CI: add macOS arm runners and update macOS CI in general

.github/workflows/main.yml

@@ -405,20 +405,31 @@ jobs:
 
   macOS:
     name: ${{ matrix.name }}
-    runs-on: macos-12
+    runs-on: ${{ matrix.runner }}
     strategy:
       matrix:
         include:
-          - name: macOS
+          - name: macOS x64
             build-framework: OFF
-          - name: macOS-framework
+            runner: macos-13
+            architecture: 'x64'
+          - name: macOS arm64
+            build-framework: OFF
+            runner: macos-14
+            architecture: 'arm64'
+          - name: macOS framework x64
+            build-framework: ON
+            runner: macos-13
+            architecture: 'x64'
+          - name: macOS framework arm64
             build-framework: ON
+            runner: macos-14
+            architecture: 'arm64'
     steps:
       - name: Install Python
         uses: actions/setup-python@v4
         with:
           python-version: '3.11'
-          architecture: 'x64'
       - uses: actions/checkout@v4
         with:
           submodules: recursive
@@ -427,7 +438,7 @@ jobs:
         id: cache
         with:
           path: ./build/macos/third_party/install
-          key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**') }}
+          key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./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/macos/third_party/install" >> $GITHUB_ENV
@@ -447,31 +458,44 @@ jobs:
         if: ${{ matrix.build-framework == 'ON' }}
         uses: actions/upload-artifact@v4
         with:
-          name: mavsdk_server_macos.framework
+          name: mavsdk_server_macos_${{ matrix.architecture }}.framework
           path: ./build/macos/src/mavsdk_server/src/mavsdk_server.framework
           retention-days: 2
+      - name: Upload binary as artefact
+        if: ${{ matrix.build-framework == 'OFF' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: mavsdk_server_macos_${{ matrix.architecture }}
+          path: 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: ${{ secrets.GITHUB_TOKEN }}
-          file: 'build/macos/install/bin/mavsdk_server'
-          asset_name: 'mavsdk_server_macos'
+          file: build/macos/install/bin/mavsdk_server
+          asset_name: mavsdk_server_macos_${{ matrix.architecture }}
           tag: ${{ github.ref }}
           overwrite: true
 
   iOS:
     name: ${{ matrix.name }}
-    runs-on: macos-12
+    runs-on: ${{ matrix.runner }}
     strategy:
       matrix:
         include:
           - name: ios
             platform: OS64
             sdk: iphoneos
-          - name: ios_simulator
+            runner: macos-14
+          - name: ios_simulator_x64
             platform: SIMULATOR64
             sdk: iphonesimulator
+            runner: macos-13
+          - name: ios_simulator_arm64
+            platform: SIMULATORARM64
+            sdk: iphonesimulator
+            runner: macos-14
     steps:
       - name: Install Python
         uses: actions/setup-python@v4
@@ -486,7 +510,7 @@ jobs:
         id: cache
         with:
           path: ./build/${{ matrix.name }}/third_party/install
-          key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**', './tools/ios.toolchain.cmake') }}
+          key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**', './tools/ios.toolchain.cmake') }}-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/${{ matrix.name }}/third_party/install" >> $GITHUB_ENV
@@ -501,7 +525,7 @@ jobs:
       - name: configure
         run: cmake $superbuild $cmake_prefix_path -DENABLE_STRICT_TRY_COMPILE=ON -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE=$(pwd)/tools/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/${{ matrix.name }} -j2
+        run: cmake --build build/${{ matrix.name }} -j$(nproc)
       - uses: actions/upload-artifact@v4
         with:
           name: mavsdk_server_${{ matrix.name }}.framework
@@ -511,7 +535,7 @@ jobs:
   iOS-XCFramework:
     name: iOS XCFramework
     needs: [macOS, iOS]
-    runs-on: macos-12
+    runs-on: macos-13
     steps:
       - uses: actions/checkout@v4
         with:
@@ -522,12 +546,22 @@ jobs:
           path: ./build/ios/src/mavsdk_server/src/mavsdk_server.framework
       - uses: actions/download-artifact@v4
         with:
-          name: mavsdk_server_ios_simulator.framework
-          path: ./build/ios_simulator/src/mavsdk_server/src/mavsdk_server.framework
+          name: mavsdk_server_ios_simulator_x64.framework
+          path: ./build/ios_simulator_x64/src/mavsdk_server/src/mavsdk_server.framework
       - uses: actions/download-artifact@v4
         with:
-          name: mavsdk_server_macos.framework
-          path: ./build/macos/src/mavsdk_server/src/mavsdk_server.framework
+          name: mavsdk_server_ios_simulator_arm64.framework
+          path: ./build/ios_simulator_arm64/src/mavsdk_server/src/mavsdk_server.framework
+      - uses: actions/download-artifact@v4
+        with:
+          name: mavsdk_server_macos_x64.framework
+          path: ./build/macos_x64/src/mavsdk_server/src/mavsdk_server.framework
+      - uses: actions/download-artifact@v4
+        with:
+          name: mavsdk_server_macos_arm64.framework
+          path: ./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@v4

