 changed files with 141,797 additions and 35,297 deletions.
diff --git a/.clang-format b/.clang-format
@@ -14,7 +14,7 @@ AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: false
-# AlwaysBreakTemplateDeclarations: MultiLine # with Clang 7
+AlwaysBreakTemplateDeclarations: MultiLine
 BinPackArguments: false
 BinPackParameters: false
 BreakBeforeBinaryOperators: None
@@ -60,10 +60,10 @@ SortUsingDeclarations: false
 SpaceAfterCStyleCast: false
 SpaceAfterTemplateKeyword: false
 SpaceBeforeAssignmentOperators: true
-# SpaceBeforeCtorInitializerColon: true # with Clang 7
-# SpaceBeforeInheritanceColon: true # with Clang 7
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
 SpaceBeforeParens: ControlStatements
-# SpaceBeforeRangeBasedForLoopColon: true # with Clang 7
+SpaceBeforeRangeBasedForLoopColon: true
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 1
 SpacesInAngles: false

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -5,6 +5,8 @@ on:
     branches:
     - 'master'
     - 'develop'
+    tags:
+    - 'v*'
   pull_request:
     branches:
     - '*'
@@ -18,10 +20,21 @@ jobs:
       - uses: actions/checkout@v1
         with:
           submodules: recursive
+      - name: Install lcov
+        run: sudo apt-get install -y lcov
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Coverage -j 2 -Bbuild -H.
+        run: cmake -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DUBSAN=ON -DLSAN=ON -j 2 -Bbuild -H.
       - name: build
         run: cmake --build build -j 2
+      - name: test
+        run: ./build/src/unit_tests_runner
+      - name: run lcov
+        run: lcov --capture --directory . --output-file lcov.info
+      - name: Coveralls
+        uses: coverallsapp/github-action@master
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          path-to-lcov: "./lcov.info"
 
   ubuntu18-non-superbuild:
     name: ubuntu-18.04 (non-backend, non-superbuild)
@@ -47,14 +60,45 @@ jobs:
         with:
           submodules: recursive
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=ON -DBUILD_BACKEND=ON -j 2 -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=ON -DENABLE_MAVLINK_PASSTHROUGH=1 -DBUILD_BACKEND=ON -j 2 -Bbuild/release -H.
       - name: build
         run: cmake --build build/release -j 2
+      - name: install
+        run: sudo cmake --build build/release --target install
+      - name: configure examples
+        run: (cd examples && cmake -DCMAKE_BUILD_TYPE=Release -j 2 -Bbuild -H.)
+      - name: build examples
+        run: (cd examples && cmake --build build -j 2)
       - name: test
         run: ./build/release/src/unit_tests_runner
+      - name: test (mavsdk_server)
+        run: ./build/release/src/backend/test/unit_tests_backend
+
+  ubuntu18-proto-check:
+    name: ubuntu-18.04 (proto check)
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+        with:
+          submodules: recursive
+      - name: install clang-format
+        run: sudo apt-get install -y clang-format-9
+      - name: install dcsdkgen
+        run: |
+             cd proto/pb_plugins
+             pip3 install --user -r requirements.txt
+             pip3 install --user -e .
+      - name: build necessary protoc tooling
+        run: cmake -DBUILD_BACKEND=ON -Bbuild/default -S.
+      - 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
 
   ubuntu18-check-style:
-    name: ubuntu-18.04 (check style)
+    name: ubuntu-18.04 (check style and docs)
     runs-on: ubuntu-18.04
     container: mavsdk/mavsdk-ubuntu-18.04
     steps:
@@ -63,25 +107,58 @@ jobs:
           submodules: recursive
       - name: check style
         run: ./tools/fix_style.sh .
+      - name: check docs
+        run: tools/generate_docs.sh
 
   px4-sitl:
-    name: PX4 SITL (ubuntu-18.04)
+    name: PX4 SITL ${{ matrix.px4_version }} (ubuntu-18.04)
     runs-on: ubuntu-18.04
-    container: mavsdk/mavsdk-ubuntu-18.04-px4-sitl
+    container: mavsdk/mavsdk-ubuntu-18.04-px4-sitl-${{ matrix.px4_version }}
+    strategy:
+      matrix:
+        px4_version: [v1.9, v1.10]
     steps:
       - uses: actions/checkout@v1
         with:
           submodules: recursive
       - name: test
         run: tools/run-sitl-tests.sh /home/user/Firmware
 
-  deb-rpm-package:
+  deb-package:
+    name: ${{ matrix.container_name }} (package, non-backend)
+    runs-on: ubuntu-18.04
+    container: mavsdk/mavsdk-${{ matrix.container_name }}
+    strategy:
+      matrix:
+        container_name: [ubuntu-16.04, ubuntu-18.04]
+    steps:
+      - uses: actions/checkout@v1
+        with:
+          submodules: recursive
+      - name: configure
+        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -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 .
+      - 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
+
+  rpm-package:
     name: ${{ matrix.container_name }} (package, non-backend)
     runs-on: ubuntu-18.04
     container: mavsdk/mavsdk-${{ matrix.container_name }}
     strategy:
       matrix:
-        container_name: [ubuntu-16.04, ubuntu-18.04, fedora-29, fedora-30]
+        container_name: [fedora-30, fedora-31]
     steps:
       - uses: actions/checkout@v1
         with:
@@ -90,15 +167,25 @@ jobs:
         run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H.
       - name: build
         run: cmake --build build/release --target install -- -j2
-      - name: package
+      - name: Package
+        if: startsWith(github.ref, 'refs/tags/v')
         run: tools/create_packages.sh ./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_glob: true
+          file: '*.rpm'
+          tag: ${{ github.ref }}
+          overwrite: true
 
