239 lines
11 KiB
YAML
239 lines
11 KiB
YAML
name: Build Cross-Compiled ROS 2 Images
|
|
|
|
permissions:
|
|
contents: read
|
|
packages: write
|
|
|
|
on:
|
|
workflow_dispatch:
|
|
inputs:
|
|
platform:
|
|
description: "Target platform"
|
|
required: true
|
|
type: choice
|
|
options: [rk3588]
|
|
default: rk3588
|
|
ros_distro:
|
|
description: "ROS 2 distribution"
|
|
required: true
|
|
type: choice
|
|
options: [rolling, jazzy, lyrical]
|
|
default: lyrical
|
|
push_images:
|
|
description: "Push built images to registry"
|
|
required: false
|
|
type: boolean
|
|
default: false
|
|
|
|
env:
|
|
REGISTRY: 192.168.1.60:3000
|
|
|
|
jobs:
|
|
build:
|
|
runs-on: ubuntu-22.04
|
|
strategy:
|
|
matrix:
|
|
platform: ${{ fromJSON(format('["{0}"]', inputs.platform)) }}
|
|
ros_distro: ${{ fromJSON(format('["{0}"]', inputs.ros_distro)) }}
|
|
fail-fast: false
|
|
|
|
steps:
|
|
- name: Set image namespace and tag
|
|
run: |
|
|
echo "IMAGE_NAMESPACE=${GITHUB_REPOSITORY,,}" >> $GITHUB_ENV
|
|
echo "IMAGE_TAG=$(date +%Y%m%d)" >> $GITHUB_ENV
|
|
|
|
- name: Checkout repository
|
|
uses: actions/checkout@v4
|
|
|
|
- name: Set up Docker Buildx
|
|
uses: docker/setup-buildx-action@v3
|
|
with:
|
|
driver: docker
|
|
|
|
- name: Log in to GitHub Container Registry
|
|
uses: docker/login-action@v3
|
|
with:
|
|
registry: ${{ env.REGISTRY }}
|
|
username: ${{ github.actor }}
|
|
password: ${{ secrets.PACKAGE_TOKEN }}
|
|
|
|
# ── Compute cache keys ────────────────────────────────────────────
|
|
# Each key = hash(own files) + upstream key, so any upstream change
|
|
# transitively invalidates all downstream stages.
|
|
- name: Compute cache keys
|
|
id: keys
|
|
run: |
|
|
CC_BASE_KEY=$(sha256sum cross_compile/cc_base.Dockerfile | cut -d' ' -f1)
|
|
|
|
CC_TOOLCHAIN_FILES=$(find cross_compile/${{ matrix.platform }} -type f | sort | xargs sha256sum | sha256sum | cut -d' ' -f1)
|
|
CC_TOOLCHAIN_KEY=$(echo "$CC_TOOLCHAIN_FILES $CC_BASE_KEY" | sha256sum | cut -d' ' -f1)
|
|
|
|
VENDOR_FILES=$(find cross_compile/vendor_packages -type f | sort | xargs sha256sum | sha256sum | cut -d' ' -f1)
|
|
VENDOR_KEY=$(echo "$VENDOR_FILES $CC_TOOLCHAIN_KEY" | sha256sum | cut -d' ' -f1)
|
|
|
|
ROS2_FILES=$(find cross_compile/ros2/${{ matrix.ros_distro }} cross_compile/ros2/ros_cpp -type f | sort | xargs sha256sum | sha256sum | cut -d' ' -f1)
|
|
ROS2_KEY=$(echo "$ROS2_FILES $VENDOR_KEY" | sha256sum | cut -d' ' -f1)
|
|
|
|
echo "cc_base=$CC_BASE_KEY" >> $GITHUB_OUTPUT
|
|
echo "cc_toolchain=$CC_TOOLCHAIN_KEY" >> $GITHUB_OUTPUT
|
|
echo "vendor=$VENDOR_KEY" >> $GITHUB_OUTPUT
|
|
echo "ros2=$ROS2_KEY" >> $GITHUB_OUTPUT
|
|
|
|
# ── Stage 1: cc-base ─────────────────────────────────────────────
|
|
- name: Check cc-base cache
|
|
id: cc-base
|
|
run: |
|
|
EXPECTED="${{ steps.keys.outputs.cc_base }}"
|
|
if docker pull ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest 2>/dev/null; then
|
|
docker tag ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest cc-base:latest
|
|
CACHED=$(docker inspect cc-base:latest --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
|
|
[ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
|
|
else
|
|
echo "hit=false" >> $GITHUB_OUTPUT
|
|
fi
|
|
|
|
- name: Build cc-base
|
|
if: steps.cc-base.outputs.hit != 'true'
|
|
run: |
|
|
docker compose -f cross_compile/compose.yaml build cc-base
|
|
TMPDIR=$(mktemp -d)
|
|
docker build \
|
|
--label "cache.key=${{ steps.keys.outputs.cc_base }}" \
|
|
-t cc-base:latest -f - "$TMPDIR" << 'EOF'
|
|
FROM cc-base:latest
|
|
EOF
|
|
rm -rf "$TMPDIR"
|
|
|
|
- name: Push cc-base
|
|
if: inputs.push_images
|
|
run: |
|
|
docker tag cc-base:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:${{ env.IMAGE_TAG }}
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:${{ env.IMAGE_TAG }}
|
|
docker tag cc-base:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest
|
|
|
|
# ── Stage 2: cc-toolchain ─────────────────────────────────────────
|
|
- name: Check cc-toolchain cache
|
|
id: cc-toolchain
|
|
run: |
|
|
EXPECTED="${{ steps.keys.outputs.cc_toolchain }}"
|
|
REMOTE="${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest"
|
|
LOCAL="${{ matrix.platform }}/cc-toolchain:latest"
|
|
if docker pull "$REMOTE" 2>/dev/null; then
|
|
docker tag "$REMOTE" "$LOCAL"
|
|
CACHED=$(docker inspect "$LOCAL" --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
|
|
[ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
|
|
else
|
|
echo "hit=false" >> $GITHUB_OUTPUT
|
|
fi
|
|
|
|
- name: Build cc-toolchain (${{ matrix.platform }})
|
|
if: steps.cc-toolchain.outputs.hit != 'true'
|
|
run: |
|
|
PLATFORM=${{ matrix.platform }} docker compose -f cross_compile/compose.yaml build cc-toolchain
|
|
TMPDIR=$(mktemp -d)
|
|
docker build \
|
|
--label "cache.key=${{ steps.keys.outputs.cc_toolchain }}" \
|
|
-t ${{ matrix.platform }}/cc-toolchain:latest -f - "$TMPDIR" << 'EOF'
|
|
FROM ${{ matrix.platform }}/cc-toolchain:latest
|
|
EOF
|
|
rm -rf "$TMPDIR"
|
|
|
|
- name: Push cc-toolchain
|
|
if: inputs.push_images
|
|
run: |
|
|
docker tag ${{ matrix.platform }}/cc-toolchain:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:${{ env.IMAGE_TAG }}
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:${{ env.IMAGE_TAG }}
|
|
docker tag ${{ matrix.platform }}/cc-toolchain:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest
|
|
|
|
# ── Stage 3: vendor-packages ──────────────────────────────────────
|
|
- name: Check vendor-packages cache
|
|
id: vendor
|
|
run: |
|
|
EXPECTED="${{ steps.keys.outputs.vendor }}"
|
|
REMOTE="${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest"
|
|
LOCAL="${{ matrix.platform }}/cc-vendor-packages:latest"
|
|
if docker pull "$REMOTE" 2>/dev/null; then
|
|
docker tag "$REMOTE" "$LOCAL"
|
|
CACHED=$(docker inspect "$LOCAL" --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
|
|
[ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
|
|
else
|
|
echo "hit=false" >> $GITHUB_OUTPUT
|
|
fi
|
|
|
|
- name: Build vendor-packages (${{ matrix.platform }})
|
|
if: steps.vendor.outputs.hit != 'true'
|
|
run: |
|
|
PLATFORM=${{ matrix.platform }} docker compose -f cross_compile/compose.yaml build vendor-packages
|
|
TMPDIR=$(mktemp -d)
|
|
docker build \
|
|
--label "cache.key=${{ steps.keys.outputs.vendor }}" \
|
|
-t ${{ matrix.platform }}/cc-vendor-packages:latest -f - "$TMPDIR" << 'EOF'
|
|
FROM ${{ matrix.platform }}/cc-vendor-packages:latest
|
|
EOF
|
|
rm -rf "$TMPDIR"
|
|
|
|
- name: Push vendor-packages
|
|
if: inputs.push_images
|
|
run: |
|
|
docker tag ${{ matrix.platform }}/cc-vendor-packages:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:${{ env.IMAGE_TAG }}
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:${{ env.IMAGE_TAG }}
|
|
docker tag ${{ matrix.platform }}/cc-vendor-packages:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest
|
|
|
|
# ── Stage 4: ros2 ─────────────────────────────────────────────────
|
|
- name: Check ros2 cache
|
|
id: ros2
|
|
run: |
|
|
EXPECTED="${{ steps.keys.outputs.ros2 }}"
|
|
REMOTE="${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest"
|
|
LOCAL="${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest"
|
|
if docker pull "$REMOTE" 2>/dev/null; then
|
|
docker tag "$REMOTE" "$LOCAL"
|
|
CACHED=$(docker inspect "$LOCAL" --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
|
|
[ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
|
|
else
|
|
echo "hit=false" >> $GITHUB_OUTPUT
|
|
fi
|
|
|
|
- name: Build ROS 2 (${{ matrix.ros_distro }})
|
|
if: steps.ros2.outputs.hit != 'true'
|
|
run: |
|
|
PLATFORM=${{ matrix.platform }} ROS_DISTRO=${{ matrix.ros_distro }} docker compose -f cross_compile/compose.yaml build ros2
|
|
TMPDIR=$(mktemp -d)
|
|
docker build \
|
|
--label "cache.key=${{ steps.keys.outputs.ros2 }}" \
|
|
-t ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest -f - "$TMPDIR" << 'EOF'
|
|
FROM ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
|
|
EOF
|
|
rm -rf "$TMPDIR"
|
|
|
|
- name: Push ROS 2 image
|
|
if: inputs.push_images
|
|
run: |
|
|
docker tag ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:${{ env.IMAGE_TAG }}
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:${{ env.IMAGE_TAG }}
|
|
docker tag ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest \
|
|
${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
|
|
docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
|
|
|
|
# ── Summary ───────────────────────────────────────────────────────
|
|
- name: Image summary
|
|
if: always()
|
|
run: |
|
|
echo "### Built Images :rocket:" >> $GITHUB_STEP_SUMMARY
|
|
docker images \
|
|
--filter "reference=cc-*" \
|
|
--filter "reference=*/cc-*" \
|
|
--format "| \`{{.Repository}}:{{.Tag}}\` | {{.Size}} |" \
|
|
>> $GITHUB_STEP_SUMMARY
|