name: docker-ros2

# ROS2 images: humble, jazzy, kilted and lyrical.
#
# The images built from this tree (docker/*/latest) compile the workspace, which
# is far too slow to emulate, so every arch of those is built natively: amd64 on
# an x86 runner, arm64 on a GitHub arm64 runner. Because a single Docker Hub tag
# cannot hold two independently pushed architectures, each build pushes an
# arch-suffixed tag (e.g. :humble-latest-amd64 / :humble-latest-arm64) and a
# final job joins them into the real multi-arch tag (:humble-latest) 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).

on:
  push:
    branches: [ ros2 ]
  pull_request:
    branches: [ ros2 ]
  workflow_dispatch:

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

jobs:
  # Images built from this tree (docker/*/latest), the ones a change here can break.
  docker:
    # A manual dispatch is honored only on ros2, the only ref we push from.
    if: ${{ github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/ros2' }}
    runs-on: ${{ matrix.runner }}

    strategy:
      fail-fast: false
      matrix:
        docker_tag: [humble-latest, jazzy-latest, kilted-latest, lyrical-latest]
        arch: [amd64, arm64]
        include:
        - docker_tag: humble-latest
          docker_path: 'humble/latest'
        - docker_tag: jazzy-latest
          docker_path: 'jazzy/latest'
        - docker_tag: kilted-latest
          docker_path: 'kilted/latest'
        - docker_tag: lyrical-latest
          docker_path: 'lyrical/latest'
        - 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: ${{ matrix.docker_platform }}
          # Run the test suites inside the image being built. Nothing of them is kept, and
          # the build fails if one does, so no image is published from a tree that fails.
          build-args: |
            RUN_TESTS=1
          file: ./docker/${{ matrix.docker_path }}/Dockerfile
          tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}-${{ matrix.arch }}
          no-cache: true
          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/ros2') }}
    runs-on: ubuntu-26.04

    strategy:
      fail-fast: false
      matrix:
        docker_tag: [humble-latest, jazzy-latest, kilted-latest, lyrical-latest]

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

  # Images that install a released rtabmap_ros from apt (docker/<distro>): they hold
  # nothing from the tree under review, so building them on a pull request would only
  # report that the release still installs. Left to the pushes that publish them.
  #
  # This one is left on a single QEMU-emulated job, for simplicity: it only
  # apt-installs a released rtabmap_ros, so nothing is compiled under emulation,
  # and one build pushes the multi-arch tag straight away -- no per-arch tags and
  # no manifest job to join them.
  docker-released:
    if: ${{ github.event_name != 'pull_request' && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/ros2') }}
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        docker_tag: [humble, jazzy, kilted, lyrical]
        include:
        - docker_tag: humble
          docker_path: 'humble'
          docker_platforms: |
            linux/amd64
        - docker_tag: jazzy
          docker_path: 'jazzy'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: kilted
          docker_path: 'kilted'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: lyrical
          docker_path: 'lyrical'
          docker_platforms: |
            linux/amd64
            linux/arm64

    steps:
      -
        name: Checkout
        uses: actions/checkout@v4
      -
        name: Set up QEMU
        uses: docker/setup-qemu-action@v3
        with:
          platforms: all
      -
        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: ${{ matrix.docker_platforms }}
          file: ./docker/${{ matrix.docker_path }}/Dockerfile
          tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
          no-cache: true
          cache-to: type=inline