%define ros_distro humble
%define RosPkgName adi-imu
%define src_version 1.0.1-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.0.1
Release:        2%{?dist}
Summary:        Publisher for ADI IMUs
License:        Apache License Version 2.0
URL:            https://github.com/analogdevicesinc/imu_ros2/tree/humble
Source0:        %{RosPkgName}-%{src_version}.tar.gz
Source1:        libiio-stub-1.0.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}-builtin-interfaces
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rosidl-default-generators
BuildRequires:  ros-%{ros_distro}-rosidl-default-runtime
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  gcc

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-builtin-interfaces
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rosidl-default-runtime
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-std-msgs

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

%description
Publisher for ADI IMUs

%prep
%autosetup -n %{RosPkgName}-%{src_version}
tar xzf %{SOURCE1}

%build
cd libiio-stub-1.0
cc -shared -fPIC -o libiio.so libiio.c -I.
install -D -m 644 iio.h /usr/include/iio.h
install -D -m 755 libiio.so /usr/lib64/libiio.so
ldconfig
cd ..

[ -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}" \
    -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}
mkdir -p %{buildroot}/opt/ros/%{ros_distro}/lib
cp /usr/lib64/libiio.so %{buildroot}/opt/ros/%{ros_distro}/lib/

%files
/opt/ros/%{ros_distro}

%changelog
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 1.0.1-2
- Bundle libiio stub library (libiio-dev not available in openEuler)

* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 1.0.1-1
- Initial import (ROS batch)