build-main-self-hosted.yaml

name: build-main-self-hosted

on:
  schedule:
    - cron: 0 12 * * *
  workflow_dispatch:
    inputs:
      artifacts-destination:
        type: choice
        description: Built images will be saved as tarball
        options:
          - tarball
        default: tarball

jobs:
  build-main-self-hosted:
    runs-on: [self-hosted, linux, ARM64]
    strategy:
      fail-fast: false
      matrix:
        name:
          - no-cuda
          - cuda
        include:
          - name: no-cuda
            base_image_env: base_image
            lib_dir: aarch64
            setup-args: --no-nvidia
            additional-tag-suffix: ""
          - name: cuda
            base_image_env: base_image
            lib_dir: aarch64
            additional-tag-suffix: -cuda
    steps:
      # https://github.com/actions/checkout/issues/211
      - name: Change permission of workspace
        run: |
          sudo chown -R $USER:$USER ${{ github.workspace }}

      - name: Check out repository
        uses: actions/checkout@v4

      - name: Free disk space
        uses: ./.github/actions/free-disk-space

      - name: Load env
        run: |
          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
          if [ "$(uname -m)" = "aarch64" ]; then
            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
          fi

      - name: Build 'autoware-universe'
        uses: ./.github/actions/docker-build-and-push
        with:
          bake-target: autoware-openadk
          build-args: |
            *.platform=linux/arm64
            *.args.ROS_DISTRO=${{ env.rosdistro }}
            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
            *.args.SETUP_ARGS=${{ matrix.setup-args }}
            *.args.LIB_DIR=${{ matrix.lib_dir }}
          tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
          tag-prefix: ${{ env.rosdistro }}
          allow-push: false

      - name: Show disk space
        run: |
          df -h

      - name: Show ccache stats
        run: |
          ccache -s