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test-and-deploy.yml
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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@v3
- name: Set up Python ${{ env.python-version }}
uses: actions/setup-python@v4
with:
python-version: ${{ env.python-version }}
- name: Install dependencies
run: |
sudo apt install shellcheck
python -m pip install --upgrade pip
pip install pipenv
pipenv install poetry && pipenv run poetry install
echo "installing mavlink-router"
pipenv run ./core/tools/mavlink_router/bootstrap.sh
echo "installing mavp2p"
pipenv run ./core/tools/mavp2p/bootstrap.sh
echo "installing ardupilot_tools"
pipenv run ./core/tools/ardupilot_tools/bootstrap.sh
pipenv run python ./core/libs/bridges/setup.py install
pipenv run python ./core/libs/commonwealth/setup.py install
rm -rf core/libs/bridges/build
rm -rf core/libs/commonwealth/build
- name: Run tests
run: |
.hooks/pre-push
- name: Upload coverage
uses: actions/upload-artifact@v3
with:
name: coverage
path: htmlcov
frontend-tests:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v3
with:
submodules: recursive
- uses: oven-sh/setup-bun@v1
with:
bun-version: 1.0.3
- name: Bun install
run: bun install --cwd ./core/frontend
- name: Bun lint
run: bun --cwd ./core/frontend lint
- name: Bun build
run: bun run --cwd ./core/frontend build
deploy-docker-images:
runs-on: ubuntu-latest
needs: [python-tests, frontend-tests]
strategy:
matrix:
docker: [bootstrap, core]
project: [blueos]
platforms: ["linux/arm/v7,linux/arm64/v8,linux/amd64"]
steps:
- name: Checkout
uses: actions/checkout@v3
with:
fetch-depth: 0 #Number of commits to fetch. 0 indicates all history for all branches and tags.
submodules: recursive
- name: Prepare
id: prepare
run: |
# Deploy image with the name of the branch, if the build is a git tag, replace tag with the tag name.
# If git tag matches semver, append latest tag to the push.
DOCKER_IMAGE=${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@v3
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-${GIT_HASH_SHORT}-arm64-v8.tar" \
- name: Upload artifact arm64-v8
uses: actions/upload-artifact@v3
if: success() && matrix.docker == 'core'
with:
name: BlueOS-core-docker-image-arm64-v8
path: '*arm64-v8.tar'
- name: Create image artifact
if: success() && matrix.docker == 'core'
run: |
DOCKER_IMAGE=${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-${GIT_HASH_SHORT}-arm-v7.tar" \
- name: Upload artifact arm-v7
uses: actions/upload-artifact@v3
if: success() && matrix.docker == 'core'
with:
name: BlueOS-core-docker-image-arm-v7
path: '*arm-v7.tar'
- name: Create image artifact
if: success() && matrix.docker == 'core'
run: |
DOCKER_IMAGE=${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@v3
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: ${{ github.ref }}
overwrite: true
prerelease: true
file_glob: true
deploy-raspberry-image:
needs: deploy-docker-images
if: github.event_name != 'pull_request'
timeout-minutes: 180 # Detect if it gets into an infinite loop or some unexpected state
runs-on: blueos-ci
# The runner for this job is a Raspberry Pi OS Bullseye.
# Just install docker (curl -sSL https://get.docker.com/ | sh) and follow the instructions for setting up a new runner in
# https://github.com/bluerobotics/BlueOS-docker/settings/actions/runners/new
strategy:
matrix:
platforms: ["linux/arm/v7"]
steps:
- name: Install git
run: sudo apt install -y git
- name: Checkout
uses: actions/checkout@v3
with:
submodules: recursive
# We use our own pimod as upstream doesn't provide armv7 images
- name: Pimod Build
run: |
VERSION=$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 \
--workdir=/files \
--platform ${{ matrix.platforms }} nature40/pimod:latest pimod.sh deploy/pimod/blueos.Pifile
- name: Add /boot additions
run: |
sudo apt-get update && sudo apt-get install -y parted kpartx
# Create mount point if it doesn't exist
sudo mkdir -p /mnt/piboot
# Map the image file
LOOP_DEVICE=$(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/${LOOP_DEVICE}p1" /mnt/piboot
# Create ssh and userconf files
sudo cp install/boards/config.toml /mnt/piboot/custom.toml
sudo umount /mnt/piboot
sudo kpartx -d deploy/pimod/blueos.img
echo "Boot partition updated successfully."
# TODO: add GITHUB_REF_NAME after https://github.com/actions/upload-artifact/issues/231 is fixed
# name: blueos-${{ env.GITHUB_REF_NAME }}.zip
- name: Zip image
if: startsWith(github.ref, 'refs/tags/')
run: |
sudo apt install zip
zip BlueOS-raspberry.zip deploy/pimod/blueos.img
- name: Upload artifact
uses: actions/upload-artifact@v3
timeout-minutes: 120
with:
# We use the .img to avoid a zip of a zip
name: BlueOS-raspberry.zip
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.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