appimage.yaml

name: AppImage

on:
  push:
    tags: ['*']
  workflow_dispatch:

permissions:
  contents: write

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  appimage:
    strategy:
      fail-fast: false
      matrix:
        environment: [humble, jazzy, kilted]
    runs-on: ubuntu-latest
    name: appimage-${{ matrix.environment }}

    steps:
      - uses: actions/checkout@v4

      - uses: prefix-dev/setup-pixi@v0.9.4
        with:
          environments: ${{ matrix.environment }}
          locked: true
          cache: true

      - name: Build
        run: pixi run -e ${{ matrix.environment }} build

      - name: Create AppImage
        run: |
          # Download linuxdeploy
          wget -q https://github.com/linuxdeploy/linuxdeploy/releases/download/continuous/linuxdeploy-x86_64.AppImage
          chmod +x linuxdeploy-x86_64.AppImage

          CONDA_PREFIX="$(pixi run -e ${{ matrix.environment }} printenv CONDA_PREFIX)"

          # Create AppDir structure
          mkdir -p AppDir/usr/{bin,lib,share}

          # Copy binary (colcon isolated-install layout)
          cp install/pj_bridge/lib/pj_bridge/pj_bridge_ros2 AppDir/usr/bin/

          # Bundle shared libraries from the conda environment
          # (exclude glibc/ld-linux which must come from the host)
          ldd AppDir/usr/bin/pj_bridge_ros2 | \
            grep "$CONDA_PREFIX" | \
            awk '{print $3}' | \
            xargs -I{} cp --no-dereference {} AppDir/usr/lib/ 2>/dev/null || true

          # Also copy transitive deps from conda lib/
          for lib in AppDir/usr/lib/*.so*; do
            ldd "$lib" 2>/dev/null | \
              grep "$CONDA_PREFIX" | \
              awk '{print $3}' | \
              xargs -I{} cp --no-dereference {} AppDir/usr/lib/ 2>/dev/null || true
          done

          # Copy ament index (needed for schema discovery at runtime)
          cp -r "$CONDA_PREFIX"/share/ament_index AppDir/usr/share/ 2>/dev/null || true

          # Copy message definitions (.msg/.srv/.idl files)
          for pkg_dir in "$CONDA_PREFIX"/share/*/msg "$CONDA_PREFIX"/share/*/srv; do
            [ -d "$pkg_dir" ] || continue
            pkg_name="$(basename "$(dirname "$pkg_dir")")"
            mkdir -p "AppDir/usr/share/$pkg_name"
            cp -r "$pkg_dir" "AppDir/usr/share/$pkg_name/"
          done

          # Create .desktop file
          cat > AppDir/pj_bridge.desktop <<'DESKTOP'
          [Desktop Entry]
          Name=pj_bridge
          Exec=pj_bridge_ros2
          Icon=pj_bridge
          Type=Application
          Categories=Science;
          DESKTOP

          # Create minimal icon
          convert -size 256x256 xc:transparent AppDir/pj_bridge.png 2>/dev/null || \
            touch AppDir/pj_bridge.png

          # Create AppRun wrapper that sets environment
          cat > AppDir/AppRun <<'APPRUN'
          #!/bin/bash
          SELF="$(readlink -f "$0")"
          HERE="${SELF%/*}"
          export LD_LIBRARY_PATH="${HERE}/usr/lib:${LD_LIBRARY_PATH}"
          export AMENT_PREFIX_PATH="${AMENT_PREFIX_PATH:+$AMENT_PREFIX_PATH:}${HERE}/usr"
          exec "${HERE}/usr/bin/pj_bridge_ros2" "$@"
          APPRUN
          chmod +x AppDir/AppRun

          # Generate AppImage (LD_LIBRARY_PATH needed for linuxdeploy to find conda libs)
          export LD_LIBRARY_PATH="$CONDA_PREFIX/lib:${LD_LIBRARY_PATH:-}"
          ARCH=x86_64 ./linuxdeploy-x86_64.AppImage \
            --appdir AppDir \
            --output appimage

      - name: Rename AppImage
        run: |
          rm -f linuxdeploy-x86_64.AppImage
          mv *.AppImage pj_bridge_ros2-${{ matrix.environment }}-x86_64.AppImage

      - uses: actions/upload-artifact@v4
        with:
          name: appimage-${{ matrix.environment }}
          path: "*.AppImage"

  release:
    needs: appimage
    if: startsWith(github.ref, 'refs/tags/')
    runs-on: ubuntu-latest
    permissions:
      contents: write
    steps:
      - uses: actions/download-artifact@v4
        with:
          path: artifacts
          pattern: appimage-*
          merge-multiple: true

      - name: Upload to GitHub Release
        env:
          GH_TOKEN: ${{ github.token }}
          GH_REPO: ${{ github.repository }}
        run: |
          tag="${{ github.ref_name }}"
          # Create release if it doesn't exist yet
          gh release view "$tag" >/dev/null 2>&1 || \
            gh release create "$tag" --title "$tag" --generate-notes || true
          # Upload assets (--clobber overwrites if re-run)
          gh release upload "$tag" artifacts/*.AppImage --clobber