# topdir: ros-humble-mavros-extras-2.16.0 (via --transform)
%define ros_distro humble
%define RosPkgName mavros-extras

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    2.16.0
Release:    4%{?dist}
Summary:    Extra nodes and plugins for MAVROS

License:    GPLv3 and LGPLv3 and BSD
URL:        https://github.com/mavlink/mavros
Source0:    https://github.com/mavlink/mavros/archive/refs/tags/%{version}.tar.gz#/%{name}-%{version}.tar.gz

# Patch: mavros_msgs 2.14.0 (ROS SIG repo) lacks HilGPS.id/yaw fields added in 2.16.0
Patch0:     hil-gps-id-yaw-compat.patch

# debug subpackage not meaningful (/opt prefix, nonstandard strip paths)
%global debug_package %{nil}
# /opt python bytecode compilation writes standard sitelib paths — strip brp-python-bytecompile
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS packages: .so under /opt/ros — autodeps disabled, ament indirect-dependency model instead
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires: make
BuildRequires: cmake
BuildRequires: gcc-c++
BuildRequires: python3-devel
BuildRequires: python3-setuptools

# --- ROS buildtool dependencies (ament_cmake) ---
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-ament-cmake-python
BuildRequires: ros-%{ros_distro}-eigen3-cmake-module

# --- ROS package dependencies ---
BuildRequires: ros-%{ros_distro}-angles
BuildRequires: ros-%{ros_distro}-diagnostic-msgs
BuildRequires: ros-%{ros_distro}-diagnostic-updater
BuildRequires: ros-%{ros_distro}-eigen-stl-containers
BuildRequires: ros-%{ros_distro}-geographic-msgs
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-libmavconn
BuildRequires: ros-%{ros_distro}-mavlink
BuildRequires: ros-%{ros_distro}-mavros
BuildRequires: ros-%{ros_distro}-mavros-msgs
BuildRequires: ros-%{ros_distro}-message-filters
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-components
BuildRequires: ros-%{ros_distro}-rcpputils
BuildRequires: ros-%{ros_distro}-rosidl-default-runtime
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-std-msgs
BuildRequires: ros-%{ros_distro}-std-srvs
BuildRequires: ros-%{ros_distro}-tf2-eigen
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: ros-%{ros_distro}-trajectory-msgs
BuildRequires: ros-%{ros_distro}-urdf
BuildRequires: ros-%{ros_distro}-visualization-msgs
BuildRequires: ros-%{ros_distro}-yaml-cpp-vendor

# --- System (non-ROS) build dependencies ---
BuildRequires: eigen3-devel
BuildRequires: yaml-cpp-devel
# geographiclib-devel pulls in official geographiclib (provides /usr/bin/GeoConvert
# etc. + FindGeographicLib.cmake + headers); do NOT add separate geographiclib-tools —
# the in-session built geographiclib-tools-2.7.0 ships the same /usr/bin/* and causes
# a file-conflict transaction-test failure.
BuildRequires: geographiclib-devel
BuildRequires: python3-click

# --- Runtime requires (ROS-specific, autodeps disabled) ---
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-components
Requires: ros-%{ros_distro}-mavros
Requires: ros-%{ros_distro}-libmavconn
Requires: ros-%{ros_distro}-mavros-msgs
Requires: ros-%{ros_distro}-mavlink
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-tf2-ros
Requires: ros-%{ros_distro}-tf2-eigen
Requires: ros-%{ros_distro}-diagnostic-updater
Requires: ros-%{ros_distro}-message-filters
Requires: ros-%{ros_distro}-rcpputils
Requires: ros-%{ros_distro}-urdf
Requires: ros-%{ros_distro}-yaml-cpp-vendor
Requires: ros-%{ros_distro}-rclpy
Requires: ros-%{ros_distro}-rosidl-default-runtime
Requires: ros-%{ros_distro}-diagnostic-msgs
Requires: ros-%{ros_distro}-geographic-msgs
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-std-msgs
Requires: ros-%{ros_distro}-std-srvs
Requires: ros-%{ros_distro}-trajectory-msgs
Requires: ros-%{ros_distro}-visualization-msgs
Requires: ros-%{ros_distro}-angles
Requires: ros-%{ros_distro}-eigen-stl-containers
Requires: ros-%{ros_distro}-eigen3-cmake-module
Requires: python3-click

# Virtual provides for compatibility
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}

%description
Extra nodes and plugins for MAVROS (MAVLink to ROS bridge).
This package provides additional MAVLink plugins (ADS-B, GPS RTK, camera,
distance sensor, obstacle distance, terrain, vision pose, etc.) and the
terrain tile server.

%prep
%autosetup -n %{name}-%{version}

%build
# The source tarball contains the whole mavros repo (multi-package layout).
# We build only the mavros_extras sub-package.
cd mavros_extras

# ROS bootstrap environment (chroot has ROS SIG repo; guard against missing setup.sh)
[ -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}

# Explicit out-of-source build (openEuler %%cmake macro positional-arg pitfall)
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 \
  -DCMAKE_CXX_STANDARD=20
%make_build

%install
cd mavros_extras/.obj
%make_install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Oct 12 2026 AI Importer <ai-importer@openeuler.org> - 2.16.0-4
- Add Patch0 (hil-gps-id-yaw-compat.patch): comment out gps.id/gps.yaw
  assignments in hil.cpp that reference HilGPS fields added in mavros 2.16.0.
  The ROS SIG repo ships mavros_msgs 2.14.0 which lacks these fields, causing
  "has no member named 'id'/'yaw'" compile errors at hil.cpp:243-244.
  The MAVLink HIL_GPS message still has id/yaw (defaults to 0).

* Mon Oct 12 2026 AI Importer <ai-importer@openeuler.org> - 2.16.0-3
- Escape %%cmake token in a %%build comment: rpm expands %%macros even
  inside comments, so the openEuler %%cmake macro's multi-line body (which
  includes %%set_build_flags + a (...) subshell) leaked out of the comment
  and was executed as build commands, causing "syntax error near
  unexpected token )'" at line 61 of the build script. Replaced with
  %%cmake (literal %%cmake) so the comment stays a comment.

* Mon Oct 12 2026 AI Importer <ai-importer@openeuler.org> - 2.16.0-2
- Drop BuildRequires: geographiclib-tools: it duplicates /usr/bin/* tools
  already provided by official geographiclib (pulled by geographiclib-devel),
  causing a dnf transaction-test file conflict.

* Mon Oct 12 2026 AI Importer <ai-importer@openeuler.org> - 2.16.0-1
- Initial package for openEuler (ROS 2 humble)
- Built from upstream mavros repo, mavros_extras sub-package