src/mavsdk_server/tools/package_mavsdk_server_framework.bash

@@ -4,27 +4,61 @@ set -e
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 BUILD_DIR=${SCRIPT_DIR}/../../../build
+
 IOS_BACKEND_DIR=${BUILD_DIR}/ios/src/mavsdk_server/src
-IOS_SIM_BACKEND_DIR=${BUILD_DIR}/ios_simulator/src/mavsdk_server/src
-MACOS_BACKEND_DIR=${BUILD_DIR}/macos/src/mavsdk_server/src
+IOS_SIM_X64_BACKEND_DIR=${BUILD_DIR}/ios_simulator_x64/src/mavsdk_server/src
+IOS_SIM_ARM64_BACKEND_DIR=${BUILD_DIR}/ios_simulator_arm64/src/mavsdk_server/src
+IOS_SIM_FAT_BACKEND_DIR=${BUILD_DIR}/ios_simulator/src/mavsdk_server/src
+
+MACOS_X64_BACKEND_DIR=${BUILD_DIR}/macos_x64/src/mavsdk_server/src
+MACOS_ARM64_BACKEND_DIR=${BUILD_DIR}/macos_arm64/src/mavsdk_server/src
+MACOS_FAT_BACKEND_DIR=${BUILD_DIR}/macos/src/mavsdk_server/src
 
 if [ -d ${BUILD_DIR}/mavsdk_server.xcframework ]; then
     echo "${BUILD_DIR}/mavsdk_server.xcframework already exists! Aborting..."
     exit 1
 fi
 
-echo "Fixing Modules in macOS framework"
-ln -sf Versions/Current/Modules ${MACOS_BACKEND_DIR}/mavsdk_server.framework
 
-echo "Creating xcframework..."
-xcodebuild -create-xcframework -framework ${IOS_BACKEND_DIR}/mavsdk_server.framework -framework ${IOS_SIM_BACKEND_DIR}/mavsdk_server.framework -framework ${MACOS_BACKEND_DIR}/mavsdk_server.framework -output ${BUILD_DIR}/mavsdk_server.xcframework
+echo "Running lipo for simulator"
+mkdir -p ${IOS_SIM_FAT_BACKEND_DIR}
+cp -a ${IOS_SIM_X64_BACKEND_DIR}/mavsdk_server.framework ${IOS_SIM_FAT_BACKEND_DIR}
+xcrun lipo -create -output ${IOS_SIM_FAT_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
+    ${IOS_SIM_X64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
+    ${IOS_SIM_ARM64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+
+tree ${IOS_SIM_FAT_BACKEND_DIR}/mavsdk_server.framework
+
+echo "Running codesign for simulator"
+xcrun codesign --verbose --sign - ${IOS_SIM_FAT_BACKEND_DIR}/mavsdk_server.framework
+
 
