name: Build Cross-Compiled ROS 2 Images

permissions:
  contents: read

on:
  workflow_dispatch:
    inputs:
      platform:
        description: "Target platform"
        required: true
        type: choice
        options: [rk3588, rk3576]
        default: rk3576
      ros_distro:
        description: "ROS 2 distribution"
        required: true
        type: choice
        options: [rolling, jazzy, lyrical]
        default: lyrical

jobs:
  build:
    runs-on: ubuntu-22.04
    env:
      PLATFORM: ${{ inputs.platform }}
      ROS_DISTRO: ${{ inputs.ros_distro }}

    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Debug inputs
        run: |
          echo "PLATFORM=$PLATFORM"
          echo "ROS_DISTRO=$ROS_DISTRO"
          NPROC=$(nproc)
          BUILD_JOBS=$(( NPROC / 2 > 0 ? NPROC / 2 : 1 ))
          echo "BUILD_JOBS=$BUILD_JOBS" >> $GITHUB_ENV
          
      # ── Stage 0: Download Buildroot SDK ────────────────────────────────
      - name: Download Buildroot SDK
        env:
          GITEA_TOKEN: ${{ secrets.ERIC_TOKEN }}
        run: |
          echo "token length: ${#GITEA_TOKEN}"
          cd cross_compile/${PLATFORM}
          SDK_URL="http://gitea:3000/api/packages/xixing-tech/generic/${PLATFORM}-buildroot-sdk/1.0.0/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz"
          curl --fail -u "EricXZ:${GITEA_TOKEN}" -L -OJ "$SDK_URL"
          ls -lh
          # 或者更清晰的层级展示
          find . -maxdepth 2

      # ── Stage 1: cc-base ─────────────────────────────────────────────
      - name: Build cc-base
        run: |
          cd cross_compile
          docker compose build cc-base

      # ── Stage 2: cc-toolchain ─────────────────────────────────────────
      - name: Build cc-toolchain
        run: |
          cd cross_compile
          docker compose build cc-toolchain

      # ── Stage 3: vendor-packages ──────────────────────────────────────
      - name: Build vendor-packages
        run: |
          cd cross_compile
          docker compose build vendor-packages

      # ── Stage 4: ros2 ─────────────────────────────────────────────────
      - name: Build ROS 2
        run: |
          cd cross_compile
          docker compose build ros2

      # ── 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

      # ── Stage 5: push to Gitea container registry ──────────────────
      - name: Log in to Gitea Container Registry
        env:
          GITEA_TOKEN: ${{ secrets.ERIC_TOKEN }}
        run: |
          echo "${GITEA_TOKEN}" | docker login localhost:3000 -u EricXZ --password-stdin

      - name: Tag image for registry
        run: |
          docker tag rk3576/cc-ros-lyrical:latest localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-latest
          # 建议同时打一个带 commit sha 的版本tag,方便追溯具体是哪次构建产物
          docker tag rk3576/cc-ros-lyrical:latest localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-${GITHUB_SHA::8}

      - name: Push image to Gitea registry
        run: |
          docker push localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-latest
          docker push localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-${GITHUB_SHA::8}