feat(docker): integrate cuda/no-cuda jobs into single job

.github/actions/docker-build-and-push/action.yaml

@@ -2,9 +2,6 @@ name: docker-build-and-push
 description: ""
 
 inputs:
-  name:
-    description: ""
-    required: true
   platform:
     description: ""
     required: true
@@ -14,9 +11,6 @@ inputs:
   build-args:
     description: ""
     required: false
-  tag-suffix:
-    description: ""
-    required: false
   dockerhub-token:
     description: ""
     required: true
@@ -45,19 +39,17 @@ runs:
       with:
         path: |
           root-ccache
-        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4
       with:
         path: |
           var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
           apt-get-${{ inputs.platform }}-
 
     - name: Inject cache into docker
@@ -81,8 +73,8 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=base${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=base${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=base-${{ inputs.platform }}
+          type=raw,value=base-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-base
         flavor: |
           latest=false
@@ -93,8 +85,8 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=core-devel-${{ inputs.platform }}
+          type=raw,value=core-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-core-devel
         flavor: |
           latest=false
@@ -105,32 +97,56 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception-devel
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
+      id: meta-universe-sensing-perception-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-devel-cuda
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe-sensing-perception
       id: meta-universe-sensing-perception
       uses: docker/metadata-action@v5
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:universe-sensing-perception-cuda
+      id: meta-universe-sensing-perception-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-cuda
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe-localization-mapping-devel
       id: meta-universe-localization-mapping-devel
       uses: docker/metadata-action@v5
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-devel-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping-devel
         flavor: |
           latest=false
@@ -141,8 +157,8 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping
         flavor: |
           latest=false
@@ -153,8 +169,8 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-devel-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control-devel
         flavor: |
           latest=false
@@ -165,8 +181,8 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control
         flavor: |
           latest=false
@@ -177,8 +193,8 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-devel-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-vehicle-system-devel
         flavor: |
           latest=false
@@ -189,8 +205,8 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-vehicle-system${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-vehicle-system${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-${{ inputs.platform }}
+          type=raw,value=universe-vehicle-system-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-vehicle-system
         flavor: |
           latest=false
@@ -201,24 +217,48 @@ runs:
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-devel-${{ inputs.platform }}
+          type=raw,value=universe-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-devel
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:universe-devel-cuda
+      id: meta-universe-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-devel-cuda
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe
       id: meta-universe
       uses: docker/metadata-action@v5
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-${{ inputs.platform }}
+          type=raw,value=universe-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe
         flavor: |
           latest=auto
 
+    - name: Docker meta for autoware:universe-cuda
+      id: meta-universe-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-cuda-${{ inputs.platform }}
+          type=raw,value=universe-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-cuda
+        flavor: |
+          latest=auto
+
     - name: Login to Docker Hub
       uses: docker/login-action@v3
       with:
@@ -234,15 +274,19 @@ runs:
           ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping-devel.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping.outputs.bake-file }}
           ${{ steps.meta-universe-planning-control-devel.outputs.bake-file }}
           ${{ steps.meta-universe-planning-control.outputs.bake-file }}
           ${{ steps.meta-universe-vehicle-system-devel.outputs.bake-file }}
           ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
+          ${{ steps.meta-universe-cuda.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}

.github/actions/docker-build/action.yaml

@@ -2,9 +2,6 @@ name: docker-build
 description: ""
 
 inputs:
-  name:
-    description: ""
-    required: true
   platform:
     description: ""
     required: true
@@ -39,48 +36,44 @@ runs:
 
     - name: Cache ccache
       uses: actions/cache@v4
-      if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }}
+      if: ${{ github.ref == 'refs/heads/main' }}
       id: cache-ccache
       with:
         path: |
           root-ccache
-        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
 
     - name: Cache apt-get
       uses: actions/cache@v4
-      if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }}
+      if: ${{ github.ref == 'refs/heads/main' }}
       id: cache-apt-get
       with:
         path: |
           var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
           apt-get-${{ inputs.platform }}-
 
     - name: Restore ccache
       uses: actions/cache/restore@v4
-      if: ${{ inputs.name != 'no-cuda' || github.ref != 'refs/heads/main' }}
+      if: ${{ github.ref != 'refs/heads/main' }}
       with:
         path: |
           root-ccache
-        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4
-      if: ${{ inputs.name != 'no-cuda' || github.ref != 'refs/heads/main' }}
+      if: ${{ github.ref != 'refs/heads/main' }}
       with:
         path: |
           var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
           apt-get-${{ inputs.platform }}-
 
     - name: Inject cache into docker
@@ -106,4 +99,4 @@ runs:
         context: .
         push: false
         build-args: ${{ inputs.build-args }}
-        cache-from: type=registry,ref=${{ github.repository }}-buildcache:${{ inputs.name }}-${{ inputs.platform }}-${{ inputs.cache-tag-suffix }}
+        cache-from: type=registry,ref=${{ github.repository }}-buildcache:${{ inputs.platform }}-${{ inputs.cache-tag-suffix }}

.github/workflows/docker-build-and-push-arm64.yaml

@@ -13,25 +13,7 @@
 
   docker-build-and-push:
     needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204-arm
-    strategy:
-      fail-fast: false
-      matrix:
-        name:
-          - no-cuda
-          - cuda
-        include:
-          - name: no-cuda
-            platform: arm64
-            base_image_env: base_image
-            lib_dir: aarch64
-            setup-args: --no-nvidia
-            tag-suffix: ""
-          - name: cuda
-            platform: arm64
-            base_image_env: base_image
-            lib_dir: aarch64
-            tag-suffix: -cuda
     steps:
       - name: Check if PR author is the specific user
         id: author-check
@@ -74,19 +56,16 @@
           (github.event_name == 'push' && github.ref_type == 'tag') }}
         uses: ./.github/actions/docker-build-and-push
         with:
-          name: ${{ matrix.name }}
-          platform: ${{ matrix.platform }}
+          platform: arm64
           bake-target: autoware
           build-args: |
-            *.platform=linux/${{ matrix.platform }}
+            *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
-            *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
-            *.args.SETUP_ARGS=${{ matrix.setup-args }}
-            *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.head_ref }}
-            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
-            *.cache-to=type=registry,ref=${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.head_ref }},mode=max
-          tag-suffix: ${{ matrix.tag-suffix }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.LIB_DIR=aarch64
+            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:arm64-${{ github.head_ref }}
+            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:arm64-main
+            *.cache-to=type=registry,ref=${{ github.repository }}-buildcache:arm64-${{ github.head_ref }},mode=max
           dockerhub-token: ${{ secrets.DOCKERHUB_TOKEN }}
 
       - name: Show disk space