main.yml

name: CI

on: [push, pull_request, workflow_dispatch]

env:
  REGISTRY: ghcr.io

jobs:
  linting_python_black:
    name: Black Linting
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: psf/black@stable
        with:
          options: --check --diff --color -l 120

  linting_shellcheck:
    name: ShellCheck
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Shellcheck
        run: |
          shopt -s globstar
          shellcheck --version
          shellcheck **/*.bash **/*.sh

  docker_generation_tue_env:
    name: Docker Generation tue-env
    runs-on: ubuntu-latest
    needs: [linting_python_black, linting_shellcheck]
    strategy:
      fail-fast: false
      matrix:
        include:
          - ros-distro: noetic
            ros-version: 1
            platform: "amd64"
          - ros-distro: galactic
            ros-version: 2
            platform: "amd64"
          - ros-distro: humble
            ros-version: 2
            platform: "amd64"
            base-image: "ubuntu:22.04"
    outputs:
      key: ${{ steps.artifacts.outputs.key }}
      tag: ${{ steps.script.outputs.tag }}
    steps:
      - uses: actions/checkout@v4
      - name: Login to Docker registry
        uses: docker/login-action@v2
        with:
          registry: ${{ env.REGISTRY }}
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      # Comment out when generating arm64
      #- name: Install QEMU
      #  run: |
      #    sudo apt update -qq
      #    sudo apt install -qq -y qemu qemu-user-static
      - name: Docker info
        run: docker info
      - name: Script
        id: script
        run: |
          GITHUB_REF=${GITHUB_REF#refs/heads/}
          GITHUB_REF=${GITHUB_REF#refs/tags/}
          BRANCH=${GITHUB_BASE_REF:-${GITHUB_REF}}
          PULLREQUEST=${{ github.event.number }}
          PULLREQUEST=${PULLREQUEST:-false}
          DEFAULT_BRANCH=${{ github.event.repository.default_branch }}
          if [[ "$BRANCH" == "$DEFAULT_BRANCH" ]]
          then
              IMAGE_TAG="latest"
          else
              IMAGE_TAG="$(echo "${BRANCH}" | tr '[:upper:]' '[:lower:]' | sed -e 's:/:_:g')"
          fi
          IMAGE_FLAVOR=${{ matrix.flavor }}
          IMAGE_FLAVOR=${IMAGE_FLAVOR:+"-${IMAGE_FLAVOR}"}
          TARGET_IMAGE="${{ env.REGISTRY }}/tue-robotics/tue-env-ros-${{ matrix.ros-distro }}${IMAGE_FLAVOR}:${IMAGE_TAG}-${{ matrix.platform }}"
          SSH_KEY="${{ secrets.SSH_DEPLOY_KEY }}"
          SSH_KNOWN_HOSTS="github.com"
          SSH_ARG=()
          if [[ -n "${SSH_KEY}" ]]
          then
            SSH_KEY_PATH="${HOME}/.ssh/ci_ssh_key"
            mkdir -p "${HOME}"/.ssh
            echo "${SSH_KEY}" > "${SSH_KEY_PATH}"
            chmod 600 "${SSH_KEY_PATH}"
            eval $(ssh-agent -s)
            SSH_ARG+=("--ssh" "--ssh-key=${SSH_KEY_PATH}")
          fi
          if [[ -n "${SSH_KNOWN_HOSTS}" ]]
          then
            echo -e "\e[35m\e[1mmkdir -p ${HOME}/.ssh\e[0m"
            mkdir -p ${HOME}/.ssh
            for host in ${SSH_KNOWN_HOSTS}
            do
              echo -e "\e[35m\e[1mssh-keyscan -t rsa -H \"${host}\" 2>&1 | tee -a ${HOME}/.ssh/known_hosts\e[0m"
              ssh-keyscan -t rsa -H "${host}" 2>&1 | tee -a "${HOME}"/.ssh/known_hosts
            done
          fi
          ci/build-docker-image.sh \
            --image="${TARGET_IMAGE}" \
            --branch="${BRANCH}" \
            --commit="${GITHUB_SHA}" \
            --push_image="true" \
            --pull_request="${PULLREQUEST}" \
            --ros_version="${{ matrix.ros-version }}" \
            --ros_distro="${{ matrix.ros-distro }}" \
            --base_image="${{ matrix.base-image }}" \
            --docker_file="dockerfiles/tue-env.Dockerfile" \
            --oauth2_token="${{ secrets.OAUTH2_TOKEN }}" \
            --platforms="${{ matrix.platform }}" \
            "${SSH_ARG[@]}"
          echo -e "\e[35m\e[1mimage=${TARGET_IMAGE} >> \$GITHUB_OUTPUT\e[0m"
          echo "image=${TARGET_IMAGE}" >> $GITHUB_OUTPUT
          echo -e "\e[35m\e[1mtag=${IMAGE_TAG} >> \$GITHUB_OUTPUT\e[0m"
          echo "tag=${IMAGE_TAG}" >> $GITHUB_OUTPUT
      - name: Generate artifacts
        id: artifacts
        if: github.event_name != 'pull_request'
        run: |
          MATRIX_OUTPUT_KEY=image
          echo "${{ steps.script.outputs.image }}" > "${MATRIX_OUTPUT_KEY}"
          sha256sum "${MATRIX_OUTPUT_KEY}" | cut -d " " -f 1 | xargs -I{} echo "artifact={}" >> $GITHUB_OUTPUT
          echo -e "\e[35m\e[1mkey=${MATRIX_OUTPUT_KEY} >> \$GITHUB_OUTPUT\e[0m"
          echo "key=${MATRIX_OUTPUT_KEY}" >> $GITHUB_OUTPUT
      - name: Write image name
        if: github.event_name != 'pull_request'
        uses: actions/upload-artifact@v3
        with:
          name: ${{ steps.artifacts.outputs.artifact }}
          path: ${{ steps.artifacts.outputs.key }}
          retention-days: 1

  docker_manifest_generation_tue_env:
    name: Docker Manifest Generation tue-env
    runs-on: ubuntu-latest
    needs: [docker_generation_tue_env]
    if: github.event_name != 'pull_request'
    steps:
      - uses: actions/checkout@v4
      - name: Login to Docker registry
        uses: docker/login-action@v2
        with:
          registry: ${{ env.REGISTRY }}
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - uses: actions/download-artifact@v3
      - name: Read matrix output
        id: read
        run: |
          result="$(find . -name ${{ needs.docker_generation_tue_env.outputs.key }} -exec cat {} \; | jq --slurp --raw-input 'split("\n")[:-1] | .[] | split(":") | {(.[0]) : [(.[1])]}' | jq -cs '[.[] | to_entries] | flatten | reduce .[] as $dot ({}; .[$dot.key] += $dot.value) | { ${{ needs.docker_generation_tue_env.outputs.key }} : . }' )"
          echo -e "\e[35m\e[1mresult=${result} >> \$GITHUB_OUTPUT\e[0m"
          echo "result=${result}" >> $GITHUB_OUTPUT
      - name: Generate new manifest files
        run: |
          ci/docker-manifest-generator.sh \
            --images-json='${{ toJSON(steps.read.outputs.result) }}' \
            --tag="${{ needs.docker_generation_tue_env.outputs.tag }}"