Merge pull request #357 from MissouriMRDT/topic/sim-cam #311
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| name: Build and Publish Docker Images | |
| on: | |
| # Run this workflow every time a pull request is opened or updated with the development branch as the base | |
| # and there is a change to the dockerfiles or any of the package build scripts. | |
| pull_request: | |
| branches: ["development"] | |
| paths: | |
| - ".devcontainer/Dockerfile_Jammy" | |
| - ".devcontainer/Dockerfile_JetPack" | |
| - ".github/workflows/deploy_docker.yml" | |
| - "tools/package-builders/geolib/geolib-arm64-pkg.sh" | |
| - "tools/package-builders/geolib/geolib-amd64-pkg.sh" | |
| - "tools/package-builders/libdatachannel/libdatachannel-arm64-pkg.sh" | |
| - "tools/package-builders/libdatachannel/libdatachannel-amd64-pkg.sh" | |
| - "tools/package-builders/ffmpeg/ffmpeg-arm64-pkg.sh" | |
| - "tools/package-builders/ffmpeg/ffmpeg-amd64-pkg.sh" | |
| - "tools/package-builders/gtest/gtest-arm64-pkg.sh" | |
| - "tools/package-builders/gtest/gtest-amd64-pkg.sh" | |
| - "tools/package-builders/opencv/opencv-arm64-pkg.sh" | |
| - "tools/package-builders/opencv/opencv-amd64-pkg.sh" | |
| - "tools/package-builders/pytorch/pytorch-arm64-pkg.sh" | |
| - "tools/package-builders/pytorch/pytorch-amd64-pkg.sh" | |
| - "tools/package-builders/abseil/abseil-arm64-pkg.sh" | |
| - "tools/package-builders/abseil/abseil-amd64-pkg.sh" | |
| - "tools/package-builders/tensorflow/tensorflow-arm64-pkg.sh" | |
| - "tools/package-builders/tensorflow/tensorflow-amd64-pkg.sh" | |
| - "tools/package-builders/quill/quill-arm64-pkg.sh" | |
| - "tools/package-builders/quill/quill-amd64-pkg.sh" | |
| # Or, run this workflow every time a push/merge is made to the development branch and there is a change to | |
| # the dockerfiles or any of the package build scripts. | |
| push: | |
| branches: ["development"] | |
| paths: | |
| - ".devcontainer/Dockerfile_Jammy" | |
| - ".devcontainer/Dockerfile_JetPack" | |
| - ".github/workflows/deploy_docker.yml" | |
| - "tools/package-builders/geolib/geolib-arm64-pkg.sh" | |
| - "tools/package-builders/geolib/geolib-amd64-pkg.sh" | |
| - "tools/package-builders/libdatachannel/libdatachannel-arm64-pkg.sh" | |
| - "tools/package-builders/libdatachannel/libdatachannel-amd64-pkg.sh" | |
| - "tools/package-builders/ffmpeg/ffmpeg-arm64-pkg.sh" | |
| - "tools/package-builders/ffmpeg/ffmpeg-amd64-pkg.sh" | |
| - "tools/package-builders/gtest/gtest-arm64-pkg.sh" | |
| - "tools/package-builders/gtest/gtest-amd64-pkg.sh" | |
| - "tools/package-builders/opencv/opencv-arm64-pkg.sh" | |
| - "tools/package-builders/opencv/opencv-amd64-pkg.sh" | |
| - "tools/package-builders/pytorch/pytorch-arm64-pkg.sh" | |
| - "tools/package-builders/pytorch/pytorch-amd64-pkg.sh" | |
| - "tools/package-builders/abseil/abseil-arm64-pkg.sh" | |
| - "tools/package-builders/abseil/abseil-amd64-pkg.sh" | |
| - "tools/package-builders/tensorflow/tensorflow-arm64-pkg.sh" | |
| - "tools/package-builders/tensorflow/tensorflow-amd64-pkg.sh" | |
| - "tools/package-builders/quill/quill-arm64-pkg.sh" | |
| - "tools/package-builders/quill/quill-amd64-pkg.sh" | |
| # Or, run this manually from the Actions tab in GitHub. This will run the workflow on the development branch. | |
| workflow_dispatch: | |
| # This workflow has concurrency protection enabled. This means that if the workflow is already running, it will | |
| # wait until the previous run is complete before starting a new run. This is to prevent multiple runs from | |
| # happening at the same time and causing conflicts. If there are more than (2) runs waiting in the queue, the | |
| # workflow will be cancelled. This is to prevent the queue from getting too long and causing delays in the | |
| # workflow. It will not cancel a run that is already in progress. | |
| concurrency: | |
| group: "docker" | |
| cancel-in-progress: false | |
| # This workflow is split into multiple jobs. Each job is run on a different runner. This allows multiple jobs to | |
