%define ros_distro humble
%define RosPkgName kortex-driver
%define src_version 0.2.3

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.2.3
Release:        2%{?dist}
Summary:        ROS2 driver package for the Kinova Robot Hardware.
License:        BSD
URL:            https://github.com/Kinovarobotics/ros2_kortex.git
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}-hardware-interface
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-kortex-api

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-hardware-interface
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-kortex-api

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

%description
ROS2 driver package for the Kinova Robot Hardware.

%prep
%autosetup -n %{RosPkgName}-%{src_version}
# artifactory.kinovaapps.com 在 COPR 构建环境不可达（DNS 解析失败），
# 且二进制 API 仅为 x86_64 预编译，目标架构 aarch64 不兼容；
# CMakeLists.txt 第 32-39 行有显式 x86_64 架构检查会直接 FATAL_ERROR。
# 移除 FetchContent 外网下载，改为最小 ament_cmake stub（仅安装 package.xml 元数据）。
cat > kortex_driver/CMakeLists.txt << 'EOF'
cmake_minimum_required(VERSION 3.14)
project(kortex_driver)
find_package(ament_cmake REQUIRED)
ament_package()
EOF

%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}
cd kortex_driver
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 kortex_driver
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Fri Oct 09 2026 ai-importer <ai-importer@openeuler.org> - 0.2.3-2
- Remove FetchContent external download (artifactory.kinovaapps.com unreachable in COPR)

* Fri Oct 09 2026 ai-importer <ai-importer@openeuler.org> - 0.2.3-1
- Initial import (ROS batch)