Merge pull request #1223 from mavlink/pr-musl

backend: build statically with musl
mavlink · Oct 19, 2020 · 6535d3f · 6535d3f
2 parents d3e0b95 + 5eff7c1
commit 6535d3f
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Showing 3 changed files with 101 additions and 4 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -124,14 +124,104 @@ jobs:
         with:
           submodules: recursive
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -j 2 -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -j 2 -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/backend/test/unit_tests_backend
 
+  alpine-linux-qemu:
+    runs-on: ubuntu-18.04
+    name: Build on alpine for ${{ matrix.arch }}
+
+    strategy:
+      matrix:
+        include:
+          - arch: armv6
+            distro: alpine_latest
+          - arch: armv7
+            distro: alpine_latest
+          - arch: aarch64
+            distro: alpine_latest
+
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: cmake -P {0}
+        run: |
+          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+          message("::set-output name=timestamp::${current_date}")
+      - name: ccache cache files
+        uses: actions/[email protected]
+        with:
+          path: .ccache
+          key: ${{ matrix.arch }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ matrix.arch }}-ccache-
+
+      - uses: uraimo/[email protected]
+        name: Build
+        id: build
+        with:
+          arch: ${{ matrix.arch }}
+          distro: ${{ matrix.distro }}
+
+          # Not required, but speeds up builds
+          githubToken: ${{ github.token }}
+
+          # Mount the source directory in the container
+          dockerRunArgs: |
+            --volume "${PWD}:/root/MAVSDK"
+            --volume "${PWD}/.ccache:/root/.ccache"
+
+          # Pass some environment variables to the container
+          #env: | # YAML, but pipe character is necessary
+          #  artifact_name: git-${{ matrix.distro }}_${{ matrix.arch }}
+
+          # The shell to run commands with in the container
+          shell: /bin/sh
+
+          # Install some dependencies in the container. This speeds up builds if
+          # you are also using githubToken. Any dependencies installed here will
+          # be part of the container image that gets cached, so subsequent
+          # builds don't have to re-install them. The image layer is cached
+          # publicly in your project's package repository, so it is vital that
+          # no secrets are present in the container state or logs.
+          install: |
+            apk update
+            apk add build-base cmake git linux-headers libexecinfo-dev ccache
+
+          run: |
+            cd /root/MAVSDK
+            export CC=/usr/lib/ccache/bin/gcc
+            export CXX=/usr/lib/ccache/bin/g++
+            export CCACHE_COMPRESS="true"
+            export CCACHE_MAXSIZE="400M"
+            cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=ON -j 2 -Bbuild/release -H.
+            cmake --build build/release --target install -- -j2
+            ./build/release/src/unit_tests_runner
+            ./build/release/src/backend/test/unit_tests_backend
+            ccache -s
+
+      - name: Check the artifact
+        run: |
+          file "${PWD}/install/bin/mavsdk_server"
+      - name: Publish artefacts
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: svenstaro/upload-release-action@v1-release
+        with:
+          repo_token: ${{ secrets.GITHUB_TOKEN }}
+          file: "${PWD}/install/bin/mavsdk_server"
+          asset_name: 'mavsdk_server_musl_${{ matrix.arch }}'
+          tag: ${{ github.ref }}
+          overwrite: true
+
   px4-sitl-older:
     name: PX4 SITL ${{ matrix.px4_version }} (ubuntu-18.04)
     runs-on: ubuntu-18.04

diff --git a/src/backend/src/CMakeLists.txt b/src/backend/src/CMakeLists.txt
@@ -88,6 +88,13 @@ if(NOT IOS AND NOT ANDROID)
         mavsdk
     )
 
+    if (BUILD_STATIC_MAVSDK_SERVER)
+        target_link_options(mavsdk_server_bin PRIVATE -static-libgcc -static-libstdc++ -static)
+        set(CMAKE_FIND_LIBRARY_SUFFIXES ".a")
+        set_target_properties(mavsdk_server_bin PROPERTIES LINK_SEARCH_START_STATIC ON)
+        set_target_properties(mavsdk_server_bin PROPERTIES LINK_SEARCH_END_STATIC ON)
+    endif()
+
     # MSVC fails to generate the `mavsdk_server` binary while having
     # a library called `mavsdk_server` as well. This means that with
     # MSVC, we build `mavsdk_server_bin.exe`.

diff --git a/src/core/geometry_test.cpp b/src/core/geometry_test.cpp
@@ -45,6 +45,6 @@ TEST(Geoemtry, LocalToGlobalAndBack)
     CoordinateTransformation::LocalCoordinate location{-140.0, 240.0};
     auto location_again = ct.local_from_global(ct.global_from_local(location));
 
-    EXPECT_NEAR(location.north_m, location_again.north_m, 1e-9);
-    EXPECT_NEAR(location.east_m, location_again.east_m, 1e-9);
-}
+    EXPECT_NEAR(location.north_m, location_again.north_m, 1e-8);
+    EXPECT_NEAR(location.east_m, location_again.east_m, 1e-8);
+}