| # run at the same time. The jobs are run in parallel unless they have a dependency on another job. If a job has | |
| # a dependency on another job, it will wait until the other job is complete before starting. | |
| jobs: | |
| # This job is used to get the current date and time. This is used to tag the docker images. The date and time | |
| # job is run first so that all of the docker images are tagged with the same date and time. And is a dependency | |
| # for the other jobs. | |
| time-and-date: | |
| runs-on: [ubuntu-latest] | |
| timeout-minutes: 360 | |
| # This outputs the current date and time to the GitHub output. This is used to tag the docker images. | |
| outputs: | |
| date: ${{ steps.date.outputs.date }} | |
| steps: | |
| # This step is used to get the current date and time. And outputs it to the GitHub output. | |
| - name: Get Current Date and Time | |
| id: date | |
| run: echo "date=$(date +'%Y-%m-%d-%H-%M-%S')" >> $GITHUB_OUTPUT | |
| # This job is used to check if any of the packages for AMD64 need to be rebuilt. If any of the package build | |
| # scripts have been updated, then the packages need to be rebuilt in the next job. This job is run on a self- | |
| # hosted runner because there is not an NVIDIA GPU available on the GitHub runners. It outputs a variable for | |
| # each package that is set to true if the package needs to be rebuilt. This job is only run on pull requests. | |
| check-amd64-packages: | |
| needs: [time-and-date] | |
| runs-on: [self-hosted, linux, X64] | |
| timeout-minutes: 1440 | |
| if: github.event_name == 'pull_request' | |
| # This outputs a variable for each package that is set to true if the package needs to be rebuilt. This is | |
| # used to determine if the docker images need to be rebuilt. | |
| outputs: | |
| geolib-amd64: ${{ steps.changes.outputs.geolib-amd64 }} | |
| libdatachannel-amd64: ${{ steps.changes.outputs.libdatachannel-amd64 }} | |
| ffmpeg-amd64: ${{ steps.changes.outputs.ffmpeg-amd64 }} | |
| gtest-amd64: ${{ steps.changes.outputs.gtest-amd64 }} | |
| opencv-amd64: ${{ steps.changes.outputs.opencv-amd64 }} | |
| pytorch-amd64: ${{ steps.changes.outputs.pytorch-amd64 }} | |
| abseil-amd64: ${{ steps.changes.outputs.abseil-amd64 }} | |
| tensorflow-amd64: ${{ steps.changes.outputs.tensorflow-amd64 }} | |
| quill-amd64: ${{ steps.changes.outputs.quill-amd64 }} | |
| steps: | |
| - name: Setup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi | |
| # This step is used to checkout the repository. It is needed so that the package build scripts can be | |
| # checked for changes. | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| # This step is used to check if any of the package build scripts have been updated. If any of the package | |
| # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs | |
| # a variable for each package that is set to true if the package needs to be rebuilt. | |
| - name: Check for Updated Files | |
| id: changes | |
| uses: dorny/paths-filter@v3 | |
| with: | |
| filters: | | |
| geolib-amd64: | |
| - 'tools/package-builders/geolib/geolib-amd64-pkg.sh' | |
| libdatachannel-amd64: | |
| - 'tools/package-builders/libdatachannel/libdatachannel-amd64-pkg.sh' | |
| ffmpeg-amd64: | |
| - 'tools/package-builders/ffmpeg/ffmpeg-amd64-pkg.sh' | |
| gtest-amd64: | |
| - 'tools/package-builders/gtest/gtest-amd64-pkg.sh' | |
| opencv-amd64: | |
| - 'tools/package-builders/opencv/opencv-amd64-pkg.sh' | |
| pytorch-amd64: | |
| - 'tools/package-builders/pytorch/pytorch-amd64-pkg.sh' | |
| abseil-amd64: | |
| - 'tools/package-builders/abseil/abseil-amd64-pkg.sh' | |
| tensorflow-amd64: | |
| - 'tools/package-builders/tensorflow/tensorflow-amd64-pkg.sh' | |
| quill-amd64: | |
| - 'tools/package-builders/quill/quill-amd64-pkg.sh' | |
| - name: Cleanup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| rm -rf /opt/Autonomy_Software | |
| # This job is to rebuild the updated AMD64 packages and push them to the package repository. It is run on a | |
| # self-hosted runner because there is not an NVIDIA GPU available on the GitHub runners. It gets the list of | |
