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

# Copyright (c) 2024-2026, The UW Lab Project Developers. (https://github.com/uw-lab/UWLab/blob/main/CONTRIBUTORS.md).
# All Rights Reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

name: 'Build Docker Image'
description: 'Builds a Docker image with IsaacSim and UWLab dependencies'

inputs:
  image-tag:
    description: 'Docker image tag to use'
    required: true
  isaacsim-base-image:
    description: 'IsaacSim base image'
    required: true
  isaacsim-version:
    description: 'IsaacSim version'
    required: true
  dockerfile-path:
    description: 'Path to Dockerfile'
    default: 'docker/Dockerfile.base'
    required: false
  context-path:
    description: 'Build context path'
    default: '.'
    required: false

runs:
  using: composite
  steps:
    - name: NGC Login
      shell: sh
      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 for PRs from forks or when secrets are not configured"
        fi

    - name: Build Docker Image
      shell: sh
      run: |
        # Function to build Docker image
        build_docker_image() {
          local image_tag="$1"
          local isaacsim_base_image="$2"
          local isaacsim_version="$3"
          local dockerfile_path="$4"
          local context_path="$5"

          echo "Building Docker image: $image_tag"
          echo "Using Dockerfile: $dockerfile_path"
          echo "Build context: $context_path"

          # Build Docker image
          docker buildx build --progress=plain --platform linux/amd64 \
            -t uw-lab-dev \
            -t $image_tag \
            --build-arg ISAACSIM_BASE_IMAGE_ARG="$isaacsim_base_image" \
            --build-arg ISAACSIM_VERSION_ARG="$isaacsim_version" \
            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
            --build-arg UWLAB_PATH_ARG=/workspace/uwlab \
            --build-arg DOCKER_USER_HOME_ARG=/root \
            --cache-from type=gha \
            --cache-to type=gha,mode=max \
            -f $dockerfile_path \
            --load $context_path

          echo "✅ Docker image built successfully: $image_tag"
          docker images | grep uw-lab-dev
        }

        # Call the function with provided parameters
        build_docker_image "${{ inputs.image-tag }}" "${{ inputs.isaacsim-base-image }}" "${{ inputs.isaacsim-version }}" "${{ inputs.dockerfile-path }}" "${{ inputs.context-path }}"