Compatibility with Raspberry Pi #355

	name: Build basis
	permissions:
	packages: write
	contents: read

	on:
	push:
	branches: [ "main" ]
	pull_request:
	branches: [ "main" ]

	jobs:
	build-container:
	runs-on: ubuntu-latest

	steps:
	- uses: actions/checkout@v4

	- name: 'Login to GitHub Container Registry'
	uses: docker/login-action@v3
	with:
	registry: ghcr.io
	username: ${{github.actor}}
	password: ${{secrets.GITHUB_TOKEN}}

	- name: Set up Docker Buildx
	uses: docker/setup-buildx-action@v3

	# TODO: use proper tags
	- name: Build and push base image
	uses: docker/build-push-action@v5
	with:
	context: .
	file: ./docker/Dockerfile
	push: true
	target: basis-env
	tags: ghcr.io/basis-robotics/basis-env:${{ github.sha }}
	# cache-from: type=gha
	# cache-to: type=gha,mode=max
	- name: Build and push ROS image
	uses: docker/build-push-action@v5
	with:
	context: .
	file: ./docker/Dockerfile
	push: true
	target: basis-env-ros
	tags: ghcr.io/basis-robotics/basis-env-ros:${{ github.sha }}
	# cache-from: type=gha
	# cache-to: type=gha,mode=max

	build-test:
	runs-on: ubuntu-latest
	needs: build-container
	strategy:
	matrix:
	configuration:
	- image: basis-env
	- image: basis-env-ros
	cmake-options: -DBASIS_ENABLE_ROS=1

	container:
	image: ghcr.io/basis-robotics/${{ matrix.configuration.image }}:${{ github.sha }}
	options: --user root

	steps:
	- uses: actions/checkout@v4

	- name: Configure CMake
	run: >
	cmake -B ./build
	-DCMAKE_CXX_COMPILER=clang++-18
	${{matrix.configuration.cmake-options}}
	-S .

	- name: Build
	run: cmake --build ./build -j

	- name: Test
	working-directory: ./build
	run: ctest

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