name: docker

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

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

jobs:
  docker:
    runs-on: ubuntu-latest
    
    strategy:
      fail-fast: false
      matrix:
        docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted, kilted-latest, lyrical-latest]
        include:
        - docker_tag: humble
          docker_path: 'humble'
          docker_platforms: |
            linux/amd64
        - docker_tag: humble-latest
          docker_path: 'humble/latest'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: jazzy
          docker_path: 'jazzy'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: jazzy-latest
          docker_path: 'jazzy/latest'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: kilted
          docker_path: 'kilted'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: kilted-latest
          docker_path: 'kilted/latest'
          docker_platforms: |
            linux/amd64
        #Disabled till rtabmap_ros is released on lyrical
        #- docker_tag: lyrical
        #  docker_path: 'lyrical'
        #  docker_platforms: |
        #    linux/amd64
        #    linux/arm64
        - docker_tag: lyrical-latest
          docker_path: 'lyrical/latest'
          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
        # 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: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
          file: ./docker/${{ matrix.docker_path }}/Dockerfile
          tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
          no-cache: true
          cache-to: type=inline