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%define ros_distro humble
%define RosPkgName mrpt-libbase
%define src_version 2.15.20
%define mrpt_version 2.15.21
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 2.15.20
Release: 2%{?dist}
Summary: Mobile Robot Programming Toolkit (MRPT) libraries (core C++ libraries)
License: BSD
URL: https://github.com/MRPT/mrpt_ros.git
Source0: %{RosPkgName}-%{src_version}.tar.gz
# mrpt upstream source, pre-fetched to avoid ExternalProject git clone at build time
Source1: https://github.com/MRPT/mrpt/archive/refs/tags/%{mrpt_version}.tar.gz#/mrpt-%{mrpt_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: assimp-devel
BuildRequires: eigen3-devel
BuildRequires: ffmpeg-devel
BuildRequires: freeglut
BuildRequires: git
BuildRequires: libXrandr-devel
BuildRequires: libXxf86vm-devel
BuildRequires: libpcap-devel
BuildRequires: libudev-devel
BuildRequires: libusbx-devel
BuildRequires: libjpeg-devel
BuildRequires: libzstd-devel
BuildRequires: libglvnd-devel
BuildRequires: mesa-libGL-devel
BuildRequires: mesa-libGLU-devel
BuildRequires: opencv
BuildRequires: pkgconfig
BuildRequires: pybind11-devel
BuildRequires: suitesparse-devel
BuildRequires: tbb-devel
BuildRequires: tinyxml2-devel
BuildRequires: zlib-devel
BuildRequires: cmake
Requires: ros-%{ros_distro}-ros-workspace
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Mobile Robot Programming Toolkit (MRPT) libraries (core C++ libraries).
This package contains: mrpt-io, mrpt-serialization, mrpt-random, mrpt-system, mrpt-rtti, mrpt-containers, mrpt-typemeta, mrpt-core, mrpt-random, mrpt-config, mrpt-expr
%prep
%autosetup -n %{RosPkgName}-%{src_version}
# --- 复用预置 mrpt 源码，避免 ExternalProject 在构建期 git clone -------------
# mrpt_libbase/CMakeLists.txt 用 ExternalProject_Add(mrpt ...) 拉取上游 mrpt，
# 本地复用路径写成 ${CMAKE_BINARY_DIR}/../mrpt_libbase/mrpt-build/...，那是 ROS
# 官方 buildfarm 的目录布局（build 目录 = <ws>/build/mrpt_libbase，故其 .. 即
# <ws>/build）。本 spec 的 CMAKE_BINARY_DIR = <top>/mrpt_libbase/.obj，同一表达式
# 会多出一层 mrpt_libbase（<top>/mrpt_libbase/mrpt_libbase/mrpt-build），EXISTS
# 检查必然失败而退回 git clone；COPR chroot 无外网，clone 100% 失败
# （build 112429/112431/112435/112438 连续四轮的根因，日志均为
# "Could not resolve host: github.com"）。
# 统一改写成相对 CMakeLists.txt 自身目录的 ../mrpt-build，与下面 %prep 的预置
# 目录 <top>/mrpt-build 对齐（VERSION_CACHE / EXISTS 检查 / SOURCE_DIR 三处）。
sed -i 's|\${CMAKE_BINARY_DIR}/\.\./mrpt_libbase/mrpt-build|${CMAKE_CURRENT_LIST_DIR}/../mrpt-build|g' \
mrpt_libbase/CMakeLists.txt
# 去掉 HOME==/home/buildfarm 守卫：该条件只对 buildfarm 屏蔽本地复用，COPR 里
# HOME 非 /home/buildfarm，去掉后复用分支在任何构建环境都成立。
sed -i 's/AND (NOT "\$ENV{HOME}" STREQUAL "\/home\/buildfarm")//' \
mrpt_libbase/CMakeLists.txt
# 预置 ExternalProject 的 SOURCE_DIR：<top>/mrpt-build/src/mrpt
mkdir -p mrpt-build/src
tar -xzf %{SOURCE1} -C mrpt-build/src
mv mrpt-build/src/mrpt-%{mrpt_version} mrpt-build/src/mrpt
# 版本缓存：cmake 读取 <top>/mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt，内容必须与
# MRPT_VERSION_TO_DOWNLOAD 完全一致（无换行）才走复用分支。
echo -n "%{mrpt_version}" > mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt
# GitHub archive tarball 不含 git submodule 内容，而上游 mrpt 顶层 CMakeLists.txt
# 第 49-55 行有无条件存在性检查（3rdparty/nanogui/include、3rdparty/rplidar_sdk/
# sdk/src），缺失即 FATAL_ERROR "git submodules missing!"。补空目录绕过；两个
# 子项目在内层 CMAKE_ARGS 里已分别用 -DMRPT_BUILD_nanogui=OFF /
# -DMRPT_BUILD_rplidar_sdk=OFF 关闭，不会被真正编译。
mkdir -p mrpt-build/src/mrpt/3rdparty/nanogui/include \
mrpt-build/src/mrpt/3rdparty/rplidar_sdk/sdk/src
# Override the version cmake reads from package.xml to match the pre-fetched source
echo 'set(MRPT_VERSION_TO_DOWNLOAD "%{mrpt_version}")' > override_mrpt_version.cmake
%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 mrpt_libbase
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 \
-DMRPT_WITH_FREENECT=OFF \
-DMRPT_WITH_OPENNI2=OFF \
-DMRPT_WITH_GLFW=OFF \
-DMRPT_BUILD_wxThings=OFF \
..
# 闸门：cmake 生成 mrpt-gitclone.cmake 即表示未复用 %prep 预置的 mrpt 源码，
# 构建期将 git clone（COPR chroot 无外网，必然失败）。这里提前失败并给出明确
# 原因，避免又白烧一轮 COPR 构建。
if [ -e mrpt-build/tmp/mrpt-gitclone.cmake ]; then
echo "ERROR: cmake 准备 git clone mrpt —— %prep 预置源码未被复用，请检查预置路径" >&2
exit 1
fi
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 mrpt_libbase
cd .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.20-2
- 修复 %build 期 ExternalProject 退回 git clone 导致构建失败（COPR 无外网）：
%prep 将 CMakeLists.txt 的本地复用路径 ${CMAKE_BINARY_DIR}/../mrpt_libbase/
mrpt-build 改写为 ${CMAKE_CURRENT_LIST_DIR}/../mrpt-build，并把预置 mrpt 源码
放到与之对齐的 <top>/mrpt-build/（原路径多一层 mrpt_libbase，EXISTS 检查必然
失败）；保留去掉 HOME==/home/buildfarm 守卫的补丁。
- 补 3rdparty/nanogui/include 与 3rdparty/rplidar_sdk/sdk/src 空目录，绕过上游
mrpt 顶层 CMakeLists.txt:51 的 "git submodules missing!" 致命检查（GitHub
archive tarball 不含 submodule 内容；两者内层已 MRPT_BUILD_*=OFF）。
- 新增 BuildRequires: libglvnd-devel、mesa-libGLU-devel（mesa-libGL-devel 已有），
满足 mrpt 对 OpenGL/GLU 的 find_package 探测。
- %build 增加闸门：若 cmake 生成 mrpt-gitclone.cmake 则立即失败并提示原因。
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.20-1
- Initial import (ROS batch)
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