build_base_images.yml

name: Build Monorepo Base Images

on:
  workflow_dispatch:
    inputs:
      pull_image:
        description: "Pull Images from GitHub Registry"
        type: boolean
        default: true
      push_image:
        description: "Push Images to GitHub Registry"
        type: boolean
        default: true
  pull_request:
    branches:
      - main

jobs:
  setup-environment:
    name: Setup environment
    runs-on: ubuntu-latest

    outputs:
      registry: ${{ steps.docker-environment.outputs.registry }}
      repository: ${{ steps.docker-environment.outputs.repository }}

    steps:
      - name: Checkout Repository
        uses: actions/checkout@v3

      - name: Generate Docker Environment
        id: docker-environment
        uses: "./.github/templates/docker_context"

  build:
    name: Build Image and Run Initial Unit Testing Suite
    runs-on: ubuntu-latest
    needs: setup-environment

    env:
      DOCKER_REGISTRY: ${{ needs.setup.outputs.registry }}
      DOCKER_REPOSITORY: ${{ needs.setup.outputs.repository }}

    strategy:
      fail-fast: false
      matrix:
        include:
          - tag: humble-ubuntu22.04
            external_image: ros:humble-ros-base
          - tag: cuda12.0.1-humble-ubuntu22.04
            dockerfile: cuda_ros.Dockerfile
            params:
              UBUNTU_DISTRO: ubuntu22.04
              CUDA_VERSION: 12.0.1
              ROS_DISTRO: humble

    steps:
      # Initial workflow setup
      - name: Checkout repository
        uses: actions/checkout@v3

      - name: Construct Registry URL
        id: construct-registry-url
        run: |
          echo "url=${{ env.DOCKER_REGISTRY }}/${{ env.DOCKER_REPOSITORY }}/base:${{ matrix.tag }}" \
          >> $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: Build Generic Image
        uses: docker/build-push-action@v5
        with:
          context: .
          file: docker/base/${{ matrix.dockerfile }}
          push: true
          tags: |
            ${{ steps.construct-registry-url.outputs.url }}_generic
          cache-from: |
            ${{ steps.construct-registry-url.outputs.url }}_generic
          cache-to: type=inline
          builder: ${{ steps.buildx.outputs.name }}
          target: devel 
          build-args: |  
            UBUNTU_DISTRO=${{ matrix.params.UBUNTU_DISTRO }}
            CUDA_VERSION=${{ matrix.params.CUDA_VERSION }}
            ROS_DISTRO=${{ matrix.params.ROS_DISTRO }}

      - name: Prepare Generic Image as Monorepo Base Image
        uses: docker/build-push-action@v5
        with:
          context: .
          file: docker/base/wato_base.Dockerfile
          push: true
          tags: |
            ${{ steps.construct-registry-url.outputs.url }}
          cache-from: |
            ${{ steps.construct-registry-url.outputs.url }}
          cache-to: type=inline
          builder: ${{ steps.buildx.outputs.name }}
          target: wato_base
          build-args: | 
            GENERIC_BASE=${{ steps.construct-registry-url.outputs.url }}_generic