main.yaml

name: humble-build

on:
  push:
    branches: [ humble ]
  pull_request:
    branches: [ humble ]
  workflow_dispatch:
    inputs:
      push_to_docker:
        description: 'Push packages to docker image?'
        required: true
        default: true
        type: boolean

env:
  ROS_DISTRO: humble

jobs:
  tii-deb-build:
    runs-on: ubuntu-latest
    steps:
      - name: Checkout rmw_fastrtps
        uses: actions/checkout@v2
        with:
          submodules: recursive
      # Run docker build
      - name: Run docker builder
        env:
          ROS: 1
          IMAGE_NAME: tii_fastdds_builder
        run: |
          set -eux
          mkdir bin
          PLATFORM=linux/amd64 ./build.sh ./bin/
      # Run docker build
      # - name: Run foonathan_memory_vendor docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: foonathan_memory_vendor
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: ""
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      # # Run docker build
      # - name: Run Fast-CDR docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: Fast-CDR
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: ""
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      # - name: Run Fast-DDS docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: Fast-DDS
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
      #       ros-${{env.ROS_DISTRO}}-fastcdr"
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      # - name: Run rosidl_typesupport_fastrtps/fastrtps_cmake_module docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: rosidl_typesupport_fastrtps/fastrtps_cmake_module
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
      #       ros-${{env.ROS_DISTRO}}-fastcdr \
      #       ros-${{env.ROS_DISTRO}}-fastrtps"
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      # - name: Run rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_cpp docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_cpp
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
      #       ros-${{env.ROS_DISTRO}}-fastcdr \
      #       ros-${{env.ROS_DISTRO}}-fastrtps \
      #       ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module"
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      # - name: Run rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_c docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_c
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
      #       ros-${{env.ROS_DISTRO}}-fastcdr \
      #       ros-${{env.ROS_DISTRO}}-fastrtps \
      #       ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
      #       ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp"
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      # - name: Run rmw_fastrtps/rmw_fastrtps_shared_cpp docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: rmw_fastrtps/rmw_fastrtps_shared_cpp
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
      #       ros-${{env.ROS_DISTRO}}-fastcdr \
      #       ros-${{env.ROS_DISTRO}}-fastrtps \
      #       ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
      #       ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp \
      #       ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-c"
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      # - name: Run rmw_fastrtps/rmw_fastrtps_dynamic_cpp docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: rmw_fastrtps/rmw_fastrtps_dynamic_cpp
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
      #       ros-${{env.ROS_DISTRO}}-fastcdr \
      #       ros-${{env.ROS_DISTRO}}-fastrtps \
      #       ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
      #       ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp \
      #       ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-c \
      #       ros-${{env.ROS_DISTRO}}-rmw-fastrtps-shared-cpp"
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
      # - name: Run rmw_fastrtps/rmw_fastrtps_cpp docker build
      #   env:
      #     ROS: 1
      #     IMAGE_NAME: tii_fastdds_builder
      #     PACKAGE_NAME: rmw_fastrtps/rmw_fastrtps_cpp
      #     ROS_DISTRO: ${{env.ROS_DISTRO}}
      #     DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
      #       ros-${{env.ROS_DISTRO}}-fastcdr \
      #       ros-${{env.ROS_DISTRO}}-fastrtps \
      #       ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
      #       ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp \
      #       ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-c \
      #       ros-${{env.ROS_DISTRO}}-rmw-fastrtps-shared-cpp"
      #   run: |
      #     set -eux
      #     source build.sh
      #     build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"

      - name: Upload build
        uses: actions/upload-artifact@v4
        with:
          name: fastdds_debs
          path: bin/*.deb
          retention-days: 14

  docker_image:
    runs-on: ubuntu-latest
    needs: tii-deb-build
    if: (github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_to_docker))
    steps:
      - name: Checkout rmw_fastrtps
        uses: actions/checkout@v4

      - name: Download builds
        uses: actions/download-artifact@v2
        with:
          name: fastdds_debs
          path: bin/

      - uses: docker/setup-buildx-action@v1

      - name: Docker meta
        id: meta
        uses: docker/metadata-action@v5
        with:
          images: ghcr.io/tiiuae/tii-fastdds-artifacts
          tags: |
            type=ref,event=branch
            type=ref,event=pr
            type=semver,pattern={{version}}
            type=sha

      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Build px4-sitl-gazebo-artifacts image and push
        uses: docker/build-push-action@v5
        with:
          context: .
          push: true
          file: ./Dockerfile.deb_packages
          tags: ${{ steps.meta.outputs.tags }}
          labels: ${{ steps.meta.outputs.labels }}