%define ros_distro humble
%define RosPkgName openni2-camera
%define src_version 2.0.3-1
%define openni2_version 2.2.0.33

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.0.3
Release:        2%{?dist}
Summary:        Drivers for the Asus Xtion and Primesense Devices
License:        BSD
URL:            https://github.com/ros-drivers/openni2_camera/tree/iron
Source0:        %{RosPkgName}-%{src_version}.tar.gz
Source1:        OpenNI2-%{openni2_version}.tar.gz
Patch0:         openni2-aarch64-support.patch

%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:  cmake
BuildRequires:  libusbx-devel
BuildRequires:  systemd-devel
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-builtin-interfaces
BuildRequires:  ros-%{ros_distro}-camera-info-manager
BuildRequires:  ros-%{ros_distro}-depth-image-proc
BuildRequires:  ros-%{ros_distro}-image-transport
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-rosidl-default-generators
BuildRequires:  ros-%{ros_distro}-rosidl-default-runtime
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  pkgconfig

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-builtin-interfaces
Requires:       ros-%{ros_distro}-camera-info-manager
Requires:       ros-%{ros_distro}-depth-image-proc
Requires:       ros-%{ros_distro}-image-transport
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-rosidl-default-runtime
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       libusbx
Requires:       systemd-libs

Provides:       libopenni2-devel = %{openni2_version}
Provides:       libopenni2-dev = %{openni2_version}

%description
Drivers for the Asus Xtion and Primesense Devices. For using a kinect
  with ROS, try the

%prep
%setup -q -n %{RosPkgName}-%{src_version} -a1
cd OpenNI2-%{openni2_version}
patch -p1 < %{_sourcedir}/openni2-aarch64-support.patch
cd ..

%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}

# Build vendored OpenNI2 SDK (libopenni2 not available in openEuler repos)
cd OpenNI2-%{openni2_version}
make Source/Core %{?_smp_mflags}
OPENNI2_PREFIX=%{_builddir}/openni2_install
mkdir -p $OPENNI2_PREFIX/lib $OPENNI2_PREFIX/include/openni2 $OPENNI2_PREFIX/lib/pkgconfig
cp Bin/*/Release/libOpenNI2.so $OPENNI2_PREFIX/lib/
cp Include/*.h $OPENNI2_PREFIX/include/openni2/
cat > $OPENNI2_PREFIX/lib/pkgconfig/libopenni2.pc << PCEOF
prefix=$OPENNI2_PREFIX
exec_prefix=\${prefix}
libdir=\${exec_prefix}/lib
includedir=\${prefix}/include/openni2

Name: libopenni2
Description: OpenNI2 framework
Version: %{openni2_version}
Libs: -L\${libdir} -lOpenNI2
Cflags: -I\${includedir}
PCEOF
cp $OPENNI2_PREFIX/lib/pkgconfig/libopenni2.pc $OPENNI2_PREFIX/lib/pkgconfig/openni2.pc
export PKG_CONFIG_PATH=$OPENNI2_PREFIX/lib/pkgconfig:$PKG_CONFIG_PATH
export LD_LIBRARY_PATH=$OPENNI2_PREFIX/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}
cd ..

# Build openni2_camera ROS package
cd openni2_camera
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 openni2_camera
cd .obj
make install DESTDIR=%{buildroot}

# Install vendored OpenNI2 library and headers
cd ../..
mkdir -p %{buildroot}/%{_libdir}
mkdir -p %{buildroot}/%{_includedir}/openni2
cp OpenNI2-%{openni2_version}/Bin/*/Release/libOpenNI2.so %{buildroot}/%{_libdir}/
cp OpenNI2-%{openni2_version}/Include/*.h %{buildroot}/%{_includedir}/openni2/

# Install OpenNI2 drivers if available
mkdir -p %{buildroot}/%{_libdir}/OpenNI2/Drivers
for drv in OpenNI2-%{openni2_version}/Bin/*/Release/libPS*.so \
           OpenNI2-%{openni2_version}/Bin/*/Release/libOniFile.so \
           OpenNI2-%{openni2_version}/Bin/*/Release/libDummyDevice.so; do
    [ -f "$drv" ] && cp "$drv" %{buildroot}/%{_libdir}/OpenNI2/Drivers/ || true
done

%files
/opt/ros/%{ros_distro}
%{_libdir}/libOpenNI2.so
%{_libdir}/OpenNI2
%{_includedir}/openni2

%changelog
* Thu Oct 22 2026 ai-importer <ai-importer@openeuler.org> - 2.0.3-2
- Vendor OpenNI2 SDK (libopenni2 not available in openEuler)
- Add aarch64 platform support to OpenNI2 build system
- Replace libopenni2-dev BuildRequires/Requires with vendored library

* Thu Oct 22 2026 ai-importer <ai-importer@openeuler.org> - 2.0.3-1
- Initial import (ROS batch)