add ARM64 support to Linux CI

Author: gmesm

.github/workflows/linux.yml

@@ -7,6 +7,7 @@ on:
       - 'Stable*'
     tags:
       - 'v*'
+  workflow_dispatch:
   pull_request:
     paths:
       - '.github/workflows/linux.yml'
@@ -20,20 +21,29 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-22.04
+    runs-on: ${{ matrix.runs-on }}
 
     strategy:
       matrix:
         BuildType: [Debug, Release]
-        # Arch: [x64] # Arm64
+        runs-on: [ubuntu-24.04-arm, ubuntu-22.04]
+        include:
+          - runs-on: ubuntu-24.04-arm
+            ARTIFACT: QGroundControl-aarch64.AppImage
+            PACKAGE: QGroundControl-aarch64
+            host: linux_arm64
+            arch: linux_gcc_arm64
+          - runs-on: ubuntu-22.04
+            ARTIFACT: QGroundControl-x86_64.AppImage
+            PACKAGE: QGroundControl-x86_64
+            host: linux
+            arch: linux_gcc_64
 
     defaults:
       run:
         shell: bash
 
     env:
-      ARTIFACT: QGroundControl-x86_64.AppImage
-      PACKAGE: QGroundControl-x86_64
       QT_VERSION: 6.8.1
       GST_VERSION: 1.22.12
       CPM_SOURCE_CACHE: ${{ github.workspace }}/cpm_modules
@@ -55,33 +65,30 @@ jobs:
 
       - name: Install Vulkan
         run: |
-          wget -qO- https://packages.lunarg.com/lunarg-signing-key-pub.asc | sudo tee /etc/apt/trusted.gpg.d/lunarg.asc
-          sudo wget -qO /etc/apt/sources.list.d/lunarg-vulkan-jammy.list http://packages.lunarg.com/vulkan/lunarg-vulkan-jammy.list
-          sudo apt update
-          sudo apt install vulkan-sdk
-
-      - name: Install Compiler
-        run: |
-          sudo add-apt-repository ppa:ubuntu-toolchain-r/test
-          sudo apt install gcc-11 g++-11
-          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 --slave /usr/bin/g++ g++ /usr/bin/g++-11 --slave /usr/bin/gcov gcov /usr/bin/gcov-11
-          sudo update-alternatives --set gcc /usr/bin/gcc-11
+          sudo apt install -y --quiet libvulkan-dev
+          if apt-cache show vulkan-validationlayers-dev >/dev/null 2>&1 && apt-cache show vulkan-validationlayers-dev 2>/dev/null | grep -q "^Package: vulkan-validationlayers-dev"; then
+            sudo apt-get install -y --quiet vulkan-validationlayers-dev
+          fi
+          if apt-cache show vulkan-utility-libraries-dev >/dev/null 2>&1 && apt-cache show vulkan-utility-libraries-dev 2>/dev/null | grep -q "^Package: apt-cache show vulkan-utility-libraries-dev"; then
+            sudo apt-get install -y --quiet vulkan-utility-libraries-dev
+          fi
 
       - name: Setup Caching
+        if: ${{ matrix.arch=='linux_gcc_64' }}
         uses: ./.github/actions/cache
         with:
-          host: linux
-          target: linux_gcc_64
+          host: ${{ matrix.host }}
+          target: desktop
           build-type: ${{ matrix.BuildType }}
           cpm-modules: ${{ env.CPM_SOURCE_CACHE }}
 
-      - name: Install Qt for Linux (x64)
-        uses: jurplel/install-qt-action@v4
+      - name: Install Qt for Linux
+        uses: jdpurcell/install-qt-action@b45c67aaa9e0ea77e59a7031ec14a12d5ddf4b35
         with:
           version: ${{ env.QT_VERSION }}
-          host: linux
+          host: ${{ matrix.host }}
           target: desktop
-          arch: linux_gcc_64
+          arch: ${{ matrix.arch }}
           dir: ${{ runner.temp }}
           modules: qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors
 
@@ -106,19 +113,19 @@ jobs:
       - name: Sanity check release excecutable
         if: matrix.BuildType == 'Release'
         working-directory: ${{ runner.temp }}/shadow_build_dir
-        run: xvfb-run -a ./${{ env.ARTIFACT }} --simple-boot-test
+        run: xvfb-run -a ./${{ matrix.ARTIFACT }} --simple-boot-test
 
       - name: Run unit tests
         if: matrix.BuildType == 'Debug'
         working-directory: ${{ runner.temp }}/shadow_build_dir
-        run: xvfb-run -a ./${{ env.ARTIFACT }} --unittest
+        run: xvfb-run -a ./${{ matrix.ARTIFACT }} --unittest
 
