%define ros_distro humble
%define RosPkgName elite-robots-msgs
%define src_version 1.0.3-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.0.3
Release:        1%{?dist}
Summary:        Elite Robots CS series ROS 2 driver and message packages
License:        Apache-2.0
URL:            https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Driver
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}/.*$

# 构建工具
BuildRequires:  cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake-python
BuildRequires:  ros-%{ros_distro}-rosidl-default-generators

# elite_robots_dashboard_msgs（无额外依赖，只需 ament_cmake + rosidl）

# elite_robots_msgs
BuildRequires:  ros-%{ros_distro}-geometry-msgs

# elite_robots_calibration
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-ament-index-cpp
BuildRequires:  elite_cs_series_sdk
BuildRequires:  eigen3-devel
BuildRequires:  yaml-cpp-devel

# elite_robots_controllers
BuildRequires:  ros-%{ros_distro}-angles
BuildRequires:  ros-%{ros_distro}-controller-interface
BuildRequires:  ros-%{ros_distro}-generate-parameter-library
BuildRequires:  ros-%{ros_distro}-hardware-interface
BuildRequires:  ros-%{ros_distro}-joint-trajectory-controller
BuildRequires:  ros-%{ros_distro}-lifecycle-msgs
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp-lifecycle
BuildRequires:  ros-%{ros_distro}-rcpputils
BuildRequires:  ros-%{ros_distro}-rcutils
BuildRequires:  ros-%{ros_distro}-realtime-tools
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-std-srvs

# elite_robots_driver
BuildRequires:  ros-%{ros_distro}-backward-ros
BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires:  ros-%{ros_distro}-ros2-controllers
BuildRequires:  ros-%{ros_distro}-ros2-control
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-rclcpp-action
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-control-msgs
BuildRequires:  ros-%{ros_distro}-trajectory-msgs
BuildRequires:  ros-%{ros_distro}-controller-manager-msgs
BuildRequires:  ros-%{ros_distro}-controller-manager
BuildRequires:  ros-%{ros_distro}-launch
BuildRequires:  ros-%{ros_distro}-launch-ros
BuildRequires:  ros-%{ros_distro}-rclpy

# elite_robots_moveit_config（仅 exec_depend，无需 BuildRequires）

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake

# elite_robots_msgs 运行时
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-rosidl-default-runtime

# elite_robots_controllers 运行时
Requires:       ros-%{ros_distro}-angles
Requires:       ros-%{ros_distro}-controller-interface
Requires:       ros-%{ros_distro}-generate-parameter-library
Requires:       ros-%{ros_distro}-hardware-interface
Requires:       ros-%{ros_distro}-joint-trajectory-controller
Requires:       ros-%{ros_distro}-lifecycle-msgs
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-lifecycle
Requires:       ros-%{ros_distro}-rcpputils
Requires:       ros-%{ros_distro}-rcutils
Requires:       ros-%{ros_distro}-realtime-tools
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-std-srvs

# elite_robots_calibration 运行时
Requires:       ros-%{ros_distro}-ament-index-cpp
Requires:       yaml-cpp
Requires:       elite_cs_series_sdk

# elite_robots_driver 运行时
Requires:       ros-%{ros_distro}-backward-ros
Requires:       ros-%{ros_distro}-tf2-geometry-msgs
Requires:       ros-%{ros_distro}-ros2-controllers
Requires:       ros-%{ros_distro}-ros2-control
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-rclcpp-action
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-control-msgs
Requires:       ros-%{ros_distro}-trajectory-msgs
Requires:       ros-%{ros_distro}-controller-manager-msgs
Requires:       ros-%{ros_distro}-controller-manager
Requires:       ros-%{ros_distro}-launch
Requires:       ros-%{ros_distro}-launch-ros
Requires:       ros-%{ros_distro}-rclpy
Requires:       ros-%{ros_distro}-force-torque-sensor-broadcaster
Requires:       ros-%{ros_distro}-joint-state-broadcaster
Requires:       ros-%{ros_distro}-joint-state-publisher
Requires:       ros-%{ros_distro}-robot-state-publisher
Requires:       ros-%{ros_distro}-position-controllers
Requires:       ros-%{ros_distro}-velocity-controllers
Requires:       ros-%{ros_distro}-ros2-controllers-test-nodes
Requires:       ros-%{ros_distro}-rviz2
Requires:       ros-%{ros_distro}-urdf
Requires:       ros-%{ros_distro}-xacro
Requires:       ros-%{ros_distro}-builtin-interfaces
# elite_robots_description 不在本仓库且两级清单均未收录，写 Requires 供诊断循环兜底
Requires:       ros-%{ros_distro}-elite-robots-description

