docker.yaml

name: Docker

on:
  schedule:
    - cron: "0 17 * * 6"
  push:
    branches:
      - main
  pull_request:
    paths:
      - .docker/**
      - .github/workflows/docker.yaml
      - blue.repos
      - requirements-build.txt
  workflow_dispatch:

env:
  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'Robotic-Decision-Making-Lab/blue') }}

jobs:
  docker_build:
    strategy:
      fail-fast: false
      matrix:
        ROS_DISTRO: [rolling]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - # Add support for more platforms with QEMU (optional)
        # https://github.com/docker/setup-qemu-action
        name: Set up QEMU
        uses: docker/setup-qemu-action@v3

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        with:
          # Pin buildx to this version
          # Issues with setting "*.cache-to=" below with v0.19.2
          version: v0.18.0

      - if: env.PUSH == 'true'
        name: Log into registry
        uses: docker/#-action@v3.3.0
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      # buildx bake, unfortunately, requires lower-cased repository names
      # This shell ... er, hack, creates a local variable containing
      # a down-cased version of $GITHUB_REPOSITORY
      #
      - id: lowercase-repo
        name: Repository to lowercase
        run: |
          echo "repository=${GITHUB_REPOSITORY@L}" >> $GITHUB_OUTPUT

      # Set metadata for each stage-image separately
      - name: Set Docker metadata for "ci"
        if: env.PUSH == 'true'
        id: meta-ci
        uses: docker/metadata-action@v5.5.1
        with:
          images: ghcr.io/${{ github.repository }}
          bake-target: docker-metadata-action-ci
          tags: |
            type=raw,value=${{ matrix.ROS_DISTRO }}-ci

      - name: Set Docker metadata for "robot"
        if: env.PUSH == 'true'
        id: meta-robot
        uses: docker/metadata-action@v5.5.1
        with:
          images: ghcr.io/${{ github.repository }}
          bake-target: docker-metadata-action-robot
          tags: |
            type=raw,value=${{ matrix.ROS_DISTRO }}-robot

      - name: Set Docker metadata for "desktop"
        if: env.PUSH == 'true'
        id: meta-desktop
        uses: docker/metadata-action@v5.5.1
        with:
          images: ghcr.io/${{ github.repository }}
          bake-target: docker-metadata-action-desktop
          tags: |
            type=raw,value=${{ matrix.ROS_DISTRO }}-desktop

      - name: Set Docker metadata for "desktop-nvidia"
        if: env.PUSH == 'true'
        id: meta-desktop-nvidia
        uses: docker/metadata-action@v5.5.1
        with:
          images: ghcr.io/${{ github.repository }}
          bake-target: docker-metadata-action-desktop-nvidia
          tags: |
            type=raw,value=${{ matrix.ROS_DISTRO }}-desktop-nvidia

      - if: github.event_name == 'push'
        name: Build and push (non PR)
        uses: docker/bake-action@v5.10.0
        env:
          BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
          BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}
        with:
          workdir: .docker
          files: |
            ./docker-bake.hcl
            ${{ steps.meta-ci.outputs.bake-file }}
            ${{ steps.meta-robot.outputs.bake-file }}
            ${{ steps.meta-desktop.outputs.bake-file }}
            ${{ steps.meta-desktop-nvidia.outputs.bake-file }}
          push: ${{ env.PUSH }}
          set: |
            *.cache-from=type=registry,ref=ghcr.io/${{ steps.lowercase-repo.outputs.repository }}:cache-${{ matrix.ROS_DISTRO }}
            *.cache-to=type=registry,mode=max,ref=ghcr.io/${{ steps.lowercase-repo.outputs.repository }}:cache-${{ matrix.ROS_DISTRO }}

      # Pull request builds are not cached; and only built for AMD64
      - if: github.event_name == 'pull_request'
        name: Build and push (PR)
        uses: docker/bake-action@v5.10.0
        env:
          BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
          BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}
        with:
          workdir: .docker
          files: |
            ./docker-bake.hcl
          set: |
            *.platform=linux/amd64
            *.cache-from=type=registry,ref=ghcr.io/${{ steps.lowercase-repo.outputs.repository }}:cache-${{ matrix.ROS_DISTRO }}
            *.cache-to=