# ROS spec：easynav_simple_recovery（EasyNav Plugins 仓内的单恢复子包）
# 依据：/app/.claude/skills/build-rpm/spec-rules-ros.md
# 元数据来源：pkgs/easynav-simple-recovery/ros_pkg_manifest.json +
#              sources/easynav-simple-recovery/recoveries/easynav_simple_recovery/package.xml
# 无 reference 基线、无 package_fix 修正资产、无同语言 lessons（ros.json 未生成），从零按 §2-§7 生成。
# 对齐同仓同 commit 已提交的兄弟 spec easynav-simple-controller（build 113752，同模式同 Source0）。

# ── §1/§2 命名纪律：ros_distro 取 session.json（禁止硬编码），RosPkgName 取
#    package.xml <name> 经 `_`→`-` 归一化（easynav_simple_recovery → easynav-simple-recovery）。
#    Name 展开须等于 ros-humble-easynav-simple-recovery（verify_ros_spec_deps.py 机械校验）。
%define ros_distro humble
%define RosPkgName easynav-simple-recovery

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    0.5.0
Release:    1%{?dist}
Summary:    Easy Navigation simple recovery system plugin
License:    Apache-2.0
URL:        https://github.com/EasyNavigation/easynav_plugins
# Source0 用 tag 0.5.0 归档（target_version=0.5.0-1，git describe=0.5.0，HEAD 703b73a 恰命中 tag，
# 与同批 controller/localizer 共用同一源码快照）。实测归档根目录名为 easynav_plugins-0.5.0，
# 故 autosetup 的 -n 取 easynav_plugins-加版本号（不随包名联动改写，§2）。
Source0:    https://github.com/EasyNavigation/easynav_plugins/archive/refs/tags/0.5.0.tar.gz

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

BuildRequires: cmake
BuildRequires: gcc-c++

# 构建工具依赖（ament_cmake 形态，§5/§6）
BuildRequires: ros-%{ros_distro}-ament-cmake
# package.xml <depend> 中命中 ros-projects.list（SIG 源已有）的依赖，照 §6 写 ros-humble-<dep>
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
# 注：package.xml 另有 <depend>easynav_common</depend>、<depend>easynav_core</depend>、
# <depend>easynav_sensors</depend>——这三个是 EasyNav 基座框架包（独立 EasyNavigation 基座仓，
# 非 rosdistro、非 SIG 源、非本批兄弟；easynav_plugins 仓内 common/ 只有 easynav_costmap_common
# 与 easynav_simple_common，并无此三者）。ros-projects.list 与 ros-upstream.list 两级均查不到，
# 按 §6 反幻觉铁律 "查不到就留空让构建失败诊断循环兜底，不得编造"——此处不写
# ros-humble-easynav-common / -easynav-core / -easynav-sensors BuildRequires（写成必被
# verify_ros_spec_deps.py 判为幻觉名打回）。构建将在 find_package(easynav_common REQUIRED) /
# find_package(easynav_core REQUIRED) / find_package(easynav_sensors REQUIRED) 处诚实失败，
# 由 lead 从基座仓补引后补 BR。此非"静默丢弃以骗过构建"：依赖确属 find_package REQUIRED +
# 链接目标（见 CMakeLists target_link_libraries），缺口如实暴露。
# <test_depend>（ament_cmake_gtest/ament_lint_auto/ament_lint_common/easynav_recovery/
# lifecycle_msgs/rclcpp_lifecycle）按 §5 不写 BuildRequires。

# §6 运行时 Requires（ROS 特有，/opt 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
# package.xml <depend> = build+run（REP 149），运行时 Requires 同上映射
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp

%description
Easy Navigation simple recovery system plugin. Provides a simple recovery manager plugin
(SimpleRecoveryManager) for the Easy Navigation framework, registered via pluginlib into
easynav_core's recovery_node. Built as an ament_cmake ROS 2 shared library installed under
/opt/ros/%{ros_distro}.

%prep
# §2：归档根目录 easynav_plugins-0.5.0 已由同批 controller spec 实测确认；-n 不随包名联动改写
%autosetup -n easynav_plugins-%{version}

%build
# §4 ROS 基座环境（chroot 已配 ROS SIG repo；setup.sh 用 [ -f ] 守卫，严格 sh 下不中止）
[ -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}

# monorepo：本 spec 只构建 recoveries/easynav_simple_recovery 子包（同批兄弟各有独立 RPM）
cd recoveries/easynav_simple_recovery
# §5：显式 out-of-source 构建，规避 openEuler cmake 宏的位置参数坑
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_build

%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}

# install 段起始 cwd 回到解压根，重新进入构建目录
cd recoveries/easynav_simple_recovery/.obj
%make_install

# §7：单包策略——严禁拆实体子包（路径与主包 files 段整树重叠致安装事务冲突），
#      用虚拟 Provides 别名兼容依赖方
%files
%license LICENSE
/opt/ros/%{ros_distro}

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

%changelog
* Tue Oct 20 2026 ROS SIG - 0.5.0-1
- Initial RPM packaging of easynav_simple_recovery for openEuler ROS humble.