Compass refactor #5557
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| name: Test, Build and Deploy Images | |
| env: | |
| DOCKER_USERNAME: ${{ secrets.DOCKER_USERNAME }} | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| schedule: | |
| # Run every 6 days to keep our caches alive | |
| - cron: '0 0 */6 * *' | |
| jobs: | |
| python-tests: | |
| runs-on: ubuntu-latest | |
| env: | |
| python-version: 3.11 # Our base image has Python 3.11 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Set up Python ${{ env.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ env.python-version }} | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get install --no-install-recommends --assume-yes shellcheck parallel | |
| python -m pip install --upgrade pip | |
| pip install poetry | |
| - name: Run tests | |
| run: | | |
| .hooks/pre-push | |
| - name: Upload coverage | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: coverage | |
| path: htmlcov | |
| frontend-tests: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: oven-sh/setup-bun@v1 | |
| with: | |
| bun-version: 1.0.3 | |
| - name: Bun install | |
| run: bun install --cwd ./core/frontend | |
| - name: Bun lint | |
| run: bun --cwd ./core/frontend lint | |
| - name: Bun build | |
| run: bun run --cwd ./core/frontend build | |
| deploy-docker-images: | |
| runs-on: ubuntu-latest | |
| needs: [frontend-tests, python-tests] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| docker: [bootstrap, core] | |
| project: [blueos] | |
| platforms: ["linux/arm/v7,linux/arm64/v8,linux/amd64"] | |
| steps: | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| with: | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| docker-images: false | |
| swap-storage: true | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 #Number of commits to fetch. 0 indicates all history for all branches and tags. | |
| submodules: recursive | |
| - name: Prepare | |
| id: prepare | |
| run: | | |
| # Deploy image with the name of the branch, if the build is a git tag, replace tag with the tag name. | |
| # If git tag matches semver, append latest tag to the push. | |
| DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }} | |
| VERSION=${GITHUB_REF##*/} | |
| if [[ $GITHUB_REF == refs/tags/* ]]; then | |
| VERSION=${GITHUB_REF#refs/tags/} | |
| fi | |
| TAGS="--tag ${DOCKER_IMAGE}:${VERSION}" | |
| if [[ $VERSION =~ ^[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}$ ]]; then | |
| TAGS="$TAGS --tag ${DOCKER_IMAGE}:latest" | |
| fi | |
| echo "docker_image=${DOCKER_IMAGE}" >> $GITHUB_OUTPUT | |
| echo "version=${VERSION}" >> $GITHUB_OUTPUT | |
| echo "buildx_args=\ | |
| --build-arg GIT_DESCRIBE_TAGS=$(git describe --tags --long --always) \ | |
| --build-arg VITE_APP_GIT_DESCRIBE=$(git describe --long --always --dirty --all) \ | |
| --cache-from 'type=local,src=/tmp/.buildx-cache' \ | |
| --cache-to 'type=local,dest=/tmp/.buildx-cache' \ | |
| ${TAGS} \ | |
| --file ${{ matrix.docker }}/Dockerfile ./${{ matrix.docker }}" >> $GITHUB_OUTPUT | |
| - name: Set up QEMU | |
| uses: docker/setup-qemu-action@v3 | |
| with: | |
| platforms: all | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| with: | |
| version: latest | |
| - name: Cache Docker layers | |
| uses: actions/cache@v4 | |
| id: cache | |
| with: | |
| path: /tmp/.buildx-cache | |
| key: ${{ runner.os }}-buildx-${{ matrix.docker }}-${{ hashFiles(format('{0}/Dockerfile', matrix.docker)) }} | |
| restore-keys: | | |
| ${{ runner.os }}-buildx-${{ matrix.docker }}-${{ hashFiles(format('{0}/Dockerfile', matrix.docker)) }} | |
| ${{ runner.os }}-buildx-${{ matrix.docker }} | |
| - name: Docker Buildx (build) | |
| run: | | |
| # Pull latest version of image to help with build speed | |
| for platform in $(echo ${{ matrix.platforms }} | tr ',' '\n'); do | |
