.github/workflows/postmerge-ci.yml

# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

name: Post-Merge CI

on:
  push:
    branches:
      - main
      - devel
      - release/**

# Concurrency control to prevent parallel runs
concurrency:
  group: postmerge-ci-${{ github.ref }}
  cancel-in-progress: true

permissions:
  contents: read

env:
  NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
  ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
  ISAACSIM_BASE_VERSIONS_STRING: ${{ vars.ISAACSIM_BASE_VERSIONS_STRING || '5.1.0' }}
  ISAACLAB_IMAGE_NAME: ${{ vars.ISAACLAB_IMAGE_NAME || 'isaac-lab-base' }}

jobs:
  build-and-push-images:
    runs-on: [self-hosted, gpu]
    timeout-minutes: 180
    environment:
      name: postmerge-production
      url: https://github.com/${{ github.repository }}
    env:
        DOCKER_HOST: unix:///var/run/docker.sock
        DOCKER_TLS_CERTDIR: ""

    steps:
    - name: Checkout Code
      uses: actions/checkout@v4
      with:
        fetch-depth: 0
        lfs: true

    - name: Set up QEMU
      uses: docker/setup-qemu-action@v3
      with:
        platforms: linux/arm64

    - name: Set up Docker Buildx
      uses: docker/setup-buildx-action@v3
      with:
        platforms: linux/amd64,linux/arm64
        driver-opts: |
          image=moby/buildkit:buildx-stable-1

    - name: Login to NGC
      run: |
        # Only attempt NGC login if API key is available
        if [ -n "${{ env.NGC_API_KEY }}" ]; then
          echo "Logging into NGC registry..."
          docker login -u \$oauthtoken -p ${{ env.NGC_API_KEY }} nvcr.io
          echo "✅ Successfully logged into NGC registry"
        else
          echo "⚠️ NGC_API_KEY not available - skipping NGC login"
          echo "This is normal when secrets are not configured"
        fi

    - name: Build and Push Docker Images
      run: |
        # Determine branch name
        BRANCH_NAME="${{ github.ref_name }}"

        # Replace '/' with '-' and remove any invalid characters for Docker tag
        SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')

        # Use "latest" if branch name is empty or only contains invalid characters
        if [ -z "$SAFE_BRANCH_NAME" ]; then
          SAFE_BRANCH_NAME="latest"
        fi

        # Get the git repository short name
        REPO_SHORT_NAME="${{ github.event.repository.name }}"
        if [ -z "$REPO_SHORT_NAME" ]; then
          REPO_SHORT_NAME="verification"
        fi

        echo "Building images for branch: $BRANCH_NAME"
        echo "Safe branch name: $SAFE_BRANCH_NAME"
        echo "Repository name: $REPO_SHORT_NAME"
        echo "IsaacSim versions: ${{ env.ISAACSIM_BASE_VERSIONS_STRING }}"

        # Parse the env variable string into an array
        IMAGE_BASE_VERSIONS_STRING="${{ env.ISAACSIM_BASE_VERSIONS_STRING }}"
        # Use set to split the string into positional parameters, then convert to array
        set -- $IMAGE_BASE_VERSIONS_STRING
        IMAGE_BASE_VERSIONS=("$@")

        for IMAGE_BASE_VERSION in "${IMAGE_BASE_VERSIONS[@]}"; do
          IMAGE_BASE_VERSION=$(echo "$IMAGE_BASE_VERSION" | tr -d '[:space:]')

          # Skip empty versions
          if [ -z "$IMAGE_BASE_VERSION" ]; then
            continue
          fi

          # Combine repo short name and branch name for the tag
          COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}-${IMAGE_BASE_VERSION}"
          BUILD_TAG="${COMBINED_TAG}-b${{ github.run_number }}"

          # Determine if multiarch is supported by inspecting the base image manifest
          echo "Checking if base image supports multiarch..."
          BASE_IMAGE_FULL="${{ env.ISAACSIM_BASE_IMAGE }}:${IMAGE_BASE_VERSION}"

          # Get architectures from the base image manifest
          ARCHITECTURES=$(docker manifest inspect "$BASE_IMAGE_FULL" 2>/dev/null | grep -o '"architecture": "[^"]*"' | cut -d'"' -f4 | sort -u)

          if [ -z "$ARCHITECTURES" ]; then
            echo "Could not inspect base image manifest: $BASE_IMAGE_FULL"
            echo "Defaulting to AMD64 only for safety"
            BUILD_PLATFORMS="linux/amd64"
          else
            echo "Base image architectures found:"
            echo "$ARCHITECTURES" | sed 's/^/  - /'

            # Check if both amd64 and arm64 are present
            HAS_AMD64=$(echo "$ARCHITECTURES" | grep -c "amd64" || true)
            HAS_ARM64=$(echo "$ARCHITECTURES" | grep -c "arm64" || true)

            if [ "$HAS_AMD64" -gt 0 ] && [ "$HAS_ARM64" -gt 0 ]; then
              echo "Base image supports multiarch (amd64 + arm64)"
              BUILD_PLATFORMS="linux/amd64,linux/arm64"
            elif [ "$HAS_AMD64" -gt 0 ]; then
              echo "Base image only supports amd64"
              BUILD_PLATFORMS="linux/amd64"
            elif [ "$HAS_ARM64" -gt 0 ]; then
              echo "Base image only supports arm64"
              BUILD_PLATFORMS="linux/arm64"
            else
              echo "Unknown architecture support, defaulting to amd64"
              BUILD_PLATFORMS="linux/amd64"
            fi
          fi

          echo "Building image: ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG"
          echo "IsaacSim version: $IMAGE_BASE_VERSION"
          echo "Base image: $BASE_IMAGE_FULL"
          echo "Target platforms: $BUILD_PLATFORMS"

          # Build Docker image once with both tags for multiple architectures
          docker buildx build \
            --platform $BUILD_PLATFORMS \
            --progress=plain \
            -t ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG \
            -t ${{ env.ISAACLAB_IMAGE_NAME }}:$BUILD_TAG \
            --build-arg ISAACSIM_BASE_IMAGE_ARG=${{ env.ISAACSIM_BASE_IMAGE }} \
            --build-arg ISAACSIM_VERSION_ARG=$IMAGE_BASE_VERSION \
            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
            --build-arg DOCKER_USER_HOME_ARG=/root \
            --cache-from type=gha \
            --cache-to type=gha,mode=max \
            -f docker/Dockerfile.base \
            --push .

          echo "✅ Successfully built and pushed: ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG (platforms: $BUILD_PLATFORMS)"
          echo "✅ Successfully built and pushed: ${{ env.ISAACLAB_IMAGE_NAME }}:$BUILD_TAG (platforms: $BUILD_PLATFORMS)"
        done