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

%define ros_distro humble
%define RosPkgName nebula-hesai
# 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 Hesai 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（spec-rules-ros §2 强制消除猜测）解压根目录为
# nebula-<full-sha>（非纯 SHA），与下方 autosetup 指令 -n nebula-<commit宏> 匹配
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（§6）
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}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-sensor-msgs

# package.xml <depend> —— autoware / tier4 外部包（ros-upstream.list，rosdistro 真实存在）
BuildRequires:  ros-%{ros_distro}-autoware-internal-debug-msgs
BuildRequires:  ros-%{ros_distro}-autoware-utils-debug
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；ros-upstream.list 命中，rosdistro 真实存在）
BuildRequires:  ros-%{ros_distro}-nebula-core-common
BuildRequires:  ros-%{ros_distro}-nebula-core-decoders
BuildRequires:  ros-%{ros_distro}-nebula-core-hw-interfaces
BuildRequires:  ros-%{ros_distro}-nebula-core-ros
BuildRequires:  ros-%{ros_distro}-nebula-hesai-common
BuildRequires:  ros-%{ros_distro}-nebula-hesai-decoders
BuildRequires:  ros-%{ros_distro}-nebula-hesai-hw-interfaces
BuildRequires:  ros-%{ros_distro}-nebula-msgs
BuildRequires:  ros-%{ros_distro}-pandar-msgs

# 系统库（package.xml <depend>boost</depend>，pkg.remap 映射 boost→boost-devel）
BuildRequires:  boost-devel

# 注：agnocast_* 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。
# test_depend（ament_cmake_gtest / ament_lint_auto / rosbag2_cpp）由 -DBUILD_TESTING=OFF 关闭，不写。

# 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-internal-debug-msgs
Requires:       ros-%{ros_distro}-autoware-utils-debug
Requires:       ros-%{ros_distro}-diagnostic-msgs
Requires:       ros-%{ros_distro}-diagnostic-updater
Requires:       ros-%{ros_distro}-nebula-core-common
Requires:       ros-%{ros_distro}-nebula-core-decoders
Requires:       ros-%{ros_distro}-nebula-core-hw-interfaces
Requires:       ros-%{ros_distro}-nebula-core-ros
Requires:       ros-%{ros_distro}-nebula-hesai-common
Requires:       ros-%{ros_distro}-nebula-hesai-decoders
Requires:       ros-%{ros_distro}-nebula-hesai-hw-interfaces
Requires:       ros-%{ros_distro}-nebula-msgs
Requires:       ros-%{ros_distro}-pandar-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

# 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}

%description
Nebula Hesai ROS Wrapper —— Nebula 多 LiDAR 驱动框架中面向 Hesai Pandar
系列 LiDAR 的 ROS 2 封装节点，提供激光数据解码、硬件接口与 ROS 组件化封装
（rclcpp_components）。基于 ament_cmake（autoware_package 宏）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_hesai colcon 子包；monorepo 其余 colcon 包由各自独立 RPM 提供。

%prep
# 实测 GitHub /archive/<commit>.tar.gz 解压根目录为 nebula-<full-sha>（非纯 SHA，
# 831 个条目全部 nebula-<sha> 前缀，spec-rules-ros §2 强制实测消除猜测）；
# 解压目录名与 Name 解耦，不随包名联动改写
%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}

# monorepo 子包构建：进入目标 colcon 包目录（§5 ament_cmake 显式 out-of-source，
# 规避 openEuler cmake 宏带位置参数坑）
cd src/nebula_hesai/nebula_hesai
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_build

%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
cd src/nebula_hesai/nebula_hesai/.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@opencode> - 1.3.1-1
- 初始引入 ros-humble-nebula-hesai（nebula_hesai colcon 子包）
- 源自 tier4/nebula monorepo，commit 8be1ed775b02985eadafe39b00e0e4fc944114e2
- ament_cmake 形态（autoware_package 宏），构建至 /opt/ros/humble 前缀