name: docker-ros2

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: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        docker_tag: [humble-latest, jazzy-latest, kilted-latest, lyrical-latest]
        include:
        - docker_tag: humble-latest
          docker_path: 'humble/latest'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: jazzy-latest
          docker_path: 'jazzy/latest'
          docker_platforms: |
            linux/amd64
            linux/arm64
        - docker_tag: kilted-latest
          docker_path: 'kilted/latest'
          docker_platforms: |
            linux/amd64
        - 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: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
          # Run the test suites inside the image being built. Nothing of them is kept, and
          # the build fails if one does, so no image is published from a tree that fails.
          build-args: |
            RUN_TESTS=1
          file: ./docker/${{ matrix.docker_path }}/Dockerfile
          tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
          no-cache: true
          cache-to: type=inline

  # 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.
  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