%define ros_distro humble
%define RosPkgName scenario-execution-nav2

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.2.0
Release:    1%{?dist}
Summary:    Scenario Execution library for Nav2
License:    Apache-2.0
URL:        https://github.com/cps-test-lab/scenario-execution
Source0:    https://github.com/cps-test-lab/scenario-execution/archive/refs/heads/humble.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:]].*$!!g')
# ROS 包不做自动依赖扫描（.so / .py 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires: python3-devel
BuildRequires: python3-setuptools
# <depend>scenario_execution_ros</depend> —— 同仓库兄弟包，rosdistro 全量清单（ros-upstream.list）真实存在
BuildRequires: ros-%{ros_distro}-scenario-execution-ros

# 运行时 Requires（ROS 特有，必须手写）：/opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到
# 三件套：ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks；ament-cmake 提供 ament 运行期钩子
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
# <depend>scenario_execution_ros</depend> 的 exec 部分
Requires: ros-%{ros_distro}-scenario-execution-ros
# <exec_depend>rclpy</exec_depend> —— SIG 源已有（ros-projects.list）
Requires: ros-%{ros_distro}-rclpy
# <exec_depend>nav2_simple_commander</exec_depend> —— 归一化为连字符，SIG 源已有（ros-projects.list）
Requires: ros-%{ros_distro}-nav2-simple-commander
# <exec_depend>nav2_msgs</exec_depend> —— 归一化为连字符，SIG 源已有（ros-projects.list）
Requires: ros-%{ros_distro}-nav2-msgs
# <exec_depend>geometry_msgs</exec_depend> —— 归一化为连字符，SIG 源已有（ros-projects.list）
Requires: ros-%{ros_distro}-geometry-msgs
# <exec_depend>tf2_ros</exec_depend> —— 归一化为连字符，SIG 源已有（ros-projects.list）
Requires: ros-%{ros_distro}-tf2-ros
# <exec_depend>lifecycle_msgs</exec_depend> —— 归一化为连字符，SIG 源已有（ros-projects.list）
Requires: ros-%{ros_distro}-lifecycle-msgs

# 单包策略：ROS 包严禁拆实体子包，用虚拟 Provides 别名兼容依赖方
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}

%description
Scenario Execution library for Nav2. Provides actions to interact with the nav2
navigation stack (init-nav2, nav-to-pose, nav-through-poses) and an OSC library
(nav2.osc) for the scenario execution framework.

%prep
%autosetup -n scenario-execution-humble

%build
# ROS 基座环境（chroot 可能无 setup.sh，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：进入 libs/scenario_execution_nav2 构建
cd libs/scenario_execution_nav2
%{__python3} setup.py build

%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 libs/scenario_execution_nav2
# ament_python 形态：setup.py install 装进 /opt/ros/<distro> 前缀
# --prefix 使 pure-python 模块装进 lib/python<ver>/site-packages，data_files 装进 share/
%{__python3} setup.py install --skip-build --root=%{buildroot} --prefix=/opt/ros/%{ros_distro}

%files
# 整树拥有 /opt/ros/<distro>（SIG 模板标准做法，对「装了没打包」类错误免疫）
/opt/ros/%{ros_distro}

%changelog
* Fri Oct 23 2026 openEuler ROS SIG <ros@openeuler.org> - 1.2.0-1
- Initial package for scenario-execution-nav2 (ament_python, from cps-test-lab/scenario-execution humble branch)