name: Build Cross-Compiled ROS 2 Images

on:
  push:
    branches: [main]
    paths-ignore:
      - "**.md"
      - ".github/ISSUE_TEMPLATE/**"
      - ".github/pull_request_template.md"
  pull_request:
    branches: [main]
    paths-ignore:
      - "**.md"
      - ".github/ISSUE_TEMPLATE/**"
      - ".github/pull_request_template.md"
  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: ghcr.io
  IMAGE_NAMESPACE: ${{ github.repository }}

jobs:
  build:
    runs-on: ubuntu-22.04
    strategy:
      matrix:
        platform: [rk3588]
        ros_distro: [rolling]
      fail-fast: false

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

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        with:
          driver-opts: |
            network=host

      - name: Log in to GitHub Container Registry
        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
        uses: docker/login-action@v3
        with:
          registry: ${{ env.REGISTRY }}
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

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

      - name: Push cc-base
        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
        run: |
          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: Build toolchain image per platform ────────────────────
      - name: Build cc-toolchain (${{ matrix.platform }})
        run: |
          PLATFORM=${{ matrix.platform }} docker compose build cc-toolchain
        env:
          BUILDKIT_INLINE_CACHE: "1"

      - name: Push cc-toolchain
        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
        run: |
          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: Build vendor packages ─────────────────────────────────
      - name: Build vendor-packages (${{ matrix.platform }})
        run: |
          PLATFORM=${{ matrix.platform }} docker compose build vendor-packages
        env:
          BUILDKIT_INLINE_CACHE: "1"

      - name: Push vendor-packages
        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
        run: |
          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: Build ROS 2 per distro ────────────────────────────────
      - name: Build ROS 2 (${{ matrix.ros_distro }})
        run: |
          PLATFORM=${{ matrix.platform }} ROS_DISTRO=${{ matrix.ros_distro }} docker compose build ros2
        env:
          BUILDKIT_INLINE_CACHE: "1"

      - name: Push ROS 2 image
        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && 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 }}: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-*" \
            --format "| \`{{.Repository}}:{{.Tag}}\` | {{.Size}} |" \
            >> $GITHUB_STEP_SUMMARY