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%define ros_distro humble
%define RosPkgName kuka-control-mode-handler
# 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 setting the control mode of KUKA robots in runtime
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}/.*$
# 依赖来源：package.xml <depend> + <buildtool_depend>，逐条在 ros-projects.list /
# ros-upstream.list 核实（controller-interface / pluginlib 为 rosdistro 真实包，
# kuka-drivers-core 为同 monorepo sibling，同 COPR project 内构建）
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-controller-interface
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-kuka-drivers-core
BuildRequires: cmake
BuildRequires: gcc-c++
BuildRequires: make
# /opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，运行时 Requires 必须手写
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-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 setting the control mode of KUKA robots at runtime. Part of the
kuka_drivers stack for ROS 2 (humble). This package builds the
kuka_control_mode_handler pluginlib plugin (a ros2_control controller) from
the kuka_drivers monorepo (subdirectory controllers/kuka_control_mode_handler).
%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，必须用 [ -f ] 守卫——直接 source 不存在的文件在
# 严格 sh 下会中止整个 %build 脚本，|| true 挡不住）
[ -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/kuka_control_mode_handler
cd controllers/kuka_control_mode_handler
# 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/kuka_control_mode_handler/.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 openEuler ROS SIG <ros@openeuler.org> - 1.1.0-1
- Initial package for kuka-control-mode-handler (ROS 2 humble)
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