From a01fff3e64e814eeb3828a6edcbeac72c05f7bd2 Mon Sep 17 00:00:00 2001
From: Vladimir Jovin <58534614+dovvla@users.noreply.github.com>
Date: Tue, 12 Dec 2023 00:05:55 +0100
Subject: [PATCH] Add Github Actions for building images for environments
 (#282)

Add two workflows, rather one reusable workflow. This reusable workflow builds both local and vnc development image (vnc image is based on the built local image), Trigger this workflow everytime there is a change detected in workflow spec YAMLs, or in the docker dir. Add context to docker README file.
---
 .../build_and_push_image_workflow.yml         | 63 ++++++++++++++++
 .github/workflows/build_and_push_images.yml   | 18 +++++
 docker/Dockerfile.base                        | 73 ++++++++++---------
 docker/Dockerfile.vnc                         | 25 ++++---
 docker/Makefile                               | 10 ++-
 docker/README.md                              | 10 ++-
 6 files changed, 148 insertions(+), 51 deletions(-)
 create mode 100644 .github/workflows/build_and_push_image_workflow.yml
 create mode 100644 .github/workflows/build_and_push_images.yml

diff --git a/.github/workflows/build_and_push_image_workflow.yml b/.github/workflows/build_and_push_image_workflow.yml
new file mode 100644
index 000000000..daf9708b6
--- /dev/null
+++ b/.github/workflows/build_and_push_image_workflow.yml
@@ -0,0 +1,63 @@
+name: Deploy Images to GHCR
+
+on:
+  workflow_call:
+    inputs:
+      flavor:
+        required: false
+        default: "devel"
+        type: string
+      base_image:
+        required: false
+        default: "osrf/ros:humble-desktop"
+        type: string
+
+jobs:
+  push-mep3-image:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: "./docker"
+
+    steps:
+      - name: "Checkout GitHub Action"
+        uses: actions/checkout@main
+
+      - name: "Login to GitHub Container Registry"
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{github.actor}}
+          password: ${{secrets.GITHUB_TOKEN}}
+
+      - name: "Configure Docker parameters"
+        id: configure_docker_params
+        run: |
+          #!/bin/bash
+
+          case ${{inputs.flavor}} in
+            "vnc")
+              echo "dockerfile=Dockerfile.vnc" >> $GITHUB_OUTPUT
+              echo "image_name=mep3-vnc" >> $GITHUB_OUTPUT
+            ;;
+            *)
+              echo "dockerfile=Dockerfile.base" >> $GITHUB_OUTPUT
+              echo "image_name=mep3" >> $GITHUB_OUTPUT
+            ;;
+          esac
+
+      - uses: docker/setup-buildx-action@v3
+
+      - name: Build and Push Docker Image
+        uses: docker/build-push-action@v5
+        with:
+          context: docker
+          file: ./docker/${{ steps.configure_docker_params.outputs.dockerfile }}
+          build-args: |
+            BASE_IMAGE=${{ inputs.base_image }}
+          push: true
+          tags: |
+            ghcr.io/${{ github.repository_owner }}/${{ steps.configure_docker_params.outputs.image_name }}:latest
+            ghcr.io/${{ github.repository_owner }}/${{ steps.configure_docker_params.outputs.image_name }}:${{ github.sha }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
diff --git a/.github/workflows/build_and_push_images.yml b/.github/workflows/build_and_push_images.yml
new file mode 100644
index 000000000..0f371f124
--- /dev/null
+++ b/.github/workflows/build_and_push_images.yml
@@ -0,0 +1,18 @@
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - "docker/**"
+      - ".github/workflows/build_and_push_image_workflow.yml"
+      - ".github/workflows/build_and_push_images.yml"
+jobs:
+  build-base:
+    uses: ./.github/workflows/build_and_push_image_workflow.yml
+  notify:
+    needs: build-base
+    name: build-vnc
+    uses: ./.github/workflows/build_and_push_image_workflow.yml
+    with:
+      flavor: vnc
+      base_image: "ghcr.io/${{ github.repository }}:${{ github.sha }}"
diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index d4c76546a..5390f977d 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -1,51 +1,52 @@
-FROM osrf/ros:humble-desktop
+ARG BASE_IMAGE=osrf/ros:humble-desktop
+FROM $BASE_IMAGE
 
