%define ros_distro humble
%define RosPkgName moveit-task-constructor-visualization
%define src_version 0.1.3

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.1.3
Release:        3%{?dist}
Summary:        Visualization tools for MoveIt Task Pipeline
License:        BSD
URL:            https://github.com/moveit/moveit_task_constructor.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}-moveit-core
BuildRequires:  ros-%{ros_distro}-moveit-ros-visualization
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rviz2
BuildRequires:  ros-%{ros_distro}-moveit-task-constructor-core
BuildRequires:  ros-%{ros_distro}-moveit-task-constructor-msgs
BuildRequires:  fmt-devel
BuildRequires:  qt5-qtbase-devel
BuildRequires:  libyaml-devel

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-moveit-core
Requires:       ros-%{ros_distro}-moveit-ros-visualization
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rviz2
Requires:       ros-%{ros_distro}-moveit-task-constructor-core
Requires:       ros-%{ros_distro}-moveit-task-constructor-msgs
Requires:       fmt-devel

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

%description
Visualization tools for MoveIt Task Pipeline

%prep
%autosetup -n %{RosPkgName}-%{src_version}
# C++20 下 u8"" 字面量类型为 const char8_t*，与 Qt tr(const char*) 不兼容
sed -i 's/tr(u8"/tr("/g' \
    visualization/motion_planning_tasks/src/remote_task_model.cpp \
    visualization/motion_planning_tasks/src/task_list_model.cpp

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

%files
/opt/ros/%{ros_distro}

%changelog
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 0.1.3-3
- Fix char8_t conversion error: replace tr(u8"") with tr("") in Qt source files

* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 0.1.3-2
- Add libyaml-devel BuildRequires to enable HAVE_YAML, fixes rviz::StringProperty build error

* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 0.1.3-1
- Initial import (ROS batch)