%define ros_distro humble
%define RosPkgName kuka-iiqka-eac-driver
%define src_version 1.1.0

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.1.0
Release:        3%{?dist}
Summary:        A ROS2 hardware interface for use with KUKA iiQKA OS
License:        Apache-2.0
URL:            https://github.com/kroshu/kuka_drivers.git
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:  cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-controller-manager-msgs
BuildRequires:  ros-%{ros_distro}-hardware-interface
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-kuka-drivers-core
BuildRequires:  ros-%{ros_distro}-kuka-external-control-sdk
BuildRequires:  grpc-devel
BuildRequires:  protobuf-devel

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-controller-manager
Requires:       ros-%{ros_distro}-controller-manager-msgs
Requires:       ros-%{ros_distro}-effort-controllers
Requires:       ros-%{ros_distro}-hardware-interface
Requires:       ros-%{ros_distro}-joint-state-broadcaster
Requires:       ros-%{ros_distro}-joint-trajectory-controller
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-joint-group-impedance-controller
Requires:       ros-%{ros_distro}-kuka-control-mode-handler
Requires:       ros-%{ros_distro}-kuka-drivers-core
Requires:       ros-%{ros_distro}-kuka-event-broadcaster
Requires:       ros-%{ros_distro}-kuka-external-control-sdk
Requires:       ros-%{ros_distro}-kuka-lbr-iisy-support
Requires:       grpc
Requires:       protobuf

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
A ROS2 hardware interface for use with KUKA iiQKA OS

%prep
%autosetup -n %{RosPkgName}-%{src_version}
# kuka-external-control-sdk 静态库 (libkuka-external-control-sdk.a) 内部使用
# abseil CHECK/LOG 宏，其导出的 CMake config 漏列 absl_log_internal_check_op
# 和 absl_log_internal_message 传递依赖，链接时报 "DSO missing from command
# line"（LogMessageFatal→message、MakeCheckOpString→check_op）。显式追加到每个
# target_link_libraries，absl_log_internal_format 作保险。对齐兄弟包
# kuka-external-control-sdk-examples spec（该包已用同法构建成功）。
sed -i 's/Kuka::kuka-external-control-sdk/Kuka::kuka-external-control-sdk -labsl_log_internal_check_op -labsl_log_internal_message -labsl_log_internal_format/g' \
    kuka_iiqka_eac_driver/CMakeLists.txt

%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}
cd kuka_iiqka_eac_driver
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 kuka_iiqka_eac_driver
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-3
- 增加 grpc-devel BuildRequires：源码 hardware_interface.cpp / robot_manager_node.cpp
  直接 #include <grpcpp/create_channel.h>，编译期找不到该头文件（对齐兄弟包
  kuka-external-control-sdk / examples 已验证可用的 grpc-devel）
- 增加 protobuf-devel BuildRequires 与 grpc/protobuf Requires：driver 链接
  libkuka-external-control-sdk.a 静态库，其内部引用 grpc/protobuf 符号，
  链接期需 -lgrpc++/-lprotobuf，运行时需 grpc/protobuf
- %prep 注入 -labsl_log_internal_* 到 CMake link：SDK 静态库的 CMake config
  漏列 abseil 传递依赖，会导致链接报 "DSO missing from command line"，
  对齐 kuka-external-control-sdk-examples spec 已验证的修复法

* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-2
- Move exec_depend packages from BuildRequires to Requires-only
  (kuka-lbr-iisy-support pulls kuka-gazebo transitively at builddep;
  these packages have no find_package() in CMakeLists.txt)

* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial import (ROS batch)