| # packages that need to be rebuilt from the previous job. It outputs a variable for each package that is set | |
| # to true if the package was rebuilt. This runs in a development matrix so that each package is rebuilt in a | |
| # separate job. This allows multiple packages to be rebuilt at the same time. This job is only run on pull | |
| # requests. | |
| build-updated-amd64-packages: | |
| needs: [time-and-date, check-amd64-packages] | |
| runs-on: [self-hosted, linux, X64] | |
| timeout-minutes: 1440 | |
| environment: | |
| name: docker-packages | |
| url: https://github.com/MissouriMRDT/Autonomy_Packages | |
| if: github.event_name == 'pull_request' | |
| # This strategy is used to run the job for each package that needs to be rebuilt. This allows multiple | |
| # packages to be rebuilt at the same time. The job will fail if any of the packages fail to build. But the | |
| # other packages will continue to build. This is so that the packages can be rebuilt in parallel, if | |
| # there are enough action runners in service. | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| package: | |
| - geolib | |
| - libdatachannel | |
| - ffmpeg | |
| - gtest | |
| - opencv | |
| - pytorch | |
| - abseil | |
| - tensorflow | |
| - quill | |
| steps: | |
| - name: Setup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi | |
| # This step is used to checkout the repository. It is needed so that the package build scripts can be | |
| # checked for changes. | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| # This step is used to rebuild the updated package. It gets the list of packages that need to be rebuilt | |
| # from the previous job. It runs the package build script for the package that is being built. | |
| - name: Rebuild ${{ matrix.package }} Package | |
| id: rebuild_pkg | |
| if: needs.check-amd64-packages.outputs.${{ matrix.package }}-amd64 == 'true' | |
| run: | | |
| cd tools/package-builders/${{ matrix.package }} | |
| chmod +x ${{ matrix.package }}-amd64-pkg.sh | |
| ./${{ matrix.package }}-amd64-pkg.sh | |
| # This step is used to push the updated package to the package repository. It clones the package | |
| # repository using SSH. It copies the new package into the repository. And then, commits and pushes | |
| # the changes. | |
| - name: Push Packages | |
| if: steps.rebuild_pkg.outputs.rebuilding_pkg == 'true' | |
| run: | | |
| # Find Debian Package | |
| debfile=$(find /tmp/pkg/deb/ -name "*.deb" -type f -print -quit) | |
| # Set up Git configuration | |
| git config --global user.email "[email protected]" | |
| git config --global user.name "MRDT-Software" | |
| # Set up SSH key | |
| mkdir -p ~/.ssh | |
| echo "$SSH_PRIVATE_KEY" > ~/.ssh/id_rsa | |
| chmod 600 ~/.ssh/id_rsa | |
| ssh-keyscan github.com >> ~/.ssh/known_hosts | |
| # Clone the destination repository using SSH | |
| git clone [email protected]:MissouriMRDT/Autonomy_Packages.git | |
| cd Autonomy_Packages | |
| # Copy the new AMD64 packages into the repository | |
| mkdir -p ${{ matrix.package }}/amd64/ | |
| cp -r /tmp/pkg/deb/*amd64*.deb ${{ matrix.package }}/amd64/ | |
| # Set up Git LFS | |
| git lfs install | |
| # Commit and push changes | |
| git lfs track '*.deb' | |
| git add .gitattributes | |
| git add . | |
| git commit -m "Upgrade ${{ matrix.package }} Package for AMD64" | |
| git push origin main | |
| env: | |
| SSH_PRIVATE_KEY: ${{ secrets.SSH_PRIVATE_KEY }} | |
| # This step is used to remove the package from the temporary directory. It gets the list of packages that | |
| # need to be rebuilt from the previous job. It removes the package from the temporary directory. This is | |
| # done so that the next package can be built without having to worry about the previous package causing | |
| # conflicts. | |
| - name: Remove ${{ matrix.package }} Package | |
| if: steps.rebuild_pkg.outputs.rebuilding_pkg == 'true' | |
| run: rm -rf /tmp/pkg/* | |
| - name: Cleanup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| rm -rf /opt/Autonomy_Software | |
