%define ros_distro humble
%define RosPkgName coal
%define src_version 3.0.3-5

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        3.0.3
Release:        1%{?dist}
Summary:        An extension of the Flexible Collision Library.
License:        BSD-3-Clause
URL:            https://github.com/coal-library/coal/tree/devel
Source0:        %{RosPkgName}-%{src_version}.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:  ros-%{ros_distro}-eigenpy
BuildRequires:  ros-%{ros_distro}-jrl-cmakemodules
BuildRequires:  assimp-devel
BuildRequires:  boost-devel
BuildRequires:  eigen3-devel
BuildRequires:  cmake
BuildRequires:  doxygen
BuildRequires:  git
# 上游 package.xml 声明的是 Debian 名 liboctomap-dev，openEuler 无此
# provider；官方 EPOL 源的对应开发包为 octomap-devel（提供
# /usr/lib64/octomap/octomap-config.cmake，coal 的 CMake 配置依赖它）。
BuildRequires:  octomap-devel
# openEuler 的 assimp-devel 在 assimpTargets.cmake 的
# INTERFACE_LINK_LIBRARIES 里硬编码了绝对路径 /usr/lib64/libz.so 与裸名
# minizip；coal 以 PRIVATE 链接 assimp::assimp，这两项会进入 libcoal.so
# 的链接行：前者是 Makefile 级前置依赖，文件不存在即报
# "No rule to make target '/usr/lib64/libz.so'"；后者展开为 -lminizip，
# 缺 .so 链接名即报 "cannot find -lminizip"。运行时包 zlib/minizip 只带
# libz.so.1 / libminizip.so.1，不带开发用 .so 链接名，故必须显式声明二者
# 对应的 -devel 包（zlib-devel 由 OS/everything 源提供，minizip-devel 由
# everything 源提供）。
BuildRequires:  zlib-devel
BuildRequires:  minizip-devel
BuildRequires:  python3
BuildRequires:  python3-lxml
BuildRequires:  python3-numpy

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-eigenpy
Requires:       assimp-devel
Requires:       boost-devel
Requires:       eigen3-devel
Requires:       octomap-devel
# 与 BuildRequires 同步：coal 导出的 CMake 配置会 find_dependency(assimp)，
# 下游包链接 libcoal.so 时同样会拉入上面那两项，故一并声明。
Requires:       zlib-devel
Requires:       minizip-devel
Requires:       python3
Requires:       python3-numpy

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

%description
An extension of the Flexible Collision Library.

%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}
mkdir -p .obj && cd .obj
# 构建机资源极小：本次 COPR 任务的 backend.log 记录 memory_reqs=2048（2GB 内存）、
# make -j4（4 vCPU）。上游默认构建类型 RelWithDebInfo = "-O2 -g"，而 coal_pywrap
# 的 boost::python 模板编译单元（python/collision.cc、
# python/collision-geometries.cc，每源文件均几十 KB 且深度实例化）单进程峰值内存
# 极高，-j4 并行时触发内核 OOM killer——build 112469 的 builder-live.log 尾部：
#   c++: fatal error: Killed signal terminated program cc1plus
#   make[2]: *** [python/CMakeFiles/coal_pywrap.dir/build.make:121:
#             python/CMakeFiles/coal_pywrap.dir/collision.cc.o] Error 1
# 该轮已推进到 92%（src/ 75 个编译单元全部完成），可见瓶颈只在 python 绑定的
# 大模板单元。据此做两项调整：
# 1) 显式指定构建类型并在其上覆盖优化选项：-O1 降低模板实例化/内联的内存与
#    时间开销，-g0 关闭调试信息（spec 已 %global debug_package %{nil}，产出的
#    调试信息既不打包也不被下游使用，纯属内存浪费）。GCC 取命令行中最后一个
#    -O/-g，本覆盖位于 %cmake3 注入的 optflags 与构建类型 flags 之后，稳定生效。
# 2) 分步构建：C++ 库（体量小，-j4 实测可通过）仍并行；python 绑定单独用 -j1
#    串行编译，保证任一时刻只有一个大编译单元驻留内存；最后再跑一次收尾
#    （文档/字节码等剩余目标，已建目标不会重编）。
%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 \
    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
    -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-O1 -g0 -DNDEBUG" \
    ..
make %{?_smp_mflags} coal
make -j1 coal_pywrap
make -j1

%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 .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 3.0.3-1
- Initial import (ROS batch)