test(state-representation): add utility tests for Cartesian/JointStat… #7
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| name: Build and Push Multi-Arch Images | |
| on: | |
| push: | |
| branches: | |
| - main | |
| jobs: | |
| check-version: | |
| name: Check if the version has been updated | |
| outputs: | |
| has_changed: ${{ steps.check.outputs.has_changed }} | |
| version: ${{ steps.versions.outputs.new_version }} | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 2 | |
| - id: versions | |
| run: | | |
| PREV_VERSION=$(git show HEAD^:VERSION) | |
| NEW_VERSION=$(git show HEAD:VERSION) | |
| echo "prev_version=${PREV_VERSION}" >> $GITHUB_OUTPUT | |
| echo "new_version=${NEW_VERSION}" >> $GITHUB_OUTPUT | |
| shell: bash | |
| - uses: aica-technology/.github/.github/actions/[email protected] | |
| id: check | |
| with: | |
| previous_version: ${{ steps.versions.outputs.prev_version }} | |
| new_version: ${{ steps.versions.outputs.new_version }} | |
| metadata: | |
| name: Get metadata | |
| needs: check-version | |
| runs-on: ubuntu-latest | |
| outputs: | |
| image_name: ${{ steps.ensure-image.outputs.image_name }} | |
| image_tags: ${{ steps.tags.outputs.image_tags }} | |
| create_tag: ${{ steps.tags.outputs.create_tag }} | |
| git_tag: ${{ steps.tags.outputs.git_tag }} | |
| steps: | |
| - uses: aica-technology/.github/.github/actions/[email protected] | |
| id: ensure-image | |
| with: | |
| image_name: aica-technology/control-libraries | |
| - run: | | |
| CREATE_TAG=false | |
| GIT_TAG="" | |
| if [ ${{ needs.check-version.outputs.has_changed }} = 'true' ]; then | |
| CREATE_TAG=true | |
| GIT_TAG="v${{ needs.check-version.outputs.version }}" | |
| IMAGE_TAGS=latest,"${GIT_TAG}",rolling | |
| else | |
| IMAGE_TAGS=rolling | |
| fi | |
| echo "Image tags: ${IMAGE_TAGS}" | |
| echo "Create tag: ${CREATE_TAG}" | |
| echo "Git tag: ${GIT_TAG}" | |
| echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT | |
| echo "create_tag=${CREATE_TAG}" >> $GITHUB_OUTPUT | |
| echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT | |
| id: tags | |
| shell: bash | |
| build: | |
| needs: [check-version, metadata] | |
| strategy: | |
| matrix: | |
| arch: [amd64, arm64] | |
| include: | |
| - image: ubuntu-latest | |
| # FIXME: using 4vcpu image because of heavy RAM usage when building pinoccio on arm64 | |
| - image: buildjet-4vcpu-ubuntu-2204-arm | |
| arch: arm64 | |
| runs-on: ${{ matrix.image }} | |
| name: Build and publish (${{ matrix.arch }}) | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: aica-technology/.github/.github/actions/[email protected] | |
| id: merge-tags | |
| with: | |
| list: ${{ needs.metadata.outputs.image_tags }} | |
| suffixes: ${{ matrix.arch }} | |
| glue_separator: "-" | |
| - uses: aica-technology/.github/.github/actions/[email protected] | |
| with: | |
| image_name: ${{ needs.metadata.outputs.image_name }} | |
| image_tags: ${{ steps.merge-tags.outputs.list }} | |
| build_flags: --build-arg VERSION=${{ needs.check-version.outputs.version }} | |
| dockerfile_path: Dockerfile | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| multi-arch: | |
| runs-on: ubuntu-latest | |
| name: Merge into a multi-arch image | |
| needs: [metadata, build] | |
| steps: | |
| - uses: aica-technology/.github/.github/actions/[email protected] | |
| with: | |
| image_name: ${{ needs.metadata.outputs.image_name }} | |
| image_tags: ${{ needs.metadata.outputs.image_tags }} | |
| archs: amd64,arm64 | |
| token: ${{ secrets.GITHUB_TOKEN }} |