Revert "integrate"

This reverts commit 0c7459d.

.github/actions/docker-build-and-push-cuda/action.yaml

@@ -0,0 +1,123 @@
+name: docker-build-and-push
+description: ""
+
+inputs:
+  platform:
+    description: ""
+    required: true
+  bake-target:
+    description: ""
+    required: true
+  build-args:
+    description: ""
+    required: false
+  dockerhub-token:
+    description: ""
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Restore ccache
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          root-ccache
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
+        restore-keys: |
+          ccache-${{ inputs.platform }}-
+
+    - name: Restore apt-get
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          var-cache-apt
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
+        restore-keys: |
+          apt-get-${{ inputs.platform }}-
+
+    - name: Inject cache into docker
+      uses: reproducible-containers/[email protected]
+      with:
+        cache-map: |
+          {
+            "root-ccache": "/root/.ccache",
+            "var-cache-apt": "/var/cache/apt"
+          }
+        skip-extraction: true
+
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
+      id: meta-universe-sensing-perception-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-devel-cuda
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-sensing-perception-cuda
+      id: meta-universe-sensing-perception-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-cuda
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-devel-cuda
+      id: meta-universe-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-devel-cuda
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-cuda
+      id: meta-universe-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-cuda-${{ inputs.platform }}
+          type=raw,value=universe-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-cuda
+        flavor: |
+          latest=auto
+
+    - name: Login to Docker Hub
+      uses: docker/login-action@v3
+      with:
+        username: ${{ github.repository_owner }}
+        password: ${{ inputs.dockerhub-token }}
+
+    - name: Build and Push to GitHub Container Registry
+      uses: docker/bake-action@v5
+      with:
+        push: true
+        files: |
+          docker/docker-bake-cuda.hcl
+          ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
+          ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
+          ${{ steps.meta-universe-cuda.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}

.github/actions/docker-build-and-push/action.yaml

@@ -100,6 +100,7 @@ runs:
         flavor: |
           latest=false
 
+<<<<<<< HEAD
     - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
       id: meta-universe-sensing-perception-devel-cuda
       uses: docker/metadata-action@v5
@@ -112,6 +113,8 @@ runs:
         flavor: |
           latest=false
 
+=======
+>>>>>>> 3f6461b (Revert "integrate")
     - name: Docker meta for autoware:universe-sensing-perception
       id: meta-universe-sensing-perception
       uses: docker/metadata-action@v5
@@ -124,6 +127,7 @@ runs:
         flavor: |
           latest=false
 
+<<<<<<< HEAD
     - name: Docker meta for autoware:universe-sensing-perception-cuda
       id: meta-universe-sensing-perception-cuda
       uses: docker/metadata-action@v5
@@ -136,6 +140,8 @@ runs:
         flavor: |
           latest=false
 
+=======
+>>>>>>> 3f6461b (Revert "integrate")
     - name: Docker meta for autoware:universe-localization-mapping-devel
       id: meta-universe-localization-mapping-devel
       uses: docker/metadata-action@v5
@@ -220,6 +226,7 @@ runs:
         flavor: |
           latest=false
 
+<<<<<<< HEAD
     - name: Docker meta for autoware:universe-devel-cuda
       id: meta-universe-devel-cuda
       uses: docker/metadata-action@v5
@@ -232,6 +239,8 @@ runs:
         flavor: |
           latest=false
 
+=======
+>>>>>>> 3f6461b (Revert "integrate")
     - name: Docker meta for autoware:universe
       id: meta-universe
       uses: docker/metadata-action@v5
@@ -244,6 +253,7 @@ runs:
         flavor: |
           latest=auto
 
+<<<<<<< HEAD
     - name: Docker meta for autoware:universe-cuda
       id: meta-universe-cuda
       uses: docker/metadata-action@v5
@@ -256,6 +266,8 @@ runs:
         flavor: |
           latest=auto
 
+=======
+>>>>>>> 3f6461b (Revert "integrate")
     - name: Login to Docker Hub
       uses: docker/login-action@v3
       with:
@@ -272,19 +284,15 @@ runs:
           ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
-          ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
-          ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping-devel.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping.outputs.bake-file }}
           ${{ steps.meta-universe-planning-control-devel.outputs.bake-file }}
           ${{ steps.meta-universe-planning-control.outputs.bake-file }}
           ${{ steps.meta-universe-vehicle-system-devel.outputs.bake-file }}
           ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
-          ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
-          ${{ steps.meta-universe-cuda.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}

.github/workflows/docker-build-and-push-arm64.yaml

@@ -44,7 +44,7 @@ jobs:
             ansible/**
             docker/**
 
-      - name: Build 'Autoware'
+      - name: Build 'Autoware' without CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||
           (github.event_name == 'push' && github.ref_type == 'tag') }}
@@ -61,6 +61,23 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
+      - name: Build 'Autoware' with CUDA
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
+        uses: ./.github/actions/docker-build-and-push-cuda
+        with:
+          platform: arm64
+          bake-target: autoware
+          build-args: |
+            *.platform=linux/arm64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.LIB_DIR=aarch64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-cuda-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-cuda-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-cuda-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         if: always()
         run: |

.github/workflows/docker-build-and-push.yaml

@@ -39,7 +39,7 @@ jobs:
             ansible/**
             docker/**
 
-      - name: Build 'Autoware'
+      - name: Build 'Autoware' without CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||
           (github.event_name == 'push' && github.ref_type == 'tag') }}
@@ -56,6 +56,23 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
 
+      - name: Build 'Autoware' with CUDA
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
+        uses: ./.github/actions/docker-build-and-push-cuda
+        with:
+          platform: amd64
+          bake-target: autoware
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.LIB_DIR=x86_64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-cuda-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-cuda-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-cuda-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         run: |
           df -h

docker/docker-bake-cuda.hcl

@@ -0,0 +1,38 @@
+group "default" {
+  targets = [
+    "universe-sensing-perception-devel-cuda",
+    "universe-sensing-perception-cuda",
+    "universe-devel-cuda",
+    "universe-cuda"
+  ]
+}
+
+// For docker/metadata-action
+target "docker-metadata-action-universe-sensing-perception-devel-cuda" {}
+target "docker-metadata-action-universe-sensing-perception-cuda" {}
+target "docker-metadata-action-universe-devel-cuda" {}
+target "docker-metadata-action-universe-cuda" {}
+
+target "universe-sensing-perception-devel-cuda" {
+  inherits = ["docker-metadata-action-universe-sensing-perception-devel-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-sensing-perception-devel-cuda"
+}
+
+target "universe-sensing-perception-cuda" {
+  inherits = ["docker-metadata-action-universe-sensing-perception-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-sensing-perception-cuda"
+}
+
+target "universe-devel-cuda" {
+  inherits = ["docker-metadata-action-universe-devel-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-devel-cuda"
+}
+
+target "universe-cuda" {
+  inherits = ["docker-metadata-action-universe-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-cuda"
+}