🐳 Containerize WayWise and upload to DockerHub via GitHub Actions by Copilot · Pull Request #122 · das-rise/WayWise

Copilot · 2025-10-23T09:17:54Z

What kind of change does this PR introduce? (Bug fix, feature, docs update, ...)

Feature: Docker containerization for WayWise with automated builds and publishing to DockerHub and GitHub Container Registry.

What is the current behavior? (You can also link to an open issue here)

WayWise requires manual local builds and has no containerization support, making it difficult to spin up clean, isolated instances quickly for experiments.

Fixes #121

What is the new behavior (if this is a feature change)?

This PR implements complete Docker containerization for WayWise:

Multi-stage Dockerfile

Optimized for C++ builds with Ubuntu 24.04 base
Separate MAVSDK stage with hash verification for reproducible builds
Runtime stage with minimal dependencies
All three example executables included:
- RCCar_MAVLINK_autopilot (default)
- RCCar_ISO22133_autopilot
- map_local_twocars
Runs as non-root user waywise for enhanced security
Process-based healthcheck using pgrep to verify the main process is running
Exposes UDP ports 14540 and 14550 for MAVLINK communication

GitHub Actions Workflow

Automated builds triggered by pull requests and manual workflow dispatch
Multi-architecture support (linux/amd64, linux/arm64)
Docker buildx with GitHub Actions cache for faster builds
Ready for DockerHub and GHCR publishing (requires secrets configuration)

Documentation

Comprehensive DOCKER.md reference guide
Quick start examples in README.md
docker-compose.yml for easy orchestration

Key Features

Stateless design without persistent volumes
Instant reset capability by restarting container
Isolated, repeatable environments

Does this PR introduce a breaking change? (What changes might users need to make in their application due to this PR?)

No breaking changes. This adds new functionality without affecting existing usage.

Other information:

To enable automated publishing, add these repository secrets:

DOCKERHUB_USERNAME: DockerHub username or organization
DOCKERHUB_TOKEN: DockerHub access token

Original prompt

This section details on the original issue you should resolve

<issue_title>🚢 Containerize WayWise and upload to DockerHub via GitHub Actions 🐳</issue_title>
<issue_description>Is your feature request related to a problem? Please describe.
We need a way to provide a "fresh start" and "reset" functionality for WayWise deployments, especially for experiments in the PRECISE-project that use LLM-powered Security Chaos Engineering. This requires being able to spin up clean, isolated instances of WayWise quickly, without any persistent volumes or data carried over between runs. ♻️🔄

Describe the solution you'd like

🐋 Create a Dockerfile for the WayWise project to containerize the application.

🤖 Set up a GitHub Actions workflow to automatically build and push the WayWise container image to DockerHub on every release or on demand.

🚫 Ensure the Docker image starts cleanly and does not use persistent volumes by default.

📄 Provide documentation on how to pull and run the container, including a section on resetting state by simply restarting the container.

🏷️ Tag the image appropriately for PRECISE-project experiments and general usage.

Describe alternatives you've considered

🛠️ Manual container builds and uploads (not scalable or repeatable).

🏗️ Using non-containerized deployments (difficult to reset and automate in chaos experiments).

Additional context
This is needed for the PRECISE-project's security chaos engineering experiments, where being able to quickly "reset" the target system is essential. The lack of persistent volumes ensures each run is isolated and repeatable. ⚡

The main language of the project is C++ (98.9%), so the Dockerfile should be optimized for C++ builds and runtime. 🏎️</issue_description>

Comments on the Issue (you are @copilot in this section)

Fixes #121

✨ Let Copilot coding agent set things up for you — coding agent works faster and does higher quality work when set up for your repo.

Co-authored-by: kallegrens <105279176+kallegrens@users.noreply.github.com>

- Create multi-stage Dockerfile for optimized C++ builds - Add .dockerignore for efficient Docker builds - Create GitHub Actions workflow for automated DockerHub pushes - Add comprehensive Docker documentation in README and DOCKER.md - Update .gitignore to exclude build artifacts Co-authored-by: kallegrens <105279176+kallegrens@users.noreply.github.com>

- Add libatomic1 for ISO22133 example - Add Qt widgets/printsupport libraries for map_local_twocars - Create docker-compose.yml for easy container management - Verify all three executables run successfully Co-authored-by: kallegrens <105279176+kallegrens@users.noreply.github.com>

- Add instructions for running map_local_twocars with display - Document both X11 forwarding and headless mode options - Complete security check with CodeQL (no issues found) Co-authored-by: kallegrens <105279176+kallegrens@users.noreply.github.com>

add ghcr as container repository in addition to DockerHub. remove references to PRECISE and Chaos Engineering from readme's. add install options into CMakeLists.txt (used for a cleaner Dockerfile)

as it is not allowed in gh actions

instead use manual workflow dispatch when a new image should be built and pushed

kallegrens · 2025-11-18T13:17:30Z

This works for now, cleaner would be to separate building and pushing into two workflows rather than guarding with if-statements. Will maybe do in a separate PR later.

Copilot

Pull Request Overview

This PR implements Docker containerization for WayWise to enable rapid deployments and state resets for security chaos engineering experiments in the PRECISE project. The implementation provides a multi-stage Dockerfile, GitHub Actions automation for building and publishing images, and comprehensive documentation.

