From c943d3970b0bfa55ad96680d66c394c5609aa58d Mon Sep 17 00:00:00 2001
From: Jari Hodju <81552680+jari-hodju@users.noreply.github.com>
Date: Tue, 10 Oct 2023 13:29:06 +0300
Subject: [PATCH] Multi-arch build (#42)

* Multi-arch build

- re-branched from main due to long list of merge conflicts
- additions and changes from feat-multiarch
- sdk and base image upgrades
- github actions upgrades
- for general info on multi-arch builds, see https://github.com/tiiuae/fog-ros-baseimage/blob/main/docs/Multiarchitecture_builds.md

* Update baseimage version to v3.0.0 release

* Upgrade baseimage version to v3.0.1

---------

Co-authored-by: Mehmet Killioglu <mehmet.killioglu@unikie.com>
---
 .github/workflows/tii-mocap-pose.yaml | 47 ++++++++++++++-------------
 Dockerfile                            | 34 ++++++++++---------
 entrypoint.sh                         |  2 +-
 3 files changed, 44 insertions(+), 39 deletions(-)

diff --git a/.github/workflows/tii-mocap-pose.yaml b/.github/workflows/tii-mocap-pose.yaml
index d16568f..2e4832a 100644
--- a/.github/workflows/tii-mocap-pose.yaml
+++ b/.github/workflows/tii-mocap-pose.yaml
@@ -1,56 +1,59 @@
 name: tii-mocap-pose
 
 on:
+  push:
+    paths-ignore:
+      - 'README.md'
+      - 'CHANGELOG.rst'
+  pull_request:
   repository_dispatch:
     types: [fog-ros-baseimage-update]
-  push:
   workflow_dispatch:
 
 jobs:
   build:
+    name: Build & push
     runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
 
-      - uses: docker/setup-buildx-action@v2
-
-      - name: Set image tag format without suffix
-        run: |
-          echo "IMAGE_TAG_FORMAT=type=sha" >> $GITHUB_ENV
-        if: github.event_name == 'push'
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: amd64,riscv64,arm64
 
-      - name: Set image tag format with suffix
-        # it is possible that run_number should be used instead run_attempt
-        # run_attempt is unique number on every run and run_attempt resets to 1 if re-build is not used
-        # content of image_sha_tag_suffix is defined in fog-ros-baseimage dispatcher workflow.
-        run: |
-          echo "IMAGE_TAG_FORMAT=type=sha,suffix=-${{ github.event.client_payload.image_sha_tag_suffix }}" >> $GITHUB_ENV
-        if: github.event_name == 'repository_dispatch'
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ghcr.io/tiiuae/tii-mocap-pose
           tags: |
             type=ref,event=branch
+            type=ref,event=pr
             type=semver,pattern={{version}}
-            type=raw,value=latest
-            ${{ env.IMAGE_TAG_FORMAT }}
+            type=sha
+            type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
 
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build container image and push
-        uses: docker/build-push-action@v4
+      - name: Build image and push
+        uses: docker/build-push-action@v5
         with:
           context: .
+          platforms: linux/amd64,linux/riscv64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
+          labels: ${{ steps.meta.outputs.labels }}
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index a372bea..242cb51 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,26 +1,28 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0 AS builder
+# Given dynamically from CI job.
+FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:v3.0.1-${TARGETARCH:-amd64} AS builder
 
-COPY . /main_ws/src/
+# Must be defined another time after "FROM" keyword.
+ARG TARGETARCH
 
-# this:
-# 1) builds the application
-# 2) packages the application as .deb in /main_ws/
+# SRC_DIR environment variable is defined in the fog-ros-sdk image.
+# The same workspace path is used by all ROS2 components.
+# See: https://github.com/tiiuae/fog-ros-baseimage/blob/main/Dockerfile.sdk_builder
+COPY . $SRC_DIR/mocap_pose
 
-RUN /packaging/build.sh
+# Tar directories so they are easier to handle when doing installation.
+RUN /packaging/build_colcon_sdk.sh ${TARGETARCH:-amd64}
+# Even though it is possible to tar the install directory for retrieving it later in runtime image,
+# the tar extraction in arm64 emulated on arm64 is still slow. So, we copy the install directory instead
 
-#  ▲               runtime ──┐
-#  └── build                 ▼
-
-FROM ghcr.io/tiiuae/fog-ros-baseimage:v2.1.0
-
-HEALTHCHECK --interval=5s \
-	CMD fog-health check --metric=location_update_count --diff-gte=5.0 \
-		--metrics-from=http://localhost:${METRICS_PORT}/metrics --only-if-nonempty=${METRICS_PORT}
+FROM ghcr.io/tiiuae/fog-ros-baseimage:v3.0.1
 
 ENTRYPOINT [ "/entrypoint.sh" ]
 
 COPY entrypoint.sh /entrypoint.sh
 
-COPY --from=builder /main_ws/ros-*-mocap-pose_*_amd64.deb /mocap-pose.deb
+# WORKSPACE_DIR environment variable is defined in the fog-ros-baseimage.
+# The same installation directory is used by all ROS2 components.
+# See: https://github.com/tiiuae/fog-ros-baseimage/blob/main/Dockerfile
+WORKDIR $WORKSPACE_DIR
 
-RUN dpkg -i /mocap-pose.deb && rm /mocap-pose.deb
+COPY --from=builder $WORKSPACE_DIR/install install
diff --git a/entrypoint.sh b/entrypoint.sh
index ebdca2b..d187dfd 100755
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -4,7 +4,7 @@ _term() {
     # FILL UP PROCESS SEARCH PATTERN HERE TO FIND PROPER PROCESS FOR SIGINT:
     pattern="mocap_pose/mocap_pose_node"
 
-    pid_value="$(ps -ax | grep $pattern | grep -v grep | awk '{ print $1 }')"
+    pid_value="$(ps -e | grep $pattern | grep -v grep | awk '{ print $1 }')"
     if [ "$pid_value" != "" ]; then
         pid=$pid_value
         echo "Send SIGINT to pid $pid"