%define ros_distro humble
%define RosPkgName joint-group-impedance-controller

# 实测 GitHub archive/<full-sha>.tar.gz 解压根目录为 kuka_drivers-<full-sha>，
# 而非纯 commit SHA；故 autosetup -n 用实测目录名（见下方 %%prep）
%global commit 3adea8cf8b356144558f69374a168a70c2356304

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.1.0
Release:    1%{?dist}
Summary:    Controller for modifying impedance (stiffness and damping) interfaces of a joint group
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），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:  cmake
BuildRequires:  gcc-c++
BuildRequires:  make
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-forward-command-controller
BuildRequires:  ros-%{ros_distro}-generate-parameter-library
BuildRequires:  ros-%{ros_distro}-kuka-drivers-core
BuildRequires:  ros-%{ros_distro}-pluginlib

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-forward-command-controller
Requires:       ros-%{ros_distro}-generate-parameter-library
Requires:       ros-%{ros_distro}-kuka-drivers-core
Requires:       ros-%{ros_distro}-pluginlib

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

%description
Controller for modifying impedance (stiffness and damping) interfaces of a
joint group. Part of the KUKA drivers for ROS 2 (humble). This package
builds the joint_group_impedance_controller pluginlib plugin from the
kuka_drivers monorepo (subdirectory controllers/joint_group_impedance_controller).

%prep
%autosetup -n kuka_drivers-%{commit}

%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，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：进入包目录后显式 out-of-source 构建
cd controllers/joint_group_impedance_controller
mkdir -p .obj
cd .obj
cmake .. \
  -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 %{?_smp_mflags}

%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
cd controllers/joint_group_impedance_controller/.obj
make install DESTDIR=%{buildroot}

%files
# 整树拥有 /opt/ros/<distro>，对"装了没打包"类错误免疫
/opt/ros/%{ros_distro}

%changelog
* Wed Sep 23 2026 AI Importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial package for joint-group-impedance-controller (ROS 2 humble)