# topdir: play-motion2-1.8.7
# ROS 2 humble metapackage (single repo, 3 sub-packages):
#   play_motion2      (ament_cmake_auto, C++ core + embedded python module)
#   play_motion2_msgs (ament_cmake, rosidl msg/srv/action)
#   play_motion2_cli  (ament_python, ros2cli plugin)
# Single spec builds the whole tree in dependency order; one rpm owns the
# whole /opt/ros/humble prefix with virtual Provides aliases for the sibling
# packages so dependents can resolve ros-humble-play-motion2-msgs.

%define ros_distro  humble
%define RosPkgName  play-motion2

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.8.7
Release:        1%{?dist}
Summary:        Play a pre-recorded motion on a robot (ROS 2)

License:        Apache-2.0
URL:            https://github.com/pal-robotics/play_motion2
Source0:        https://github.com/pal-robotics/play_motion2/archive/%{version}.tar.gz#/play-motion2-%{version}.tar.gz

# debug subpackages are meaningless under /opt prefix
%global debug_package %{nil}
# drop brp-python-bytecompile: /opt python files would otherwise be compiled
# into the standard sitelib path
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS packages do their own dependency model via ament; disable autodeps on /opt
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

%global _ros_prefix /opt/ros/%{ros_distro}

BuildRequires:  cmake
BuildRequires:  gcc-c++
BuildRequires:  make
BuildRequires:  python3-devel
BuildRequires:  python3-setuptools
BuildRequires:  python3-wheel

# ROS base environment (provides /opt/ros/humble/setup.sh)
BuildRequires:  ros-%{ros_distro}-ros-workspace
# ament build tools
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake-auto
BuildRequires:  ros-%{ros_distro}-ament-cmake-python
# message generation toolchain (play_motion2_msgs)
BuildRequires:  ros-%{ros_distro}-rosidl-default-generators
BuildRequires:  ros-%{ros_distro}-builtin-interfaces

# build/runtime ROS deps (from package.xml <depend>/<build_depend>)
BuildRequires:  ros-%{ros_distro}-backward-ros
BuildRequires:  ros-%{ros_distro}-control-msgs
BuildRequires:  ros-%{ros_distro}-controller-manager-msgs
BuildRequires:  ros-%{ros_distro}-lifecycle-msgs
BuildRequires:  ros-%{ros_distro}-moveit-ros-planning-interface
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-action
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-rclcpp-lifecycle
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-trajectory-msgs
# play_motion2_cli (ament_python) runtime deps needed at build for entry points
BuildRequires:  ros-%{ros_distro}-rclpy
BuildRequires:  ros-%{ros_distro}-ros2cli

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-rosidl-default-runtime
Requires:       ros-%{ros_distro}-backward-ros
Requires:       ros-%{ros_distro}-control-msgs
Requires:       ros-%{ros_distro}-controller-manager-msgs
Requires:       ros-%{ros_distro}-lifecycle-msgs
Requires:       ros-%{ros_distro}-moveit-ros-planning-interface
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-action
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-rclcpp-lifecycle
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-trajectory-msgs
Requires:       ros-%{ros_distro}-launch
Requires:       ros-%{ros_distro}-launch-ros
Requires:       ros-%{ros_distro}-rclpy
Requires:       ros-%{ros_distro}-ros2cli

# Single rpm owns the whole prefix; provide virtual aliases for the sibling
# packages so dependents can resolve ros-humble-play-motion2-msgs / -cli.
Provides:       ros-%{ros_distro}-play-motion2-msgs = %{version}-%{release}
Provides:       ros-%{ros_distro}-play-motion2-cli = %{version}-%{release}
Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
PlayMotion2 is a tool to play and handle pre-recorded motions in ROS 2.
This package builds the full upstream repository, which contains:
  * play_motion2      - the C++ motion player node and client library
  * play_motion2_msgs - the Motion message and PlayMotion2 action interfaces
  * play_motion2_cli  - the ros2cli plugin providing the `ros2 play_motion` verb

%prep
%autosetup -n play-motion2-%{version}

%build
# ROS base environment (guard: some buildroots may lack setup.sh)
[ -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}
export AMENT_PREFIX_PATH=/opt/ros/%{ros_distro}${AMENT_PREFIX_PATH:+:$AMENT_PREFIX_PATH}
export CMAKE_PREFIX_PATH=/opt/ros/%{ros_distro}${CMAKE_PREFIX_PATH:+:$CMAKE_PREFIX_PATH}

# --- 1. play_motion2_msgs (ament_cmake, rosidl) ---------------------------
# Build first: play_motion2 depends on its generated interfaces.
cd play_motion2_msgs
mkdir -p build && cd build
cmake .. \
  -DCMAKE_INSTALL_PREFIX=%{_ros_prefix} \
  -DAMENT_PREFIX_PATH=%{_ros_prefix} \
  -DCMAKE_PREFIX_PATH=%{_ros_prefix} \
  -DBUILD_TESTING=OFF \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR \
  -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF
%__make %{?_smp_mflags}
%__make install DESTDIR=%{buildroot}
cd ../..

# Expose the freshly installed msgs to the subsequent packages via the
# buildroot prefix so ament_cmake_auto can find play_motion2_msgs.
export AMENT_PREFIX_PATH=%{buildroot}%{_ros_prefix}${AMENT_PREFIX_PATH:+:$AMENT_PREFIX_PATH}
export CMAKE_PREFIX_PATH=%{buildroot}%{_ros_prefix}${CMAKE_PREFIX_PATH:+:$CMAKE_PREFIX_PATH}
export PYTHONPATH=%{buildroot}%{_ros_prefix}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}

# --- 2. play_motion2 (ament_cmake_auto + ament_cmake_python) --------------
cd play_motion2
mkdir -p build && cd build
cmake .. \
  -DCMAKE_INSTALL_PREFIX=%{_ros_prefix} \
  -DAMENT_PREFIX_PATH=%{buildroot}%{_ros_prefix}:%{_ros_prefix} \
  -DCMAKE_PREFIX_PATH=%{buildroot}%{_ros_prefix}:%{_ros_prefix} \
  -DBUILD_TESTING=OFF \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR \
  -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF
%__make %{?_smp_mflags}
%__make install DESTDIR=%{buildroot}
cd ../..

# --- 3. play_motion2_cli (ament_python) -----------------------------------
cd play_motion2_cli
%{__python3} setup.py build
%{__python3} setup.py install \
  --root=%{buildroot} \
  --prefix=%{_ros_prefix} \
  --single-version-externally-managed \
  --record=installed_files.txt
cd ..

%install
# All artifacts already installed into the buildroot during the build phase
# (dependency ordering requires earlier sub-packages to be installed before
# later ones can be configured).
:

%files
%license LICENSE
%doc README.md
%{_ros_prefix}/

%changelog
* Thu Sep 24 2026 AI Importer <ai-importer@openeuler.org> - 1.8.7-1
- Initial package for ROS 2 humble play_motion2 (1.8.7)