%define ros_distro humble
%define RosPkgName mocap4r2-control
%define src_version 0.0.7

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.0.7
Release:        1%{?dist}
Summary:        Control protocol for MOCAP4ROS2 Project
License:        Apache-2.0
URL:            https://github.com/MOCAP4ROS2-Project/mocap4r2.git
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

# buildtool_depend: ament_cmake（ros-projects.list 已有）
BuildRequires:  ros-%{ros_distro}-ament-cmake
# package.xml <depend> 三项，依赖名照 `_`→`-` 归一化后写
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-lifecycle
# mocap4r2_control_msgs 为 ros-upstream.list 包，本批 project.list 同批构建（siblings），
# 同一 COPR project 内同源解析
BuildRequires:  ros-%{ros_distro}-mocap4r2-control-msgs

# ROS 运行期三件套：/opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，
# 必须手写，否则装上后环境不就绪
Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-lifecycle
Requires:       ros-%{ros_distro}-mocap4r2-control-msgs

# 上游 package.xml 未声明 lifecycle_msgs，但 src 直接 include
# lifecycle_msgs/msg/{state,transition}.hpp，而 CMakeLists 亦无 find_package(lifecycle_msgs)。
# 判定为经 rclcpp_lifecycle 的 ament_export_dependencies 传递导出（上游即靠此编译通过），
# 故不额外发明依赖。若 COPR 构建报 lifecycle_msgs 找不到，本处即为补
# `ros-humble-lifecycle-msgs`（ros-projects.list 已有）的修正点。

# 单包策略：ROS 包严禁拆实体子包，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
Control protocol for MOCAP4ROS2 Project

%prep
# 归档根目录实测为 <RosPkgName>-<src_version>（与 Name 解耦，不随归一化联动改写）
%autosetup -n %{RosPkgName}-%{src_version}

%build
# ROS 基座环境（chroot 无 ROS 依赖时可能无 setup.sh，必须 [ -f ] 守卫）
[ -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}
# 上游 monorepo：本包位于 mocap4r2_control/mocap4r2_control
cd mocap4r2_control/mocap4r2_control
# 显式 out-of-source 构建（openEuler %cmake 宏带位置参数会错误解析源码目录）
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
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 mocap4r2_control/mocap4r2_control
cd .obj
make install DESTDIR=%{buildroot}

%files
# 整树拥有：对「装了没打包」免疫，且避免与虚拟子包路径重叠
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 0.0.7-1
- Initial import (ROS batch)