%define ros_distro humble
%define RosPkgName mrpt-libbase
%define src_version 2.15.21-2
%define mrpt_version 2.15.21

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.15.21
Release:        5%{?dist}
Summary:        Mobile Robot Programming Toolkit (MRPT) libraries (core C++ libraries)
License:        BSD
URL:            https://github.com/MRPT/mrpt_ros/tree/main
Source0:        %{RosPkgName}-%{src_version}.tar.gz
# mrpt upstream sources bundled to avoid git clone in offline COPR build environment
Source1:        https://github.com/MRPT/mrpt/archive/refs/tags/%{mrpt_version}.tar.gz#/mrpt-%{mrpt_version}.tar.gz

%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires:  assimp-devel
BuildRequires:  eigen3-devel
BuildRequires:  libzstd-devel
BuildRequires:  pkgconfig
BuildRequires:  tinyxml2-devel
BuildRequires:  zlib-devel
BuildRequires:  cmake
BuildRequires:  git

Requires:       ros-%{ros_distro}-ros-workspace

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

%description
Mobile Robot Programming Toolkit (MRPT) libraries (core C++ libraries).
  This package contains: mrpt-io, mrpt-serialization, mrpt-random, mrpt-system, mrpt-rtti, mrpt-containers, mrpt-typemeta, mrpt-core, mrpt-random, mrpt-config, mrpt-expr

%prep
%autosetup -n %{RosPkgName}-%{src_version}

# 预置 mrpt 上游源码到 ExternalProject 期望路径，避免构建时 git clone
# %build 中: cd mrpt_libbase && cd .obj，所以 CMAKE_BINARY_DIR = <builddir>/mrpt_libbase/.obj
# SOURCE_DIR 正确路径: ${CMAKE_BINARY_DIR}/../mrpt-build/src/mrpt
#   = <builddir>/mrpt_libbase/mrpt-build/src/mrpt  ✓
mkdir -p mrpt_libbase/mrpt-build/src/mrpt
tar -xzf %{SOURCE1} --strip-components=1 -C mrpt_libbase/mrpt-build/src/mrpt

# mrpt CMakeLists.txt:51 检查这两个 submodule 目录是否存在（tarball 不含 submodule）
# 实际构建已禁用 nanogui 和 rplidar_sdk，创建空目录即可通过检查
mkdir -p mrpt_libbase/mrpt-build/src/mrpt/3rdparty/nanogui/include
mkdir -p mrpt_libbase/mrpt-build/src/mrpt/3rdparty/rplidar_sdk/sdk/src

# 写版本缓存文件（CMake 读 ${CMAKE_BINARY_DIR}/../mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt）
echo -n "%{mrpt_version}" > mrpt_libbase/mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt

# patch CMakeLists.txt：将整个 if/else/endif 块替换为直接使用 SOURCE_DIR，彻底跳过 git clone
python3 -c "
import re, sys
path = 'mrpt_libbase/CMakeLists.txt'
txt = open(path).read()
old = re.search(r'if \(EXISTS.*?endif\(\)', txt, re.DOTALL)
if old:
    replacement = 'set(src_cmds\n  SOURCE_DIR \${CMAKE_BINARY_DIR}/../mrpt-build/src/mrpt/\n)'
    txt = txt[:old.start()] + replacement + txt[old.end():]
    open(path, 'w').write(txt)
    print('patch applied')
else:
    print('pattern not found', file=sys.stderr)
    sys.exit(1)
"

%build
[ -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 mrpt_libbase
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 mrpt_libbase
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-5
- Fix: create 3rdparty/nanogui/include and 3rdparty/rplidar_sdk/sdk/src stub dirs
  to pass mrpt CMakeLists.txt submodule existence check (github tarball lacks submodules)

* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-4
- Fix SOURCE_DIR path: CMAKE_BINARY_DIR is mrpt_libbase/.obj, so correct relative path
  is ../mrpt-build/src/mrpt (not ../mrpt_libbase/mrpt-build/src/mrpt which added extra layer)

* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-3
- Fix: replace if/else/endif block in CMakeLists.txt with unconditional SOURCE_DIR
- Previous sed patch only removed HOME check but COPR still ran git clone; now bypassed completely

* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-2
- Bundle mrpt upstream sources as Source1 to avoid offline git clone in COPR
- Remove unavailable BuildRequires (freenect/openni/wx/glfw not needed for core libs)