 ARG DEBIAN_FRONTEND=noninteractive
 ARG UID=1000
 
 # User
 RUN useradd -d /memristor -m \
-            -u $UID -U \
-            -s /usr/bin/bash \
-            -G dialout \
-            -c "Memristor Robotics" memristor && \
+    -u $UID -U \
+    -s /usr/bin/bash \
+    -G dialout \
+    -c "Memristor Robotics" memristor && \
     echo "memristor ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
 
 # Essentials
 RUN apt-get update && apt-get install -y \
-        ros-humble-navigation2 \
-        ros-humble-nav2-bringup \
-        ros-humble-rviz2 \
-        ros-humble-teleop-twist-keyboard \
-        ros-humble-dynamixel-sdk \
-        ros-humble-can-msgs \
-        ros-humble-ruckig \
-        ros-humble-laser-filters \
-        ros-humble-domain-bridge \
-        ros-humble-rmw-cyclonedds-cpp \
-        ros-humble-ros2-control \
-        ros-humble-ros2-controllers \
-        ros-humble-rqt-common-plugins \
-        ros-humble-webots-ros2 \
-        ros-humble-dynamixel-workbench-toolbox \ 
-        libopencv-dev \
-        python3-pip \
-        python3-pil \
-        alsa \
-        libxshmfence1 \
-        libgtk-3-dev \
-        git \
-        git-lfs \
-        curl \
-        wget \
-        vim \
-        rsync \
-        dialog \
-        fish
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-rviz2 \
+    ros-humble-teleop-twist-keyboard \
+    ros-humble-dynamixel-sdk \
+    ros-humble-can-msgs \
+    ros-humble-ruckig \
+    ros-humble-laser-filters \
+    ros-humble-domain-bridge \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-ros2-control \
+    ros-humble-ros2-controllers \
+    ros-humble-rqt-common-plugins \
+    ros-humble-webots-ros2 \
+    ros-humble-dynamixel-workbench-toolbox \
+    libopencv-dev \
+    python3-pip \
+    python3-pil \
+    alsa \
+    libxshmfence1 \
+    libgtk-3-dev \
+    git \
+    git-lfs \
+    curl \
+    wget \
+    vim \
+    rsync \
+    dialog \
+    fish
 
 # VS Code
 RUN curl -L -o /tmp/vscode.deb \
-        'https://code.visualstudio.com/sha/download?build=stable&os=linux-deb-x64' && \
+    'https://code.visualstudio.com/sha/download?build=stable&os=linux-deb-x64' && \
     apt-get install -y /tmp/vscode.deb && \
     rm -f /tmp/vscode.deb
 
@@ -57,7 +58,7 @@ RUN su memristor -c 'code --install-extension eamodio.gitlens' && \
 
 # Webots
 RUN curl -L -o /tmp/webots.deb \
-        'https://github.com/cyberbotics/webots/releases/download/R2023a/webots_2023a_amd64.deb' && \
+    'https://github.com/cyberbotics/webots/releases/download/R2023a/webots_2023a_amd64.deb' && \
     apt-get install -y /tmp/webots.deb && \
     rm -f /tmp/webots.deb && \
     mkdir -p /memristor/.config/Cyberbotics
diff --git a/docker/Dockerfile.vnc b/docker/Dockerfile.vnc
index 4767f90be..477adcc18 100644
--- a/docker/Dockerfile.vnc
+++ b/docker/Dockerfile.vnc
@@ -1,34 +1,35 @@
-FROM mep3
+ARG BASE_IMAGE=ghcr.io/memristor/mep3
+FROM $BASE_IMAGE
 
 USER root
 
 # TurboVNC
 RUN curl -L -o /tmp/turbovnc.deb \
-        'https://downloads.sourceforge.net/project/turbovnc/3.0.1/turbovnc_3.0.1_amd64.deb?use_mirror=autoselect' && \
+    'https://downloads.sourceforge.net/project/turbovnc/3.0.1/turbovnc_3.0.1_amd64.deb?use_mirror=autoselect' && \
     apt-get install -y /tmp/turbovnc.deb && \
     rm -f /tmp/turbovnc.deb && \
-	echo 'PATH="$PATH:/opt/TurboVNC/bin"' >> /memristor/.bashrc
+    echo 'PATH="$PATH:/opt/TurboVNC/bin"' >> /memristor/.bashrc
 
