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%define ros_distro humble
%define RosPkgName as2-behaviors-perception
%global release_num 1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 1.1.3
Release: %{release_num}%{?dist}
Summary: AS2 Behavior for object perception using a modular plugin-based pipeline
License: BSD-3-Clause
URL: https://github.com/aerostack2/aerostack2
Source0: as2-behaviors-perception-%{version}-%{release_num}.tar.gz
# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭
%global debug_package %{nil}
# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
BuildRequires: cmake
BuildRequires: gcc-c++
BuildRequires: make
# ROS 构建工具
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-ament-cmake-ros
# ROS 依赖（SIG 源已有）
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-action
BuildRequires: ros-%{ros_distro}-action-msgs
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-cv-bridge
BuildRequires: ros-%{ros_distro}-visualization-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-std-msgs
# ROS 依赖（同 COPR project / additional_repos，aerostack2 monorepo 同源包）
BuildRequires: ros-%{ros_distro}-as2-core
BuildRequires: ros-%{ros_distro}-as2-behavior
BuildRequires: ros-%{ros_distro}-as2-msgs
BuildRequires: ros-%{ros_distro}-as2-usb-camera-interface
# 系统依赖
BuildRequires: opencv
# 运行时 Requires（/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-action
Requires: ros-%{ros_distro}-action-msgs
Requires: ros-%{ros_distro}-as2-core
Requires: ros-%{ros_distro}-as2-behavior
Requires: ros-%{ros_distro}-as2-msgs
Requires: ros-%{ros_distro}-as2-usb-camera-interface
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-cv-bridge
Requires: ros-%{ros_distro}-visualization-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-std-msgs
# 单包策略：虚拟别名兼容依赖方
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
AS2 Behavior for object perception using a modular plugin-based pipeline.
This package is part of the Aerostack2 framework, a ROS 2 framework for
autonomous multi-aerial-robot systems.
%prep
%autosetup -n as2-behaviors-perception-%{version}-%{release_num}
%build
# ROS 基座环境
[ -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}
# monorepo 子包，进入实际构建目录
cd as2_behaviors/as2_behaviors_object_perception
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 \
..
make %{?_smp_mflags}
%install
cd as2_behaviors/as2_behaviors_object_perception/.obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Sat Oct 10 2026 ROS SIG <ros-sig@openeuler.org> - 1.1.3-1
- Initial RPM package for as2-behaviors-perception (Aerostack2 monorepo)
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