%define ros_distro humble
%define RosPkgName kuka-kss-message-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）。
# 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:    Non-real time message handler for KSS 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> + <depend>，逐条在 ros-projects.list /
# ros-upstream.list 核实——controller-interface / pluginlib / std-msgs 为 rosdistro
# 真实包且 SIG 源已有；kuka-drivers-core / kuka-driver-interfaces 为同 monorepo
# sibling，同 COPR project 内构建。package.xml 的 <depend> 同时承担 build 与 run
# 语义，故 BuildRequires / Requires 各写一遍。
# test_depend（controller_manager / ros2_control_test_assets）按规范不写 BuildRequires。
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-controller-interface
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-std-msgs
BuildRequires: ros-%{ros_distro}-kuka-drivers-core
BuildRequires: ros-%{ros_distro}-kuka-driver-interfaces
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）。
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}-std-msgs
Requires:      ros-%{ros_distro}-kuka-drivers-core
Requires:      ros-%{ros_distro}-kuka-driver-interfaces

# 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
Non-real time message handler for KSS KUKA robots. Part of the kuka_drivers
stack for ROS 2 (humble). This package builds the kuka_kss_message_handler
pluginlib plugin (a ros2_control controller) from the kuka_drivers monorepo
(subdirectory controllers/kuka_kss_message_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_kss_message_handler
cd controllers/kuka_kss_message_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_kss_message_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-kss-message-handler (ROS 2 humble)