| # This job is used to check if any of the packages for ARM64 need to be rebuilt. If any of the package build | |
| # scripts have been updated, then the packages need to be rebuilt in the next job. This job is run on a self- | |
| # hosted runner because there is not an NVIDIA GPU available on the GitHub runners. It outputs a variable for | |
| # each package that is set to true if the package needs to be rebuilt. This job is only run on pull requests. | |
| check-arm64-packages: | |
| needs: [time-and-date] | |
| runs-on: [self-hosted, linux, ARM64] | |
| timeout-minutes: 1440 | |
| if: github.event_name == 'pull_request' | |
| # This outputs a variable for each package that is set to true if the package needs to be rebuilt. This is | |
| # used to determine if the docker images need to be rebuilt. | |
| outputs: | |
| geolib-arm64: ${{ steps.changes.outputs.geolib-arm64 }} | |
| libdatachannel-arm64: ${{ steps.changes.outputs.libdatachannel-arm64 }} | |
| ffmpeg-arm64: ${{ steps.changes.outputs.ffmpeg-arm64 }} | |
| gtest-arm64: ${{ steps.changes.outputs.gtest-arm64 }} | |
| opencv-arm64: ${{ steps.changes.outputs.opencv-arm64 }} | |
| pytorch-arm64: ${{ steps.changes.outputs.pytorch-arm64 }} | |
| abseil-arm64: ${{ steps.changes.outputs.abseil-arm64 }} | |
| tensorflow-arm64: ${{ steps.changes.outputs.tensorflow-arm64 }} | |
| quill-arm64: ${{ steps.changes.outputs.quill-arm64 }} | |
| steps: | |
| - name: Setup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi | |
| # This step is used to checkout the repository. It is needed so that the package build scripts can be | |
| # checked for changes. | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| # This step is used to check if any of the package build scripts have been updated. If any of the package | |
| # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs | |
| # a variable for each package that is set to true if the package needs to be rebuilt. | |
| - name: Check for Updated Files | |
| id: changes | |
| uses: dorny/paths-filter@v3 | |
| with: | |
| filters: | | |
| geolib-arm64: | |
| - 'tools/package-builders/geolib/geolib-arm64-pkg.sh' | |
| libdatachannel-arm64: | |
| - 'tools/package-builders/libdatachannel/libdatachannel-arm64-pkg.sh' | |
| ffmpeg-arm64: | |
| - 'tools/package-builders/ffmpeg/ffmpeg-arm64-pkg.sh' | |
| gtest-arm64: | |
| - 'tools/package-builders/gtest/gtest-arm64-pkg.sh' | |
| opencv-arm64: | |
| - 'tools/package-builders/opencv/opencv-arm64-pkg.sh' | |
| pytorch-arm64: | |
| - 'tools/package-builders/pytorch/pytorch-arm64-pkg.sh' | |
| abseil-arm64: | |
| - 'tools/package-builders/abseil/abseil-arm64-pkg.sh' | |
| tensorflow-arm64: | |
| - 'tools/package-builders/tensorflow/tensorflow-arm64-pkg.sh' | |
| quill-arm64: | |
| - 'tools/package-builders/quill/quill-arm64-pkg.sh' | |
| - name: Cleanup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| rm -rf /opt/Autonomy_Software | |
| # This job is to rebuild the updated ARM64 packages and push them to the package repository. It is run on a | |
| # self-hosted runner because there is not an NVIDIA GPU available on the GitHub runners. It gets the list of | |
| # packages that need to be rebuilt from the previous job. It outputs a variable for each package that is set | |
| # to true if the package was rebuilt. This runs in a development matrix so that each package is rebuilt in a | |
| # separate job. This allows multiple packages to be rebuilt at the same time. This job is only run on pull | |
| # requests. | |
| build-updated-arm64-packages: | |
| needs: [time-and-date, check-arm64-packages] | |
| runs-on: [self-hosted, linux, ARM64] | |
| timeout-minutes: 1440 | |
| environment: | |
| name: docker-packages | |
| url: https://github.com/MissouriMRDT/Autonomy_Packages | |
| if: github.event_name == 'pull_request' | |
| # This strategy is used to run the job for each package that needs to be rebuilt. This allows multiple | |
| # packages to be rebuilt at the same time. The job will fail if any of the packages fail to build. But the | |
