action.yml

name: ros2wasm-builder
description: "Cross-compiles ROS 2 packages to WASM"
branding:
  icon: "box"
  color: "yellow"

inputs:
  package:
    description: "Target package"
    type: string
    default: "rmw_wasm_cpp"
    required: true
  ros_distro:
    description: "ROS 2 distribution"
    type: string
    default: "humble"
    required: true
  debug_mode:
    description: "Debug mode"
    type: boolean
    default: false
  rmw_wasm:
    description: "Clone rmw_wasm middleware"
    type: boolean
    default: true

runs:
  using: composite

  steps:
    - name: Init simple action
      shell: bash -eux {0}
      run: echo "Packaging ${{ inputs.package }} for ${{ inputs.ros_distro }}"

    - name: Setup emsdk
      uses: mymindstorm/setup-emsdk@v12
      with:
        version: 3.1.45

    - name: Verify emsdk
      shell: bash -eux {0}
      run: |
        emcc -v
        find $EMSDK -iname "upstream"

    - name: Create ROS 2 workspace
      shell: bash -eux {0}
      run: mkdir -p ros-workspace/src

    - name: Copy ROS 2 ${{ inputs.ros_distro }} packages and middleware
      shell: bash -eux {0}
      run:  |
        curl -s https://packagecloud.io/install/repositories/dirk-thomas/vcstool/script.deb.sh | sudo bash
        sudo apt-get update
        sudo apt-get install python3-vcstool
        vcs import --input https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros_distro }}/ros2.repos ros-workspace/src
        vcs import --input ${{ github.action_path }}/repos.yaml ros-workspace/src

    - name: Checkout rmw_wasm middleware
      if: ${{ inputs.rmw_wasm }}
      uses: actions/checkout@v4
      with:
        repository: ihuicatl/rmw_wasm
        path: ros-workspace/src/rmw_wasm

    - name: Remove unsupported packages
      shell: bash -eux {0}
      run: |
        cd ros-workspace/src
        while read F; do rm -rf $F; done < ${{ github.action_path }}/unsupported.txt

    - name: Apply patches
      shell: bash -eux {0}
      run: |
        cd ros-workspace/src/ros2/rcutils
        git apply ${{ github.action_path }}/patches/rcutils.patch

    - name: Install patches for Iron only
      shell: bash -eux {0}
      if: ${{ inputs.ros_distro == 'iron' }}
      run: |
        cd ros-workspace/src/ros2/ros2_tracing/tracetools
        git apply ${{ github.action_path }}/patches/iron_tracetools.patch

    - name: Copy environment file to workspace
      shell: bash -eux {0}
      run: |
        cp ${{ github.action_path }}/env.yaml ros-workspace/

    - name: Create environment
      uses: mamba-org/setup-micromamba@v1
      with:
        environment-file: ros-workspace/env.yaml
        init-shell: bash
        cache-environment: true

    - name: Build package
      shell: bash -el {0}
      run: |
        cd ros-workspace
        if [${{ inputs.debug }}]; then ${{ github.action_path }}/blasm.sh -d -v -u ${{ inputs.package }}; else ${{ github.action_path }}/blasm.sh -u ${{ inputs.package }}; fi

    - name: Upload artifacts for package
      uses: actions/upload-artifact@v3
      with:
        name: ${{ inputs.package }}-artifacts
        path: |
          ros-workspace/build/${{ inputs.package }}/*
          ros-workspace/install/share/${{ inputs.package }}/*
          ros-workspace/install/include/${{ inputs.package }}/*