# spec for ros-humble-nebula-continental
# 源自 tier4/nebula monorepo（commit 8be1ed77），仅构建其中的 nebula_continental colcon 子包
# 严格遵循 /app/.claude/skills/build-rpm/spec-rules-ros.md

%define ros_distro humble
%define RosPkgName nebula-continental
# monorepo main 分支快照（无 tag），记录实际 commit 保证产物可追溯
%global commit 8be1ed775b02985eadafe39b00e0e4fc944114e2

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.3.1
Release:        1%{?dist}
Summary:        Nebula Continental ROS Wrapper
# package.xml 声明 "Apache 2"，规范为 SPDX 标识
License:        Apache-2.0
URL:            https://github.com/tier4/nebula
# GitHub commit 归档：实测（tar tzf）解压根目录为 nebula-<commit>（<repo>-<full-sha>），
# 非纯 SHA——spec-rules-ros §2 的"纯 SHA"经验对本仓不成立，以实测目录名为准
Source0:        https://github.com/tier4/nebula/archive/%{commit}.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
BuildRequires:  gcc-c++
BuildRequires:  make

# 构建工具（package.xml <buildtool_depend>）
# ament_cmake 形态构建工具
BuildRequires:  ros-%{ros_distro}-ament-cmake
# 提供 autoware_package() 宏（ros-upstream.list，SIG 未移植但 rosdistro 真实存在）
BuildRequires:  ros-%{ros_distro}-autoware-cmake
BuildRequires:  ros-%{ros_distro}-ros-environment
BuildRequires:  ros-%{ros_distro}-ros-testing

# package.xml <depend> —— ROS humble 标准包（ros-projects.list，SIG 已移植）
BuildRequires:  ros-%{ros_distro}-diagnostic-msgs
BuildRequires:  ros-%{ros_distro}-diagnostic-updater
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-message-filters
BuildRequires:  ros-%{ros_distro}-radar-msgs
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-visualization-msgs

# package.xml <depend> —— autoware / tier4 外部包（ros-upstream.list，rosdistro 真实存在）
BuildRequires:  ros-%{ros_distro}-autoware-sensing-msgs
BuildRequires:  ros-%{ros_distro}-sync-tooling-msgs

# package.xml <depend> —— nebula monorepo 兄弟子包（batch reused，COPR project / additional_repos 同源解析）
# nebula_core_ros 提供 nebula_agnocast_wrapper_register_node cmake 宏
# 注：nebula_continental_hw_interfaces 不再 BuildRequire reuse 兄弟包——该包
# (ROS-humble-3 build 112448) 的 Requires 错误用了下划线 ros-humble-nebula_msgs，
# 拉入 eulermaker 旧版 1.1.1-4，与 COPR 连字符 1.2.0-1 文件冲突（build 113809
# Transaction test error）。改为从 monorepo 源码同包构建，见构建阶段。
BuildRequires:  ros-%{ros_distro}-continental-msgs
BuildRequires:  ros-%{ros_distro}-continental-srvs
BuildRequires:  ros-%{ros_distro}-nebula-continental-common
BuildRequires:  ros-%{ros_distro}-nebula-continental-decoders
BuildRequires:  ros-%{ros_distro}-nebula-core-common
BuildRequires:  ros-%{ros_distro}-nebula-core-hw-interfaces
BuildRequires:  ros-%{ros_distro}-nebula-core-ros
BuildRequires:  ros-%{ros_distro}-nebula-msgs

# 系统库（package.xml <depend>yaml-cpp</depend>，openEuler 名 yaml-cpp-devel，dnf 实证存在）
BuildRequires:  yaml-cpp-devel

# 注：agnocast_components 为条件依赖（package.xml condition="$ENABLE_AGNOCAST == 1"，
# CMakeLists 同样以 if("$ENV{ENABLE_AGNOCAST}") 守卫），默认未启用故不写 BuildRequires。

# 运行时 Requires（ROS 特有三件套，§6：/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到）
Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake

# package.xml <depend> 的运行时部分
Requires:       ros-%{ros_distro}-autoware-sensing-msgs
Requires:       ros-%{ros_distro}-continental-msgs
Requires:       ros-%{ros_distro}-continental-srvs
Requires:       ros-%{ros_distro}-diagnostic-msgs
Requires:       ros-%{ros_distro}-diagnostic-updater
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-message-filters
Requires:       ros-%{ros_distro}-nebula-continental-common
Requires:       ros-%{ros_distro}-nebula-continental-decoders
Requires:       ros-%{ros_distro}-nebula-core-common
Requires:       ros-%{ros_distro}-nebula-core-ros
Requires:       ros-%{ros_distro}-nebula-msgs
Requires:       ros-%{ros_distro}-radar-msgs
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-sync-tooling-msgs
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-visualization-msgs

