%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
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
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
%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 .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)