From 537743d9c7c534a60fc3c8d53e2c73245206040d Mon Sep 17 00:00:00 2001
From: Hashem Hashem <hashem@canedudev.com>
Date: Mon, 4 Nov 2024 13:12:11 +0100
Subject: [PATCH] feat(ci): build docker image

modify build script to accomodate
---
 .github/workflows/ci.yaml    | 37 +++++++++++++++-
 meson.build                  | 12 +++---
 scripts/build-ros-gateway.sh | 82 +++++++++++++++++-------------------
 3 files changed, 80 insertions(+), 51 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 656b27a..70a2bbd 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -6,7 +6,7 @@ on:
   pull_request:
 
 jobs:
-  build:
+  build-firmware:
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
@@ -44,3 +44,38 @@ jobs:
 
       - name: Build documentation
         run: meson compile -C build docs
+
+  build-gateway:
+    strategy:
+      matrix:
+        ros_distro: [humble, jazzy]
+
+    runs-on: ubuntu-24.04
+
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Set up builder outside of script to use this action's built-in caching
+      - uses: docker/setup-buildx-action@v3
+        id: builder
+        with:
+          platforms: linux/amd64,linux/arm64
+
+      - name: Build docker image
+        run: ./scripts/build-ros-gateway.sh
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          PLATFORMS: ${{ steps.builder.outputs.platforms }}
+          DOCKER_BUILDER: ${{ steps.builder.outputs.name }}
diff --git a/meson.build b/meson.build
index 527ed22..dd33e68 100644
--- a/meson.build
+++ b/meson.build
@@ -1,7 +1,7 @@
 project(
     'Rover',
     'c',
-    meson_version: '>=1.2.0',
+    meson_version: '>=1.5.2',
     version: '0.1',
     default_options: [
         'optimization=2',
@@ -121,12 +121,10 @@ ros_gateway_dockerfile = files('ros-gateway' / 'Dockerfile')
 
 run_target(
     'ros-gateway',
-    command: [
-        ros_gateway_build_script,
-        '--rover-root',
-        meson.project_source_root(),
-        '--dockerfile',
-        ros_gateway_dockerfile,
+    command: [ros_gateway_build_script],
+    env: [
+        'BUILD_CONTEXT=' + meson.project_source_root(),
+        'DOCKERFILE=' + ros_gateway_dockerfile[0].full_path(),
     ],
 )
 
diff --git a/scripts/build-ros-gateway.sh b/scripts/build-ros-gateway.sh
index 969209a..ce8b05e 100755
--- a/scripts/build-ros-gateway.sh
+++ b/scripts/build-ros-gateway.sh
@@ -10,12 +10,18 @@ $(basename "$0") [--help] [--rover-root DIR] [--dockerfile FILE] [--push DEST]
 Build the ros-gateway docker image. Requires docker to be installed
 and usable without sudo.
 
+args:
     --help                show this help
-    --rover-root DIR      path to rover repository (default: .)
-    --dockerfile FILE     path to ros-gateway dockerfile (default: ros-gateway/Dockerfile)
-    --version-tag         version to tag with (default: latest)
     --push                push containers
 
+default env vars:
+    ROS_DISTRO=jazzy
+    PLATFORMS=linux/amd64,linux/arm64
+    PACKAGE_BASENAME=ghcr.io/canedudev/rover/ros-gateway
+    BUILDER=ced-rover-builder
+    BUILD_CONTEXT=.
+    DOCKERFILE=./ros-gateway/Dockerfile
+    VERSION_TAG=latest
 EOF
 
 }
@@ -25,10 +31,6 @@ if ! command -v docker >/dev/null; then
     exit 1
 fi
 
-ROVER_ROOT=.
-DOCKERFILE=ros-gateway/Dockerfile
-VERSION=latest
-
 while [[ $# -gt 0 ]]; do
     case "$1" in
     -h) ;&
@@ -37,26 +39,10 @@ while [[ $# -gt 0 ]]; do
         exit 0
         ;;
 
-    --rover-root)
-        ROVER_ROOT="$2"
-        shift 2
-        ;;
-
-    --dockerfile)
-        DOCKERFILE="$2"
-        shift 2
-        ;;
-
-    --version-tag)
-        VERSION="$2"
-        shift 2
-        ;;
-
     --push)
-        PUSH="--push"
+        PUSH="true"
         shift 1
         ;;
-
     *)
         usage
         exit 1
@@ -65,31 +51,41 @@ while [[ $# -gt 0 ]]; do
     esac
 done
 
-if [[ -z ${ROVER_ROOT} || -z ${DOCKERFILE} ]]; then
-    usage
-    exit 1
+PLATFORMS="${PLATFORMS:-linux/amd64,linux/arm64}"
+PACKAGE_BASENAME="${PACKAGE_BASENAME:-ghcr.io/canedudev/rover/ros-gateway}"
+ROS_DISTRO="${ROS_DISTRO:-jazzy}"
+BUILDER="${BUILDER:-ced-rover-builder}"
+BUILD_CONTEXT="${BUILD_CONTEXT:-.}"
+DOCKERFILE="${DOCKERFILE:-ros-gateway/Dockerfile}"
+VERSION_TAG="${VERSION_TAG:-latest}"
+
+PACKAGE="${PACKAGE_BASENAME}-${ROS_DISTRO}"
+TAG="${PACKAGE}:${VERSION_TAG}"
+
+CI_ARGS=()
+if [[ -n ${CI} ]]; then
+    CI_ARGS=(
+        "--cache-from" "type=registry,ref=${PACKAGE}:buildcache"
+        "--cache-to" "type=registry,ref=${PACKAGE}:buildcache,mode=max"
+    )
 fi
 
-ROVER_BUILDER=ced-rover-builder
+OUTPUT_ARGS=("--output" "type=cacheonly")
+if [[ -n ${PUSH} ]]; then
+    OUTPUT_ARGS=("--output" "type=registry")
+fi
 
-if ! docker buildx ls | grep "${ROVER_BUILDER}" >/dev/null; then
+if ! docker buildx ls | grep "${BUILDER}" >/dev/null; then
     docker buildx create \
-        --name "${ROVER_BUILDER}" \
-        --platform linux/amd64,linux/arm64 \
+        --name "${BUILDER}" \
+        --platform "${PLATFORMS}" \
         --driver docker-container \
         --bootstrap
 fi
 
-docker buildx --builder "${ROVER_BUILDER}" build \
-    -f "${DOCKERFILE}" \
-    --platform linux/amd64,linux/arm64 \
-    --build-arg ROS_DISTRO=jazzy \
-    --tag ghcr.io/canedudev/rover/ros-gateway-jazzy:"${VERSION}" \
-    "${PUSH}" "${ROVER_ROOT}"
-
-docker buildx --builder "${ROVER_BUILDER}" build \
+docker buildx --builder "${BUILDER}" build \
     -f "${DOCKERFILE}" \
-    --platform linux/amd64,linux/arm64 \
-    --build-arg ROS_DISTRO=humble \
-    --tag ghcr.io/canedudev/rover/ros-gateway-humble:"${VERSION}" \
-    "${PUSH}" "${ROVER_ROOT}"
+    --platform "${PLATFORMS}" \
+    --build-arg ROS_DISTRO="${ROS_DISTRO}" \
+    --tag "${TAG}" \
+    "${OUTPUT_ARGS[@]}" "${CI_ARGS[@]}" "${BUILD_CONTEXT}"