-tree ${BUILD_DIR}/mavsdk_server.xcframework
 
+echo "Running lipo for macos"
+mkdir -p ${MACOS_FAT_BACKEND_DIR}
+cp -a ${MACOS_X64_BACKEND_DIR}/mavsdk_server.framework ${MACOS_FAT_BACKEND_DIR}
+xcrun lipo -create -output ${MACOS_FAT_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
+    ${MACOS_X64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
+    ${MACOS_ARM64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+
+tree ${MACOS_FAT_BACKEND_DIR}/mavsdk_server.framework
+
+echo "Running codesign for macos"
+xcrun codesign --verbose --sign - ${MACOS_FAT_BACKEND_DIR}/mavsdk_server.framework/Versions/Current
+
+echo "Creating xcframework..."
+xcodebuild -create-xcframework \
+    -framework ${IOS_BACKEND_DIR}/mavsdk_server.framework \
+    -framework ${IOS_SIM_FAT_BACKEND_DIR}/mavsdk_server.framework \
+    -framework ${MACOS_FAT_BACKEND_DIR}/mavsdk_server.framework \
+    -output ${BUILD_DIR}/mavsdk_server.xcframework
+
+echo "Setting executable bit"
 chmod +x ${BUILD_DIR}/mavsdk_server.xcframework/ios-arm64/mavsdk_server.framework/mavsdk_server
-chmod +x ${BUILD_DIR}/mavsdk_server.xcframework/ios-x86_64-simulator/mavsdk_server.framework/mavsdk_server
-chmod +x ${BUILD_DIR}/mavsdk_server.xcframework/macos-x86_64/mavsdk_server.framework/mavsdk_server
+chmod +x ${BUILD_DIR}/mavsdk_server.xcframework/ios-arm64_x86_64-simulator/mavsdk_server.framework/mavsdk_server
+chmod +x ${BUILD_DIR}/mavsdk_server.xcframework/macos-arm64_x86_64/mavsdk_server.framework/mavsdk_server
 
+echo "Creating zip archive"
 cd ${BUILD_DIR}
 zip -9 -y -r mavsdk_server.xcframework.zip mavsdk_server.xcframework
 

third_party/openssl/CMakeLists.txt

@@ -5,7 +5,7 @@ include(ExternalProject)
 
 message(STATUS "Preparing external project \"openssl\"")
 
-set(OPENSSL_VERSION 3.0.9)
+set(OPENSSL_VERSION 3.3.0)
 
 if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
     set(OPENSSL_BUILD_TYPE "--debug")
@@ -35,7 +35,7 @@ if(ANDROID)
         URL https://www.openssl.org/source/openssl-${OPENSSL_VERSION}.tar.gz
         PREFIX openssl
         PATCH_COMMAND patch -p 0 < ${PROJECT_SOURCE_DIR}/dockcross-android.patch
-        CONFIGURE_COMMAND ${CMAKE_COMMAND} -E env ANDROID_NDK=$ENV{CROSS_ROOT} <SOURCE_DIR>/Configure --sysroot=$ENV{CROSS_ROOT}/sysroot ${OPENSSL_PLATFORM} --prefix=${CMAKE_INSTALL_PREFIX} ${OPENSSL_BUILD_TYPE} no-shared
+        CONFIGURE_COMMAND ${CMAKE_COMMAND} -E env ANDROID_NDK=$ENV{CROSS_ROOT} <SOURCE_DIR>/Configure --sysroot=$ENV{CROSS_ROOT}/sysroot ${OPENSSL_PLATFORM} --prefix=${CMAKE_INSTALL_PREFIX} ${OPENSSL_BUILD_TYPE} no-asm no-shared
         BUILD_COMMAND make
         INSTALL_COMMAND make install_sw
         )
@@ -45,6 +45,8 @@ elseif(IOS)
         set(OPENSSL_PLATFORM "ios64-xcrun")
     elseif(${PLATFORM} STREQUAL "SIMULATOR64")
         set(OPENSSL_PLATFORM "iossimulator-xcrun")
+    elseif(${PLATFORM} STREQUAL "SIMULATORARM64")
+        set(OPENSSL_PLATFORM "iossimulator-arm64-xcrun")
     else()
         message(FATAL_ERROR "Unexpected PLATFORM: \"${PLATFORM}\"")
     endif()