build-artifacts.yml

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