wip

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

@@ -0,0 +1,54 @@
+name: Build Firmware
+description: Build the Rover's firmware
+
+outputs:
+  release:
+    description: release zip file
+    value: ${{ steps.release.outputs.release }}
+
+runs:
+  using: composite
+  steps:
+    - name: Cache python venv
+      uses: actions/cache@v4
+      with:
+        path: .venv
+        key: venv-${{ runner.os }}-${{ hashFiles('requirements.txt') }}
+
+    - name: Cache meson subprojects
+      uses: actions/cache@v4
+      with:
+        path: subprojects
+        key: meson-${{ runner.os }}-${{ hashFiles('subprojects/*.wrap') }}-${{ hashFiles('subprojects/packagefiles/**') }}
+
+    # Will run pip
+    - name: Bootstrap build
+      run: ./scripts/bootstrap.sh
+      shell: bash
+
+    - name: Activate python venv
+      run: |
+        source .venv/bin/activate
+        echo "$VIRTUAL_ENV/bin" >> $GITHUB_PATH
+        echo "VIRTUAL_ENV=$VIRTUAL_ENV" >> $GITHUB_ENV
+      shell: bash
+
+    - name: Build source
+      run: meson compile -C build
+      shell: bash
+
+    - name: Run tests
+      run: meson test -v -C build
+      shell: bash
+
+    - name: Check source
+      run: meson compile -C build check
+      shell: bash
+
+    - name: Build documentation
+      run: meson compile -C build docs
+      shell: bash
+
+    - run: echo "release=$(ls build/rover-release*.zip)" >> $GITHUB_OUTPUT
+      id: release
+      shell: bash

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

@@ -0,0 +1,45 @@
+name: Build ROS gateway
+description: Build the Rover's ROS gateway
+
+inputs:
+  push:
+    description: push the docker container to GHCR
+    required: false
+
+  ros_distro:
+    description: target ROS distro name
+    required: false
+    default: ''
+
+  tags:
+    description: docker container tags, space separated
+    default: ''
+
+runs:
+  using: composite
+  steps:
+    - uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ env.GITHUB_TOKEN }}
+
+    # Set up builder outside of script to use this action's built-in caching
+    - uses: docker/setup-buildx-action@v3
+      id: builder
+      with:
+        platforms: linux/amd64,linux/arm64
+
+    - run: |
+        echo "PUSH=${{ inputs.push }}" >> "$GITHUB_ENV"
+      shell: bash
+      if: ${{ inputs.push }}
+
+    - name: Build docker image
+      run: ./scripts/build-ros-gateway.sh
+      shell: bash
+      env:
+        ROS_DISTRO: ${{ inputs.ros_distro }}
+        PLATFORMS: ${{ steps.builder.outputs.platforms }}
+        DOCKER_BUILDER: ${{ steps.builder.outputs.name }}
+        VERSION_TAGS: ${{ inputs.tags }}

.github/workflows/build.yaml

@@ -0,0 +1,38 @@
+name: Build
+
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+
+jobs:
+  firmware:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build firmware
+        uses: ./.github/actions/build-firmware
+
+  ros-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
+
+      - name: Build ROS gateway
+        uses: ./.github/actions/build-gateway
+        with:
+          ros_distro: ${{ matrix.ros_distro }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -0,0 +1,50 @@
+name: Release
+
+on:
+  push:
+    tags:
+      - v[0-9]+.[0-9]+.[0-9]+
+
+permissions:
+  contents: write
+
+jobs:
+  firmware:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build firmware
+        id: build
+        uses: ./.github/actions/build-firmware
+
+      - name: Release
+        uses: softprops/action-gh-release@v2
+        with:
+          files: ${{ steps.build.outputs.release }}
+          fail_on_unmatched_files: true
+          generate_release_notes: true
+
+  ros-gateway:
+    strategy:
+      matrix:
+        ros_distro: [humble, jazzy]
+
+    runs-on: ubuntu-24.04
+
+    permissions:
+      packages: write
+      attestations: write
+      id-token: write
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build ROS gateway
+        uses: ./.github/actions/build-gateway
+        with:
+          push: true
+          ros_distro: ${{ matrix.ros_distro }}
+          tags: ${{ github.ref_name }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

scripts/build-ros-gateway.sh

@@ -15,13 +15,13 @@ args:
     --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
+    ROS_DISTRO=jazzy                                        ROS distro codename to build
+    PLATFORMS=linux/amd64,linux/arm64                       Target platforms
+    PACKAGE_BASENAME=ghcr.io/canedudev/rover/ros-gateway    Docker container base name
+    BUILDER=ced-rover-builder                               Docker buildx builder
+    BUILD_CONTEXT=.                                         Docker build context
+    DOCKERFILE=./ros-gateway/Dockerfile                     Path to dockerfile
+    VERSION_TAGS=                                           Space separated tags
 EOF
 
 }
@@ -57,10 +57,15 @@ 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}:${VERSION_TAG}"
+VERSION_TAGS="${VERSION_TAGS:-}"
+
+if [[ -n ${VERSION_TAGS} ]]; then
+    TAG_ARGS=("--tag" "${PACKAGE}:latest")
+    for tag in ${VERSION_TAGS}; do
+        TAG_ARGS+=("--tag" "${PACKAGE}:${tag}")
+    done
+fi
 
 CI_ARGS=()
 if [[ -n ${CI} ]]; then
@@ -87,5 +92,5 @@ docker buildx --builder "${BUILDER}" build \
     -f "${DOCKERFILE}" \
     --platform "${PLATFORMS}" \
     --build-arg ROS_DISTRO="${ROS_DISTRO}" \
-    --tag "${TAG}" \
-    "${OUTPUT_ARGS[@]}" "${CI_ARGS[@]}" "${BUILD_CONTEXT}"
+    "${TAG_ARGS[@]}" "${OUTPUT_ARGS[@]}" "${CI_ARGS[@]}" \
+    "${BUILD_CONTEXT}"