# 禁止硬编码 distro/包名/版本——一律走宏（spec-rules-ros.md §2）
%define ros_distro humble
%define RosPkgName nebula-core-ros
# 源码取自 tier4/nebula 仓库 main 分支 HEAD，记录 commit 以保证产物可追溯
%global commit 8ce64073f41c2ec1166334ce7f8fb2edc13c86e5

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.2.0
Release:        1%{?dist}
Summary:        Nebula ROS Base Libraries
License:        Apache-2.0
URL:            https://github.com/tier4/nebula
# 实测 GitHub commit 归档解压根目录为 nebula-<完整SHA>，故 autosetup -n 用此名（§2 Source0 归档解压目录名）
Source0:        https://github.com/tier4/nebula/archive/%{commit}.tar.gz

# /opt 前缀下 debug 子包无意义，统一关闭（§2）
%global debug_package %{nil}
# 摘掉 brp-python-bytecompile，避免 /opt 下 Python 字节码写入标准 sitelib（§2）
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS 包不做自动依赖扫描，由 ament 间接依赖模型替代（§2）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

# package.xml 中 agnocastlib、libgoogle-glog-dev 为条件依赖
# （condition="$ENABLE_AGNOCAST == 1"，默认关闭），CMakeLists 同名守卫，故不写 BuildRequires。

# 构建工具依赖（buildtool_depend + ament_cmake 形态基座，§5/§6）
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-autoware-cmake
BuildRequires:  ros-%{ros_distro}-ros-environment
# ROS 库依赖（package.xml <depend>，§6 反幻觉铁律：均可在 ros-projects/ros-upstream 清单或同批 sibling 中找到依据）
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-diagnostic-msgs
BuildRequires:  ros-%{ros_distro}-diagnostic-updater
BuildRequires:  ros-%{ros_distro}-rosbag2-storage
BuildRequires:  ros-%{ros_distro}-nebula-core-common
# 系统依赖（pkg.remap: boost -> boost-devel）
BuildRequires:  boost-devel

# 运行时 Requires：/opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，必须手写（§6）
Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-diagnostic-msgs
Requires:       ros-%{ros_distro}-diagnostic-updater
Requires:       ros-%{ros_distro}-rosbag2-storage
Requires:       ros-%{ros_distro}-nebula-core-common
Requires:       boost-devel

# 单包策略：禁止拆实体子包，改用虚拟别名兼容依赖方（§7）
Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
Nebula ROS 基础库 —— TIER IV Nebula 激光雷达驱动栈的核心 ROS 2 基座库。
提供共享参数描述符工具与 agnocast wrapper 集成层，供 Nebula 各传感器驱动包使用。

%prep
%autosetup -n nebula-%{commit}

%build
# ROS 基座环境引导：setup.sh 可能不存在，须用 [ -f ] 守卫（§4）
[ -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}

# monorepo 子目录构建：nebula_core_ros 位于 src/nebula_core/nebula_core_ros
cd src/nebula_core/nebula_core_ros
mkdir -p .obj
cd .obj
# ament_cmake 形态：显式 out-of-source 构建，避免 cmake 宏位置参数坑（§3/§5/§9）
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_build

%install
cd src/nebula_core/nebula_core_ros/.obj
%make_install DESTDIR=%{buildroot}

%files
# 整树拥有 /opt/ros/<distro>，对"装了没打包"类错误免疫（§7）
/opt/ros/%{ros_distro}

%changelog
* Thu Oct 08 2026 AI Importer <ai-importer@openeuler.org> - 1.2.0-1
- 初始引入 ros-humble-nebula-core-ros
- Version 取自 manifest target_version 1.2.0；源码为 tier4/nebula main 分支 HEAD（commit 8ce6407）