main.yml

name: CI

# Controls when the action will run.
on:
  # Triggers the workflow on push or pull request events but only for the main branch
  push:
    branches: [ main ]
    tags:
      - v*
  pull_request:
    branches: [ main ]


  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

env:
  IMAGE_NAME_BASE: seerep_base
  IMAGE_NAME_SERVER: seerep_server

# A workflow run is made up of one or more jobs that can run sequentially or in parallel
jobs:
  create-ids:
    runs-on: ubuntu-20.04
    outputs:
      base_id: ${{ steps.tagsBase.outputs.base_id }}
      server_id: ${{ steps.tagsServer.outputs.server_id }}
      version: ${{ steps.tagsBase.outputs.version }}

    steps:
      -
        id: tagsBase
        name: Generate tags base
        run: |
          IMAGE_ID=ghcr.io/${{ github.repository_owner }}/$IMAGE_NAME_BASE

          # Change all uppercase to lowercase
          IMAGE_ID=$(echo $IMAGE_ID | tr '[A-Z]' '[a-z]')
          # Strip git ref prefix from version
          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
          # Strip "v" prefix from tag name
          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
          # Use Docker `latest` tag convention
          [[ "${{ github.ref }}" != "refs/tags/"* ]] && VERSION=latest
          echo "base_id=$IMAGE_ID" >> $GITHUB_OUTPUT
          echo "version=$VERSION" >> $GITHUB_OUTPUT
      -
        id: tagsServer
        name: Generate tags server
        run: |
          IMAGE_ID=ghcr.io/${{ github.repository_owner }}/$IMAGE_NAME_SERVER

          # Change all uppercase to lowercase
          IMAGE_ID=$(echo $IMAGE_ID | tr '[A-Z]' '[a-z]')
          # Strip "v" prefix from tag name
          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
          # save to output
          echo "server_id=$IMAGE_ID" >> $GITHUB_OUTPUT

  # builds the docker image if the corresponding files changed
  build-docker:
    needs: create-ids
    # run on ubuntu
    runs-on: ubuntu-20.04
    permissions:
      packages: write

    # Steps represent a sequence of tasks that will be executed as part of the job
    steps:
      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
      - uses: actions/checkout@v4
        with:
          fetch-depth: 2
      # check if files have changed
      - name: Get changed files
        id: changed-files-specific-docker-base
        uses: tj-actions/changed-files@v42
        with:
          files: |
            docker/base/Dockerfile
            docker/base/requirements.dev.txt
            docker/base/requirements.docs.txt
      -
        name: Set up Docker Buildx
        if: github.ref_type == 'tag' || steps.changed-files-specific-docker-base.outputs.any_changed == 'true'
        uses: docker/setup-buildx-action@v3
      -
        name: Login to Container Registry
        if: github.ref_type == 'tag' || steps.changed-files-specific-docker-base.outputs.any_changed == 'true'
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      -
        name: Build and push base image
        if: github.ref_type == 'tag' || steps.changed-files-specific-docker-base.outputs.any_changed == 'true'
        uses: docker/build-push-action@v5
        with:
          file: Dockerfile
          context: "{{defaultContext}}:docker/base"
          push: ${{ GitHub.event_name != 'pull_request'}}
          tags: ${{ needs.create-ids.outputs.base_id }}:${{ needs.create-ids.outputs.version }}
          cache-from: type=registry,ref=${{ needs.create-ids.outputs.base_id }}:${{ needs.create-ids.outputs.version }}
          cache-to: type=inline

  build-code:
    needs: [build-docker, create-ids]
    runs-on: ubuntu-20.04
    container:
      image: ${{ needs.create-ids.outputs.base_id }}:${{ needs.create-ids.outputs.version }}
      options: --user root

    steps:
      - uses: actions/checkout@v4
        with:
          path: src
          fetch-depth: 0

      - name: Build ROS workspace
        run: |
          source /opt/ros/noetic/setup.bash
          catkin build --workspace $GITHUB_WORKSPACE/
        shell: bash

      - name: Run pre-commit tests
        run: |
          source /opt/ros/noetic/setup.bash
          source $GITHUB_WORKSPACE/devel/setup.bash
          cd $GITHUB_WORKSPACE/src; pre-commit run -a
        shell: bash

      - name: Build pypi packages
        run: |
          cd $GITHUB_WORKSPACE/src
          python3 -m build --wheel

      - name: Publish packages to pypi
        if: github.ref_type == 'tag'
        env:
          TWINE_USERNAME: "__token__"
          TWINE_PASSWORD: ${{ secrets.PYPI_TOKEN }}
        run: |
          twine upload $GITHUB_WORKSPACE/src/dist/*

  build-docker-deployment:
    needs: [build-code, create-ids]
    # run on ubuntu
    runs-on: ubuntu-20.04
    permissions:
      packages: write
    if: ${{ GitHub.event_name != 'pull_request'}}

    steps:
      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
      -
        name: Checkout
        uses: actions/checkout@v4
      -
        name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      -
        name: Login to Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      -
        name: Build and push server image
        uses: docker/build-push-action@v5
        with:
          file: docker/server/Dockerfile
          push: ${{ GitHub.event_name != 'pull_request'}}
          tags: ${{ needs.create-ids.outputs.server_id }}:${{ needs.create-ids.outputs.version }}
          cache-from: type=registry,ref=${{ needs.create-ids.outputs.server_id }}:${{ needs.create-ids.outputs.version }}
          cache-to: type=inline
          build-args: |
            IMAGEBASE=${{ needs.create-ids.outputs.base_id }}
            IMAGEBASETAG=${{ needs.create-ids.outputs.version }}