docker.yaml

name: docker

on:
  schedule:
    # 5 PM UTC every Sunday
    - cron:  '0 17 * * 6'
  workflow_dispatch:
  push:
    branches:
      - main
  pull_request:
    paths:
      - .docker/**
      - .github/workflows/docker.yaml
      - moveit2.repos

jobs:
  release:
    strategy:
      fail-fast: false
      matrix:
        ROS_DISTRO: [rolling, jazzy]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
      DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}

    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
      - name: Login to Github Container Registry
        if: env.PUSH == 'true'
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.repository_owner }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: Login to DockerHub
        if: env.PUSH == 'true'
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Build and Push
        uses: docker/build-push-action@v6
        with:
          file: .docker/${{ github.job }}/Dockerfile
          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
          push: ${{ env.PUSH }}
          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
          cache-to: type=inline
          tags: |
            ${{ env.GH_IMAGE }}
            ${{ env.DH_IMAGE }}

  ci:
    strategy:
      fail-fast: false
      matrix:
        ROS_DISTRO: [rolling, jazzy]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
      DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}

    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
      - name: Login to Github Container Registry
        if: env.PUSH == 'true'
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.repository_owner }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: Login to DockerHub
        if: env.PUSH == 'true'
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Build and Push
        uses: docker/build-push-action@v6
        with:
          file: .docker/${{ github.job }}/Dockerfile
          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
          push: ${{ env.PUSH }}
          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
          cache-to: type=inline
          tags: |
            ${{ env.GH_IMAGE }}
            ${{ env.GH_IMAGE }}-testing
            ${{ env.DH_IMAGE }}
            ${{ env.DH_IMAGE }}-testing

  source:
    needs: ci
    strategy:
      fail-fast: false
      matrix:
        ROS_DISTRO: [rolling, jazzy]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
      DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}

    steps:
      - uses: actions/checkout@v4
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      - name: Login to Github Container Registry
        if: env.PUSH == 'true'
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.repository_owner }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: Login to DockerHub
        if: env.PUSH == 'true'
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: "Remove .dockerignore"
        run: rm .dockerignore  # enforce full source context
      - name: Build and Push
        uses: docker/build-push-action@v6
        with:
          context: .
          file: .docker/${{ github.job }}/Dockerfile
          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
          push: ${{ env.PUSH }}
          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
          cache-to: type=inline
          tags: |
            ${{ env.GH_IMAGE }}
            ${{ env.DH_IMAGE }}

  delete_untagged:
    runs-on: ubuntu-latest
    needs:
      - release
      - source
    steps:
      - name: Delete Untagged Images
        if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
        uses: actions/github-script@v7
        with:
          github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
          script: |
            const response = await github.request("GET /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions", {
                per_page: ${{ env.PER_PAGE }}
              });
            for(version of response.data) {
                if (version.metadata.container.tags.length == 0) {
                    console.log("delete " + version.id)
                    const deleteResponse = await github.request("DELETE /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions/" + version.id, { });
                    console.log("status " + deleteResponse.status)
                }
            }
        env:
          OWNER: moveit
          PACKAGE_NAME: moveit2
          PER_PAGE: 100