From f18daa7eeeed8a2da38bab1cd41ea190670b7ba7 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Thu, 22 Feb 2024 15:12:07 +0900
Subject: [PATCH] Bake arm64 image with mimic-cross

---
 .github/workflows/Docker.yaml | 28 +++++------------------
 Dockerfile.arm64              | 43 +++++++++++++++++++++++++++++++++++
 docker-bake.hcl               | 15 ++++++++----
 3 files changed, 60 insertions(+), 26 deletions(-)
 create mode 100644 Dockerfile.arm64

diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml
index f50690fc8e2..9c42e07b21d 100644
--- a/.github/workflows/Docker.yaml
+++ b/.github/workflows/Docker.yaml
@@ -6,12 +6,12 @@ on:
     - cron: 0 0 * * *
   pull_request:
     paths:
-      - '**'
-      - '!docs/**'
-      - '!README.md'
-      - '!.github/**'
-      - '.github/workflows/Docker.yaml'
-      - '!mkdocs.yml'
+      - "**"
+      - "!docs/**"
+      - "!README.md"
+      - "!.github/**"
+      - ".github/workflows/Docker.yaml"
+      - "!mkdocs.yml"
   push:
     branches:
       - master
@@ -62,19 +62,3 @@ jobs:
           push: ${{ github.event_name != 'pull_request' }}
           targets: |
             ${{ matrix.rosdistro }}
-          set: |
-            *.platform=linux/amd64
-
-      - name: Build and push (arm64)
-        uses: docker/bake-action@v3
-        if: ${{ matrix.runs_on == 'macos-14'}}
-        with:
-          files: |
-            ./docker-bake.hcl
-          workdir: .
-          no-cache: true
-          push: ${{ github.event_name != 'pull_request' }}
-          targets: |
-            ${{ matrix.rosdistro }}
-          set: |
-            *.platform=linux/arm64/v8
diff --git a/Dockerfile.arm64 b/Dockerfile.arm64
new file mode 100644
index 00000000000..8c4daa18210
--- /dev/null
+++ b/Dockerfile.arm64
@@ -0,0 +1,43 @@
+ARG ROS_DISTRO="humble"
+
+FROM --platform=${BUILDPLATFORM} impactaky/mc-ubuntu22.04-${TARGETARCH}-host:2.0.1 AS mimic-host
+FROM ros:${ROS_DISTRO} as build-stage
+
+SHELL ["/bin/bash", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NOWARNINGS=yes
+
+COPY --from=mimic-host / /mimic-cross
+RUN /mimic-cross/mimic-cross.deno/setup.sh
+
+RUN sudo apt-get update && sudo apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache
+# cspell: ignore kisak
+RUN add-apt-repository ppa:kisak/kisak-mesa -y
+RUN apt-get update && apt-get install libegl-mesa0 -y
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+COPY . $WORKDIR
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/
+RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/external
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+RUN vcs import external < dependency_${ROS_DISTRO}.repos
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
+
+ENV CC="/usr/lib/ccache/gcc"
+ENV CXX="/usr/lib/ccache/g++"
+ENV CCACHE_DIR="/ccache"
+RUN --mount=type=cache,target=/ccache source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+    -DBUILD_CPP_MOCK_SCENARIOS=ON
+COPY ./docker-entrypoint.sh /
+RUN chmod a+x /docker-entrypoint.sh
+
+ENTRYPOINT ["/docker-entrypoint.sh"]
diff --git a/docker-bake.hcl b/docker-bake.hcl
index e44c8f02961..9a533f986ee 100644
--- a/docker-bake.hcl
+++ b/docker-bake.hcl
@@ -5,14 +5,21 @@ group "default" {
 target "base" {
   target = "build-stage"
   dockerfile = "Dockerfile"
-  platforms = ["linux/amd64", "linux/arm64/v8"]
+  platforms = ["linux/amd64"]
+}
+
+target "base_arm64" {
+  dockerfile = "Dockerfile.arm64"
+  platforms = ["linux/arm64/v8"]
 }
 
 target "humble" {
-  inherits = ["base"]
-  name = "humble"
+  inherits = [base]
+  name = "humble-${base}"
   tags = ["ghcr.io/tier4/scenario_simulator_v2:humble"]
   args = {"ROS_DISTRO" : "humble"}
   group = ["humble"]
-  matrix = {}
+  matrix = {
+    base = ["base", "base_arm64"]
+  }
 }