name: Build Cross-Compiled ROS 2 Images

permissions:
  contents: read

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

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: Checkout repository
        uses: actions/checkout@v4

      # ── Stage 1: cc-base ─────────────────────────────────────────────
      - name: Build cc-base
        run: docker compose -f cross_compile/compose.yaml build cc-base

      # ── Stage 2: cc-toolchain ─────────────────────────────────────────
      - name: Build cc-toolchain (${{ matrix.platform }})
        run: PLATFORM=${{ matrix.platform }} docker compose -f cross_compile/compose.yaml build cc-toolchain

      # ── Stage 3: vendor-packages ──────────────────────────────────────
      - name: Build vendor-packages (${{ matrix.platform }})
        run: PLATFORM=${{ matrix.platform }} docker compose -f cross_compile/compose.yaml build vendor-packages

      # ── Stage 4: ros2 ─────────────────────────────────────────────────
      - name: Build ROS 2 (${{ matrix.ros_distro }})
        run: PLATFORM=${{ matrix.platform }} ROS_DISTRO=${{ matrix.ros_distro }} docker compose -f cross_compile/compose.yaml 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