# 单包策略（§7）：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}
# hw_interfaces 从源码同包构建（见构建阶段），虚拟别名满足依赖方解析
Provides:       ros-%{ros_distro}-nebula-continental-hw-interfaces = %{version}-%{release}

%description
Nebula Continental ROS Wrapper —— Nebula 多雷达驱动框架中面向 Continental
ARS548 / SRR520 雷达的 ROS 2 封装节点，提供雷达数据解码、硬件接口与 ROS 组件
化封装（rclcpp_components）。基于 ament_cmake 构建，产物安装至
/opt/ros/%{ros_distro} 前缀。

本包源自 tier4/nebula monorepo（commit 8be1ed77），仅构建其中的
nebula_continental colcon 子包；monorepo 其余 colcon 包由各自独立 RPM 提供。

%prep
# 实测（tar tzf）解压根目录为 nebula-<commit>，与 -n 指定值匹配（§2 实测纪律）
# build 113815 实踩：%autosetup -n %{commit}（纯 SHA）致 %prep cd 失败，改为 nebula-%{commit}
%autosetup -n nebula-%{commit}

%build
# ROS 基座环境（§4：setup.sh 可能不存在，用 [ -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}

# 1. 先构建 nebula_continental_hw_interfaces（从源码同包构建，避开 reuse 兄弟包
#    ros-humble-nebula_msgs 下划线命名冲突——该兄弟包 Requires 用了
#    ros-humble-nebula_msgs 下划线名，拉入 eulermaker 旧版 1.1.1-4，与 COPR
#    连字符 1.2.0-1 文件冲突）
cd src/nebula_continental/nebula_continental_hw_interfaces
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}
# 安装到 /opt/ros（非 DESTDIR），让后续 nebula_continental 的 find_package 能发现
make install

# 2. 重新 source ROS 环境，纳入新装的 hw_interfaces
source /opt/ros/%{ros_distro}/setup.sh || true

# 3. 构建 nebula_continental（依赖上一步本地安装的 hw_interfaces）
cd ../../nebula_continental
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
# 安装 hw_interfaces 到 buildroot
cd src/nebula_continental/nebula_continental_hw_interfaces/.obj
make install DESTDIR=%{buildroot}
# 安装 nebula_continental 到 buildroot
cd ../../nebula_continental/.obj
make install DESTDIR=%{buildroot}

# 文件清单整树拥有（§7：单包策略，ros_distro 前缀一行收尾，对「装了没打包」类错误免疫）
%files
/opt/ros/%{ros_distro}

%changelog
* Wed Oct 21 2026 AI Importer <ai-importer@openeuler.org> - 1.3.1-1
- 修复 build 113815 %prep cd 失败：%autosetup -n 由 %{commit}（纯 SHA）改为
  nebula-%{commit}。实测（tar tzf 下载归档）GitHub tier4/nebula 的
  archive/<full-sha>.tar.gz 解压根目录为 nebula-<full-sha>（<repo>-<commit>），
  非 spec-rules-ros §2 所述"纯完整 SHA"——该经验对本仓不成立，以实测目录名为准
- 修复 build 113809 事务冲突：reuse 兄弟包 ros-humble-nebula-continental-hw-interfaces
  (ROS-humble-3 build 112448) 的 Requires 错用下划线 ros-humble-nebula_msgs，
  拉入 eulermaker 旧版 1.1.1-4 与 COPR 连字符 1.2.0-1 文件冲突
- 改为从 monorepo 源码同包构建 nebula_continental_hw_interfaces，移除对该兄弟
  包的 BuildRequires/Requires，加 Provides 虚拟别名满足依赖方
- 新增 BuildRequires: ros-humble-nebula-core-hw-interfaces（hw_interfaces 的
  ament 依赖，该包 Requires 干净无下划线命名问题）
- 初始引入 ros-humble-nebula-continental（nebula_continental colcon 子包）
- 源自 tier4/nebula monorepo，commit 8be1ed775b02985eadafe39b00e0e4fc944114e2
- ament_cmake 形态，构建至 /opt/ros/humble 前缀