| # other packages will continue to build. This is so that the packages can be rebuilt in parallel. | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| package: | |
| - geolib | |
| - libdatachannel | |
| - ffmpeg | |
| - gtest | |
| - opencv | |
| - pytorch | |
| - abseil | |
| - tensorflow | |
| - quill | |
| steps: | |
| - name: Setup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi | |
| # This step is used to checkout the repository. It is needed so that the package build scripts can be | |
| # checked for changes. | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| # This step is used to rebuild the updated package. It gets the list of packages that need to be rebuilt | |
| # from the previous job. It runs the package build script for the package that is being built. | |
| - name: Rebuild ${{ matrix.package }} Package | |
| id: rebuild_pkg | |
| if: needs.check-arm64-packages.outputs.${{ matrix.package }}-arm64 == 'true' | |
| run: | | |
| cd tools/package-builders/${{ matrix.package }} | |
| chmod +x ${{ matrix.package }}-arm64-pkg.sh | |
| ./${{ matrix.package }}-arm64-pkg.sh | |
| # This step is used to push the updated package to the package repository. It clones the package | |
| # repository using SSH. It copies the new package into the repository. And then, commits and pushes | |
| # the changes. | |
| - name: Push Packages | |
| if: steps.rebuild_pkg.outputs.rebuilding_pkg == 'true' | |
| run: | | |
| # Find Debian Package | |
| debfile=$(find /tmp/pkg/deb/ -name "*.deb" -type f -print -quit) | |
| # Set up Git configuration | |
| git config --global user.email "[email protected]" | |
| git config --global user.name "MRDT-Software" | |
| # Set up SSH key | |
| mkdir -p ~/.ssh | |
| echo "$SSH_PRIVATE_KEY" > ~/.ssh/id_rsa | |
| chmod 600 ~/.ssh/id_rsa | |
| ssh-keyscan github.com >> ~/.ssh/known_hosts | |
| # Clone the destination repository using SSH | |
| git clone [email protected]:MissouriMRDT/Autonomy_Packages.git | |
| cd Autonomy_Packages | |
| # Copy the new ARM64 packages into the repository | |
| mkdir -p ${{ matrix.package }}/arm64/ | |
| cp -r /tmp/pkg/deb/*arm64*.deb ${{ matrix.package }}/arm64/ | |
| # Set up Git LFS | |
| git lfs install | |
| # Commit and push changes | |
| git lfs track '*.deb' | |
| git add .gitattributes | |
| git add . | |
| git commit -m "Upgrade ${{ matrix.package }} Package for AMD64" | |
| git push origin main | |
| env: | |
| SSH_PRIVATE_KEY: ${{ secrets.SSH_PRIVATE_KEY }} | |
| # This step is used to remove the package from the temporary directory. It gets the list of packages that | |
| # need to be rebuilt from the previous job. It removes the package from the temporary directory. This is | |
| # done so that the next package can be built without having to worry about the previous package causing | |
| # conflicts. | |
| - name: Remove ${{ matrix.package }} Package | |
| if: steps.rebuild_pkg.outputs.rebuilding_pkg == 'true' | |
| run: rm -rf /tmp/pkg/* | |
| - name: Cleanup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| rm -rf /opt/Autonomy_Software | |
| # This job is used to build and push the new jammy docker image. It is run on a self-hosted runner because | |
| # there is not an NVIDIA GPU available on the GitHub runners. If this is being run on a pull request, then | |
| # the image is tagged with the date and time. If this is being run on a push, then the image is tagged with | |
| # the date and time and the latest tag. This job is run on both pushes and pull requests. And is allowed to run | |
| # even if the previous job was skipped. This is because the previous job is only run on pull requests, but this | |
| # job is run on pushes and pull requests. | |
| build-and-push-jammy: | |
| needs: [time-and-date, check-amd64-packages, build-updated-amd64-packages] | |
| runs-on: [self-hosted, linux, X64] | |
| timeout-minutes: 1440 | |
| if: ${{ always() && !failure() && !cancelled() }} | |
| steps: | |
| - name: Setup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi | |
