ubuntu-cuda.yml

name: Ubuntu CUDA
permissions:
  contents: write
  actions: write

on:
  workflow_dispatch:
    inputs:
      developer_build:
        description: 'Set to OFF for Release packages.'
        required: false
        default: 'ON'
  push:
    branches:
      - main
  pull_request:
    # Reduce CI frequency for paid CI.
    types: [review_requested]

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

env:
  GCE_GPU_CI_SA: ${{ secrets.GCE_GPU_CI_SA }}
  GCE_CLI_GHA_VERSION: "416.0.0"
  DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}

jobs:
  skip-check:
    runs-on: ubuntu-latest
    name: Skip job for forks
    outputs:
      skip: ${{ steps.check.outputs.skip }}
    steps:
      - name: Skip check
        id: check
        run: |
          if [ "${GITHUB_REPOSITORY}" == "isl-org/Open3D" ] && [ -n "${GCE_GPU_CI_SA}" ] ; then
            echo "Secrets available: performing GCE test"
            echo "skip=no" >> $GITHUB_OUTPUT
          else
            echo "Secrets not available: skipping GCE test"
            echo "skip=yes" >> $GITHUB_OUTPUT
          fi

  build-and-run-docker:
    name: Build and run
    runs-on: ubuntu-latest
    needs: [skip-check]
    if: needs.skip-check.outputs.skip == 'no'
    strategy:
      fail-fast: false
      matrix:
        include:
          - CI_CONFIG: 2-bionic
          - CI_CONFIG: 3-ml-shared-bionic
          - CI_CONFIG: 4-shared-bionic
          - CI_CONFIG: 5-ml-focal
    env:
      # Export everything from matrix to be easily used.
      # Docker tag and ccache names must be consistent with docker_build.sh
      CI_CONFIG          : ${{ matrix.CI_CONFIG }}
      BUILD_PACKAGE      : ${{ contains(fromJson('["3-ml-shared-bionic", "4-shared-bionic"]'), matrix.CI_CONFIG) }}
      GCE_INSTANCE_PREFIX: open3d-ci-${{ matrix.CI_CONFIG }}
      DOCKER_TAG         : open3d-ci:${{ matrix.CI_CONFIG }}
      CCACHE_TAR_NAME    : open3d-ci-${{ matrix.CI_CONFIG }}
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          submodules: 'false'
      - name: Package code
        run: |
          # GITHUB_WORKSPACE: /home/runner/work/Open3D/Open3D
          cd "${GITHUB_WORKSPACE}/.."
          tar -czvf Open3D.tar.gz Open3D
          ls -alh
      - name: GCloud CLI auth
        uses: 'google-github-actions/auth@v2'
        with:
          project_id: ${{ secrets.GCE_PROJECT }}
          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
      - name: GCloud CLI setup
        uses: google-github-actions/setup-gcloud@v2
        with:
          version: ${{ env.GCE_CLI_GHA_VERSION }}
          project_id: ${{ secrets.GCE_PROJECT }}
      - name: VM create
        run: |
          INSTANCE_NAME="${GCE_INSTANCE_PREFIX}-${GITHUB_SHA::8}"
          INSTANCE_ZONES=(us-west1-a
                          us-west1-b
                          us-central1-a
                          us-central1-b
                          us-central1-f
                          us-east1-c
                          us-east1-d
                          us-east4-b
                          southamerica-east1-c
                          europe-west2-b
                          europe-west3-b
                          europe-west4-b
                          europe-west4-c
                          europe-west2-a
                          asia-southeast1-b
                          asia-southeast1-c
                          australia-southeast1-a)
          # GCE only supports GPU on n1-standard (2020/07)
          ZONE_ID=0
          until ((ZONE_ID >= ${#INSTANCE_ZONES[@]})) ||
            gcloud compute instances create "$INSTANCE_NAME" \
              --zone="${INSTANCE_ZONES[$ZONE_ID]}" \
              --accelerator="count=2,type=nvidia-tesla-t4" \
              --maintenance-policy="TERMINATE" \
              --machine-type=n1-standard-8 \
              --boot-disk-size="128GB" \
              --boot-disk-type="pd-ssd" \
              --image-family="ubuntu-os-docker-gpu-2004-lts" \
              --metadata-from-file=startup-script=./util/gcloud_auto_clean.sh \
              --scopes="storage-full,compute-rw" \
              --service-account="$GCE_GPU_CI_SA"; do
              ((ZONE_ID = ZONE_ID + 1))
          done
          sleep 90
          echo "GCE_ZONE=${INSTANCE_ZONES[$ZONE_ID]}" >> "${GITHUB_ENV}"
          echo "INSTANCE_NAME=${INSTANCE_NAME}" >> "${GITHUB_ENV}"
          exit $((ZONE_ID >= ${#INSTANCE_ZONES[@]})) # 0 => success
      - name: VM copy code
        run: |
          gcloud compute scp \
            "${GITHUB_WORKSPACE}/../Open3D.tar.gz" "${INSTANCE_NAME}":~ \
            --zone "${GCE_ZONE}"
          gcloud compute ssh "${INSTANCE_NAME}" \
            --zone "${GCE_ZONE}" \
            --command "ls -alh \
                    && tar -xvzf Open3D.tar.gz \
                    && ls -alh \
                    && ls -alh Open3D \
                    && nvidia-smi"
      - name: VM build docker
        run: |
          if [ "${BUILD_PACKAGE}" == "true" ] && [ "$DEVELOPER_BUILD" == "OFF" ]; then
            export RELEASE_TAG="-release"
          fi
          gcloud compute ssh "${INSTANCE_NAME}" \
            --zone="${GCE_ZONE}" \
            --command="sudo Open3D/docker/docker_build.sh ${CI_CONFIG}${RELEASE_TAG:-}"
          if [ "${BUILD_PACKAGE}" == 'true' ]; then
            gcloud compute scp --zone="${GCE_ZONE}" \
              "${INSTANCE_NAME}":open3d-devel-linux*.tar.xz "$PWD"
          fi

      - name: Upload package
        if: ${{ env.BUILD_PACKAGE == 'true' }}
        uses: actions/upload-artifact@v4
        with:
          name: open3d-devel-linux-x86_64-cuda-${{ matrix.CI_CONFIG }}
          path: open3d-devel-linux*.tar.xz
          if-no-files-found: error

      - name: Update devel release
        if: ${{ github.ref == 'refs/heads/main' && env.BUILD_PACKAGE == 'true' }}
        env:
          GH_TOKEN: ${{ github.token }}
        run: |
          gh release upload main-devel open3d-devel-linux-*.tar.xz --clobber
          gh release view main-devel

      - name: VM run docker
        run: |
          gcloud compute ssh "${INSTANCE_NAME}" \
            --zone="${GCE_ZONE}" \
            --command="sudo Open3D/docker/docker_test.sh ${CI_CONFIG}"

      - name: VM ccache upload
        if: ${{ github.ref == 'refs/heads/main' }}
        run: |
          gcloud compute ssh "${INSTANCE_NAME}" \
            --zone="${GCE_ZONE}" \
            --command="ls -alh \
                    && gsutil cp ${CCACHE_TAR_NAME}.tar.gz gs://open3d-ci-cache/"

      - name: VM delete
        if: always()
        run: |
          gcloud compute instances delete "${INSTANCE_NAME}" --zone "${GCE_ZONE}"
          ls -alh "${HOME}/.ssh"
          gcloud compute os-login describe-profile
          gcloud compute os-login ssh-keys remove --key-file "${HOME}/.ssh/google_compute_engine.pub"