From a40bfba8217d400ab7a15afada6c3eca5ccd3ab0 Mon Sep 17 00:00:00 2001
From: ziliolu <luzilio.p@gmail.com>
Date: Mon, 16 Jun 2025 13:33:32 +0100
Subject: [PATCH 1/2] Add GitHub Actions workflow for Raspberry Pi build and
 deployment

---
 .github/workflows/deploy.yml | 86 ++++++++++++++++++++++++++++++++++++
 1 file changed, 86 insertions(+)
 create mode 100644 .github/workflows/deploy.yml

diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
new file mode 100644
index 0000000..38cddbb
--- /dev/null
+++ b/.github/workflows/deploy.yml
@@ -0,0 +1,86 @@
+name: Build and Deploy for Raspberry Pi
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+
+jobs:
+  build-and-deploy:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: false
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+        with:
+          platforms: linux/arm64
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build Docker image for ARM64
+        run: |
+          docker buildx build \
+            -f ./RaspberryPi/deploy/dockerfiles/DockerfileDeployRasp \
+            --platform linux/arm64 --load \
+            --build-arg projectDir=$PWD/$PROJECT_DIR \
+            -t final-app .
+      - name: Extract built binaries
+        run: |
+          mkdir -p artifacts/bin
+          mkdir -p artifacts/config
+          mkdir -p artifacts/fonts
+          docker create --name tmpapp final-app
+          docker cp tmpapp:/home/$PROJECT_DIR/InstrumentClusterApp ./artifacts/bin/
+          docker cp tmpapp:/home/$PROJECT_DIR/MiddleWareApp ./artifacts/bin/
+          cp ./$PROJECT_DIR/ZenohConfig/InstrumentClusterConfig.json ./artifacts/config/
+          cp ./$PROJECT_DIR/ZenohConfig/MiddleWareConfig.json ./artifacts/config/
+          cp -r ./RaspberryPi/deploy/fonts/* ./artifacts/fonts/
+          git archive --format=zip HEAD -o ./artifacts/source-code.zip
+          cd artifacts
+          zip -r ../release-package.zip *
+          cd ..
+          docker rm tmpapp
+      - name: Get latest tag and increment
+        id: tag
+        run: |
+          git fetch --tags --force
+          git fetch origin
+          latest_tag=$(git tag --sort=-v:refname | head -n 1)
+          if [ -z "$latest_tag" ]; then
+            latest_tag="v1.0.0"
+          fi
+          major=$(echo $latest_tag | cut -d. -f1 | tr -d 'v')
+          minor=$(echo $latest_tag | cut -d. -f2)
+          patch=$(echo $latest_tag | cut -d. -f3)
+          new_tag="v$major.$minor.$((patch + 1))"
+          echo "new_tag=$new_tag" >> $GITHUB_OUTPUT
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v1
+        with:
+          tag_name: ${{ steps.tag.outputs.new_tag }}
+          name: Release ${{ steps.tag.outputs.new_tag }}
+          body: |
+            ## Raspberry Pi Release
+            **Includes:**
+            - Compiled apps (`InstrumentClusterApp`, `MiddleWareApp`)
+            - Zenoh config files
+            - Fonts
+            - Full source code zip
+            **Instructions:**
+            - Copy `InstrumentClusterApp` and `MiddleWareApp` to `$PI_PATH_BIN`
+            - Copy configs to `$PI_PATH_ETC`
+            - Copy fonts to `$PI_PATH_FONTS`
+          files: |
+            release-package.zip
+            artifacts/source-code.zip
+            artifacts/bin/*
+        env:
+          GITHUB_TOKEN:  ${{ secrets.PAT_LUIS }}
\ No newline at end of file

From b12fbc508223190becd428879303d2760e1523d4 Mon Sep 17 00:00:00 2001
From: Rui Pires <ruipedro.pires999@gmail.com>
Date: Tue, 15 Jul 2025 10:37:20 +0100
Subject: [PATCH 2/2] Add libeigen3-dev and update CMake build options for
 ZENOHC

---
 deploy/dockerfiles/DockerFileRasp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/deploy/dockerfiles/DockerFileRasp b/deploy/dockerfiles/DockerFileRasp
index 394054a..e8806ee 100644
--- a/deploy/dockerfiles/DockerFileRasp
+++ b/deploy/dockerfiles/DockerFileRasp
@@ -79,6 +79,7 @@ RUN { \
     libffi-dev \
     libsqlite3-dev \
     libbsd-dev \
+    libeigen3-dev \
     perl \
     patch \
     m4 \
@@ -151,7 +152,9 @@ RUN { \
     cd build && \
     cmake .. \
     -DCMAKE_INSTALL_PREFIX=/usr/local \
-    -DBUILD_SHARED_LIBS=FALSE && \
+    -DBUILD_SHARED_LIBS=FALSE \
+    -DZENOHC_BUILD_WITH_UNSTABLE_API=true \
+    -DZENOHC_BUILD_WITH_SHARED_MEMORY=true && \
     make -j$(nproc) && \
     make install && \
     cd ../.. && \