deploy_docker.yml

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 "mrdt.autonomy@gmail.com"
          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 git@github.com: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 "mrdt.autonomy@gmail.com"
          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 git@github.com: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