%define ros_distro humble
%define RosPkgName vrpn-mocap
%define src_version 1.1.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.1.0
Release:        1%{?dist}
Summary:        ROS2
License:        MIT
URL:            https://github.com/alvinsunyixiao/vrpn_mocap/tree/main
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}-eigen3-cmake-module
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-vrpn
BuildRequires:  eigen3-devel

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-tf2
Requires:       ros-%{ros_distro}-vrpn

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

%description
ROS2

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

# 适配 openEuler/eulermaker 的 ros-humble-vrpn：
# 该包只提供 libvrpn.so 与 /opt/ros/%{ros_distro}/include 下的头文件，
# 没有安装 VRPNConfig.cmake / vrpn-config.cmake，导致上游 CMakeLists.txt
# 第 20 行的 find_package(VRPN REQUIRED) 配置期直接失败。
# 这里补一个 FindVRPN.cmake 模块，经 CMAKE_MODULE_PATH 注入，
# 导出 ament_target_dependencies 需要的 VRPN::VRPN imported target
# 以及 VRPN_INCLUDE_DIRS / VRPN_LIBRARIES 变量。
mkdir -p %{_builddir}/%{RosPkgName}-%{src_version}/cmake-modules
cat > %{_builddir}/%{RosPkgName}-%{src_version}/cmake-modules/FindVRPN.cmake << 'VRPNEOF'
# 由 ros-humble-vrpn-mocap 打包流程注入：桥接未导出 CMake 配置的 vrpn 安装。
find_path(VRPN_INCLUDE_DIR
  NAMES vrpn_Connection.h
  PATHS /opt/ros/%{ros_distro}/include
  NO_DEFAULT_PATH)
find_library(VRPN_LIBRARY
  NAMES vrpn
  PATHS /opt/ros/%{ros_distro}/lib
  NO_DEFAULT_PATH)

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(VRPN
  REQUIRED_VARS VRPN_INCLUDE_DIR VRPN_LIBRARY)

if(VRPN_FOUND)
  set(VRPN_INCLUDE_DIRS "${VRPN_INCLUDE_DIR}")
  set(VRPN_LIBRARIES "${VRPN_LIBRARY}")
  if(NOT TARGET VRPN::VRPN)
    add_library(VRPN::VRPN UNKNOWN IMPORTED)
    set_target_properties(VRPN::VRPN PROPERTIES
      IMPORTED_LOCATION "${VRPN_LIBRARY}"
      INTERFACE_INCLUDE_DIRECTORIES "${VRPN_INCLUDE_DIR}")
  endif()
  set(VRPN_TARGETS VRPN::VRPN)
endif()
VRPNEOF

%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
%cmake3 \
    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -DCMAKE_MODULE_PATH="%{_builddir}/%{RosPkgName}-%{src_version}/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 .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial import (ROS batch)