PX4-Autopilot/.github/workflows/dev_container.yml

name: Container build

on:
  push:
    branches:
      - 'main'
      - 'stable'
      - 'beta'
      - 'release/**'
    tags:
      - 'v*'
  pull_request:
    branches:
      - '**'
    paths:
      - '.github/workflows/dev_container.yml'
      - 'Tools/setup/ubuntu.sh'
      - 'Tools/setup/requirements.txt'
      - 'Tools/setup/Dockerfile'
      - 'Tools/setup/docker-entrypoint.sh'
  workflow_dispatch:
    inputs:
      px4_version:
        description: 'Container tag (e.g. v1.16.0)'
        required: true
        type: string
      build_ref:
        description: 'Git ref to build from (branch, tag, or SHA). Leave empty to build from the dispatch ref.'
        required: false
        type: string
        default: ''
      deploy_to_registry:
        description: 'Whether to push built images to the registry'
        required: false
        type: boolean
        default: false

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  setup:
    name: Set Tags and Variables
    permissions:
      contents: read
    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    outputs:
      px4_version: ${{ steps.px4_version.outputs.px4_version }}
      meta_tags: ${{ steps.meta.outputs.tags }}
      meta_labels: ${{ steps.meta.outputs.labels }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v5
        with:
          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      # If manual dispatch, take the user‐provided input
      - name: Set PX4 Tag Version
        id: px4_version
        run: |
          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
          else
            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
          fi

      - name: Extract metadata (tags, labels) for Docker
        id: meta
        uses: docker/metadata-action@v6
        with:
          images: |
            ghcr.io/PX4/px4-dev
            px4io/px4-dev
          tags: |
            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000

  build:
    name: Build Container (${{ matrix.arch }})
    permissions:
      contents: read
      packages: write
    needs: setup
    strategy:
      matrix:
        include:
          - platform: linux/arm64
            arch: arm64
            runner: arm64
          - platform: linux/amd64
            arch: amd64
            runner: x64
    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v5
        with:
          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      - name: Login to Docker Hub
        uses: docker/login-action@v4
        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
        uses: docker/login-action@v4
        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v4
        with:
          driver: docker-container
          platforms: ${{ matrix.platform }}

      - name: Build and Load Container Image
        uses: docker/build-push-action@v7
        id: docker
        with:
          context: Tools/setup
          tags: |
            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
          labels: ${{ needs.setup.outputs.meta_labels }}
          platforms: ${{ matrix.platform }}
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
          cache-from: type=gha,scope=${{ matrix.arch }}
          cache-to: type=gha,mode=max,scope=${{ matrix.arch }},ignore-error=true

  deploy:
    name: Deploy To Registry
    permissions:
      contents: read
      packages: write
    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    needs: [build, setup]
    if: |
      !cancelled() &&
      needs.setup.result == 'success' &&
      (startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v5
        with:
          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      - name: Login to Docker Hub
        uses: docker/login-action@v4
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
        uses: docker/login-action@v4
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Verify Images Exist Before Creating Manifest
        run: |
          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64

      - name: Create and Push Multi-Arch Manifest for Docker Hub
        run: |
          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64

          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64

          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}

      - name: Create and Push Multi-Arch Manifest for GHCR
        run: |
          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64

          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64

          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}