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%define ros_distro humble
%define RosPkgName plansys2-domain-expert
%define src_version 2.0.9-1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 2.0.9
Release: 3%{?dist}
Summary: This package contains the Domain Expert module for the ROS2 Planning System
License: Apache License, Version 2.0
URL: https://github.com/IntelligentRoboticsLabs/ros2_planning_system/tree/humble-devel
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}-ament-index-cpp
BuildRequires: ros-%{ros_distro}-lifecycle-msgs
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-plansys2-core
BuildRequires: ros-%{ros_distro}-plansys2-msgs
BuildRequires: ros-%{ros_distro}-plansys2-pddl-parser
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-action
BuildRequires: ros-%{ros_distro}-rclcpp-lifecycle
BuildRequires: ros-%{ros_distro}-std-msgs
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-ament-index-cpp
Requires: ros-%{ros_distro}-lifecycle-msgs
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-plansys2-core
Requires: ros-%{ros_distro}-plansys2-msgs
Requires: ros-%{ros_distro}-plansys2-pddl-parser
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-action
Requires: ros-%{ros_distro}-rclcpp-lifecycle
Requires: ros-%{ros_distro}-std-msgs
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
This package contains the Domain Expert module for the ROS2 Planning System.
The plansys2-popf-plan-solver plugin is bundled from the same source tree to
avoid the broken ros-humble-popf transitive dependency in the additional repo
(the repo's plansys2-popf-plan-solver RPM requires unavailable ros-humble-popf;
popf is only an exec_depend of popf_plan_solver, not a build dependency).
%prep
%autosetup -n %{RosPkgName}-%{src_version}
%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}
# Build plansys2_popf_plan_solver first (popf is only a runtime exec_depend,
# not a build dependency — the source invokes "ros2 run popf popf" as a subprocess)
cd plansys2_popf_plan_solver
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}
make install DESTDIR=%{_builddir}/popf_stage
cd ../..
# Build plansys2_domain_expert with popf_plan_solver available from stage
# ament_cmake 在 find_package(ament_cmake) 时会从 AMENT_PREFIX_PATH 重建
# CMAKE_PREFIX_PATH，但 stage 目录里的 popf_plan_solver ament-index 注册未被
# 识别，导致 stage 路径被丢弃、find_package(plansys2_popf_plan_solver) 找不到
# Config 文件。用 <pkg>_DIR cache 变量直接指向 Config 目录绕过该机制（优先级最高）。
export POPF_PREFIX=%{_builddir}/popf_stage/opt/ros/%{ros_distro}
export AMENT_PREFIX_PATH="$POPF_PREFIX:/opt/ros/%{ros_distro}"
export plansys2_popf_plan_solver_DIR="$POPF_PREFIX/share/plansys2_popf_plan_solver/cmake"
cd plansys2_domain_expert
mkdir -p .obj && cd .obj
%cmake3 \
-DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
-DAMENT_PREFIX_PATH="$POPF_PREFIX:/opt/ros/%{ros_distro}" \
-DCMAKE_PREFIX_PATH="$POPF_PREFIX:/opt/ros/%{ros_distro}" \
-Dplansys2_popf_plan_solver_DIR="$POPF_PREFIX/share/plansys2_popf_plan_solver/cmake" \
-UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
-DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
..
make %{?_smp_mflags}
%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
# Install plansys2_popf_plan_solver
cd plansys2_popf_plan_solver/.obj
make install DESTDIR=%{buildroot}
# Install plansys2_domain_expert
cd ../../plansys2_domain_expert/.obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9-3
- Pass -Dplansys2_popf_plan_solver_DIR to domain_expert cmake so it
locates the staged popf_plan_solver Config.cmake (ament_cmake rebuilds
CMAKE_PREFIX_PATH from AMENT_PREFIX_PATH at find_package(ament_cmake)
time and drops the build-tree stage prefix)
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9-2
- Bundle plansys2-popf-plan-solver from the same source tree instead of
depending on the broken additional-repo RPM (requires unavailable
ros-humble-popf; popf is exec_depend only, not a build dep)
- Add ros-humble-pluginlib BuildRequires/Requires for popf_plan_solver
- Remove ros-humble-plansys2-popf-plan-solver from BuildRequires/Requires
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9-1
- Initial import (ROS batch)
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