%define ros_distro humble
%define RosPkgName fri-configuration-controller
%global commit 3adea8cf8b356144558f69374a168a70c2356304

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.1.0
Release:    1%{?dist}
Summary:    Controller for configuration of FRI
License:    Apache-2.0
URL:        https://github.com/kroshu/kuka_drivers
Source0:    https://github.com/kroshu/kuka_drivers/archive/%{commit}.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:]].*$!!g')
# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-controller-interface
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-kuka-driver-interfaces
BuildRequires: ros-%{ros_distro}-kuka-drivers-core
BuildRequires: cmake
BuildRequires: gcc-c++
BuildRequires: make

Requires:      ros-%{ros_distro}-ros-workspace
Requires:      ros-%{ros_distro}-ament-cmake
Requires:      ros-%{ros_distro}-controller-interface
Requires:      ros-%{ros_distro}-pluginlib
Requires:      ros-%{ros_distro}-kuka-driver-interfaces
Requires:      ros-%{ros_distro}-kuka-drivers-core

# 单包策略：严禁拆实体子包，主包 %%files 整树拥有 /opt/ros/<distro>
Provides:      %{name}-devel = %{version}-%{release}
Provides:      %{name}-doc = %{version}-%{release}
Provides:      %{name}-runtime = %{version}-%{release}

%description
Controller for configuration of FRI (Fast Robot Interface), part of the
kuka_drivers stack. Provides a ros2_control controller plugin to expose
FRI configuration parameters at runtime.

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

%build
# ROS 基座环境（chroot 已配置 ROS SIG repo；无 ROS 依赖的包 buildroot 里
# 可能没有 setup.sh，必须用 [ -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}

# 目标包位于 monorepo 子目录 controllers/fri_configuration_controller
cd controllers/fri_configuration_controller
# 显式 out-of-source 构建，规避 openEuler %%cmake 宏位置参数解析源码目录的坑
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 \
  ..
%make_build

%install
cd controllers/fri_configuration_controller/.obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Wed Sep 23 2026 openEuler ROS SIG <ros@openeuler.org> - 1.1.0-1
- Initial package for fri_configuration_controller 1.1.0