Infra Setup

.github/include/base_image_config.json

@@ -0,0 +1,119 @@
+{ "include":
+[
+    {
+        "tag": "humble-ubuntu22.04",
+        "external_image": "ubuntu:22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+
+
+
+
+
+    {
+        "tag": "cuda11.0-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.0.3-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.2-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.2.2-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.4-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.4.3-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.7-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.7.1-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda11.8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.8.0-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.0-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.0.0-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.2-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.2.2-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+
+
+
+
+
+    {
+        "tag": "cuda11.0-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.0.3-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.2-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.2.2-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.4-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.4.3-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.7-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.7.1-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda11.8-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.8.0-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.0-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.0.0-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.2-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    }
+]
+}

.github/templates/docker_context/action.yml

@@ -0,0 +1,19 @@
+name: Generate Docker Environment
+
+outputs:
+  docker_matrix:
+    description: "list of docker compose services"
+    value: ${{ steps.environment-generator.outputs.docker_matrix }}
+  registry:
+    description: "name of the docker registry we are using"
+    value: ${{ steps.environment-generator.outputs.registry }}
+  repository:
+    description: "name of the docker repository we are using"
+    value: ${{ steps.environment-generator.outputs.repository }}
+
+runs:
+  using: "composite"
+  steps:
+    - id: environment-generator
+      run: ${{ github.action_path }}/docker_context.sh
+      shell: bash

.github/templates/docker_context/docker_context.sh

@@ -0,0 +1,42 @@
+#!/bin/bash
+set -e
+
+################# Sweep for Docker Services and Modules #################
+# Scans for services and modules in the wato_monorepo,
+# dynamically builds a json matrix for downstream CI build and testing
+
+# Find docker compose files in 'modules' directory
+modules=$(find modules -maxdepth 1 -name "docker-compose*")
+
+# Initialize an empty array for JSON objects
+json_objects=()
+
+# Loop through each module
+while read -r module; do
+    # Retrieve docker compose service names
+    services=$(docker-compose -f "$module" config --services)
+    module_out=$(echo "$module" | sed -n 's/modules\/docker-compose\.\(.*\)\.yaml/\1/p')
+
+    # Loop through each service
+    while read -r service_out; do
+        # Construct JSON object for each service with module and service name
+        json_object=$(jq -nc --arg module_out "$module_out" --arg service_out "$service_out" \
+        '{module: $module_out, service: $service_out}')
+        # Append JSON object to the array
+        json_objects+=($json_object)
+    done <<< "$services"
+done <<< "$modules"
+
+# Convert the array of JSON objects to a single JSON array
+json_services=$(jq -nc '[( $ARGS.positional[] | fromjson )]' --args -- ${json_objects[*]})
+echo "docker_matrix=$(echo $json_services | jq -c '{include: .}')" >> $GITHUB_OUTPUT
+
+################# Setup Docker Registry and Repository Name #################
+# Docker Registry to pull/push images
+REGISTRY_URL="ghcr.io/watonomous/wato_monorepo"
+
+REGISTRY=$(echo "$REGISTRY_URL" | sed 's|^\(.*\)/.*$|\1|')
+REPOSITORY=$(echo "$REGISTRY_URL" | sed 's|^.*/\(.*\)$|\1|')
+
+echo "registry=$REGISTRY" >> $GITHUB_OUTPUT
+echo "repository=$REPOSITORY" >> $GITHUB_OUTPUT

.github/templates/github_context/action.yml

@@ -0,0 +1,19 @@
+name: Generate GitHub Environment
+
+outputs:
+  source_branch:
+    description: "branch we are currently on"
+    value: ${{ steps.environment-generator.outputs.source_branch }}
+  target_branch:
+    description: "branch we are trying to merge into"
+    value: ${{ steps.environment-generator.outputs.target_branch }}
+
+runs:
+  using: "composite"
+  steps:
+    - id: environment-generator
+      run: ${{ github.action_path }}/branch_sanitation.sh
+      shell: bash
+      env:
+        SOURCE_BRANCH: ${{ github.head_ref || github.ref_name }}
+        TARGET_BRANCH: ${{ github.base_ref }}

.github/templates/github_context/branch_sanitation.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+set -e
+
+# Takes in a branch name and sanitizes the name for docker tagging
+# (eg. no / in the branch name)
+sanitize_branch_name() {
+    echo $(echo $1 | sed 's/[^a-zA-Z0-9._]/-/g' | cut -c 1-128)
+}
+
+################# Setup Source and Target Branch #################
+SOURCE_BRANCH_NAME=$(sanitize_branch_name $SOURCE_BRANCH)
+TARGET_BRANCH_NAME=$(sanitize_branch_name $TARGET_BRANCH)
+
+if [ -z "$TARGET_BRANCH_NAME" ]; then
+    TARGET_BRANCH_NAME=$SOURCE_BRANCH_NAME
+fi
+
+echo "source_branch=$SOURCE_BRANCH_NAME" >> $GITHUB_OUTPUT
+echo "target_branch=$TARGET_BRANCH_NAME" >> $GITHUB_OUTPUT
+
+################# Debug notices #################
+echo "::notice:: Using $SOURCE_BRANCH_NAME as the source branch"
+echo "::notice:: Using $TARGET_BRANCH_NAME as the target branch"

.github/templates/test/action.yml

@@ -1,8 +1,14 @@
 name: Docker test
 
 inputs:
+  module:
+    description: "the module to be enabled"
+    required: true
   service:
-    description: "docker compose service"
+    description: "the service being tested"
+    required: true
+  source_branch:
+    description: "the source branch"
     required: true
 
 runs: 
@@ -11,7 +17,6 @@ runs:
     - run: ${{ github.action_path }}/test_image.sh
       shell: bash
       env:
+        TAG: build_${{ inputs.source_branch }}
+        ACTIVE_MODULES: ${{ inputs.module }}
         SERVICE: ${{ inputs.service }}
-        # CI is unable to find the current branch for pull requests, normally used to generate tag
-        TAG: ${{ github.head_ref || github.ref_name }}
-

.github/templates/test/test_image.sh

@@ -1,17 +1,14 @@
 #!/bin/bash
 set -e
 
-bash scripts/watod-setup-env.sh
-
 echo "Running $SERVICE tests..."
 CONTAINER_NAME="$SERVICE-github-actions"
 
 # Run docker-compose service in detached mode and prevent early exit
-bash watod run -d --name "$CONTAINER_NAME" "$SERVICE" tail -f /dev/null
+bash watod -dev pull "$SERVICE"
+bash watod -dev run -d --name "$CONTAINER_NAME" "$SERVICE" tail -f /dev/null
 
 # Run tests for ros2 packages, on failure script will exit with error message
-docker exec "$CONTAINER_NAME" /bin/bash -c "source ~/.bashrc; colcon test; colcon test-result --verbose"
-
-docker stop "$CONTAINER_NAME"
-docker rm "$CONTAINER_NAME"
+docker exec "$CONTAINER_NAME" /bin/bash -c "source /home/bolty/ament_ws/install/setup.bash; colcon test; colcon test-result --verbose"
 
+bash watod -dev down