| # This step is used to checkout the repository. It is needed so that the package build scripts can be | |
| # checked for changes. | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| # This step is used to check if any of the package build scripts have been updated. If any of the package | |
| # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs | |
| # a variable for each package that is set to true if the package needs to be rebuilt. | |
| - name: Check for Updated Files | |
| id: changes | |
| uses: dorny/paths-filter@v3 | |
| with: | |
| filters: | | |
| dockerfile: | |
| - '.devcontainer/Dockerfile_Jammy' | |
| - '.github/workflows/deploy_docker.yml' | |
| # This step is used to setup the docker buildx. It is needed to build the docker images. | |
| - name: Setup Docker Buildx | |
| if: steps.changes.outputs.dockerfile == 'true' | |
| id: buildx | |
| uses: docker/setup-buildx-action@v3 | |
| # This step is used to login to the GitHub Packages. It is needed to push the docker images. | |
| - name: Login to GitHub Packages | |
| if: steps.changes.outputs.dockerfile == 'true' | |
| id: login | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| # This step is used to build and push the new jammy docker image. It is run on a self-hosted runner because | |
| # there is not an NVIDIA GPU available on the GitHub runners. This step is only run on a pull request or a | |
| # manual run. In either case the image is tagged with the date and time. It also saves a build cache so | |
| # that the next time the image is built, it has the potential to be faster. | |
| - name: Build and Push Jammy Image with Date Tag | |
| if: ${{ ( github.event_name == 'pull_request' || ( github.event_name == 'workflow_dispatch' && github.ref == 'refs/heads/development' )) && (steps.changes.outputs.dockerfile == 'true') }} | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: ".devcontainer/" | |
| file: ".devcontainer/Dockerfile_Jammy" | |
| tags: | | |
| "ghcr.io/missourimrdt/autonomy-jammy:buildcache" | |
| "ghcr.io/missourimrdt/autonomy-jammy:${{ needs.time-and-date.outputs.date }}" | |
| platforms: "linux/amd64" | |
| push: true | |
| cache-from: type=registry,ref=ghcr.io/missourimrdt/autonomy-jammy:buildcache | |
| cache-to: type=registry,ref=ghcr.io/missourimrdt/autonomy-jammy:buildcache,mode=max | |
| # This step is used to build and push the new jammy docker image. It is run on a self-hosted runner because | |
| # there is not an NVIDIA GPU available on the GitHub runners. This step is only run on a push. In this case | |
| # the image is tagged with the date and time and the latest tag. It also saves a build cache so that the | |
| # next time the image is built, it has the potential to be faster. | |
| - name: Build and Push Jammy Image with Latest Tag | |
| if: ${{ github.event_name == 'push' && (steps.changes.outputs.dockerfile == 'true') }} | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: ".devcontainer/" | |
| file: ".devcontainer/Dockerfile_Jammy" | |
| tags: | | |
| "ghcr.io/missourimrdt/autonomy-jammy:buildcache" | |
| "ghcr.io/missourimrdt/autonomy-jammy:${{ needs.time-and-date.outputs.date }}" | |
| "ghcr.io/missourimrdt/autonomy-jammy:latest" | |
| platforms: "linux/amd64" | |
| push: true | |
| cache-from: type=registry,ref=ghcr.io/missourimrdt/autonomy-jammy:buildcache | |
| cache-to: type=registry,ref=ghcr.io/missourimrdt/autonomy-jammy:buildcache,mode=max | |
| - name: Cleanup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| rm -rf /opt/Autonomy_Software | |
| # This job is used to build and push the new jetpack docker image. It is run on a self-hosted runner because | |
| # there is not an NVIDIA GPU available on the GitHub runners. If this is being run on a pull request, then | |
| # the image is tagged with the date and time. If this is being run on a push, then the image is tagged with | |
| # the date and time and the latest tag. This job is run on both pushes and pull requests. And is allowed to run | |
