%define ros_distro humble
%define RosPkgName kuka-controllers

# 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）。
# 该 commit 为 kuka_drivers humble 分支 HEAD，与同 monorepo 各 sibling 包一致。
%global commit 3adea8cf8b356144558f69374a168a70c2356304

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.1.0
Release:    1%{?dist}
Summary:    ROS2 controllers for KUKA robots
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 <buildtool_depend> + <exec_depend>。
# kuka_controllers 是 metapackage（CMakeLists 仅调用 ament_package()，不产生库或
# 可执行文件），故 <exec_depend> 全为运行时依赖——仅写 Requires，不写 BuildRequires。
# buildtool_depend ament_cmake 为构建工具依赖，BuildRequires 必写。
# project(kuka_controllers LANGUAGES CXX) 声明 CXX，cmake 需检测到 C++ 编译器，
# 故 gcc-c++ 必写（虽无源码编译）。
BuildRequires: ros-%{ros_distro}-ament-cmake
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。
# ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks，装上即环境就绪（所有 ROS 包强制）。
# ament-cmake 运行期钩子需要（ament_cmake 形态强制）。
# 以下六项为 package.xml <exec_depend>，均为同 monorepo sibling，同 COPR project 内构建：
Requires:      ros-%{ros_distro}-ros-workspace
Requires:      ros-%{ros_distro}-ament-cmake
Requires:      ros-%{ros_distro}-kuka-control-mode-handler
Requires:      ros-%{ros_distro}-kuka-event-broadcaster
Requires:      ros-%{ros_distro}-kuka-kss-message-handler
Requires:      ros-%{ros_distro}-fri-configuration-controller
Requires:      ros-%{ros_distro}-fri-state-broadcaster
Requires:      ros-%{ros_distro}-joint-group-impedance-controller

# 单包策略：ROS 包严禁拆实体子包（主包 %files 整树拥有 /opt/ros/<distro> 时
# 必与 devel 子包路径重叠致安装事务冲突），改用虚拟 Provides 兼容依赖方
Provides:      %{name}-devel = %{version}-%{release}
Provides:      %{name}-doc = %{version}-%{release}
Provides:      %{name}-runtime = %{version}-%{release}

%description
ROS2 controllers for KUKA robots. Part of the kuka_drivers stack for ROS 2
(humble). This is a metapackage that aggregates all KUKA ros2_control
controller plugins (fri_configuration_controller, fri_state_broadcaster,
joint_group_impedance_controller, kuka_control_mode_handler,
kuka_event_broadcaster, kuka_kss_message_handler) from the kuka_drivers
monorepo. The package itself contains only ament metadata (package.xml and
ament_index marker); install it to pull in all KUKA controller packages
at once.

%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_controllers
cd controllers/kuka_controllers
# 显式 out-of-source 构建，规避 openEuler %cmake 宏位置参数解析源码目录的坑。
# metapackage 的 CMakeLists 仅调用 ament_package()，cmake 生成 install 规则安装
# package.xml 与 ament_index 标记，无实际编译目标。
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_controllers/.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-controllers (ROS 2 humble)