From 865c8b976d071d79fc909d6b97f5dbfad1d4906d Mon Sep 17 00:00:00 2001
From: Jari Hodju <jari.hodju@unikie.com>
Date: Thu, 21 Sep 2023 11:59:13 +0300
Subject: [PATCH] Multiarch build - Re-branched from master (due to long list
 of merge conflicts) - Building using the Dockerfile and workflow action from
 feat-multiarch branch - Upgraded SDK and run-time images to latest - Upgraded
 action components

---
 .github/workflows/tii-microxrce-agent.yaml | 43 ++++++++++++++------
 Dockerfile                                 | 46 ++++++++++++++--------
 2 files changed, 61 insertions(+), 28 deletions(-)

diff --git a/.github/workflows/tii-microxrce-agent.yaml b/.github/workflows/tii-microxrce-agent.yaml
index 7e1b8d43..a5467497 100644
--- a/.github/workflows/tii-microxrce-agent.yaml
+++ b/.github/workflows/tii-microxrce-agent.yaml
@@ -1,21 +1,32 @@
-name: tii-microxrce-agent
+name: Build
 
 on:
+  push:
+    paths-ignore:
+      - 'README.md'
+      - 'CHANGELOG.md'
+  pull_request:
+    branches: [ "main" ]
   repository_dispatch:
     types: [fog-ros-baseimage-update]
-  push:
   workflow_dispatch:
 
+permissions:
+  contents: read
+  packages: write
+
 jobs:
   build:
+    name: 🔨
     runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      packages: write
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
-      - uses: docker/setup-buildx-action@v1
+      - name: Set short git commit SHA
+        id: vars
+        run: |
+          calculatedSha=$(git rev-parse --short ${{ github.sha }})
+          echo "SHORT_GIT_SHA=$calculatedSha" >> $GITHUB_OUTPUT
 
       - name: Set image tag format without suffix
         run: |
@@ -32,7 +43,7 @@ jobs:
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: ghcr.io/tiiuae/tii-microxrce-agent
           tags: |
@@ -43,17 +54,25 @@ jobs:
             type=raw,value=latest
             ${{ env.IMAGE_TAG_FORMAT }}
 
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: riscv64,arm64
+
+      - uses: docker/setup-buildx-action@v3
+
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v1
+        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@v2
+      - name: Build image and push
+        uses: docker/build-push-action@v5
         with:
-          context: .
+          context: ./
+          platforms: linux/amd64,linux/riscv64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 34d7d64c..9f085e7d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,31 +1,45 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0 AS builder
+# Given dynamically from CI job.
+FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:sha-6d67ecf-${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/microxrcedds_agent
 
-RUN /packaging/build.sh
+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
+FROM ghcr.io/tiiuae/fog-ros-baseimage:sha-6d67ecf
+
+ENTRYPOINT [ "/entrypoint.sh" ]
 
 HEALTHCHECK --interval=5s \
 	CMD fog-health check --metric=messages_from_flightcontroller_count --diff-gte=1.0 \
 		--metrics-from=http://localhost:${METRICS_PORT}/metrics --only-if-nonempty=${METRICS_PORT}
 
-RUN apt-get update && apt-get install -y python3-pip && \
-  pip3 install simplejson pystache
+RUN apt update \
+    && apt install -y \
+        prometheus-cpp \
+        civetweb-cpp \
+    && rm -rf /var/lib/apt/lists/* \
+	&& pip3 install simplejson pystache
+
+RUN mkdir -p /usr/local/lib \
+    && mkdir -p /usr/local/bin
 
-ENTRYPOINT /entrypoint.sh
-COPY entrypoint.sh /entrypoint.sh
-COPY parse_agent_refs.py /parse_agent_refs.py
-COPY agent.refs.mustache /agent.refs.mustache
-COPY agent.refs /agent.refs
+COPY --from=builder /main_ws/install/bin/MicroXRCEAgent /usr/local/bin
+COPY --from=builder /main_ws/install/lib/libmicroxrcedds_agent.so.2.2.0 /usr/local/lib
+RUN ln -s /usr/local/lib/libmicroxrcedds_agent.so.2.2.0 /usr/local/lib/libmicroxrcedds_agent.so.2.2 \
+    && ln -s /usr/local/lib/libmicroxrcedds_agent.so.2.2 /usr/local/lib/libmicroxrcedds_agent.so
 
-COPY --from=builder /main_ws/ros-*-microxrce-agent_*_amd64.deb /microxrce-agent.deb
-RUN dpkg -i /microxrce-agent.deb && rm /microxrce-agent.deb
+ENV PATH="/usr/local/bin:$PATH" \
+    LD_LIBRARY_PATH="/usr/local/lib:$LD_LIBRARY_PATH"
 
+COPY entrypoint.sh parse_agent_refs.py agent.refs.mustache agent.refs /
\ No newline at end of file