YOLO Gate Model for RoboSub 2024 #104
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| name: build-artifacts | |
| on: | |
| issue_comment: | |
| types: [created] | |
| jobs: | |
| check-comment: | |
| runs-on: ubuntu-22.04 | |
| if: ${{ github.event.issue.pull_request && github.event.comment.body == '/build-artifacts'}} | |
| outputs: | |
| sha: ${{ steps.sha.outputs.result }} | |
| steps: | |
| - name: Get PR SHA | |
| id: sha | |
| uses: actions/github-script@v6 | |
| with: | |
| result-encoding: string | |
| script: | | |
| const { owner, repo, number } = context.issue; | |
| const pr = await github.rest.pulls.get({ | |
| owner, | |
| repo, | |
| pull_number: number, | |
| }); | |
| return pr.data.head.sha | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ steps.sha.outputs.result }} | |
| core-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: check-comment | |
| strategy: | |
| matrix: | |
| arch: [arm64, amd64] | |
| fail-fast: false | |
| env: | |
| IMAGE_NAME: 'dukerobotics/robosub-ros:core-${{ matrix.arch }}' | |
| TARGETPLATFORM: 'linux/${{ matrix.arch }}' | |
| SERVICE_NAME: core | |
| BASE_IMAGE: dukerobotics/robosub-ros:base | |
| FILE_NAME: '${{ matrix.arch }}-core.tar.gz' | |
| CUDA: ${{ matrix.arch == 'arm64' }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ needs.check-comment.outputs.sha }} | |
| - name: Setup environment and build | |
| run: | | |
| ./.github/workflows/build.sh | |
| - name: Save image | |
| run: | | |
| docker save ${IMAGE_NAME} | gzip > ${FILE_NAME} | |
| - name: Create artifact from image | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: core | |
| path: ${{ env.FILE_NAME }} | |
| onboard-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: [check-comment, core-docker] | |
| strategy: | |
| matrix: | |
| arch: [arm64, amd64] | |
| fail-fast: false | |
| env: | |
| IMAGE_NAME: 'dukerobotics/robosub-ros:onboard-${{ matrix.arch }}' | |
| TARGETPLATFORM: 'linux/${{ matrix.arch }}' | |
| SERVICE_NAME: onboard | |
| BASE_IMAGE: 'dukerobotics/robosub-ros:core-${{ matrix.arch }}' | |
| CORE_FILE_NAME: '${{ matrix.arch }}-core.tar.gz' | |
| ONBOARD_FILE_NAME: '${{ matrix.arch }}-onboard.tar.gz' | |
| CUDA: ${{ matrix.arch == 'arm64' }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ needs.check-comment.outputs.sha }} | |
| - name: Get core image | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: core | |
| path: core_im | |
| - name: Load core image | |
| run: | | |
| docker load < ./core_im/${CORE_FILE_NAME} | |
| rm -rf core_im | |
| - name: Setup environment and build docker image | |
| run: ./.github/workflows/build.sh | |
| - name: Save onboard image | |
| run: | | |
| docker save ${IMAGE_NAME} | gzip > ${ONBOARD_FILE_NAME} | |
| - name: Create artifact from image | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: onboard | |
| path: ${{ env.ONBOARD_FILE_NAME }} | |
| landside-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: [check-comment, core-docker] | |
| env: | |
| IMAGE_NAME: dukerobotics/robosub-ros:landside | |
| BASE_IMAGE: dukerobotics/robosub-ros:core-amd64 | |
| SERVICE_NAME: landside | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ needs.check-comment.outputs.sha }} | |
| - name: Get core image | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: core | |
| path: core_im | |
| - name: Load core image | |
| run: | | |
| docker load < ./core_im/amd64-core.tar.gz | |
| rm -rf core_im | |
| - name: Setup environment and build docker image | |
| run: | | |
| cd docker/${SERVICE_NAME} | |
| docker build --build-arg BASE_IMAGE=${BASE_IMAGE} -t ${IMAGE_NAME} . | |
| - name: Save landside image | |
| run: | | |
| docker save ${IMAGE_NAME} | gzip > amd64-landside.tar.gz | |
| - name: Create artifact from image | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: landside | |
| path: amd64-landside.tar.gz | |
| cleanup-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: [check-comment, onboard-docker, landside-docker] | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ needs.check-comment.outputs.sha }} | |
| - name: Cleanup artifacts | |
| uses: geekyeggo/delete-artifact@v2 | |
| with: | |
| name: core |