Merge release/omega (4.8.0) branch into master

.github/workflows/ci.yml

@@ -1,78 +1,95 @@
-name: "CI: Run tests"
-on:
-  pull_request:
-    types: [opened, synchronize, reopened]
-  push:
-    branches: 
-      - develop
-      - master
-      - "release/*"
-jobs:
-  build:
-    defaults:
-      run:
-        shell: bash
-        working-directory: "/opt/carma/"
-    runs-on: ubuntu-latest
-    container:
-      image: usdotfhwastol/carma-base:carma-system-4.5.0
-      env:
-        INIT_ENV: "/home/carma/.base-image/init-env.sh"
-        ROS_2_ENV: "/opt/ros/foxy/setup.bash"
-        TERM: xterm
-      options: "--user root"
-    steps:
-    - name: Checkout ${{ github.event.repository.name }}
-      uses: actions/[email protected]
-      with:
-        path: src/${{ github.event.repository.name }}
-        fetch-depth: 0
-    - name: Move source code
-      run: mv $GITHUB_WORKSPACE/src /opt/carma/
-    - name: Checkout dependencies
-      run: |
-        ./src/${{ github.event.repository.name }}/carma-messenger-core/docker/checkout.bash -r /opt/carma/
-    - name: Build Ros1
-      run: |
-        source "$INIT_ENV"
-        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
-        sed -i '/colcon build/ s/$/ --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
-    - name: Run Ros1 C++ Tests
-      continue-on-error: true
-      run: |
-        source "$INIT_ENV"
-        sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
-    - name: Backup ROS1 compile_commands.json
-      run: |
-        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json        
-    - name: Cleanup before ROS 2 build
-      # Clear the build and install folders before building ROS 2 
-      run: |
-        rm -rf /opt/carma/install
-        rm -rf /opt/carma/build                   
-    - name: Build Ros2
-      run: |
-        source "$INIT_ENV"
-        source "$ROS_2_ENV"
-        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
-        sed -i '/colcon build/ s/$/ --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
-    - name: Run Ros2 C++ Tests
-      continue-on-error: true
-      run: |
-        source "$INIT_ENV"
-        source "$ROS_2_ENV"
-        sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov    
-    - name: Combine ROS1 and ROS2 compile_commands.json files
-      continue-on-error: true
-      run: |
-        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
-        jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json             
-    - name: Run SonarScanner
-      uses: usdot-fhwa-stol/actions/sonar-scanner@main
-      with:
-        sonar-token: ${{ secrets.SONAR_TOKEN }}
-        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"
+name: "CI: Run tests"
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+  push:
+    branches: 
+      - develop
+      - master
+      - "release/*"
+jobs:
+  determine_docker_org_and_tag:
+    runs-on: ubuntu-latest
+    outputs:
+      docker_organization: ${{ steps.docker-org-and-tag.outputs.docker_organization }}
+      docker_image_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }}
+    steps:
+      - id: docker-org-and-tag
+        uses: usdot-fhwa-stol/actions/docker-org-and-tag@main
+  build:
+    needs: determine_docker_org_and_tag
+    defaults:
+      run:
+        shell: bash
+        working-directory: "/opt/carma/"
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-base:${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
+      env:
+        INIT_ENV: "/home/carma/.base-image/init-env.sh"
+        ROS_2_ENV: "/opt/ros/foxy/setup.bash"
+        TERM: xterm
+      options: "--user root"
+    steps:
+    - name: Checkout ${{ github.event.repository.name }}
+      uses: actions/checkout@v4
+      with:
+        path: src/${{ github.event.repository.name }}
+        fetch-depth: 0
+    - name: Move source code
+      run: mv $GITHUB_WORKSPACE/src /opt/carma/
+    - name: Determine base branch
+      id: determine-base-branch
+      run: |
+        if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then
+          echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT
+        else
+          echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT
+        fi
+    - name: Checkout dependencies
+      run: |
+        ./src/${{ github.event.repository.name }}/carma-messenger-core/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }}
+    - name: Build Ros1
+      run: |
+        source "$INIT_ENV"
+        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
+        sed -i '/colcon build/ s/$/ --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+    - name: Run Ros1 C++ Tests
+      continue-on-error: true
+      run: |
+        source "$INIT_ENV"
+        sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+    - name: Backup ROS1 compile_commands.json
+      run: |
+        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json        
+    - name: Cleanup before ROS 2 build
+      # Clear the build and install folders before building ROS 2 
+      run: |
+        rm -rf /opt/carma/install
+        rm -rf /opt/carma/build                   
+    - name: Build Ros2
+      run: |
+        source "$INIT_ENV"
+        source "$ROS_2_ENV"
+        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
+        sed -i '/colcon build/ s/$/ --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+    - name: Run Ros2 C++ Tests
+      continue-on-error: true
+      run: |
+        source "$INIT_ENV"
+        source "$ROS_2_ENV"
+        sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov    
+    - name: Combine ROS1 and ROS2 compile_commands.json files
+      continue-on-error: true
+      run: |
+        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
+        jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json             
+    - name: Run SonarScanner
+      uses: usdot-fhwa-stol/actions/sonar-scanner@main
+      with:
+        sonar-token: ${{ secrets.SONAR_TOKEN }}
+        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"

