feat(robot-model): add clamp_in_range function for individual JointSt… #8
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Build and Push Multi-Arch Images | |
| on: | |
| push: | |
| branches: | |
| - main | |
| jobs: | |
| check-version: | |
| name: Check if the version has been updated | |
| outputs: | |
| has_changed: ${{ steps.check.outputs.has_changed }} | |
| version: ${{ steps.versions.outputs.new_version }} | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 2 | |
| - id: versions | |
| run: | | |
| PREV_VERSION=$(git show HEAD^:VERSION) | |
| NEW_VERSION=$(git show HEAD:VERSION) | |
| echo "prev_version=${PREV_VERSION}" >> $GITHUB_OUTPUT | |
| echo "new_version=${NEW_VERSION}" >> $GITHUB_OUTPUT | |
| shell: bash | |
| - uses: aica-technology/.github/.github/actions/compare-versions@v0.11.0 | |
| id: check | |
| with: | |
| previous_version: ${{ steps.versions.outputs.prev_version }} | |
| new_version: ${{ steps.versions.outputs.new_version }} | |
| metadata: | |
| name: Get metadata | |
| needs: check-version | |
| runs-on: ubuntu-latest | |
| outputs: | |
| image_name: ${{ steps.ensure-image.outputs.image_name }} | |
| image_tags: ${{ steps.tags.outputs.image_tags }} | |
| create_tag: ${{ steps.tags.outputs.create_tag }} | |
| git_tag: ${{ steps.tags.outputs.git_tag }} | |
| steps: | |
| - uses: aica-technology/.github/.github/actions/ghcr-ensure-prefix@v0.6.0 | |
| id: ensure-image | |
| with: | |
| image_name: aica-technology/control-libraries | |
| - run: | | |
| CREATE_TAG=false | |
| GIT_TAG="" | |
| if [ ${{ needs.check-version.outputs.has_changed }} = 'true' ]; then | |
| CREATE_TAG=true | |
| GIT_TAG="v${{ needs.check-version.outputs.version }}" | |
| IMAGE_TAGS=latest,"${GIT_TAG}",rolling | |
| else | |
| IMAGE_TAGS=rolling | |
| fi | |
| echo "Image tags: ${IMAGE_TAGS}" | |
| echo "Create tag: ${CREATE_TAG}" | |
| echo "Git tag: ${GIT_TAG}" | |
| echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT | |
| echo "create_tag=${CREATE_TAG}" >> $GITHUB_OUTPUT | |
| echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT | |
| id: tags | |
| shell: bash | |
| build: | |
| needs: [check-version, metadata] | |
| strategy: | |
| matrix: | |
| arch: [amd64, arm64] | |
| include: | |
| - image: ubuntu-latest | |
| # FIXME: using 4vcpu image because of heavy RAM usage when building pinoccio on arm64 | |
| - image: buildjet-4vcpu-ubuntu-2204-arm | |
| arch: arm64 | |
| runs-on: ${{ matrix.image }} | |
| name: Build and publish (${{ matrix.arch }}) | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.1 | |
| id: merge-tags | |
| with: | |
| list: ${{ needs.metadata.outputs.image_tags }} | |
| suffixes: ${{ matrix.arch }} | |
| glue_separator: "-" | |
| - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1 | |
| with: | |
| image_name: ${{ needs.metadata.outputs.image_name }} | |
| image_tags: ${{ steps.merge-tags.outputs.list }} | |
| build_flags: --build-arg VERSION=${{ needs.check-version.outputs.version }} | |
| dockerfile_path: Dockerfile | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| multi-arch: | |
| runs-on: ubuntu-latest | |
| name: Merge into a multi-arch image | |
| needs: [metadata, build] | |
| steps: | |
| - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1 | |
| with: | |
| image_name: ${{ needs.metadata.outputs.image_name }} | |
| image_tags: ${{ needs.metadata.outputs.image_tags }} | |
| archs: amd64,arm64 | |
| token: ${{ secrets.GITHUB_TOKEN }} |