-  dockcross:
+  dockcross-linux:
     name: ${{ matrix.arch_name }}
     runs-on: ubuntu-18.04
     strategy:
       matrix:
-        arch_name: [android-arm64, android-arm, linux-armv6, linux-armv7, linux-arm64, manylinux2010-x64]
+        arch_name: [linux-armv6, linux-armv7, linux-arm64, manylinux2010-x64]
     steps:
       - uses: actions/checkout@v1
         with:
@@ -109,6 +196,65 @@ jobs:
         run: ./dockcross-${{ matrix.arch_name }} cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/${{ matrix.arch_name }}/install -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -j 2 -Bbuild/${{ matrix.arch_name }} -H.
       - name: build
         run: ./dockcross-${{ matrix.arch_name }} cmake --build build/${{ matrix.arch_name }} -j 2 --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-arm:
+    name: android-arm
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+        with:
+          submodules: recursive
+      - name: setup dockcross
+        run: docker run --rm dockcross/android-arm > ./dockcross-android-arm; chmod +x ./dockcross-android-arm
+      - name: configure
+        run: ./dockcross-android-arm cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/android-arm/install -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -j 2 -Bbuild/android-arm -H.
+      - name: build
+        run: ./dockcross-android-arm cmake --build build/android-arm -j 2 --target install
+      - name: create tar with header and library
+        run: mkdir -p build/android-arm/export/include; cp build/android-arm/install/include/mavsdk/backend/backend_api.h build/android-arm/export/include; mkdir -p build/android-arm/export/armeabi-v7a; cp build/android-arm/install/lib/libmavsdk_server.so build/android-arm/export/armeabi-v7a; tar -C build/android-arm/export -cf build/android-arm/export/mavsdk_server_android-arm.tar armeabi-v7a 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/android-arm/export/mavsdk_server_android-arm.tar'
+          asset_name: 'mavsdk_server_android-arm.tar'
+          tag: ${{ github.ref }}
+          overwrite: true
+
+  dockcross-android-arm64:
+    name: android-arm64
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+        with:
+          submodules: recursive
+      - name: setup dockcross
+        run: docker run --rm dockcross/android-arm64 > ./dockcross-android-arm64; chmod +x ./dockcross-android-arm64
+      - name: configure
+        run: ./dockcross-android-arm64 cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/android-arm64/install -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -j 2 -Bbuild/android-arm64 -H.
+      - name: build
+        run: ./dockcross-android-arm64 cmake --build build/android-arm64 -j 2 --target install
+      - name: create tar with header and library
+        run: mkdir -p build/android-arm64/export/include; cp build/android-arm64/install/include/mavsdk/backend/backend_api.h build/android-arm64/export/include; mkdir -p build/android-arm64/export/arm64-v8a; cp build/android-arm64/install/lib/libmavsdk_server.so build/android-arm64/export/arm64-v8a; tar -C build/android-arm64/export -cf build/android-arm64/export/mavsdk_server_android-arm64.tar arm64-v8a 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/android-arm64/export/mavsdk_server_android-arm64.tar'
+          asset_name: 'mavsdk_server_android-arm64.tar'
+          tag: ${{ github.ref }}
+          overwrite: true
 
   macOS:
     name: macOS
@@ -125,6 +271,15 @@ jobs:
         run: ./build/release/src/unit_tests_runner
       - name: test (mavsdk_server)
         run: ./build/release/src/backend/test/unit_tests_backend
+      - 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/release/install/bin/mavsdk_server'
+          asset_name: 'mavsdk_server_macos'
+          tag: ${{ github.ref }}
+          overwrite: true
 
   iOS:
     name: iOS
@@ -141,8 +296,18 @@ jobs:
         run: cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$(pwd)/tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -j 2 -Bbuild/ios_simulator -H.
       - name: build (ios_simulator)
         run: cmake --build build/ios_simulator -j 2
-      - name: package
+      - name: Package
+        if: startsWith(github.ref, 'refs/tags/v')
         run: bash ./src/backend/tools/package_backend_framework.bash
+      - 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/fat_bin/mavsdk_server.framework'
+          asset_name: 'mavsdk_server.framework'
+          tag: ${{ github.ref }}
+          overwrite: true
 
   Windows:
     name: Windows
@@ -155,3 +320,12 @@ jobs:
         run: cmake -G "Visual Studio 16 2019" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/release/install -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -j 2 -Bbuild/release -S.
       - name: build
         run: cmake --build build/release -j 2 --config Release --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/release/install/bin/mavsdk_server_bin.exe'
+          asset_name: 'mavsdk_server_macos'
+          tag: ${{ github.ref }}
+          overwrite: true
diff --git a/.gitignore b/.gitignore
@@ -14,3 +14,5 @@ CMakeLists.txt.user*
 
 # windows swap files
 *~
+
+tools/docs