Baseimage upgrade to support multi-arch builds (#24)

* Enable multi-arch cross-compilation using Yocto SDK

* Update baseimage

* Fix error in the entrypoint

* Upgrade run-time base image

* Update run time base image

* Enable manual build triggering

* Update baseimage version, enable dependabot for group updates

* Update baseimage version to v3.0.0 release

* Upgrade baseimage version to v3.0.1

---------

Co-authored-by: Jari Hodju <[email protected]>

.github/dependabot.yml

@@ -9,6 +9,12 @@ updates:
     directory: "/"
     schedule:
       interval: "daily"
+    groups:
+      baseimage-dependencies:
+          patterns:
+            - "tiiuae/fog-ros-sdk"
+            - "tiiuae/fog-ros-baseimage-builder"
+            - "tiiuae/fog-ros-baseimage"
   - package-ecosystem: "github-actions"
     directory: "/"
     schedule:

.github/workflows/tii-gremsy.yaml

@@ -1,55 +1,53 @@
 name: Build
 
 on:
-  repository_dispatch:
-    types: [fog-ros-baseimage-update]
   push:
+  pull_request:
   workflow_dispatch:
 
+permissions:
+  contents: read
+  packages: write
+
 jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
 
-      - uses: docker/setup-buildx-action@v2
-
-      - name: Set image tag format without suffix
-        run: |
-          echo "IMAGE_TAG_FORMAT=type=sha" >> $GITHUB_ENV
-        if: github.event_name == 'push'
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v2
+        with:
+          platforms: amd64,riscv64,arm64
 
-      - name: Set image tag format with suffix
-        # it is possible that run_number should be used instead run_attempt
-        # run_attempt is unique number on every run and run_attempt resets to 1 if re-build is not used
-        # content of image_sha_tag_suffix is defined in fog-ros-baseimage dispatcher workflow.
-        run: |
-          echo "IMAGE_TAG_FORMAT=type=sha,suffix=-${{ github.event.client_payload.image_sha_tag_suffix }}" >> $GITHUB_ENV
-        if: github.event_name == 'repository_dispatch'
+      - uses: docker/setup-buildx-action@v3
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ghcr.io/tiiuae/tii-gremsy
           tags: |
             type=ref,event=branch
+            type=ref,event=pr
             type=semver,pattern={{version}}
-            type=raw,value=latest
-            ${{ env.IMAGE_TAG_FORMAT }}
+            type=sha
+            type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v2
+        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@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
+          platforms: linux/amd64,linux/riscv64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}

Dockerfile

@@ -1,21 +1,29 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0 AS builder
+FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:v3.0.1-${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/ros2_gremsy
 
-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:v3.0.1
 
-ENTRYPOINT exec ros-with-env ros2 run ros2_gremsy gremsy_node --ros-args --remap __ns:=/$DRONE_DEVICE_ID -p com_port:=/dev/ttyUSB0
+# ENTRYPOINT exec ros-with-env ros2 run ros2_gremsy gremsy_node --ros-args --remap __ns:=/$DRONE_DEVICE_ID -p com_port:=/dev/ttyUSB0
+ENTRYPOINT [ "/entrypoint.sh" ]
 
-COPY --from=builder /main_ws/ros-*-ros2-gremsy_*_amd64.deb /ros2_gremsy.deb
+COPY entrypoint.sh /entrypoint.sh
 
-RUN apt update && apt install -y --no-install-recommends ./ros2_gremsy.deb \
-	&& rm /ros2_gremsy.deb
+# WORKSPACE_DIR environment variable is defined in the fog-ros-baseimage.
+# The same installation directory is used by all ROS2 components.
+# See: https://github.com/tiiuae/fog-ros-baseimage/blob/main/Dockerfile
+WORKDIR $WORKSPACE_DIR
+COPY --from=builder $WORKSPACE_DIR/install install

entrypoint.sh

@@ -0,0 +1,41 @@
+#!/bin/bash -e
+_term() {
+	# FILL UP PROCESS SEARCH PATTERN HERE TO FIND PROPER PROCESS FOR SIGINT:
+	pattern="component_container_mt"
+
+	pid_value="$(ps -e | grep $pattern | grep -v grep | awk '{ print $1 }')"
+	if [ "$pid_value" != "" ]; then
+		pid=$pid_value
+		echo "Send SIGINT to pid $pid"
+	else
+		pid=1
+		echo "Pattern not found, send SIGINT to pid $pid"
+	fi
+	kill -s SIGINT $pid
+}
+# Use SIGTERM or TERM, does not seem to make any difference.
+trap _term TERM
+
+ros-with-env ros2 run ros2_gremsy gremsy_node --ros-args --remap __ns:=/$DRONE_DEVICE_ID -p com_port:=/dev/ttyUSB0 &
+child=$!
+
+echo "Waiting for pid $child"
+# * Calling "wait" will then wait for the job with the specified by $child to finish, or for any signals to be fired.
+#   Due to "or for any signals to be fired", "wait" will also handle SIGTERM and it will shutdown before
+#   the node ends gracefully.
+#   The solution is to add a second "wait" call and remove the trap between the two calls.
+# * Do not use -e flag in the first wait call because wait will exit with error after catching SIGTERM.
+set +e
+wait $child
+set -e
+trap - TERM
+wait $child
+RESULT=$?
+
+if [ $RESULT -ne 0 ]; then
+		echo "ERROR: Ros2 Gresmy node failed with code $RESULT" >&2
+		exit $RESULT
+else
+		echo "INFO: Ros2 Gresmy node finished successfully, but returning 125 code for docker to restart properly." >&2
+		exit 125
+fi