Separate focal and jammy carma-base Dockerfiles

.github/workflows/docker.yml

@@ -1,9 +1,17 @@
-# This workflow will only build for Pull Requests which are opened, changed , merged 
-name: Docker build
-on:
-  pull_request:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  docker:
-    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+# This workflow will only build for Pull Requests which are opened, changed , merged 
+name: Docker build
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  # Jammy 22.04 (ROS2 Humble)
+  docker-build-jammy:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    with:
+      file: ./jammy/Dockerfile
+  # Focal 20.04 (ROS1 Noetic/ ROS2 Foxy)
+  docker-build-focal:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    with:
+      file: ./focal/Dockerfile

.github/workflows/dockerhub.yml

@@ -1,16 +1,28 @@
-# This workflow will build and push official docker images when new push occurs to develop, master, release branches but doesn't run any unit test or sonar scanner
-name: Docker Hub build
-on:
-  push:
-    branches:
-      - develop
-      - master
-      - "release/*"
-    tags:
-      - "carma-system-*"
-jobs:
-  dockerhub:
-    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
-    secrets:
-      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
-      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
+# This workflow will build and push official docker images when new push occurs to develop, master, release branches but doesn't run any unit test or sonar scanner
+name: Docker Hub build
+on:
+  push:
+    branches:
+      - develop
+      - master
+      - "release/*"
+    tags:
+      - "carma-system-*"
+jobs:
+  dockerhub-focal:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
+    with:
+      file: ./focal/Dockerfile
+      # TODO: add focal suffix when humble is migrated 
+      #tag_name_suffix: focal https://usdot-carma.atlassian.net/browse/ARC-227
+  dockerhub-jammy:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
+    with:
+      file: ./jammy/Dockerfile
+      tag_name_suffix: jammy

docker/build-image.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-#  Copyright (C) 2018-2021 LEIDOS.
+#  Copyright (C) 2018-2024 LEIDOS.
 # 
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
@@ -13,10 +13,11 @@
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
-set -x
 
 USERNAME=usdotfhwastol
 BRANCH=$(git rev-parse --abbrev-ref HEAD)
+BUILD_FOCAL=false
+BUILD_JAMMY=false
 
 cd "$(dirname "$0")"
 IMAGE=$(basename `git rev-parse --show-toplevel`)
@@ -34,7 +35,8 @@ while [[ $# -gt 0 ]]; do
             shift
             ;;
         --system-release)
-            SYSTEM_RELEASE=true
+            USERNAME=usdotfhwastol
+            COMPONENT_VERSION_STRING=$("./get-system-version.sh")
             shift
             ;;
         -p|--push)
@@ -56,42 +58,68 @@ while [[ $# -gt 0 ]]; do
             fi
             shift
             ;;
+        --focal)
+            BUILD_FOCAL=true
+            shift
+            ;;
+        --jammy)
+            BUILD_JAMMY=true
+            shift
+            ;;
     esac
 done
 
 if [[ -z "$COMPONENT_VERSION_STRING" ]]; then
     COMPONENT_VERSION_STRING=$("./get-component-version.sh")
 fi
 
-echo "Building docker image for $IMAGE version: $COMPONENT_VERSION_STRING"
-echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING"
+build_image() {
+    local dockerfile_path=$1
+    local tag_suffix=$2
 
-cd ..
-docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
-    --build-arg VERSION="$COMPONENT_VERSION_STRING" \
-    --build-arg VCS_REF=`git rev-parse --short HEAD` \
-    --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
+    echo "Building docker image for $IMAGE version: $COMPONENT_VERSION_STRING using Dockerfile: $dockerfile_path"
+    echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING$tag_suffix"
+
+    DOCKER_BUILDKIT=1 docker build --network=host -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING$tag_suffix \
+        --build-arg VERSION="$COMPONENT_VERSION_STRING" \
+        --build-arg VCS_REF=`git rev-parse --short HEAD` \
+        --build-arg BUILD_DATE=`date -u +"%Y-%m-%dT%H:%M:%SZ"` \
+        -f $dockerfile_path .
+
+    TAGS+=("$USERNAME/$IMAGE:$COMPONENT_VERSION_STRING$tag_suffix")
+
+    docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING$tag_suffix $USERNAME/$IMAGE:latest$tag_suffix
+    TAGS+=("$USERNAME/$IMAGE:latest$tag_suffix")
+
+    echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING$tag_suffix as $USERNAME/$IMAGE:latest$tag_suffix"
+}
 
 TAGS=()
-TAGS+=("$USERNAME/$IMAGE:$COMPONENT_VERSION_STRING")
 
-docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:latest
-TAGS+=("$USERNAME/$IMAGE:latest")
+cd ..
+
+# If neither --focal nor --jammy is specified, build both
+if [ "$BUILD_FOCAL" = false ] && [ "$BUILD_JAMMY" = false ]; then
+    BUILD_FOCAL=true
+    BUILD_JAMMY=true
+fi
 
-echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:latest"
+# TODO, distinguish with suffix when Humble is fully integrated
+# until then focal will have no suffix and be the main image
+# https://usdot-carma.atlassian.net/browse/ARC-227
+if [ "$BUILD_FOCAL" = true ]; then
+    build_image "focal/Dockerfile" "" #replace with "-focal"
+fi
 
-if [ "$SYSTEM_RELEASE" = true ]; then
-    SYSTEM_VERSION_STRING=$("./get-system-version.sh")
-    docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING
-    echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING"
-    TAGS+=("$USERNAME/$IMAGE:$SYSTEM_VERSION_STRING")
+if [ "$BUILD_JAMMY" = true ]; then
+    build_image "jammy/Dockerfile" "-jammy"
 fi
 
 if [ "$PUSH" = true ]; then
-    for tag in $TAGS; do
+    for tag in "${TAGS[@]}"; do
         docker push "${tag}"
     done
 fi
 
 echo ""
-echo "##### $IMAGE Docker Image Build Done! #####"
+echo "##### $IMAGE Docker Image Build Done! #####"

docker/get-component-version.sh

@@ -1,21 +1,35 @@
-#!/bin/bash
-
-#  Copyright (C) 2018-2021 LEIDOS.
-# 
-#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
-#  use this file except in compliance with the License. You may obtain a copy of
-#  the License at
-# 
-#  http://www.apache.org/licenses/LICENSE-2.0
-# 
-#  Unless required by applicable law or agreed to in writing, software
-#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-#  License for the specific language governing permissions and limitations under
-#  the License.
-
-cd "$(dirname "$0")"
-cd ..
-COMPONENT_TAG_PREFIX="${PWD##*/}"
-git describe --all --match="$COMPONENT_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}' | sed "s/$COMPONENT_TAG_PREFIX\_//"
-
+#  Copyright (C) 2018-2024 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+# Change to the directory containing the script
+cd "$(dirname "$0")"
+
+# Move up one directory (likely to the root of the project)
+cd ..
+
+# Get the last commit message
+COMMIT_MSG=$(git log -1 --pretty=%B)
+
+# Remove newlines and special characters, replace spaces with underscores
+VERSION=$(echo "$COMMIT_MSG" | tr -d '\n' | tr -dc '[:alnum:][:space:]' | tr '[:space:]' '_')
+
+# Limit the length of the version string (e.g., to 50 characters)
+VERSION="${VERSION:0:50}"
+
+# Append -SNAPSHOT if there are uncommitted changes
+if [[ -n $(git status -s) ]]; then
+    VERSION="${VERSION}-SNAPSHOT"
+fi
+
+echo "$VERSION"

entrypoint.sh

@@ -1,28 +1,28 @@
-#!/bin/bash
-
-#  Copyright (C) 2018-2021 LEIDOS.
-# 
-#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
-#  use this file except in compliance with the License. You may obtain a copy of
-#  the License at
-# 
-#  http://www.apache.org/licenses/LICENSE-2.0
-# 
-#  Unless required by applicable law or agreed to in writing, software
-#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-#  License for the specific language governing permissions and limitations under
-#  the License.
-
-# Intialize the CARMA environment by sourcing the necessary ROS shell scripts
-# then run whatever string is passed as argument to this script in that 
-# initialized context. E.g. "entrypoint.sh roslaunch carma carma_docker.launch"
-# runs "roslaunch carma carma_docker.launch" after setting up the environment
-# such that ROS and CARMA are on the user's PATH
-
-if [ $# -eq 0 ]; then
-    # If no other command is passed to this script, run bash
-    source ~/.base-image/init-env.sh; exec "bash"
-else 
-    source ~/.base-image/init-env.sh; exec "$@"
-fi
+#!/bin/bash
+
+#  Copyright (C) 2018-2021 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+# Intialize the CARMA environment by sourcing the necessary ROS shell scripts
+# then run whatever string is passed as argument to this script in that 
+# initialized context. E.g. "entrypoint.sh roslaunch carma carma_docker.launch"
+# runs "roslaunch carma carma_docker.launch" after setting up the environment
+# such that ROS and CARMA are on the user's PATH
+
+if [ $# -eq 0 ]; then
+    # If no other command is passed to this script, run bash
+    source ~/.base-image/init-env.sh; exec "bash"
+else 
+    source ~/.base-image/init-env.sh; exec "$@"
+fi