| docker pull --platform ${platform} ${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }}:master || true | |
| done | |
| docker buildx build \ | |
| --output "type=image,push=false" \ | |
| --platform ${{ matrix.platforms }} \ | |
| ${{ steps.prepare.outputs.buildx_args }} | |
| - name: Check core size | |
| if: ${{ matrix.docker == 'core' }} | |
| run: | | |
| # Check if the image size is lower than our limit | |
| docker image list | |
| IMAGE_ID=$(docker images -q ${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }} | head -n 1) | |
| LIMIT_SIZE_MB=700 | |
| IMAGE_SIZE_MB=$(( $(docker inspect $IMAGE_ID --format {{.Size}})/(2**20) )) | |
| echo "Core size is: $IMAGE_SIZE_MB MB" | |
| ((IMAGE_SIZE_MB < LIMIT_SIZE_MB)) | |
| - name: Login to DockerHub | |
| if: success() && github.event_name != 'pull_request' | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKER_USERNAME }} | |
| password: ${{ secrets.DOCKER_PASSWORD }} | |
| - name: Docker Buildx (push) | |
| if: success() && github.event_name != 'pull_request' | |
| run: | | |
| docker buildx build \ | |
| --output "type=image,push=true" \ | |
| --platform ${{ matrix.platforms }} \ | |
| ${{ steps.prepare.outputs.buildx_args }} | |
| - name: Inspect image | |
| if: always() && github.event_name != 'pull_request' | |
| run: | | |
| docker buildx imagetools \ | |
| inspect ${{ steps.prepare.outputs.docker_image }}:${{ steps.prepare.outputs.version }} | |
| - name: Create image artifact | |
| if: success() && matrix.docker == 'core' | |
| run: | | |
| DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }} | |
| GIT_HASH_SHORT=$(git rev-parse --short "$GITHUB_SHA") | |
| docker buildx build \ | |
| ${{ steps.prepare.outputs.buildx_args }} \ | |
| --platform "linux/arm64/v8" \ | |
| --tag ${DOCKER_IMAGE}:${GIT_HASH_SHORT} \ | |
| --output "type=docker,dest=BlueOs-core-docker-image-${GIT_HASH_SHORT}-arm64-v8.tar" \ | |
| - name: Upload artifact arm64-v8 | |
| uses: actions/upload-artifact@v4 | |
| if: success() && matrix.docker == 'core' | |
| with: | |
| name: BlueOS-core-docker-image-arm64-v8 | |
| path: '*arm64-v8.tar' | |
| - name: Create image artifact | |
| if: success() && matrix.docker == 'core' | |
| run: | | |
| DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }} | |
| GIT_HASH_SHORT=$(git rev-parse --short "$GITHUB_SHA") | |
| docker buildx build \ | |
| ${{ steps.prepare.outputs.buildx_args }} \ | |
| --platform "linux/arm/v7" \ | |
| --tag ${DOCKER_IMAGE}:${GIT_HASH_SHORT} \ | |
| --output "type=docker,dest=BlueOs-core-docker-image-${GIT_HASH_SHORT}-arm-v7.tar" \ | |
| - name: Upload artifact arm-v7 | |
| uses: actions/upload-artifact@v4 | |
| if: success() && matrix.docker == 'core' | |
| with: | |
| name: BlueOS-core-docker-image-arm-v7 | |
| path: '*arm-v7.tar' | |
| - name: Create image artifact | |
| if: success() && matrix.docker == 'core' | |
| run: | | |
| DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }} | |
| GIT_HASH_SHORT=$(git rev-parse --short "$GITHUB_SHA") | |
| docker buildx build \ | |
| ${{ steps.prepare.outputs.buildx_args }} \ | |
| --platform "linux/amd64" \ | |
| --tag ${DOCKER_IMAGE}:${GIT_HASH_SHORT} \ | |
| --output "type=docker,dest=BlueOs-core-docker-image-${GIT_HASH_SHORT}-amd64.tar" \ | |
| - name: Upload artifact amd64 | |
| uses: actions/upload-artifact@v4 | |
| if: success() && matrix.docker == 'core' | |
| with: | |
| name: BlueOS-core-docker-image-amd64 | |
| path: '*amd64.tar' | |
| - name: Upload docker image for release | |
| uses: svenstaro/upload-release-action@v2 | |
| if: startsWith(github.ref, 'refs/tags/') && success() && matrix.docker == 'core' | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: '*.tar' | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| prerelease: true | |
| file_glob: true | |
| deploy-raspberry-image: | |
| needs: deploy-docker-images | |
