docker.yaml

name: docker

on:
  schedule:
    # 6 AM UTC every Sunday
    - cron: "0 6 * * 6"
  workflow_dispatch:
  push:
    branches:
      - master

concurrency: # cancel any previous workflow(s) from the same PR or branch/tag
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

jobs:
  release:
    strategy:
      fail-fast: false
      matrix:
        ROS_DISTRO: [noetic]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      IMAGE: moveit/moveit:${{ matrix.ROS_DISTRO }}-${{ github.job }}

    steps:
      - uses: rhaschke/docker-run-action@v5
        name: Check for apt updates
        continue-on-error: true
        id: apt
        with:
          image: ${{ env.IMAGE }}
          run: |
            apt-get update
            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
      - name: Login to Container Registry
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Build and Push
        uses: docker/build-push-action@v5
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
        with:
          file: .docker/${{ github.job }}/Dockerfile
          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
          push: true
          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
          cache-from: type=registry,ref=${{ env.IMAGE }}
          cache-to: type=inline
          tags: ${{ env.IMAGE }}

  ci:
    strategy:
      fail-fast: false
      matrix:
        IMAGE: [noetic, master]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      IMAGE: moveit/moveit:${{ matrix.IMAGE }}-${{ github.job }}
      ROS_DISTRO: ${{ matrix.IMAGE == 'master' && 'melodic' || 'noetic' }}

    steps:
      - uses: rhaschke/docker-run-action@v5
        name: Check for apt updates
        continue-on-error: true
        id: apt
        with:
          image: ${{ env.IMAGE }}
          run: |
            apt-get update
            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
      - name: Login to Container Registry
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Build and Push
        uses: docker/build-push-action@v5
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
        with:
          file: .docker/${{ github.job }}/Dockerfile
          build-args: ROS_DISTRO=${{ env.ROS_DISTRO }}
          push: true
          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
          cache-from: type=registry,ref=${{ env.IMAGE }}
          cache-to: type=inline
          tags: |
            ${{ env.IMAGE }}
            ${{ matrix.IMAGE == 'master' && 'moveit/moveit:master-ci-testing' || '' }}

  ci-testing:
    needs: ci
    strategy:
      fail-fast: false
      matrix:
        IMAGE: [noetic]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      IMAGE: moveit/moveit:${{ matrix.IMAGE }}-${{ github.job }}

    steps:
      - uses: rhaschke/docker-run-action@v5
        name: Check for apt updates
        continue-on-error: true
        id: apt
        with:
          image: ${{ env.IMAGE }}
          run: |
            apt-get update
            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
      - name: Login to Container Registry
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Build and Push
        uses: docker/build-push-action@v5
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
        with:
          file: .docker/${{ github.job }}/Dockerfile
          build-args: IMAGE=${{ matrix.IMAGE }}
          push: true
          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
          cache-from: type=registry,ref=${{ env.IMAGE }}
          cache-to: type=inline
          tags: |
            ${{ env.IMAGE }}
            moveit/moveit:${{ matrix.IMAGE }}-ci-shadow-fixed

  source:
    needs: ci-testing
    strategy:
      fail-fast: false
      matrix:
        IMAGE: [noetic, master]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      IMAGE: moveit/moveit:${{ matrix.IMAGE }}-${{ github.job }}

    steps:
      - uses: actions/checkout@v4
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      - name: Login to Container Registry
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: "Remove .dockerignore"
        run: rm .dockerignore  # enforce full source context
      - name: Build and Push
        uses: docker/build-push-action@v5
        with:
          context: .
          file: .docker/${{ github.job }}/Dockerfile
          build-args: IMAGE=${{ matrix.IMAGE }}
          push: true
          cache-from: type=registry,ref=${{ env.IMAGE }}
          cache-to: type=inline
          tags: ${{ env.IMAGE }}