%define ros_distro humble
%define RosPkgName aruco-markers
%define src_version 0.0.3-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.0.3
Release:        2%{?dist}
Summary:        A ros2 node for detecting aruco markers in camera images
License:        MIT
URL:            https://github.com/namo-robotics/aruco_markers/tree/humble
Source0:        %{RosPkgName}-%{src_version}.tar.gz

%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires:  cmake
BuildRequires:  gcc-c++
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-cv-bridge
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-image-transport
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-aruco-markers-msgs
BuildRequires:  opencv

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-cv-bridge
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-image-transport
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-tf2-geometry-msgs
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-aruco-markers-msgs
Requires:       opencv

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
A ros2 node for detecting aruco markers in camera images

%prep
%autosetup -n %{RosPkgName}-%{src_version}
# openEuler opencv 4.5.2 lacks the aruco contrib module; bundle from opencv_contrib 4.5.2
sed -i 's/find_package(OpenCV REQUIRED COMPONENTS core imgproc aruco)/find_package(OpenCV REQUIRED COMPONENTS core imgproc)/' aruco_markers/CMakeLists.txt

%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}

# Build bundled opencv_contrib aruco module as static library
# openEuler opencv 4.5.2 does not include aruco contrib (headers or library)
ARUCO_DIR=%{_builddir}/%{RosPkgName}-%{src_version}/opencv_contrib_aruco
ARUCO_BUILD=%{_builddir}/aruco_build
ARUCO_INC=%{_builddir}/aruco_include
mkdir -p "$ARUCO_BUILD" "$ARUCO_INC/opencv2/aruco"
cd "$ARUCO_BUILD"
g++ -c -O2 -g -fPIC -std=c++14 \
    -I/usr/include/opencv4 \
    -I"$ARUCO_DIR/include" \
    -I"$ARUCO_DIR/src" \
    "$ARUCO_DIR/src/aruco.cpp" \
    "$ARUCO_DIR/src/dictionary.cpp" \
    "$ARUCO_DIR/src/charuco.cpp" \
    "$ARUCO_DIR/src/apriltag_quad_thresh.cpp" \
    "$ARUCO_DIR/src/zmaxheap.cpp"
ar rcs libaruco_contrib.a *.o
rm -f *.o
cp "$ARUCO_DIR/include/opencv2/aruco.hpp" "$ARUCO_INC/opencv2/"
cp "$ARUCO_DIR/include/opencv2/aruco/"*.hpp "$ARUCO_INC/opencv2/aruco/"

# Patch CMakeLists.txt to use bundled aruco headers and static library
export ARUCO_INC ARUCO_DIR ARUCO_BUILD
cd %{_builddir}/%{RosPkgName}-%{src_version}/aruco_markers
python3 << 'PYEOF'
import os
inc = os.environ["ARUCO_INC"]
src_dir = os.environ["ARUCO_DIR"] + "/src"
lib = os.environ["ARUCO_BUILD"] + "/libaruco_contrib.a"
with open("CMakeLists.txt") as f:
    c = f.read()
c = c.replace(
    "target_link_libraries(aruco_markers_lib ${OpenCV_LIBRARIES})",
    "target_link_libraries(aruco_markers_lib ${OpenCV_LIBRARIES} " + lib + ")\n"
    "target_include_directories(aruco_markers_lib PUBLIC " + inc + " " + src_dir + ")"
)
c = c.replace(
    "target_link_libraries(aruco_markers aruco_markers_lib ${OpenCV_LIBRARIES})",
    "target_link_libraries(aruco_markers aruco_markers_lib ${OpenCV_LIBRARIES} " + lib + ")\n"
    "target_include_directories(aruco_markers PUBLIC " + inc + " " + src_dir + ")"
)
with open("CMakeLists.txt", "w") as f:
    f.write(c)
PYEOF

mkdir -p .obj && cd .obj
%cmake3 \
    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
    -DSETUPTOOLS_DEB_LAYOUT=OFF \
    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
    ..
make %{?_smp_mflags}

%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd aruco_markers
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Oct 12 2026 ai-importer <ai-importer@openeuler.org> - 0.0.3-2
- Bundle opencv_contrib 4.5.2 aruco module (openEuler opencv lacks it)

* Mon Oct 12 2026 ai-importer <ai-importer@openeuler.org> - 0.0.3-1
- Initial import (ROS batch)