feat(docker): integrate cuda/no-cuda jobs into single job

.github/actions/docker-build-and-push-cuda/action.yaml

@@ -0,0 +1,121 @@
+name: docker-build-and-push-cuda
+description: Workflow do build and push CUDA images to registry.
+
+inputs:
+  platform:
+    description: ""
+    required: true
+  bake-target:
+    description: ""
+    required: true
+  build-args:
+    description: ""
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Restore ccache
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          root-ccache
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
+        restore-keys: |
+          ccache-${{ inputs.platform }}-
+
+    - name: Restore apt-get
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          var-cache-apt
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
+        restore-keys: |
+          apt-get-${{ inputs.platform }}-
+
+    - name: Inject cache into docker
+      uses: reproducible-containers/buildkit-cache-dance@v3.1.2
+      with:
+        cache-map: |
+          {
+            "root-ccache": "/root/.ccache",
+            "var-cache-apt": "/var/cache/apt"
+          }
+        skip-extraction: true
+
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
+      id: meta-universe-sensing-perception-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-devel-cuda
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-sensing-perception-cuda
+      id: meta-universe-sensing-perception-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-cuda
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-devel-cuda
+      id: meta-universe-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-devel-cuda
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-cuda
+      id: meta-universe-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-cuda-${{ inputs.platform }}
+          type=raw,value=universe-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-cuda
+        flavor: |
+          latest=auto
+
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Build and Push to GitHub Container Registry
+      uses: docker/bake-action@v5
+      with:
+        push: true
+        files: |
+          docker/docker-bake-cuda.hcl
+          ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
+          ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
+          ${{ steps.meta-universe-cuda.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}

.github/actions/docker-build-and-push/action.yaml

@@ -2,9 +2,6 @@ name: docker-build-and-push
 description: ""
 
 inputs:
-  name:
-    description: ""
-    required: true
   platform:
     description: ""
     required: true
@@ -14,9 +11,6 @@ inputs:
   build-args:
     description: ""
     required: false
-  tag-suffix:
-    description: ""
-    required: false
 
 runs:
   using: composite
@@ -42,19 +36,17 @@ runs:
       with:
         path: |
           root-ccache
-        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4
       with:
         path: |
           var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
           apt-get-${{ inputs.platform }}-
 
     - name: Inject cache into docker
@@ -78,8 +70,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=base${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=base${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=base-${{ inputs.platform }}
+          type=raw,value=base-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-base
         flavor: |
           latest=false
@@ -90,8 +82,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=core-devel-${{ inputs.platform }}
+          type=raw,value=core-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-core-devel
         flavor: |
           latest=false
@@ -102,8 +94,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception-devel
         flavor: |
           latest=false
@@ -114,8 +106,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception
         flavor: |
           latest=false
@@ -126,8 +118,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-devel-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping-devel
         flavor: |
           latest=false
@@ -138,8 +130,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping
         flavor: |
           latest=false
@@ -150,8 +142,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-devel-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control-devel
         flavor: |
           latest=false
@@ -162,8 +154,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control
         flavor: |
           latest=false
@@ -174,8 +166,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-devel-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-vehicle-system-devel
         flavor: |
           latest=false
@@ -186,8 +178,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-vehicle-system${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-vehicle-system${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-vehicle-system
         flavor: |
           latest=false
@@ -198,8 +190,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-devel-${{ inputs.platform }}
+          type=raw,value=universe-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-devel
         flavor: |
           latest=false
@@ -210,8 +202,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-${{ inputs.platform }}
+          type=raw,value=universe-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe
         flavor: |
           latest=auto

.github/actions/docker-build/action.yaml

@@ -2,9 +2,6 @@ name: docker-build
 description: ""
 
 inputs:
-  name:
-    description: ""
-    required: true
   platform:
     description: ""
     required: true
@@ -36,48 +33,44 @@ runs:
 
     - name: Cache ccache
       uses: actions/cache@v4
-      if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }}
+      if: ${{ github.ref == 'refs/heads/main' }}
       id: cache-ccache
       with:
         path: |
           root-ccache
-        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
 
     - name: Cache apt-get
       uses: actions/cache@v4
-      if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }}
+      if: ${{ github.ref == 'refs/heads/main' }}
       id: cache-apt-get
       with:
         path: |
           var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
           apt-get-${{ inputs.platform }}-
 
     - name: Restore ccache
       uses: actions/cache/restore@v4
-      if: ${{ inputs.name != 'no-cuda' || github.ref != 'refs/heads/main' }}
+      if: ${{ github.ref != 'refs/heads/main' }}
       with:
         path: |
           root-ccache
-        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4
-      if: ${{ inputs.name != 'no-cuda' || github.ref != 'refs/heads/main' }}
+      if: ${{ github.ref != 'refs/heads/main' }}
       with:
         path: |
           var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
           apt-get-${{ inputs.platform }}-
 
     - name: Inject cache into docker
@@ -104,4 +97,4 @@ runs:
         context: .
         push: false
         build-args: ${{ inputs.build-args }}
-        cache-from: type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ inputs.name }}-${{ inputs.platform }}-${{ inputs.cache-tag-suffix }}
+        cache-from: type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ inputs.platform }}-${{ inputs.cache-tag-suffix }}