docker-build-pc.yml

name: docker-build-pc

on:
  workflow_dispatch:

env:
  SDK_DIR: ${{ github.workspace }}
  GH_TOKEN: ${{ secrets.GHCR_PAT }}

jobs:
  build_pc:
    runs-on: ubuntu-22.04

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

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3

      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GHCR_PAT }}

      - name: Initial setup for the SDK repository
        run: |
          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh
          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh
          # verify
          ls -l $SDK_DIR/ros2/drivers

      - name: Set up j7ros_home folder and parse SDK_VER
        run: |
          mkdir -p $HOME/j7ros_home
          cd $HOME/j7ros_home
          makefile_path=$SDK_DIR/docker/Makefile
          if [ -f $makefile_path ]; then
            ln -snf $SDK_DIR/docker/Makefile .
          else
            echo "Error: $makefile_path does not exist"
            exit 1
          fi
          OUTPUT=$(make info)
          SDK_VER=$(echo "$OUTPUT" | grep 'SDK_VER:' | awk '{print $2}')
          echo "Parsed SDK_VER: $SDK_VER"
          echo "SDK_VER=$SDK_VER" >> $GITHUB_ENV

      - name: Set up Docker build script
        run: |
          cd $HOME/j7ros_home
          PLATFORM=pc SDK_DIR=$SDK_DIR make scripts
          # verify
          ls -l $HOME/j7ros_home
          more $HOME/j7ros_home/docker_build.sh

      - name: Build Docker image
        run: |
          cd $HOME/j7ros_home
          ./docker_build.sh

      - name: Build and install the SDK ROS nodes
        run: |
          cd $HOME/j7ros_home
          # create docker_run_commit.sh
          script_file=docker_run_commit.sh
          cp docker_run.sh $script_file
          sed -i 's/docker run -it --rm \\/docker run --platform linux\/amd64 \\/' $script_file
          sed -i '/xhost +local:$USER/d' $script_file
          sed -i '/xhost -local:$USER/d' $script_file
          echo 'CONTAINER_ID=$(docker ps -a --filter "ancestor=$DOCKER_TAG" --format "{{.ID}}" | head -n 1)' >> $script_file
          echo 'docker tag $DOCKER_TAG ${DOCKER_TAG}-org' >> $script_file
          echo 'docker commit $CONTAINER_ID ${DOCKER_TAG}' >> $script_file
          more $script_file
          # build and install the SDK ROS nodes
          ./docker_run_commit.sh colcon build \
            --base-paths /root/j7ros_home/ros_ws/src/robotics_sdk/ros2 \
            --cmake-force-configure \
            --packages-skip ti_external ti_vision_cnn ti_sde ti_estop ti_vl ti_objdet_range ti_ros_gst_plugins \
            --install-base /opt/ros/robotics_sdk_install
          docker images

      - name: Add a Docker label
        run: |
          docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz
          docker images
          if [ "$(docker images -q $docker_tag 2> /dev/null)" == "" ]; then
            echo "Docker image $docker_tag does not exist."
            exit 1
          else
            echo "FROM --platform=linux/amd64 $docker_tag" | \
              docker build --label org.opencontainers.image.source=https://github.com/${{ github.repository }} -t $docker_tag -
            docker inspect --format='{{json .Config.Labels}}' $docker_tag
          fi

      - name: Push Docker image
        run: |
          docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz
          remote_docker_tag=ghcr.io/${{ github.repository_owner }}/$docker_tag
          remote_docker_tag=${remote_docker_tag,,}
          docker tag $docker_tag $remote_docker_tag
          for i in 1 2 3; do
            if docker push $remote_docker_tag; then
              break
            fi
            echo "Retry $i pushing image..."
            sleep 10
          done