docker.yml

name: Docker

on: [push, pull_request]

jobs:

  # set up
  clean-up:
    name: Clean up
    runs-on: self-hosted
    steps:

      - name: Clean up
        run: rm -rf *
        
  # create carla-prerequisites image
  create-carla-prerequisites-image:
    name: Create carla-prerequisites image
    runs-on: self-hosted
    needs: clean-up
    steps:

      - uses: docker/build-push-action@v5
        name: Build image
        with:
          file: Util/Docker/Prerequisites.Dockerfile
          tags: carla-prerequisites
          no-cache: true
          build-args: |
            EPIC_USER=${{ secrets.EPIC_USER }}
            EPIC_PASS=${{ secrets.EPIC_PASS }}
            
  # create and push carla-source image
  create-carla-source-image:
    name: Create carla-source image
    runs-on: self-hosted
    needs: create-carla-prerequisites-image
    env:
      IMAGE_TAG_SUFFIX: ""
      
    steps:
    
      - name: Set image tag
        run: |
          echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV
        if: github.ref_name != github.event.repository.default_branch
        
      - uses: actions/checkout@v3
        name: Checkout repository
        with:
          submodules: true
          
      - uses: docker/login-action@v3
        name: Login to Docker Hub
        with:
          username: ${{ secrets.DOCKER_USERNAME }}
          password: ${{ secrets.DOCKER_PASSWORD }}

      - uses: docker/build-push-action@v5
        name: Build and push image
        with:
          file: Util/Docker/Carla.Dockerfile
          tags: rwthika/carla-simulator:source${{env.IMAGE_TAG_SUFFIX}}
          no-cache: true
          push: false
          context: .
          
  # provide artifacts and releases
  provide-artifacts:
    name: Provide carla artifacts
    runs-on: self-hosted
    needs: create-carla-source-image
    env:
      IMAGE_TAG_SUFFIX: ""
      
    steps:
    
      - name: Set image tag
        run: |
          echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV
        if: github.ref_name != github.event.repository.default_branch
  
      # provide carla-package
      - uses: shrink/actions-docker-extract@v3
        name: Extract carla-package
        with:
          image: rwthika/carla-simulator:source${{env.IMAGE_TAG_SUFFIX}}
          path: home/carla/carla/Dist
          destination: artifacts/

      # provide carla-python-api
      - uses: shrink/actions-docker-extract@v3
        name: Extract carla-python-api
        id: extract_python_api
        with:
          image: rwthika/carla-simulator:source${{env.IMAGE_TAG_SUFFIX}}
          path: home/carla/carla/PythonAPI
          destination: artifacts/
      
      # create archive for release
      - name: Create archive
        if: startsWith(github.ref, 'refs/tags')
        run: tar -czvf artifacts/PythonAPI.tar.gz artifacts/PythonAPI
      
      # provide release
      - uses: ncipollo/release-action@v1
        name: Create Release
        if: startsWith(github.ref, 'refs/tags')
        with:
          allowUpdates: true
          tag: ${{ github.ref_name }}
          commit: ${{ github.sha }}
          artifacts: artifacts/PythonAPI.tar.gz
          token: ${{ secrets.PAT }}

  # create carla client image
  create-carla-client-image:
    name: Create carla client image
    runs-on: self-hosted
    needs: provide-artifacts
    env:
      IMAGE_TAG_SUFFIX: ""
      
    steps:
      
      - name: Set image tag
        run: |
          echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV
        if: github.ref_name != github.event.repository.default_branch
    
      - uses: docker/login-action@v3
        name: Login to Docker Hub
        with:
          username: ${{ secrets.DOCKER_USERNAME }}
          password: ${{ secrets.DOCKER_PASSWORD }}
          
      - uses: docker/build-push-action@v5
        name: Build and push image
        with:
          file: Util/Docker/client/Client.Dockerfile
          tags: rwthika/carla-simulator:client${{env.IMAGE_TAG_SUFFIX}}
          no-cache: true
          build-args: |
            UBUNTU_VERSION=22.04
          context: .
          push: true

  # create vulkan-base for carla server image
  create-vulkan-base-image:
    name: Create vulkan-base image
    runs-on: self-hosted
    needs: create-carla-client-image
    steps:

      - uses: docker/build-push-action@v5
        name: Build image
        with:
          file: Util/Docker/vulkan-base/Vulkan.Dockerfile
          tags: vulkan-base
          no-cache: true
          build-args: |
            BASE_DIST=ubuntu22.04
            CUDA_VERSION=12.2.0
          context: Util/Docker/vulkan-base
          
  # create and push carla server image
  create-carla-server-image:
    name: Create carla server image
    runs-on: self-hosted
    needs: create-vulkan-base-image
    env:
      IMAGE_TAG_SUFFIX: ""
      
    steps:
      
      - name: Set image tag
        run: |
          echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV
        if: github.ref_name != github.event.repository.default_branch
    
      - uses: docker/login-action@v3
        name: Login to Docker Hub
        with:
          username: ${{ secrets.DOCKER_USERNAME }}
          password: ${{ secrets.DOCKER_PASSWORD }}
          
      - name: Extract artifact
        run: mkdir -p build && tar -xvzf artifacts/Dist/*.tar.gz -C build

      - uses: docker/build-push-action@v5
        name: Build and push
        with:
          file: build/Dockerfile
          tags: rwthika/carla-simulator:server${{env.IMAGE_TAG_SUFFIX}}
          no-cache: true
          context: build
          push: true