| # even if the previous job was skipped. This is because the previous job is only run on pull requests, but this | |
| # job is run on pushes and pull requests. | |
| build-and-push-jetpack: | |
| needs: [time-and-date, check-arm64-packages, build-updated-arm64-packages] | |
| runs-on: [self-hosted, linux, ARM64] | |
| timeout-minutes: 1440 | |
| if: ${{ always() && !failure() && !cancelled() }} | |
| steps: | |
| - name: Setup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi | |
| # This step is used to checkout the repository. It is needed so that the package build scripts can be | |
| # checked for changes. | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| # This step is used to check if any of the package build scripts have been updated. If any of the package | |
| # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs | |
| # a variable for each package that is set to true if the package needs to be rebuilt. | |
| - name: Check for Updated Files | |
| id: changes | |
| uses: dorny/paths-filter@v3 | |
| with: | |
| filters: | | |
| dockerfile: | |
| - '.devcontainer/Dockerfile_JetPack' | |
| - '.github/workflows/deploy_docker.yml' | |
| # This step is used to setup the docker buildx. It is needed to build the docker images. | |
| - name: Setup Docker Buildx | |
| if: steps.changes.outputs.dockerfile == 'true' | |
| id: buildx | |
| uses: docker/setup-buildx-action@v3 | |
| # This step is used to login to the GitHub Packages. It is needed to push the docker images. | |
| - name: Login to GitHub Packages | |
| if: steps.changes.outputs.dockerfile == 'true' | |
| id: login | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| # This step is used to build and push the new jetpack docker image. It is run on a self-hosted runner | |
| # because there is not an NVIDIA GPU available on the GitHub runners. This step is only run on a pull | |
| # request or a manual run. In either case the image is tagged with the date and time. It also saves a | |
| # build cache so that the next time the image is built, it has the potential to be faster. | |
| - name: Build and Push JetPack Image with Date Tag | |
| if: ${{ ( github.event_name == 'pull_request' || ( github.event_name == 'workflow_dispatch' && github.ref == 'refs/heads/development' )) && (steps.changes.outputs.dockerfile == 'true') }} | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: ".devcontainer/" | |
| file: ".devcontainer/Dockerfile_JetPack" | |
| tags: | | |
| "ghcr.io/missourimrdt/autonomy-jetpack:buildcache" | |
| "ghcr.io/missourimrdt/autonomy-jetpack:${{ needs.time-and-date.outputs.date }}" | |
| platforms: "linux/arm64" | |
| push: true | |
| cache-from: type=registry,ref=ghcr.io/missourimrdt/autonomy-jetpack:buildcache | |
| cache-to: type=registry,ref=ghcr.io/missourimrdt/autonomy-jetpack:buildcache,mode=max | |
| # This step is used to build and push the new jetpack docker image. It is run on a self-hosted runner | |
| # because there is not an NVIDIA GPU available on the GitHub runners. This step is only run on a push. In | |
| # this case the image is tagged with the date and time and the latest tag. It also saves a build cache so | |
| # that the next time the image is built, it has the potential to be faster. | |
| - name: Build and Push JetPack Image with Latest Tag | |
| if: ${{ github.event_name == 'push' && (steps.changes.outputs.dockerfile == 'true') }} | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: ".devcontainer/" | |
| file: ".devcontainer/Dockerfile_JetPack" | |
| tags: | | |
| "ghcr.io/missourimrdt/autonomy-jetpack:buildcache" | |
| "ghcr.io/missourimrdt/autonomy-jetpack:${{ needs.time-and-date.outputs.date }}" | |
| "ghcr.io/missourimrdt/autonomy-jetpack:latest" | |
| platforms: "linux/arm64" | |
| push: true | |
| cache-from: type=registry,ref=ghcr.io/missourimrdt/autonomy-jetpack:buildcache | |
| cache-to: type=registry,ref=ghcr.io/missourimrdt/autonomy-jetpack:buildcache,mode=max | |
| - name: Cleanup Action Environment | |
| if: always() | |
| run: | | |
| cd /opt | |
| rm -rf /opt/Autonomy_Software |