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# ROS 2 包：easynav_mppi_controller（ament_cmake 形态）
# 来源：EasyNavigation/easynav_plugins 仓库 humble 分支（多包仓库，本包位于
# controllers/easynav_mppi_controller/ 子目录）
# 严格遵循 /app/.claude/skills/build-rpm/spec-rules-ros.md 生成
# ros_distro 取自 session.json（禁止硬编码）；RosPkgName 为 package.xml <name>
# 经下划线→连字符归一化（easynav_mppi_controller → easynav-mppi-controller）
%define ros_distro humble
%define RosPkgName easynav-mppi-controller
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 0.5.0
Release: 1%{?dist}
Summary: Easy Navigation: MPPI Controller package.
License: Apache-2.0
URL: https://github.com/EasyNavigation/easynav_plugins
# 源码取自 humble 分支 HEAD（branch 快照，无 0.5.0 tag）。target_version=0.5.0-1
# 已由 manifest/gate 给定，Version 取 0.5.0（剥离发布号 -1）；记录实际 commit 以保可追溯。
# commit 为 ros_fetch checkout 后实测的 HEAD（git rev-parse），非占位值。
# 解压根目录 = {RosPkgName}-{version}-{release_base}（非纯 commit SHA）。
# submit_fix.py _ensure_tarball 用 tar --transform s|^./sources/<pkg>|<pkg>-<ver>|
# 重打 tarball，顶层目录 = easynav-mppi-controller-0.5.0-1（gate_version=0.5.0-1）。
# SRPM 内 %%{commit}.tar.gz 与 %%{RosPkgName}-%%{version}-1.tar.gz 硬链接同 inode
# （ls -i 实证 inode 788181），故解压根目录一致。
# build 113779（-n easynav_plugins-%%{commit}）和 113789（-n %%{commit}）均在 %%prep
# cd 失败：tar tzf 实测顶层目录为 easynav-mppi-controller-0.5.0-1，非任一猜测值。
%global commit 703b73ae55bf6a419bf309b26084ca523b063ddf
Source0: https://github.com/EasyNavigation/easynav_plugins/archive/%{commit}.tar.gz
# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），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: gcc-c++
BuildRequires: make
# ament_cmake 形态构建工具依赖（spec-rules §6）；ros-workspace 提供 /opt/ros setup.sh
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-ros-workspace
# package.xml <depend> → ros-humble-<dep>（均经 ros-projects.list 实证为 SIG 维护包）：
# easynav-common / easynav-core / easynav-sensors / easynav-system（ros-projects.list maintained）
# geometry-msgs / nav-msgs / pluginlib / rclcpp / tf2 / tf2-geometry-msgs / tf2-ros / visualization-msgs
BuildRequires: ros-%{ros_distro}-easynav-common
BuildRequires: ros-%{ros_distro}-easynav-core
BuildRequires: ros-%{ros_distro}-easynav-sensors
BuildRequires: ros-%{ros_distro}-easynav-system
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: ros-%{ros_distro}-visualization-msgs
# 系统依赖：package.xml 声明 libpcl-all-dev，CMakeLists find_package(PCL COMPONENTS common io)
# data/ros/global_config/pkg.remap 映射 libpcl-all-dev → pcl-devel（buildroot 需 cmake(PCL)）
BuildRequires: pcl-devel
# 运行时 Requires（spec-rules §6 三件套 + <depend> 运行期依赖）：
# ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks（所有 ROS 包强制）
# ament-cmake ament 运行期钩子（ament_cmake 形态强制）
# /opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，故运行期依赖手写
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-easynav-common
Requires: ros-%{ros_distro}-easynav-core
Requires: ros-%{ros_distro}-easynav-sensors
Requires: ros-%{ros_distro}-easynav-system
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-geometry-msgs
Requires: ros-%{ros_distro}-tf2-ros
Requires: ros-%{ros_distro}-visualization-msgs
# 控制器 .so 动态链接 libpcl_common/libpcl_io（位于 /usr/lib64），/opt/ros 下 .so 被豁免
# 不扫 requires，故显式声明运行期 pcl
Requires: pcl
# 单包策略：严禁拆实体子包（spec-rules §7），用虚拟别名兼容依赖方
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Easy Navigation: MPPI Controller package.
A Model Predictive Path Integral (MPPI) controller implementation for the
Easy Navigation stack. Built as an ament_cmake shared library registered as
a pluginlib plugin (easynav::MPPIController, base easynav::ControllerMethodBase)
via easynav_core.
%prep
# 解压根目录 = %%{RosPkgName}-%%{version}-1（submit_fix _ensure_tarball --transform
# 重打 tarball 顶层目录为 {pkg}-{gate_version}，SRPM 内 %%{commit}.tar.gz 硬链接同 inode）
%autosetup -n %{RosPkgName}-%{version}-1
%build
# ROS 基座环境（spec-rules §4）：setup.sh 用 [ -f ] 守卫，避免无 ROS 依赖 chroot 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}
# 多包仓库：仅构建目标包子目录 controllers/easynav_mppi_controller
# ament_cmake 形态显式 out-of-source（spec-rules §5），避免 openEuler %%cmake 宏位置参数坑
cd controllers/easynav_mppi_controller
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
%make_build
%install
cd controllers/easynav_mppi_controller/.obj
make install DESTDIR=%{buildroot}
%files
# %%files 整树拥有（spec-rules §7）：对「装了没打包」类错误免疫
/opt/ros/%{ros_distro}
%changelog
* Tue Oct 20 2026 AI Importer <ai-importer@opencode> - 0.5.0-1
- Initial ROS spec for easynav-mppi-controller (humble)
- Source: easynav_plugins humble branch snapshot (commit 703b73a)
- ament_cmake shared library, pluginlib plugin via easynav_core
- Single-package policy with virtual devel/doc/runtime Provides
- Fix round 1 (build 113779): %%autosetup -n easynav_plugins-<sha> → -n %%{commit}
（误判：本地 tar tzf 读到的是 submit_fix 重打后的 tarball，非 GitHub 原始归档）
- Fix round 2 (build 113789): -n %%{commit} → -n %%{RosPkgName}-%%{version}-1
根因：submit_fix.py _ensure_tarball 用 tar --transform 重打 tarball，顶层目录
= {pkg}-{gate_version} = easynav-mppi-controller-0.5.0-1，非纯 SHA。
SRPM 内 %%{commit}.tar.gz 与其硬链接同 inode（实证），解压根目录一致。
tar tzf 确认顶层目录为 easynav-mppi-controller-0.5.0-1/。
- Fix round 3 (build 113790): 注释中的 cmake 宏引用被 RPM 展开导致 cmake 收到
中文注释文本作为源目录参数（Macro expanded in comment）。修复：注释和
changelog 中所有 RPM 宏引用一律用双百分号转义为字面文本，阻止宏展开。
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