docker-build-state-machine.yaml

name: docker-build-state-machine

# Build state-machine when "map-plan" changes, or when any files in the
# state_machine folder are modified
on:
  workflow_dispatch:
  workflow_run:
    workflows: ["docker-build-map-plan"]
    branches: [master]
    types:
      - completed
  push:
    paths:
    - 'autonomy_core/state_machine/**'
    branches: [master]
  # DO NOT add a schedule. This build will be triggered by base schedule.

jobs:
  main:
    runs-on: ubuntu-24.04
    timeout-minutes: 360

    steps:
      -
        # This action is now required because we are building with context,
        # required to clone a third party repo
        name: Checkout
        uses: actions/checkout@v4
      -
        name: Set up QEMU
        uses: docker/setup-qemu-action@v3
      -
        name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      -
        name: Login to DockerHub
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      -
        name: Build and push
        id: docker_build
        uses: docker/build-push-action@v6
        with:
          context: .
          push: true
          tags: kumarrobotics/autonomy:state_machine
          file: ./autonomy_core/state_machine/Dockerfile
          platforms: linux/amd64,linux/arm64
      -
        name: Image digest
        run: echo ${{ steps.docker_build.outputs.digest }}