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%define ros_distro humble
%define RosPkgName nebula-robosense-decoders
%define src_version 1.3.1-1
# monorepo main 分支快照（无 tag），记录实际 commit 保证产物可追溯（§2）
%global commit 8be1ed775b02985eadafe39b00e0e4fc944114e2
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 1.3.1
Release: 1%{?dist}
Summary: Nebula Robosense Decoders Library
# package.xml 声明 "Apache 2"，规范为 SPDX 标识
License: Apache-2.0
URL: https://github.com/tier4/nebula
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
BuildRequires: gcc-c++
BuildRequires: make
# ament_cmake 形态构建工具（§6：build_type=ament_cmake，构建工具依赖 ros-humble-ament-cmake）
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
# buildtool_depend ros_environment（ros-projects.list，SIG 已移植）
BuildRequires: ros-%{ros_distro}-ros-environment
# package.xml <depend> —— ROS humble 标准包（ros-projects.list，SIG 已移植）
BuildRequires: ros-%{ros_distro}-rclcpp
# package.xml <depend> —— nebula monorepo 兄弟子包（ros-upstream.list，batch reused，COPR project 同源解析）
BuildRequires: ros-%{ros_distro}-nebula-core-common
BuildRequires: ros-%{ros_distro}-nebula-core-decoders
BuildRequires: ros-%{ros_distro}-nebula-robosense-common
# 系统库（package.xml <depend>boost</depend>，pkg.remap 映射 boost→boost-devel，CMakeLists 链接 Boost::headers 为 header-only）
BuildRequires: boost-devel
# 运行时 Requires（§6 三件套：/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（ROS 包提供 /opt/ros 下 .so，运行时须显式声明）
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-nebula-core-common
Requires: ros-%{ros_distro}-nebula-core-decoders
Requires: ros-%{ros_distro}-nebula-robosense-common
# 单包策略（§7）：ROS 包严禁拆实体子包，主包文件清单整树拥有，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 Robosense Decoders Library —— Nebula 多 LiDAR 驱动框架中面向 Robosense
激光雷达的解码库，提供 Robosense 系列点云数据的解码与处理。基于
ament_cmake 构建（autoware_cmake 封装），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_robosense_decoders colcon 子包；monorepo 其余 colcon 包由各自独立 RPM 提供。
%prep
%autosetup -n %{RosPkgName}-%{src_version}
%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 宏的位置参数坑；
# 注意：注释里切勿写 cmake 宏的字面量形式——RPM 会在注释中展开它，并把后续中文当作位置参数追加，
# 导致 cmake 误把中文当成源目录而报 "source directory does not exist"）
cd src/nebula_robosense/nebula_robosense_decoders
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 src/nebula_robosense/nebula_robosense_decoders
cd .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
- Initial import (ROS batch)
- 源自 tier4/nebula monorepo，commit 8be1ed775b02985eadafe39b00e0e4fc944114e2
- ament_cmake 形态（autoware_cmake 封装），构建至 /opt/ros/humble 前缀
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