# elite_robots_moveit_config 运行时
Requires:       ros-%{ros_distro}-moveit-kinematics
Requires:       ros-%{ros_distro}-moveit-planners-ompl
Requires:       ros-%{ros_distro}-moveit-ros-move-group
Requires:       ros-%{ros_distro}-moveit-ros-visualization
Requires:       ros-%{ros_distro}-moveit-servo
Requires:       ros-%{ros_distro}-moveit-simple-controller-manager
Requires:       ros-%{ros_distro}-ament-index-python
Requires:       python3-yaml
Requires:       ros-%{ros_distro}-warehouse-ros-sqlite

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

%description
Elite Robots CS series ROS 2 driver metapackage. Includes message definitions
(elite_robots_msgs, elite_robots_dashboard_msgs), hardware driver
(elite_robots_driver), controllers (elite_robots_controllers), calibration
tools (elite_robots_calibration), and MoveIt configuration
(elite_robots_moveit_config).

%prep
%autosetup -n %{RosPkgName}-%{src_version}

%build
source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || 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}

# 公共 cmake 参数
CMAKE_COMMON_ARGS="\
    -DCMAKE_INSTALL_PREFIX=/opt/ros/%{ros_distro} \
    -DAMENT_PREFIX_PATH=/opt/ros/%{ros_distro} \
    -DCMAKE_PREFIX_PATH=%{buildroot}/opt/ros/%{ros_distro}:/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"

# 1. elite_robots_dashboard_msgs
mkdir -p elite_robots_dashboard_msgs/.obj && cd elite_robots_dashboard_msgs/.obj
%cmake3 ${CMAKE_COMMON_ARGS} ..
make %{?_smp_mflags}
make install DESTDIR=%{buildroot}
cd ../..

# 2. elite_robots_msgs
mkdir -p elite_robots_msgs/.obj && cd elite_robots_msgs/.obj
%cmake3 ${CMAKE_COMMON_ARGS} ..
make %{?_smp_mflags}
make install DESTDIR=%{buildroot}
cd ../..

# 3. elite_robots_controllers（依赖 elite_robots_msgs）
mkdir -p elite_robots_controllers/.obj && cd elite_robots_controllers/.obj
%cmake3 ${CMAKE_COMMON_ARGS} ..
make %{?_smp_mflags}
make install DESTDIR=%{buildroot}
cd ../..

# 4. elite_robots_calibration
mkdir -p elite_robots_calibration/.obj && cd elite_robots_calibration/.obj
%cmake3 ${CMAKE_COMMON_ARGS} ..
make %{?_smp_mflags}
make install DESTDIR=%{buildroot}
cd ../..

# 5. elite_robots_driver（依赖 elite_robots_dashboard_msgs、elite_robots_msgs）
mkdir -p elite_robots_driver/.obj && cd elite_robots_driver/.obj
%cmake3 ${CMAKE_COMMON_ARGS} ..
make %{?_smp_mflags}
make install DESTDIR=%{buildroot}
cd ../..

# 6. elite_robots_moveit_config（ament_cmake_python：cmake 负责安装 Python 模块和 share 资源）
mkdir -p elite_robots_moveit_config/.obj && cd elite_robots_moveit_config/.obj
%cmake3 ${CMAKE_COMMON_ARGS} ..
make %{?_smp_mflags}
make install DESTDIR=%{buildroot}
cd ../..

# 7. elite_robots（元包，空 CMakeLists，仅注册 ament 包）
mkdir -p elite_robots/.obj && cd elite_robots/.obj
%cmake3 ${CMAKE_COMMON_ARGS} ..
make %{?_smp_mflags}
make install DESTDIR=%{buildroot}
cd ../..

%install
# 所有子包已在 %build 中直接 install 到 %{buildroot}，此处无需重复操作

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 15 2026 ai-importer <ai-importer@openeuler.org> - 1.0.3-1
- Initial import: Elite Robots CS series ROS 2 driver metapackage (multi-package repo)