| if: github.event_name != 'pull_request' && github.repository_owner == 'bluerobotics' | |
| timeout-minutes: 180 # Detect if it gets into an infinite loop or some unexpected state | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - runner: blueos-ci | |
| platform: "linux/arm/v7" | |
| os: "bookworm" | |
| image: "raspios_lite_armhf/images/raspios_lite_armhf-2024-07-04/2024-07-04-raspios-bookworm-armhf-lite.img.xz" | |
| - runner: pi4-builder2 | |
| platform: "linux/arm/v7" | |
| os: "bullseye" | |
| image: "raspios_lite_armhf/images/raspios_lite_armhf-2022-01-28/2022-01-28-raspios-bullseye-armhf-lite.zip" | |
| - runner: pi5-builder | |
| platform: "linux/arm64/v8" | |
| os: "bookworm" | |
| image: "raspios_lite_arm64/images/raspios_lite_arm64-2024-07-04/2024-07-04-raspios-bookworm-arm64-lite.img.xz" | |
| runs-on: ${{ matrix.runner }} | |
| # The runners for this job are: | |
| # - pi4-builders: A Raspberry Pi OS Bullseye (32-bit). | |
| # - pi5-builder: A Raspberry Pi OS Bookworm lite 64-bit. | |
| # For pi5-ci, install docker (curl -sSL https://get.docker.com/ | sh) and follow the instructions for setting up a new runner in | |
| # https://github.com/bluerobotics/BlueOS-docker/settings/actions/runners/new | |
| steps: | |
| - name: Install git | |
| run: sudo apt install -y git | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| # We use our own pimod as upstream doesn't provide armv7 images | |
| - name: Pimod Build | |
| run: | | |
| VERSION=$GITHUB_REPOSITORY | |
| VERSION=${VERSION:-master} | |
| wget https://raw.githubusercontent.com//Nature40/pimod/master/pimod.sh && chmod +x pimod.sh | |
| docker run --rm --privileged \ | |
| -v $PWD:/files \ | |
| -e PATH=/pimod:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin \ | |
| -e GITHUB_REPOSITORY=$GITHUB_REPOSITORY \ | |
| -e VERSION=$GITHUB_REF_NAME \ | |
| -e BASE_IMAGE=${{ matrix.image }} \ | |
| --workdir=/files \ | |
| --platform ${{ matrix.platform }} nature40/pimod:latest pimod.sh deploy/pimod/blueos.Pifile | |
| - name: Add /boot additions | |
| run: | | |
| sudo apt-get update && sudo apt-get install -y parted kpartx | |
| # Create mount point if it doesn't exist | |
| sudo mkdir -p /mnt/piboot | |
| # Map the image file | |
| LOOP_DEVICE=$(sudo kpartx -avs deploy/pimod/blueos.img | sed -E 's/.*(loop[0-9]+)p[0-9]+.*/\1/g' | head -1) | |
| # Mount the boot partition | |
| sudo mount "/dev/mapper/${LOOP_DEVICE}p1" /mnt/piboot | |
| # Create ssh and userconf files | |
| sudo cp install/boards/config.toml /mnt/piboot/custom.toml | |
| sudo umount /mnt/piboot | |
| sudo kpartx -d deploy/pimod/blueos.img | |
| echo "Boot partition updated successfully." | |
| - name: Sanitize platform name | |
| run: echo "SANITIZED_PLATFORM=$(echo ${{ matrix.platform }} | tr '/' '-')" >> $GITHUB_ENV | |
| - name: Zip image | |
| if: startsWith(github.ref, 'refs/tags/') | |
| run: | | |
| sudo apt install zip | |
| zip BlueOS-raspberry-${{ env.SANITIZED_PLATFORM }}-${{ matrix.os }}.zip deploy/pimod/blueos.img | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v4 | |
| timeout-minutes: 120 | |
| with: | |
| name: BlueOS-raspberry-${{ env.GITHUB_REF_NAME }}${{ env.SANITIZED_PLATFORM }}-${{ matrix.os }} | |
| path: deploy/pimod/blueos.img | |
| if-no-files-found: error | |
| retention-days: 7 | |
| - name: Upload raspberry image for release | |
| uses: svenstaro/upload-release-action@v2 | |
| if: startsWith(github.ref, 'refs/tags/') | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: BlueOS-raspberry-${{ env.SANITIZED_PLATFORM }}-${{ matrix.os }}.zip | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| prerelease: true | |
| # This is required because docker has root permissions, which means the runner is unable to clear this cache normally | |
| - name: Cleanup | |
| if: ${{ always() }} | |
| run: sudo rm -rf .cache |