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%define ros_distro humble
%define RosPkgName turbojpeg-compressed-image-transport
%define src_version 0.1.3-1
%define turbojpeg_version 3.0.1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 0.1.3
Release: 1%{?dist}
Summary: Compressed_image_transport provides a plugin to image_transport for transparent
License: Apache-2.0 AND BSD-3-Clause
URL: https://github.com/wep21/turbojpeg_compressed_image_transport/tree/humble
Source0: %{RosPkgName}-%{src_version}.tar.gz
Source1: libjpeg-turbo-%{turbojpeg_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}-cv-bridge
BuildRequires: ros-%{ros_distro}-image-transport
BuildRequires: libjpeg-turbo-devel
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-cv-bridge
Requires: ros-%{ros_distro}-image-transport
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Compressed_image_transport provides a plugin to image_transport for transparently sending images
encoded as JPEG by turbojpeg.
%prep
%autosetup -n %{RosPkgName}-%{src_version}
tar xzf %{SOURCE1}
%build
# openEuler libjpeg-turbo-devel 虽 Provides turbojpeg-devel，但实际不含
# turbojpeg.h / libturbojpeg.so（仅 jpeglib.h + libjpeg.so），且无任何包提供
# libturbojpeg.so.0。故从 libjpeg-turbo 源码构建 libturbojpeg.a 静态库并
# 链入插件 .so（静态链接避免运行时依赖不存在的 libturbojpeg.so.0）。
# 关键修正：不再 install 到 /usr/include 与系统 libdir（build 阶段无写权限会
# Permission denied），改为暂存到构建树本地前缀，用 CPATH/LIBRARY_PATH
# 让 gcc 自动发现头文件与静态库，无需改 ROS 源码或 CMake 标志。
mkdir -p libjpeg-turbo-%{turbojpeg_version}/build
pushd libjpeg-turbo-%{turbojpeg_version}/build
cmake .. \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DENABLE_STATIC=ON \
-DENABLE_SHARED=OFF \
-DWITH_JAVA=OFF
make %{?_smp_mflags}
popd
# 暂存 turbojpeg 头文件与静态库到本地前缀（不污染源码 include/，避免被
# install(DIRECTORY include/) 误装入 RPM；不写系统路径）。
install -m 644 -D libjpeg-turbo-%{turbojpeg_version}/turbojpeg.h .tjlib/include/turbojpeg.h
install -m 644 -D libjpeg-turbo-%{turbojpeg_version}/build/libturbojpeg.a .tjlib/lib/libturbojpeg.a
_TJ_PREFIX="$(pwd)/.tjlib"
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
# gcc 链接器/编译器驱动尊重 CPATH 与 LIBRARY_PATH：
# CPATH -> #include <turbojpeg.h> 命中 .tjlib/include/turbojpeg.h
# LIBRARY_PATH -> target_link_libraries(... turbojpeg) 生成的 -lturbojpeg
# 命中 .tjlib/lib/libturbojpeg.a（仅有 .a，故静态链接）
export CPATH="${_TJ_PREFIX}/include${CPATH:+:${CPATH}}"
export LIBRARY_PATH="${_TJ_PREFIX}/lib${LIBRARY_PATH:+:${LIBRARY_PATH}}"
mkdir -p .obj && cd .obj
%cmake3 \
-DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
-DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
-DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
..
make %{?_smp_mflags}
%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 0.1.3-1
- Initial import (ROS batch)
- Bundle libjpeg-turbo turbojpeg component (turbojpeg-devel not available in SP3)
- Fix round 4: stage libturbojpeg.a locally + CPATH/LIBRARY_PATH + PIC instead of
installing to /usr/include during %build (Permission denied); static-link into plugin
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