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%define ros_distro humble
%define RosPkgName robotraconteur-companion
%define src_version 0.4.3-1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 0.4.3
Release: 1%{?dist}
Summary: Robot Raconteur Companion library for C++
License: Apache 2.0
URL: https://github.com/robotraconteur/robotraconteur_companion/tree/ros
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: ros-%{ros_distro}-robotraconteur
BuildRequires: boost-date-time
BuildRequires: boost-devel
BuildRequires: boost-filesystem
BuildRequires: boost-program-options
BuildRequires: boost-random
BuildRequires: boost-thread
BuildRequires: eigen3-devel
BuildRequires: yaml-cpp-devel
BuildRequires: cmake
BuildRequires: boost-atomic
BuildRequires: boost-chrono
BuildRequires: boost-regex
BuildRequires: boost-system
Requires: ros-%{ros_distro}-ros-workspace
Requires: boost-date-time
Requires: boost-devel
Requires: boost-filesystem
Requires: boost-program-options
Requires: boost-random
Requires: boost-thread
Requires: yaml-cpp-devel
Requires: boost-atomic
Requires: boost-chrono
Requires: boost-regex
Requires: boost-system
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Robot Raconteur Companion library for C++
%prep
%autosetup -n %{RosPkgName}-%{src_version}
%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}
mkdir -p .obj && cd .obj
# 构建机资源极小：本 COPR project 的该 chroot 未设置内存配额（API 实测
# memory_reqs=None，走默认 2048，即 2GB 内存），而 make 的并行度宏在该机
# 展开为 -j4（4 vCPU）。本包全部编译单元同属一个库目标，其中 robdef 生成的
# stubskel 源文件（com__robotraconteur__* stubskel.cpp）是单个数十万行的巨型
# 模板实例化单元，-j4 并发时多进程峰值内存叠加超过 2GB，被内核 OOM killer
# 杀掉编译器——build 112468 日志尾部：
# c++: fatal error: Killed signal terminated program cc1plus
# make[2]: *** [CMakeFiles/RobotRaconteurCompanion.dir/build.make:965:
# CMakeFiles/RobotRaconteurCompanion.dir/robdef_gen/
# com__robotraconteur__pointcloud__sensor_stubskel.cpp.o] Error 1
# make[2]: *** Waiting for unfinished jobs....
# 同批次的 coal 包在同一构建机上出现同样症状，按同一手法修复后已构建成功
# （112469 -> 112473）。据此做两项调整：
# 1) 内存/耗时：configure 之后用 sed 把 -O1 -g0 追加到各目标 flags.make 的
# CXX_FLAGS/C_FLAGS 行末尾。-O1 降低模板实例化与内联的内存/时间开销；-g0
# 关闭调试信息（spec 头部已关闭调试包，调试信息既不打包也无下游消费者）。
# 之所以在 shell 层追加，而不是给 configure 传带空格的引号参数：无法实证
# rpm 宏会不会把该值按空格二次分词，一旦拆出独立参数 configure 会因未知
# 参数直接失败；而 GCC 取命令行最后一个 -O/-g 的语义保证行尾追加稳定生效。
# 2) 并行度：改为单线程构建。本包只有一个库目标，巨型 stubskel 与普通源文件
# 同属该目标、无法按目标拆分，故直接串行，保证任一时刻只有一个编译单元
# 驻留内存（-j2 反而最差：两个巨型单元位置相邻，正好同时驻留）。
#
# 本段注释一律不写百分号开头的宏名：RPM 会展开脚本体注释行里的宏，而多行展开的
# 宏第 2 行起会脱离注释变成真命令（coal 的 112470 即栽在这里）。
%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 \
..
for f in $(find . -name flags.make); do
sed -i -E 's/^(CXX_FLAGS = .*)$/\1 -O1 -g0/; s/^(C_FLAGS = .*)$/\1 -O1 -g0/' "$f"
done
# 打日志确认追加生效（上游若改了 flags.make 格式，sed 会静默不匹配，这里能看出来）
grep -m1 '^CXX_FLAGS' CMakeFiles/RobotRaconteurCompanion.dir/flags.make || true
make -j1
%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 .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 0.4.3-1
- Initial import (ROS batch)
- 降低编译内存峰值以适配 2GB 构建机：编译选项追加 -O1 -g0，构建改单线程
（规避 robdef 巨型 stubskel 编译单元并发时的内核 OOM killer，build 112468）
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