%define ros_distro humble
%define RosPkgName swri-geometry-util
%define src_version 3.11.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        3.11.0
Release:        1%{?dist}
Summary:        Commonly used geometry routines, implemented in a ROS friendly package.
License:        BSD
URL:            https://github.com/swri-robotics/marti_common/tree/ros2-devel
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}-tf2
BuildRequires:  eigen3-devel
BuildRequires:  opencv
BuildRequires:  geos-devel

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-tf2
Requires:       eigen3-devel
Requires:       opencv
Requires:       geos-devel

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

%description
Commonly used geometry routines, implemented in a ROS friendly package.

%prep
%autosetup -n %{RosPkgName}-%{src_version}

# openEuler 的 geos-devel 不提供 GEOSConfig.cmake，手写 FindGEOS.cmake 供 cmake 使用
mkdir -p %{_builddir}/cmake_modules
cat > %{_builddir}/cmake_modules/FindGEOS.cmake << 'EOF'
find_path(GEOS_INCLUDE_DIR geos_c.h PATH_SUFFIXES geos)
find_library(GEOS_C_LIBRARY NAMES geos_c)
find_library(GEOS_LIBRARY NAMES geos)
if(GEOS_INCLUDE_DIR AND GEOS_C_LIBRARY)
  set(GEOS_FOUND TRUE)
  set(GEOS_INCLUDE_DIRS ${GEOS_INCLUDE_DIR})
  set(GEOS_LIBRARIES ${GEOS_C_LIBRARY})
  if(NOT TARGET GEOS::geos_c)
    add_library(GEOS::geos_c UNKNOWN IMPORTED)
    set_target_properties(GEOS::geos_c PROPERTIES
      IMPORTED_LOCATION "${GEOS_C_LIBRARY}"
      INTERFACE_INCLUDE_DIRECTORIES "${GEOS_INCLUDE_DIR}")
  endif()
  if(NOT TARGET geos_c)
    add_library(geos_c UNKNOWN IMPORTED)
    set_target_properties(geos_c PROPERTIES
      IMPORTED_LOCATION "${GEOS_C_LIBRARY}"
      INTERFACE_INCLUDE_DIRECTORIES "${GEOS_INCLUDE_DIR}")
  endif()
endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GEOS DEFAULT_MSG GEOS_C_LIBRARY GEOS_INCLUDE_DIR)
EOF

%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 swri_geometry_util
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};/usr" \
    -DCMAKE_MODULE_PATH="%{_builddir}/cmake_modules" \
    -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 swri_geometry_util
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Sun Sep 20 2026 ai-importer <ai-importer@openeuler.org> - 3.11.0-1
- Initial import (ROS batch)