%define ros_distro humble
%define RosPkgName as2-platform-crazyflie
%define src_version 1.1.0-3

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.1.0
Release:        1%{?dist}
Summary:        Package to communicate Crazyflie drones with Aerostack2 framework
License:        BSD-3-Clause
URL:            https://github.com/aerostack2/as2_platform_crazyflie/tree/main
Source0:        %{RosPkgName}-%{src_version}.tar.gz
Source1:        crazyflie_cpp.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}-ament-cmake-python
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-nav-msgs
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclpy
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-std-srvs
BuildRequires:  ros-%{ros_distro}-as2-core
BuildRequires:  ros-%{ros_distro}-as2-msgs
BuildRequires:  eigen3-devel
BuildRequires:  libusbx-devel

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclpy
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-std-srvs
Requires:       ros-%{ros_distro}-as2-core
Requires:       ros-%{ros_distro}-as2-msgs
Requires:       eigen3-devel
Requires:       libusbx

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

%description
Package to communicate Crazyflie drones with Aerostack2 framework

%prep
%autosetup -n %{RosPkgName}-%{src_version}
tar xzf %{SOURCE1} -C %{_builddir}
sed -i 's/PRIVATE/PUBLIC/' %{_builddir}/crazyflie_cpp-master/CMakeLists.txt
sed -i '/CMAKE_CXX_VISIBILITY_PRESET/d' %{_builddir}/crazyflie_cpp-master/crazyflie-link-cpp/CMakeLists.txt

%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}" \
    -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 \
    -DBUILD_SHARED_LIBS=OFF \
    -DBUILD_PYTHON_BINDINGS=OFF -DBUILD_CPP_EXAMPLES=OFF \
    -DFETCHCONTENT_SOURCE_DIR_CRAZYFLIE_CPP=%{_builddir}/crazyflie_cpp-master \
    ..
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
* Sat Oct 10 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Fix linker undefined reference to crazyflieLinkCpp::Connection symbols
- Set BUILD_SHARED_LIBS=OFF to force static libs (avoids hidden visibility issue)
- Patch crazyflie_cpp CMakeLists: PRIVATE→PUBLIC for crazyflieLinkCpp link
- Remove CMAKE_CXX_VISIBILITY_PRESET=hidden from crazyflie-link-cpp
- Disable BUILD_PYTHON_BINDINGS/BUILD_CPP_EXAMPLES (empty pybind11 submodule)
- Vendor crazyflie_cpp source (Source1) to fix offline FetchContent failure
- Switch libusb to libusbx-devel (openEuler native, provides headers)