perception: ROS2 Node to convert from 2D to 3D detections #609
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| name: Build and Test Monorepo | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| jobs: | |
| setup-environment: | |
| name: Setup Environment | |
| runs-on: ubuntu-latest | |
| outputs: | |
| docker_matrix: ${{ steps.docker-environment.outputs.docker_matrix }} | |
| registry: ${{ steps.docker-environment.outputs.registry }} | |
| repository: ${{ steps.docker-environment.outputs.repository }} | |
| source_branch: ${{ steps.github-environment.outputs.source_branch }} | |
| target_branch: ${{ steps.github-environment.outputs.target_branch }} | |
| steps: | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| - name: Get Module Changes | |
| id: get-module-changes | |
| uses: "./.github/templates/check_src_changes" | |
| - name: Setup Watod Environment | |
| run: | | |
| MODULES_DIR="$GITHUB_WORKSPACE/modules" | |
| . ./watod_scripts/watod-setup-env.sh | |
| shell: bash | |
| - name: Generate Docker Environment | |
| id: docker-environment | |
| uses: "./.github/templates/docker_context" | |
| with: | |
| modified_modules: ${{ steps.get-module-changes.outputs.modified_modules }} | |
| - name: Generate GitHub Environment | |
| id: github-environment | |
| uses: "./.github/templates/github_context" | |
| build-and-unittest: | |
| name: Build/Test | |
| runs-on: ubuntu-latest | |
| needs: setup-environment | |
| env: | |
| DOCKER_REGISTRY: ${{ needs.setup-environment.outputs.registry }} | |
| DOCKER_REPOSITORY: ${{ needs.setup-environment.outputs.repository }} | |
| SOURCE_BRANCH: ${{ needs.setup-environment.outputs.source_branch }} | |
| TARGET_BRANCH: ${{ needs.setup-environment.outputs.target_branch }} | |
| strategy: | |
| fail-fast: false | |
| matrix: ${{ fromJSON(needs.setup-environment.outputs.docker_matrix) }} | |
| concurrency: | |
| group: ${{ matrix.service }}-${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Construct Registry URL | |
| id: construct-registry-url | |
| run: | | |
| echo "url=${{ env.DOCKER_REGISTRY }}/${{ env.DOCKER_REPOSITORY }}/${{ matrix.module }}/${{ matrix.service }}" \ | |
| >> $GITHUB_OUTPUT | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| id: buildx | |
| - name: Docker Login | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ${{ env.DOCKER_REGISTRY }} | |
| username: ${{ secrets.GHCR_USER }} | |
| password: ${{ secrets.GHCR_PWD }} | |
| - name: Prepare Image Dependencies | |
| if: ${{ matrix.module != 'infrastructure' }} | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: . | |
| file: docker/${{ matrix.module }}/${{ matrix.service }}/${{ matrix.service }}.Dockerfile | |
| push: true | |
| tags: | | |
| ${{ steps.construct-registry-url.outputs.url }}:source_${{ env.SOURCE_BRANCH }} | |
| cache-from: | | |
| ${{ steps.construct-registry-url.outputs.url }}:source_${{ env.SOURCE_BRANCH }} | |
| ${{ steps.construct-registry-url.outputs.url }}:source_${{ env.TARGET_BRANCH }} | |
| cache-to: type=inline | |
| builder: ${{ steps.buildx.outputs.name }} | |
| target: dependencies | |
| - name: Build Image from Source | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: . | |
| file: docker/${{ matrix.module }}/${{ matrix.service }}/${{ matrix.service }}.Dockerfile | |
| push: true | |
| tags: | | |
| ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.SOURCE_BRANCH }} | |
| cache-from: | | |
| ${{ steps.construct-registry-url.outputs.url }}:source_${{ env.SOURCE_BRANCH }} | |
| ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.SOURCE_BRANCH }} | |
| ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.TARGET_BRANCH }} | |
| cache-to: type=inline | |
| builder: ${{ steps.buildx.outputs.name }} | |
| target: build | |
| - name: Security Sanitation for Deployment | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: . | |
| file: docker/${{ matrix.module }}/${{ matrix.service }}/${{ matrix.service }}.Dockerfile | |
| push: true | |
| tags: | | |
| ${{ steps.construct-registry-url.outputs.url }}:${{ env.SOURCE_BRANCH }} | |
| cache-from: | | |
| ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.SOURCE_BRANCH }} | |
| ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.TARGET_BRANCH }} | |
| builder: ${{ steps.buildx.outputs.name }} | |
| target: deploy | |
| - name: Run testing suite | |
| uses: "./.github/templates/test" | |
| env: | |
| DOCKER_BUILDKIT: 1 | |
| COMPOSE_DOCKER_CLI_BUILD: 1 | |
| BUILDKIT_INLINE_CACHE: 1 | |
| with: | |
| image: ${{ steps.construct-registry-url.outputs.url }} | |
| tag: build_${{ env.SOURCE_BRANCH }} | |
| confirm-build-and-unittest-complete: | |
| name: Confirm Build and Unit Tests Completed | |
| needs: build-and-unittest | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Ending | |
| run: | | |
| echo "::notice:: All builds and unit tests completed!" |