%define ros_distro humble
%define RosPkgName adi-iio
%define src_version 1.0.1-3
%define libiio_version 0.25

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.0.1
Release:        4%{?dist}
Summary:        ROS package to interface with IIO devices
License:        Apache License, Version 2.0
URL:            https://github.com/analogdevicesinc/iio_ros2/tree/humble
Source0:        %{RosPkgName}-%{src_version}.tar.gz
Source1:        libiio-%{libiio_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}-rclcpp
BuildRequires:  ros-%{ros_distro}-ros2launch
BuildRequires:  ros-%{ros_distro}-rosidl-default-generators
BuildRequires:  ros-%{ros_distro}-rosidl-default-runtime
BuildRequires:  ros-%{ros_distro}-rosidl-typesupport-introspection-cpp
BuildRequires:  ros-%{ros_distro}-std-msgs

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-ros2launch
Requires:       ros-%{ros_distro}-rosidl-default-runtime
Requires:       ros-%{ros_distro}-rosidl-typesupport-introspection-cpp
Requires:       ros-%{ros_distro}-std-msgs

Provides:       libiio = %{libiio_version}
Provides:       libiio-devel = %{libiio_version}

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

%description
ROS package to interface with IIO devices.
Vendors libiio (userspace IIO library) as it is not available on openEuler.

%prep
%autosetup -n %{RosPkgName}-%{src_version} -a 1

%build
# Build vendored libiio 0.25 first (openEuler has no libiio package).
# Using 0.25 (last 0.x release) because adi-iio 1.0.1 uses the libiio 0.x API
# (iio_buffer_cancel/destroy, iio_channel_enable/disable single-arg,
# iio_device_create_buffer, iio_buffer_refill/first/step/push) which was
# removed/changed in libiio 1.0. libiio 1.0.0 was tried in rounds 1-2 and
# caused compilation failures due to API mismatch.
# Network backend disabled: it transitively pulls in libavahi/libxml2
# (DNS-SD discovery + XML backend). adi-iio only needs the local backend
# (iio_create_context_from_uri with "local:" URI) plus the libiio API,
# so WITH_NETWORK_BACKEND=OFF avoids the whole dependency chain.
cd libiio-%{libiio_version}
mkdir -p build && cd build
cmake .. \
    -DCMAKE_INSTALL_PREFIX="/usr" \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_LIBDIR=lib64 \
    -DBUILD_SHARED_LIBS=ON \
    -DWITH_XML_BACKEND=OFF \
    -DWITH_USB_BACKEND=OFF \
    -DWITH_SERIAL_BACKEND=OFF \
    -DWITH_NETWORK_BACKEND=OFF \
    -DWITH_ZSTD=OFF \
    -DWITH_IIOD=OFF \
    -DWITH_EXAMPLES=OFF \
    -DWITH_TESTS=OFF \
    -DWITH_MAN=OFF
make %{?_smp_mflags}
_LIBIIO_BUILD_DIR="$PWD"
_LIBIIO_INC_DIR="$(cd .. && pwd)"
cd ../..

# Source ROS environment
[ -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 LD_LIBRARY_PATH="${_LIBIIO_BUILD_DIR}${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"

# Build adi-iio against vendored libiio
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}" \
    -DIIO_INCLUDE_DIRS="${_LIBIIO_INC_DIR}" \
    -DIIO_LIBRARIES="${_LIBIIO_BUILD_DIR}/libiio.so" \
    -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
# Install vendored libiio
cd libiio-%{libiio_version}/build
make install DESTDIR=%{buildroot}
cd ../..

# Source ROS environment
[ -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}

# Install adi-iio
cd .obj
make install DESTDIR=%{buildroot}

%files
/usr/lib*/libiio.so*
/usr/lib*/pkgconfig/libiio.pc
/usr/include/iio.h
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 28 2026 ai-importer <ai-importer@openeuler.org> - 1.0.1-4
- Switch vendored libiio from 1.0.0 to 0.25: adi-iio 1.0.1 uses the libiio
  0.x API (iio_buffer_cancel/destroy, single-arg iio_channel_enable/disable,
  iio_device_create_buffer, iio_buffer_refill/first/step/push) which was
  removed/changed in libiio 1.0, causing compilation failures in iio_buffer.cpp.
  libiio 0.25 header (iio.h) is at source root, not include/iio/ subdirectory.
* Mon Sep 28 2026 ai-importer <ai-importer@openeuler.org> - 1.0.1-3
- Disable libiio network backend: it requires libavahi/libxml2/libzstd which are
  not pulled in; local backend suffices for adi-iio's iio_create_context_from_uri
* Mon Sep 28 2026 ai-importer <ai-importer@openeuler.org> - 1.0.1-2
- Vendor libiio 1.0.0 (not available on openEuler)
- Remove libiio-dev BuildRequires/Requires, add Provides: libiio/libiio-devel
* Mon Sep 28 2026 ai-importer <ai-importer@openeuler.org> - 1.0.1-1
- Initial import (ROS batch)