docker-build-and-push-arm64.yaml

name: docker-build-and-push-arm64

on:
  push:
    branches:
      - main
    tags:
  workflow_dispatch:

jobs:
  load-env:
    uses: ./.github/workflows/load-env.yaml

  docker-build-and-push:
    needs: load-env
    runs-on: [self-hosted, linux, ARM64]
    steps:
      # https://github.com/actions/checkout/issues/211
      - name: Change permission of workspace
        run: |
          sudo chown -R $USER:$USER ${{ github.workspace }}

      - name: Check out repository
        uses: actions/checkout@v4

      - name: Set git config
        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
        with:
          token: ${{ secrets.GITHUB_TOKEN }}

      - name: Free disk space
        uses: ./.github/actions/free-disk-space

      - name: Get changed files
        id: changed-files
        uses: tj-actions/changed-files@v45
        with:
          files: |
            *.env
            *.repos
            .github/actions/docker-build-and-push/action.yaml
            .github/workflows/docker-build-and-push*.yaml
            ansible-galaxy-requirements.yaml
            ansible/**
            docker/**

      - name: Build 'Autoware' without CUDA
        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
          github.event_name == 'workflow_dispatch' ||
          (github.event_name == 'push' && github.ref_type == 'tag') }}
        uses: ./.github/actions/docker-build-and-push
        with:
          platform: arm64
          bake-target: autoware
          build-args: |
            *.platform=linux/arm64
            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
            *.args.LIB_DIR=aarch64
            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max

      - name: Show disk space
        run: |
          df -h

  docker-build-and-push-cuda:
    needs: docker-build-and-push
    runs-on: buildjet-16vcpu-ubuntu-2204-arm
    steps:
      - name: Check out repository
        uses: actions/checkout@v4

      - name: Set git config
        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
        with:
          token: ${{ secrets.GITHUB_TOKEN }}

      - name: Build 'Autoware' with CUDA
        if: ${{ github.event_name == 'workflow_dispatch' ||
          (github.event_name == 'push' && github.ref_type == 'tag') }}
        uses: ./.github/actions/docker-build-and-push-cuda
        with:
          platform: arm64
          bake-target: autoware
          build-args: |
            *.platform=linux/arm64
            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
            *.args.LIB_DIR=aarch64
            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-cuda-${{ github.ref_name }}
            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-cuda-main
            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-cuda-${{ github.ref_name }},mode=max

      - name: Show disk space
        if: always()
        run: |
          df -h