       - name: Upload Build File
         if: matrix.BuildType == 'Release'
         uses: ./.github/actions/upload
         with:
-          artifact_name: ${{ env.ARTIFACT }}
-          package_name: ${{ env.PACKAGE }}
+          artifact_name: ${{ matrix.ARTIFACT }}
+          package_name: ${{ matrix.PACKAGE }}
           aws_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
           aws_secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           github_token: ${{ secrets.GITHUB_TOKEN }}

CMakeLists.txt

@@ -596,7 +596,10 @@ elseif(LINUX)
         FILES ${CMAKE_SOURCE_DIR}/deploy/linux/AppRun
         DESTINATION ${CMAKE_BINARY_DIR}
     )
-    install(SCRIPT "${CMAKE_SOURCE_DIR}/cmake/CreateAppImage.cmake")
+    install(CODE "
+        set(CMAKE_SYSTEM_PROCESSOR \"${CMAKE_SYSTEM_PROCESSOR}\")
+        include(\"${CMAKE_SOURCE_DIR}/cmake/CreateAppImage.cmake\")
+    ")
 elseif(WIN32)
     install(SCRIPT "${CMAKE_SOURCE_DIR}/cmake/CreateWinInstaller.cmake")
 elseif(MACOS)

cmake/CreateAppImage.cmake

@@ -2,28 +2,31 @@ message(STATUS "Creating AppImage")
 # TODO: https://github.com/AppImageCommunity/AppImageUpdate
 
 set(APPDIR_PATH "${CMAKE_BINARY_DIR}/AppDir")
-set(APPIMAGETOOL_PATH "${CMAKE_BINARY_DIR}/appimagetool-x86_64.AppImage")
-set(LD_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-x86_64.AppImage")
-# set(LD_APPIMAGEPLUGIN_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-plugin-appimage-x86_64.AppImage")
-# set(LD_QTPLUGIN_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-plugin-qt-x86_64.AppImage")
+set(APPIMAGETOOL_PATH "${CMAKE_BINARY_DIR}/appimagetool-${CMAKE_SYSTEM_PROCESSOR}.AppImage")
+set(LD_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-${CMAKE_SYSTEM_PROCESSOR}.AppImage")
+# set(LD_APPIMAGEPLUGIN_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-plugin-appimage-${CMAKE_SYSTEM_PROCESSOR}.AppImage")
+# set(LD_QTPLUGIN_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-plugin-qt-${CMAKE_SYSTEM_PROCESSOR}.AppImage")
 # set(LD_GSTPLUGIN_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-plugin-gstreamer.sh")
 # set(LD_GTKPLUGIN_PATH "${CMAKE_BINARY_DIR}/linuxdeploy-plugin-gtk.sh")
+set(FETCHCONTENT_QUIET FALSE)
 
 if(NOT EXISTS "${APPIMAGETOOL_PATH}")
-    file(DOWNLOAD https://github.com/AppImage/appimagetool/releases/download/continuous/appimagetool-x86_64.AppImage "${APPIMAGETOOL_PATH}")
+    message(STATUS "Downloading appimagetool")
+    file(DOWNLOAD https://github.com/AppImage/appimagetool/releases/download/continuous/appimagetool-${CMAKE_SYSTEM_PROCESSOR}.AppImage "${APPIMAGETOOL_PATH}")
     # file(DOWNLOAD https://github.com/probonopd/go-appimage/releases/download/832/appimagetool-823-x86_64.AppImage "${APPIMAGETOOL_PATH}") # TODO: Use Continuous Release
     execute_process(COMMAND chmod a+x "${APPIMAGETOOL_PATH}")
 endif()
 if(NOT EXISTS "${LD_PATH}")
-    file(DOWNLOAD https://github.com/linuxdeploy/linuxdeploy/releases/download/continuous/linuxdeploy-x86_64.AppImage "${LD_PATH}")
+    message(STATUS "Downloading linuxdeploy")
+    file(DOWNLOAD https://github.com/linuxdeploy/linuxdeploy/releases/download/continuous/linuxdeploy-${CMAKE_SYSTEM_PROCESSOR}.AppImage "${LD_PATH}")
     execute_process(COMMAND chmod a+x "${LD_PATH}")
 endif()
 # if(NOT EXISTS "${LD_APPIMAGEPLUGIN_PATH}")
-#     file(DOWNLOAD https://github.com/linuxdeploy/linuxdeploy-plugin-appimage/releases/download/continuous/linuxdeploy-plugin-appimage-x86_64.AppImage "${LD_APPIMAGEPLUGIN_PATH}")
+#     file(DOWNLOAD https://github.com/linuxdeploy/linuxdeploy-plugin-appimage/releases/download/continuous/linuxdeploy-plugin-appimage-${CMAKE_SYSTEM_PROCESSOR}.AppImage "${LD_APPIMAGEPLUGIN_PATH}")
 #     execute_process(COMMAND chmod a+x "${LD_APPIMAGEPLUGIN_PATH}")
 # endif()
 # if(NOT EXISTS "${LD_QTPLUGIN_PATH}")
-#     file(DOWNLOAD https://github.com/linuxdeploy/linuxdeploy-plugin-qt/releases/download/continuous/linuxdeploy-plugin-qt-x86_64.AppImage "${LD_QTPLUGIN_PATH}")
+#     file(DOWNLOAD https://github.com/linuxdeploy/linuxdeploy-plugin-qt/releases/download/continuous/linuxdeploy-plugin-qt-${CMAKE_SYSTEM_PROCESSOR}.AppImage "${LD_QTPLUGIN_PATH}")
 #     execute_process(COMMAND chmod a+x "${LD_QTPLUGIN_PATH}")
 # endif()
 # if(NOT EXISTS "${LD_GTKPLUGIN_PATH}")
@@ -35,14 +38,19 @@ endif()
 #     execute_process(COMMAND chmod a+x "${LD_GSTPLUGIN_PATH}")
 # endif()
 
