# topdir: ros-humble-picknik-reset-fault-controller-0.0.5
# subpkg dir: picknik_reset_fault_controller (multi-package repo)
%define ros_distro humble
%define RosPkgName picknik-reset-fault-controller

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    0.0.5
Release:    3%{?dist}
Summary:    ROS 2 controller that offers a service to clear faults in a hardware interface
License:    Apache-2.0
URL:        https://github.com/PickNikRobotics/picknik_controllers
Source0:    https://github.com/PickNikRobotics/picknik_controllers/archive/refs/tags/%{version}.tar.gz#/%{name}-%{version}.tar.gz
# Adapt source to installed ros2_control 2.54.0 humble API:
#   LoanedStateInterface/LoanedCommandInterface::get_value() (returns double, no get_optional)
#   RealtimePublisher::tryPublish() (camelCase, no try_publish)
Patch0:     fix-humble-ros2-control-api.patch

# debug subpackage is meaningless for /opt prefix packages
%global debug_package %{nil}
# Disable python bytecode compilation in /opt
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS packages use ament dependency model, not standard RPM autodeps
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-ament-cmake-ros
BuildRequires: ros-%{ros_distro}-controller-interface
BuildRequires: ros-%{ros_distro}-example-interfaces
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-hardware-interface
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-realtime-tools
BuildRequires: cmake
BuildRequires: gcc-c++
BuildRequires: make

Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-controller-interface
Requires: ros-%{ros_distro}-example-interfaces
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-hardware-interface
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-realtime-tools

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

%description
ROS 2 controller that offers a service to clear faults in a hardware interface.
This controller is part of the PickNik Robotics picknik_controllers package.

%prep
%autosetup -n %{name}-%{version}

%build
# ROS base environment
[ -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}

# Navigate to the actual ROS package subdirectory (multi-package repo)
cd picknik_reset_fault_controller

# Explicit out-of-source build (avoid openEuler %%cmake positional arg issues)
mkdir -p .obj && cd .obj
cmake .. \
  -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
# ROS base environment
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true

cd picknik_reset_fault_controller/.obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Fri Oct 09 2026 ROS SIG <ros-sig@openeuler.org> - 0.0.5-3
- Add Patch0 to adapt source to installed ros2_control 2.54.0 humble API:
  replace get_optional() with get_value() (returns double) and try_publish with tryPublish

* Fri Oct 09 2026 ROS SIG <ros-sig@openeuler.org> - 0.0.5-2
- Fix %build syntax error: escape %%cmake in comment to prevent RPM macro expansion

* Fri Oct 09 2026 ROS SIG <ros-sig@openeuler.org> - 0.0.5-1
- Initial package for openEuler