%define ros_distro humble
%define RosPkgName easynav-bonxai-maps-manager
%define src_version 0.5.0-1

# 源码为 humble 分支快照（无 tag），固定实际拉取的 commit 以保证产物可追溯
%global commit 703b73ae55bf6a419bf309b26084ca523b063ddf

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    0.5.0
Release:    1%{?dist}
Summary:    Easy Navigation bonxai MapsManager plugin
License:    Apache-2.0
URL:        https://github.com/EasyNavigation/easynav_plugins
Source0:    %{RosPkgName}-%{src_version}.tar.gz

# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭
%global debug_package %{nil}
# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires: cmake
BuildRequires: make
BuildRequires: gcc-c++

# ament_cmake 构建工具依赖（§6）
BuildRequires: ros-%{ros_distro}-ament-cmake

# package.xml <depend> 中的 ROS 包
BuildRequires: ros-%{ros_distro}-ament-index-cpp
BuildRequires: ros-%{ros_distro}-easynav-common
BuildRequires: ros-%{ros_distro}-easynav-core
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pcl-conversions
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-std-srvs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: ros-%{ros_distro}-yaets
BuildRequires: ros-%{ros_distro}-yaml-cpp-vendor

# 系统依赖（pkg.remap 映射：eigen→eigen3-devel, graphicsmagick→GraphicsMagick-c++-devel, libpcl-all-dev→pcl-devel）
BuildRequires: eigen3-devel
BuildRequires: GraphicsMagick-c++-devel
BuildRequires: pcl-devel

# 运行时 Requires（/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-ament-index-cpp
Requires: ros-%{ros_distro}-easynav-common
Requires: ros-%{ros_distro}-easynav-core
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-pcl-conversions
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-std-srvs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-geometry-msgs
Requires: ros-%{ros_distro}-tf2-ros
Requires: ros-%{ros_distro}-yaets
Requires: ros-%{ros_distro}-yaml-cpp-vendor

# 单包策略：ROS 包严禁拆实体子包，改用虚拟 Provides 别名（§7）
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}

%description
Easy Navigation: bonxai MapsManager package. Provides a "bonxai" (volumetric
hash-grid) implementation of the easynav MapsManager base class, registered as
a pluginlib plugin for easynav_core. Built and installed under the
/opt/ros/%{ros_distro} ament layout.

%prep
%autosetup -n %{RosPkgName}-%{src_version}

%build
# ROS 基座环境：setup.sh 不存在时静默跳过（严格 sh 下直接 source 不存在文件会中止脚本）
[ -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}

# 单仓多包：目标子包位于 maps_managers/easynav_bonxai_maps_manager
cd maps_managers/easynav_bonxai_maps_manager
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
cd maps_managers/easynav_bonxai_maps_manager
cd .obj
make install DESTDIR=%{buildroot}

# 单包整树拥有 /opt/ros/<distro>（SIG 标准做法，对"装了没打包"类错误免疫，§7）
%files
/opt/ros/%{ros_distro}

%changelog
* Tue Oct 20 2026 AI Importer <ai-importer@openeuler.org> - 0.5.0-1
- Initial ROS humble spec for easynav-bonxai-maps-manager 0.5.0
- Source0 aligned to RosPkgName-src_version.tar.gz for batch driver tarball naming