name: docker-ros

# ROS images: focal/noetic (ROS1) and jammy/humble, noble/jazzy, noble-kilted,
# resolute (ROS2). Android images live in android.yml.
#
# Every arch is built natively: amd64 on an x86 runner, arm64 on a GitHub
# arm64 runner, so no QEMU emulation is involved. Because a single Docker Hub
# tag cannot hold two independently pushed architectures, each build pushes an
# arch-suffixed tag (e.g. :resolute-amd64 / :resolute-arm64) and a final job
# joins them into the real multi-arch tag (:resolute) with `imagetools create`.
#
# The runner image only hosts the build; it does not have to match the Ubuntu
# release inside the image, so ubuntu-26.04{,-arm} is used for all of them
# (ubuntu-22.04{,-arm} and ubuntu-24.04{,-arm} also exist, if ever needed).
# That is also why focal can sit in this matrix: a 20.04 userland runs fine on
# a newer host kernel, and ros:noetic-perception publishes a native arm64 image.

on:
  push:
    branches:
      - 'master'
    paths-ignore: &platform_only
      - '.github/workflows/android.yml'
      - '.github/workflows/ios.yml'
      - 'app/android/**'
      - 'app/ios/**'
      - 'docker/noble/android/**'
  pull_request:
    branches:
      - '**'
    paths-ignore: *platform_only
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

jobs:
  docker_deps:

    # The ###-deps images used to be too flaky to build here at all (seg faults,
    # arm64 build timeouts under QEMU -- see
    # https://github.com/introlab/rtabmap/issues/1454) and had to be built by
    # hand from a 20.04 box with an upgraded qemu-user-static. Building each
    # arch natively removes that cause.
    # Skipped on pull requests; built and pushed only from master (push or
    # manual dispatch), since it pushes the :*-deps tags to Docker Hub.
    #
    # focal is deliberately absent: its ROS1/noetic deps are frozen, so
    # :focal-deps is built by hand on the rare occasion it changes. The focal
    # runtime image below still builds here, FROM the published :focal-deps.
    if: github.ref == 'refs/heads/master'

    runs-on: ${{ matrix.runner }}

    strategy:
      fail-fast: false
      matrix:
        docker_dir: [jammy, noble, noble-kilted, resolute]
        arch: [amd64, arm64]
        include:
        - arch: amd64
          runner: ubuntu-26.04
          docker_platform: linux/amd64
        - arch: arm64
          runner: ubuntu-26.04-arm
          docker_platform: linux/arm64

    steps:
      -
        name: Checkout
        uses: actions/checkout@v4
      -
        name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      -
        name: Login to DockerHub
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      -
        name: Build and push
        uses: docker/build-push-action@v6
        with:
          context: .
          push: true
          platforms: ${{ matrix.docker_platform }}
          file: ./docker/${{ matrix.docker_dir }}/deps/Dockerfile
          tags: introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-${{ matrix.arch }}
          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-${{ matrix.arch }}
          cache-to: type=inline

  docker_deps_manifest:
    needs: docker_deps
    # Same gate as docker_deps, so both are skipped together on pull requests
    # (github.ref is refs/pull/<n>/merge there): the per-arch -deps tags this
    # joins are only ever pushed from master.
    if: ${{ !cancelled() && !failure() && github.ref == 'refs/heads/master' }}
    runs-on: ubuntu-26.04

    strategy:
      fail-fast: false
      matrix:
        docker_dir: [jammy, noble, noble-kilted, resolute]

    steps:
      -
        name: Login to DockerHub
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      -
        name: Create multi-arch manifest
        run: |
          docker buildx imagetools create \
            -t introlab3it/rtabmap:${{ matrix.docker_dir }}-deps \
            introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-amd64 \
            introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-arm64

  docker:
    needs: docker_deps_manifest
    # Run even when the deps jobs are skipped (they are, on pull requests):
    # the runtime Dockerfiles then pull the :*-deps manifest already on Docker Hub.
    # A manual dispatch is honored only on master, the only ref we push from.
    if: ${{ !cancelled() && !failure() && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master') }}
    runs-on: ${{ matrix.runner }}

    strategy:
      fail-fast: false
      matrix:
        docker_dir: [focal, jammy, noble, noble-kilted, resolute]
        arch: [amd64, arm64]
        include:
        - arch: amd64
          runner: ubuntu-26.04
          docker_platform: linux/amd64
        - arch: arm64
          runner: ubuntu-26.04-arm
          docker_platform: linux/arm64

    steps:
      -
        name: Checkout
        uses: actions/checkout@v4
      -
        name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      -
        name: Login to DockerHub
        # Only needed when pushing; skipped on pull requests (secrets are
        # unavailable for fork PRs and we don't push there anyway).
        if: github.event_name != 'pull_request'
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      -
        name: Build and push
        uses: docker/build-push-action@v6
        with:
          context: .
          push: ${{ github.event_name != 'pull_request' }}
          platforms: ${{ matrix.docker_platform }}
          file: ./docker/${{ matrix.docker_dir }}/Dockerfile
          build-args: |
            RUN_TESTS=1
          tags: introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }}
          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }}
          cache-to: type=inline

  docker_manifest:
    needs: docker
    # Nothing to join on pull requests, where the per-arch tags are never pushed.
    if: ${{ !cancelled() && !failure() && github.event_name != 'pull_request' && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master') }}
    runs-on: ubuntu-26.04

    strategy:
      fail-fast: false
      matrix:
        docker_dir: [focal, jammy, noble, noble-kilted, resolute]
        include:
        - docker_dir: focal
          docker_tags: |
            introlab3it/rtabmap:focal
            introlab3it/rtabmap:20.04
        - docker_dir: jammy
          docker_tags: |
            introlab3it/rtabmap:jammy
            introlab3it/rtabmap:22.04
        - docker_dir: noble
          docker_tags: |
            introlab3it/rtabmap:noble
            introlab3it/rtabmap:24.04
        - docker_dir: noble-kilted
          docker_tags: |
            introlab3it/rtabmap:noble-kilted
        # :latest tracks the newest ROS2 image (currently resolute, ROS2 lyrical
        # on ubuntu 26.04) -- move it along with the next distro bump.
        - docker_dir: resolute
          docker_tags: |
            introlab3it/rtabmap:resolute
            introlab3it/rtabmap:26.04
            introlab3it/rtabmap:latest

    steps:
      -
        name: Login to DockerHub
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      -
        name: Create multi-arch manifest
        env:
          DOCKER_TAGS: ${{ matrix.docker_tags }}
        run: |
          tag_args=()
          while read -r tag; do
            if [ -n "$tag" ]; then
              tag_args+=(-t "$tag")
            fi
          done <<< "$DOCKER_TAGS"
          docker buildx imagetools create "${tag_args[@]}" \
            introlab3it/rtabmap:${{ matrix.docker_dir }}-amd64 \
            introlab3it/rtabmap:${{ matrix.docker_dir }}-arm64