Multi-stage Dockerfile optimized for C++ builds with Ubuntu 24.04 base
Automated CI/CD pipeline for building and publishing to DockerHub and GitHub Container Registry
Complete documentation including quick start guide and troubleshooting

Reviewed Changes

Copilot reviewed 7 out of 8 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
`Dockerfile`	Multi-stage build with MAVSDK installation, build dependencies, and minimal runtime image
`.github/workflows/docker-ghcr-build-push.yaml`	GitHub Actions workflow for automated Docker image builds and publishing
`docker-compose.yaml`	Docker Compose configuration with service definitions for three example applications
`README.md`	Added Docker usage section with quick start guide and connection examples
`DOCKER.md`	Comprehensive 370-line Docker reference guide with detailed usage instructions
`examples/CMakeLists.txt`	Added install targets for the three example executables
`.dockerignore`	Build context optimization by excluding unnecessary files
`.gitignore`	Added exclusions for downloaded binaries

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2025-11-18T20:16:34Z

+RUN printf '#!/bin/sh\nexec /usr/local/bin/RCCar_MAVLINK_autopilot >/dev/null 2>&1 || exit 1\n' \
+    > /usr/local/bin/healthcheck && chmod +x /usr/local/bin/healthcheck
+
+# RUN useradd -m -s /bin/bash waywise


Commented-out code should be removed. This line is redundant as the user is already created on line 110 with groupadd/useradd commands. Remove this commented line to keep the Dockerfile clean.

@copilot apply changes based on this feedback

Removed the commented-out line in commit a0edf39.

Copilot · 2025-11-18T20:16:35Z

+RUN printf '#!/bin/sh\nexec /usr/local/bin/RCCar_MAVLINK_autopilot >/dev/null 2>&1 || exit 1\n' \
+    > /usr/local/bin/healthcheck && chmod +x /usr/local/bin/healthcheck


The healthcheck script will always fail. The script attempts to execute the autopilot binary and redirects all output to /dev/null, expecting it to exit successfully. However, the autopilot is a long-running service that doesn't exit on its own. This will cause the healthcheck to always report unhealthy. Consider using a different health check mechanism, such as checking if the process is running with pgrep RCCar_MAVLINK_autopilot or testing the UDP port availability.

@copilot apply changes based on this feedback

Fixed the healthcheck to use pgrep -x RCCar_MAVLINK_autopilot instead of trying to execute the binary. This checks if the process is running rather than waiting for it to exit. Commit a0edf39.

- Use pgrep to check if process is running instead of executing the binary - Remove redundant commented-out useradd line (user already created on line 110) Co-authored-by: kallegrens <105279176+kallegrens@users.noreply.github.com>

r2avula · 2025-11-26T09:16:19Z

I have a hard time seeing the value of containerizing only the examples. Instead, there is value in containerizing WayWise by installing it as a proper library that can be used in other projects (like RCCar, ControlTower) directly (similar to MAVSDK) without using WayWise as a submodule. We could add a CMakeLists.txt file in the WayWise root that supports selective builds with CMake options for front-end/back-end components. This would be very useful, for example, when performing chaos experiments on applications (such as Precise-Truck).

Initial plan

8bcf343

Copilot AI assigned Copilot and kallegrens Oct 23, 2025

Copilot started work on behalf of kallegrens October 23, 2025 09:18 View session

Copilot AI and others added 4 commits October 23, 2025 09:25

Initial exploration of WayWise repository structure

950437f

Co-authored-by: kallegrens <105279176+kallegrens@users.noreply.github.com>

Copilot AI changed the title ~~[WIP] Containerize WayWise and upload to DockerHub via GitHub Actions~~ 🐳 Containerize WayWise and upload to DockerHub via GitHub Actions Oct 23, 2025

Copilot finished work on behalf of kallegrens October 23, 2025 10:05

Copilot AI requested a review from kallegrens October 23, 2025 10:05

r2avula reviewed Nov 6, 2025

View reviewed changes

Comment thread Dockerfile Outdated

r2avula reviewed Nov 6, 2025

View reviewed changes

Comment thread README.md Outdated

kallegrens added 3 commits November 18, 2025 10:56

improve Dockerfile with more best practices

098c8f3

add ghcr as container repository in addition to DockerHub. remove references to PRECISE and Chaos Engineering from readme's. add install options into CMakeLists.txt (used for a cleaner Dockerfile)

drop secrets check

15b8cc0

as it is not allowed in gh actions

sign only on push to main

66eaa99

kallegrens marked this pull request as ready for review November 18, 2025 10:38

kallegrens and others added 2 commits November 18, 2025 11:58

do not run workflow on every push to main

5189ce4

instead use manual workflow dispatch when a new image should be built and pushed

fix docker build badge in README

972e0b4

kallegrens reviewed Nov 18, 2025

View reviewed changes

kallegrens requested a review from Copilot November 18, 2025 20:14

Copilot started reviewing on behalf of kallegrens November 18, 2025 20:14 View session

Copilot finished reviewing on behalf of kallegrens November 18, 2025 20:16

Copilot AI reviewed Nov 18, 2025

View reviewed changes

Copilot started work on behalf of kallegrens November 25, 2025 14:16 View session

Fix healthcheck and remove redundant commented code

a0edf39

- Use pgrep to check if process is running instead of executing the binary - Remove redundant commented-out useradd line (user already created on line 110) Co-authored-by: kallegrens <105279176+kallegrens@users.noreply.github.com>

Copilot finished work on behalf of kallegrens November 25, 2025 14:20

Copilot AI requested a review from kallegrens November 25, 2025 14:20

r2avula marked this pull request as draft November 26, 2025 09:00

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🐳 Containerize WayWise and upload to DockerHub via GitHub Actions#122

🐳 Containerize WayWise and upload to DockerHub via GitHub Actions#122
Copilot wants to merge 11 commits into
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Copilot AI commented Oct 23, 2025 •

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		RUN printf '#!/bin/sh\nexec /usr/local/bin/RCCar_MAVLINK_autopilot >/dev/null 2>&1 \|\| exit 1\n' \
		> /usr/local/bin/healthcheck && chmod +x /usr/local/bin/healthcheck

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Copilot AI commented Oct 23, 2025 •

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