.github/workflows/docker.yml

@@ -1,50 +1,36 @@
-name: Docker build
-on:
-  pull_request:
-    types: [opened, synchronize, reopened]
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
-      - name: Login to DockerHub
-        uses: docker/login-action@v2
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-      # branch names with special characters cannot be used to create docker image tag,
-      # so removing all special characters and replacing them with - for valid docker image tag.
-      - name: Modify Branch Name
-        run: echo "MODIFIED_BRANCH_NAME=$(echo '${{ github.ref_name }}' | sed 's/[^a-zA-Z0-9]/-/g')" >> $GITHUB_ENV
-      - name: Print Modified Branch Name
-        run: echo "Modified the branch name to $MODIFIED_BRANCH_NAME"
-      - name: Build and Push carma-messenger-ui Docker Image
-        uses: docker/build-push-action@v3
-        with:
-          context: ./carma-messenger-ui/
-          push: true
-          tags: usdotfhwastol/carma-messenger-ui:${{ env.MODIFIED_BRANCH_NAME }}
-
-      - name: Build and Push carma-messenger-core Docker Image
-        uses: docker/build-push-action@v3
-        with:
-          context: ./carma-messenger-core/
-          push: true
-          tags: usdotfhwastol/carma-messenger-core:${{ env.MODIFIED_BRANCH_NAME }}
-
-      - name: Build and Push chevrolet_tahoe_2018 Docker Image
-        uses: docker/build-push-action@v3
-        with:
-          context: ./carma-messenger-config/chevrolet_tahoe_2018/
-          push: true
-          tags: usdotfhwastol/carma-messenger-config:${{ env.MODIFIED_BRANCH_NAME }}-chevrolet_tahoe_2018
-
-      - name: Build and Push development Docker Image
-        uses: docker/build-push-action@v3
-        with:
-          context: ./carma-messenger-config/development/
-          push: true
-          tags: usdotfhwastol/carma-messenger-config:${{ env.MODIFIED_BRANCH_NAME }}-development
+name: Docker build
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    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: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Build and Push carma-messenger-ui Docker Image
+        uses: docker/build-push-action@v5
+        with:
+          context: ./carma-messenger-ui/
+      - name: Build and Push carma-messenger-core Docker Image
+        uses: docker/build-push-action@v5
+        with:
+          context: ./carma-messenger-core/
+          build-args: |
+            BRANCH=${{  github.base_ref }}     
+      - name: Build and Push chevrolet_tahoe_2018 Docker Image
+        uses: docker/build-push-action@v5
+        with:
+          context: ./carma-messenger-config/chevrolet_tahoe_2018/
+
+      - name: Build and Push development Docker Image
+        uses: docker/build-push-action@v5
+        with:
+          context: ./carma-messenger-config/development/