%define ros_distro humble
%define RosPkgName spinnaker-camera-driver
%define src_version 3.0.5-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        3.0.5
Release:        1%{?dist}
Summary:        ROS2 driver for flir spinnaker sdk
License:        Apache-2
URL:            https://github.com/ros-drivers/flir_camera_driver/tree/ros2-release
Source0:        %{RosPkgName}-%{src_version}.tar.gz
Source1:        spinnaker-sdk-4.2.0.88-arm64.tar.gz

%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:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake-ros
BuildRequires:  ros-%{ros_distro}-camera-info-manager
BuildRequires:  ros-%{ros_distro}-diagnostic-updater
BuildRequires:  ros-%{ros_distro}-image-transport
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-ros-environment
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-flir-camera-msgs
BuildRequires:  ffmpeg-devel
BuildRequires:  libomp-devel
BuildRequires:  libusbx-devel
BuildRequires:  yaml-cpp-devel
BuildRequires:  curl
BuildRequires:  dpkg
BuildRequires:  python3-distro

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-camera-info-manager
Requires:       ros-%{ros_distro}-diagnostic-updater
Requires:       ros-%{ros_distro}-image-transport
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-flir-camera-msgs
Requires:       ffmpeg-devel
Requires:       libomp-devel
Requires:       libusbx-devel
Requires:       yaml-cpp-devel

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
ROS2 driver for flir spinnaker sdk

%prep
%autosetup -n %{RosPkgName}-%{src_version}

%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}
cd spinnaker_camera_driver
mkdir -p .obj && cd .obj

tar xzf %{SOURCE1}
mkdir -p usr/lib
cp -a opt/spinnaker/lib/libSpinnaker*.so* usr/lib/
cp -a opt/spinnaker/lib/libG*.so* usr/lib/
cp -a opt/spinnaker/lib/lib*Parser*.so* usr/lib/
cp -a opt/spinnaker/lib/libLog*.so* usr/lib/
cp -a opt/spinnaker/lib/libNodeMapData*.so* usr/lib/
mkdir -p spinnaker-4.2.0.88-arm64

%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 \
    -DSPINNAKER_OS_CODENAME=jammy \
    ..
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 spinnaker_camera_driver
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Wed Oct 14 2026 ai-importer <ai-importer@openeuler.org> - 3.0.5-1
- Initial import (ROS batch)

* Wed Oct 14 2026 ai-importer <ai-importer@openeuler.org> - 3.0.5-1
- Bundle Spinnaker SDK arm64 as Source1, pre-stage in build to bypass unreachable download