docs: add instructions for controlling actuators in SIH #3287
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| name: Container build | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| - 'stable' | |
| - 'beta' | |
| - 'release/**' | |
| tags: | |
| - 'v*' | |
| pull_request: | |
| branches: | |
| - '**' | |
| paths: | |
| - '.github/workflows/dev_container.yml' | |
| - 'Tools/setup/ubuntu.sh' | |
| - 'Tools/setup/requirements.txt' | |
| - 'Tools/setup/Dockerfile' | |
| - 'Tools/setup/docker-entrypoint.sh' | |
| workflow_dispatch: | |
| inputs: | |
| px4_version: | |
| description: 'Container tag (e.g. v1.16.0)' | |
| required: true | |
| type: string | |
| deploy_to_registry: | |
| description: 'Whether to push built images to the registry' | |
| required: false | |
| type: boolean | |
| default: false | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| setup: | |
| name: Set Tags and Variables | |
| permissions: | |
| contents: read | |
| runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache] | |
| outputs: | |
| px4_version: ${{ steps.px4_version.outputs.px4_version }} | |
| meta_tags: ${{ steps.meta.outputs.tags }} | |
| meta_labels: ${{ steps.meta.outputs.labels }} | |
| steps: | |
| - uses: runs-on/action@v1 | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-tags: true | |
| submodules: false | |
| fetch-depth: 0 | |
| # If manual dispatch, take the user‐provided input | |
| - name: Set PX4 Tag Version | |
| id: px4_version | |
| run: | | |
| if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then | |
| echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT | |
| else | |
| echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT | |
| fi | |
| - name: Extract metadata (tags, labels) for Docker | |
| id: meta | |
| uses: docker/metadata-action@v5 | |
| with: | |
| images: | | |
| ghcr.io/PX4/px4-dev | |
| px4io/px4-dev | |
| tags: | | |
| type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000 | |
| build: | |
| name: Build Container (${{ matrix.arch }}) | |
| permissions: | |
| contents: read | |
| packages: write | |
| needs: setup | |
| strategy: | |
| matrix: | |
| include: | |
| - platform: linux/arm64 | |
| arch: arm64 | |
| runner: arm64 | |
| - platform: linux/amd64 | |
| arch: amd64 | |
| runner: x64 | |
| runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache] | |
| steps: | |
| - uses: runs-on/action@v1 | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-tags: true | |
| submodules: false | |
| fetch-depth: 0 | |
| - name: Login to Docker Hub | |
| uses: docker/login-action@v3 | |
| if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} | |
| with: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| - name: Login to GitHub Container Registry | |
| uses: docker/login-action@v3 | |
| if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| with: | |
| driver: docker-container | |
| platforms: ${{ matrix.platform }} | |
| - name: Build and Load Container Image | |
| uses: docker/build-push-action@v6 | |
| id: docker | |
| with: | |
| context: Tools/setup | |
| tags: | | |
| ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }} | |
| px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }} | |
| labels: ${{ needs.setup.outputs.meta_labels }} | |
| platforms: ${{ matrix.platform }} | |
| load: false | |
| push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} | |
| provenance: false | |
| cache-from: type=gha,version=1 | |
| cache-to: type=gha,version=1,mode=max | |
| deploy: | |
| name: Deploy To Registry | |
| permissions: | |
| contents: read | |
| packages: write | |
| runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache] | |
| needs: [build, setup] | |
| if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} | |
| steps: | |
| - uses: runs-on/action@v1 | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-tags: true | |
| submodules: false | |
| fetch-depth: 0 | |
| - name: Login to Docker Hub | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| - name: Login to GitHub Container Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Verify Images Exist Before Creating Manifest | |
| run: | | |
| docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!" | |
| docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!" | |
| docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!" | |
| docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!" | |
| - name: Create and Push Multi-Arch Manifest for Docker Hub | |
| run: | | |
| docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \ | |
| --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \ | |
| --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 | |
| docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64 | |
| docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64 | |
| docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }} | |
| - name: Create and Push Multi-Arch Manifest for GHCR | |
| run: | | |
| docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \ | |
| --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \ | |
| --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 | |
| docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64 | |
| docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64 | |
| docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} |