+message(STATUS "Executing linuxdeploy")
 execute_process(COMMAND ${LD_PATH}
     --appdir ${APPDIR_PATH}
     --executable ${APPDIR_PATH}/usr/bin/QGroundControl
     --desktop-file ${APPDIR_PATH}/usr/share/applications/org.mavlink.qgroundcontrol.desktop
-    --custom-apprun ${CMAKE_BINARY_DIR}/AppRun)
+    --custom-apprun ${CMAKE_BINARY_DIR}/AppRun
+    COMMAND_ERROR_IS_FATAL ANY)
 # --exclude-library "libgst*"
 # --plugin qt --plugin gtk --plugin gstreamer
 
-set(ENV{ARCH} x86_64)
+set(ENV{ARCH} ${CMAKE_SYSTEM_PROCESSOR})
 # set(ENV{VERSION} 5.0)
-execute_process(COMMAND ${APPIMAGETOOL_PATH} ${APPDIR_PATH})
+
+message(STATUS "Executing appimagetool")
+execute_process(COMMAND ${APPIMAGETOOL_PATH} ${APPDIR_PATH}
+    COMMAND_ERROR_IS_FATAL ANY)

cmake/find-modules/FindGStreamer.cmake

@@ -45,7 +45,7 @@ elseif(MACOS)
     set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_PREFIX}/lib/pkgconfig:${GSTREAMER_PREFIX}/lib/gstreamer-1.0/pkgconfig:$ENV{PKG_CONFIG_PATH}")
 elseif(LINUX)
     set(GSTREAMER_PREFIX "/usr")
-    set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_PREFIX}/lib/x86_64-linux-gnu/pkgconfig:${GSTREAMER_PREFIX}/lib/x86_64-linux-gnu/gstreamer-1.0/pkgconfig:$ENV{PKG_CONFIG_PATH}")
+    set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_PREFIX}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/pkgconfig:${GSTREAMER_PREFIX}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/gstreamer-1.0/pkgconfig:$ENV{PKG_CONFIG_PATH}")
 elseif(IOS)
     list(APPEND CMAKE_FRAMEWORK_PATH "~/Library/Developer/GStreamer/iPhone.sdk")
     if(DEFINED ENV{GSTREAMER_PREFIX_IOS} AND EXISTS $ENV{GSTREAMER_PREFIX_IOS})
@@ -102,7 +102,7 @@ cmake_print_variables(GSTREAMER_PREFIX)
 
 # TODO: find_path, Change x86_64-linux-gnu based on host
 if(LINUX)
-    set(GSTREAMER_LIB_PATH ${GSTREAMER_PREFIX}/lib/x86_64-linux-gnu)
+    set(GSTREAMER_LIB_PATH ${GSTREAMER_PREFIX}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu)
 elseif(MACOS OR ANDROID OR WIN32)
     set(GSTREAMER_LIB_PATH ${GSTREAMER_PREFIX}/lib)
 elseif(IOS)

tools/setup/install-dependencies-debian.sh

@@ -133,7 +133,6 @@ DEBIAN_FRONTEND=noninteractive apt-get -y --quiet install \
     flex \
     gobject-introspection \
     gvfs \
-    intel-media-va-driver \
     libasound2-dev \
     libass-dev \
     libdrm-dev \
@@ -190,6 +189,10 @@ DEBIAN_FRONTEND=noninteractive apt-get -y --quiet install \
     vainfo \
     wayland-protocols
 
+if apt-cache show intel-media-va-driver >/dev/null 2>&1 && apt-cache show intel-media-va-driver 2>/dev/null | grep -q "^Package: intel-media-va-driver"; then
+    DEBIAN_FRONTEND=noninteractive apt-get install -y --quiet intel-media-va-driver
+fi
+
 if apt-cache show libdav1d-dev >/dev/null 2>&1 && apt-cache show libdav1d-dev 2>/dev/null | grep -q "^Package: libdav1d-dev"; then
     DEBIAN_FRONTEND=noninteractive apt-get install -y --quiet libdav1d-dev
 fi