 # VirtualGL
 RUN curl -L -o /tmp/virtualgl.deb \
-        'https://downloads.sourceforge.net/project/virtualgl/3.0.2/virtualgl_3.0.2_amd64.deb?use_mirror=autoselect' && \
+    'https://downloads.sourceforge.net/project/virtualgl/3.0.2/virtualgl_3.0.2_amd64.deb?use_mirror=autoselect' && \
     apt-get install -y /tmp/virtualgl.deb && \
     rm -f /tmp/virtualgl.deb && \
-	echo 'PATH="$PATH:/opt/VirtualGL/bin"' >> /memristor/.bashrc && \
-	printf "1\n\n\n\nX" | /opt/VirtualGL/bin/vglserver_config && \
-	sudo usermod -a -G vglusers memristor
+    echo 'PATH="$PATH:/opt/VirtualGL/bin"' >> /memristor/.bashrc && \
+    printf "1\n\n\n\nX" | /opt/VirtualGL/bin/vglserver_config && \
+    sudo usermod -a -G vglusers memristor
 
 # NoVNC
 RUN apt-get install -y novnc && \
-	ln -sf /usr/share/novnc/vnc.html /usr/share/novnc/index.html && \
+    ln -sf /usr/share/novnc/vnc.html /usr/share/novnc/index.html && \
     mkdir -p /memristor/.host
 
 # XFCE
 RUN apt-get install -y --no-install-recommends \
-        xorg \
-        dbus-x11 \
-        xfce4 \
-        xfce4-terminal && \
+    xorg \
+    dbus-x11 \
+    xfce4 \
+    xfce4-terminal && \
     echo '/usr/sbin/lightdm' > /etc/X11/default-display-manager
 
 # User config
diff --git a/docker/Makefile b/docker/Makefile
index 2803f4fd2..9aa289b03 100644
--- a/docker/Makefile
+++ b/docker/Makefile
@@ -4,10 +4,11 @@ PROJECT_DIR:=$(shell dirname ${DOCKER_DIR})
 NVIDIA_GPU:=$(shell (docker info | grep Runtimes | grep nvidia 1> /dev/null && command -v nvidia-smi 1>/dev/null 2>/dev/null && nvidia-smi | grep Processes 1>/dev/null 2>/dev/null) && echo '--runtime nvidia --gpus all' || echo '')
 FLAVOR=devel
 IMAGE=mep3
+IMAGE_URL=ghcr.io/memristor/mep3
 
 .PHONY: all
 
-all: destroy build run setup exec
+all: destroy build run setup exec pull
 
 vnc:
 	$(eval FLAVOR=vnc)
@@ -23,6 +24,13 @@ build:
 	@[ ${FLAVOR} != 'devel' ] && \
 		DOCKER_BUILDKIT=1 docker build ${DOCKER_DIR} -f ${DOCKER_DIR}/Dockerfile.${FLAVOR} -t ${IMAGE} ${DOCKER_ARGS} || \
 		true
+
+pull:
+	@docker pull ${IMAGE_URL}
+	@[ ${FLAVOR} != 'devel' ] && \
+		docker pull ${IMAGE_URL}-${FLAVOR} || \
+		true
+
 run:
 	@docker run \
 		--net=host \
diff --git a/docker/README.md b/docker/README.md
index a4cd7dd03..87c6bdbc7 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -13,7 +13,13 @@
     # Make sure to have your SSH keys added to GitHub
     git clone git@github.com:memristor/mep3.git
     ```
-3) Run provisioning script to build and run the container
+
+3) Run provisioning script to build and run the container:
+   ```sh
+   cd ./mep3/docker
+   make pull run
+   ```
+   Alternatively, if you prefer, you can build the image locally on your machine:
    ```sh
    cd ./mep3/docker
    make build run
@@ -42,7 +48,7 @@
    `make` in steps 4 and 6 (eg. `make vnc setup`)
 2) Enable VNC preferences in step 6 and wait for the container to restart
 3) Web-based VNC client will be accessible at `http://localhost:6810/` if you keep default noVNC webserver port
-4) In step 7 replace `mep3-devel` with `mep3-vnc`
+4) In step 6 replace `mep3-devel` with `mep3-vnc`
 
 **Note:** If you are setting up through SSH, make sure to have a running Xorg server on host machine,
 and set `DISPLAY` environment variable on step 4 to its value (eg `:0`).