%define ros_distro humble
%define RosPkgName easynav-navmap-localizer
%define src_version 0.5.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.5.0
Release:        1%{?dist}
Summary:        Easy Navigation: nAVmAP Localizer package

# package.xml <license> Apache-2.0
License:        Apache-2.0
URL:            https://github.com/EasyNavigation/easynav_plugins/tree/humble
# 本地 tarball：build 流程用 --transform 把 sources/<pkg>/ 统一重命名为
# <pkg>-<src_version> 顶层目录，autosetup 的 -n 必须与此一致（不可用远程
# GitHub commit 归档 URL——其内部目录名与本地 transform 产物不一致会导致 prep 阶段 cd 失败）
Source0:        %{RosPkgName}-%{src_version}.tar.gz

# debug 子包无意义（/opt 前缀），SIG 模板统一关闭
%global debug_package %{nil}
# /opt 下 python 字节码会写标准 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}/.*$

# 单包策略：虚拟别名兼容依赖方，严禁拆实体 devel 子包（避免路径重叠冲突）
Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

BuildRequires:  ros-%{ros_distro}-ament-cmake
# package.xml <buildtool_depend>ament_cmake</buildtool_depend> 形态为 ament_cmake；
# <test_depend> 不写 BuildRequires（构建关闭测试）
BuildRequires:  ros-%{ros_distro}-easynav-bonxai-maps-manager
BuildRequires:  ros-%{ros_distro}-easynav-common
BuildRequires:  ros-%{ros_distro}-easynav-core
BuildRequires:  ros-%{ros_distro}-easynav-localizer
BuildRequires:  ros-%{ros_distro}-easynav-sensors
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-nav-msgs
BuildRequires:  ros-%{ros_distro}-navmap-core
BuildRequires:  ros-%{ros_distro}-navmap-ros
BuildRequires:  ros-%{ros_distro}-navmap-ros-interfaces
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
# 系统依赖（package.xml <depend> 经 pkg.remap 映射 + dnf 实证）
BuildRequires:  eigen3-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}-easynav-bonxai-maps-manager
Requires:       ros-%{ros_distro}-easynav-common
Requires:       ros-%{ros_distro}-easynav-core
Requires:       ros-%{ros_distro}-easynav-localizer
Requires:       ros-%{ros_distro}-easynav-sensors
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-navmap-core
Requires:       ros-%{ros_distro}-navmap-ros
Requires:       ros-%{ros_distro}-navmap-ros-interfaces
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
# pcl 运行时库（plugin 链接 libpcl，autodeps 被豁免无法自动捕获）
Requires:       pcl

%description
Easy Navigation: nAVmAP Localizer package. An AMCL-like localizer operating on
NavMap meshes, provided as a plugin for the EasyNav framework, built for
ROS 2 %{ros_distro}.

%prep
# 顶层目录由 build 流程 --transform 统一为 <RosPkgName>-<src_version>
%autosetup -n %{RosPkgName}-%{src_version}

%build
# ROS 基座环境（带守卫，buildroot 无 setup.sh 时不可直接 source）
[ -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}

# 本包源码位于 monorepo 子目录；显式 out-of-source 构建（规避 openEuler 默认 cmake 宏的位置参数坑）
cd localizers/easynav_navmap_localizer
mkdir -p .obj
cd .obj
cmake \
  -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 localizers/easynav_navmap_localizer/.obj
%{__make} install DESTDIR=%{buildroot}

%files
# 整树拥有 /opt/ros/humble 子树（SIG 模板标准做法，对"装了没打包"类错误免疫）
/opt/ros/%{ros_distro}

%changelog
* Tue Oct 20 2026 ROS SIG <ros@openeuler.org> - 0.5.0-1
- fix: 移除 build 段注释里的 cmake 宏 token；RPM 会在注释中展开已定义的宏，
  openEuler builder 上该 cmake 宏展开产物带前导换行逃出注释行，把后续中文文本
  当作 cmake 源码目录位置参数执行，导致 build 阶段报
  "source directory .../位置参数坑 does not exist" 失败
- fix: 改用本地 tarball（RosPkgName-src_version 命名）替代远程 GitHub commit 归档 URL；
  原远程归档被 build 流程 --transform 重打后顶层目录无 easynav_plugins- 前缀，与
  autosetup -n easynav_plugins-commit 不匹配导致 prep 阶段 cd 失败
- 初始引入 easynav_navmap_localizer 0.5.0（EasyNavigation/easynav_plugins humble 分支）