# ROS spec：nebula_continental（ament_cmake 形态，monorepo 多包内嵌构建）
# 上游：https://github.com/tier4/nebula（branch main）
# 构建类型：ament_cmake，使用 autoware_cmake 宏 + out-of-source CMake
# 依赖模型：标准 ROS 消息包 + autoware/nebula 内部包 + yaml-cpp 系统库
#
# 多包内嵌构建说明：tier4/nebula 是 monorepo，nebula_continental 编译时
# 链接同仓 sibling 包（nebula_continental_common/decoders/hw_interfaces、
# nebula_core_ros、nebula_core_hw_interfaces）。这些包在 EUR（additional_repos）
# 中使用下划线命名（ros-humble-nebula_continental_common 而非连字符），
# 依赖预检按连字符名查询无 provider；COPR 批量构建的同名包亦全部失败
# （build 113348/113349/113350 均 failed）。改用同源内嵌构建：在 %build 中
# 按依赖拓扑序逐个 cmake && make install DESTDIR，后续包通过 CMAKE_PREFIX_PATH
# 含 buildroot 前缀发现已装 sibling。Provides 声明虚拟别名满足下游。

%define ros_distro humble
%define RosPkgName nebula-continental

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.2.0
Release:        1%{?dist}
Summary:        Nebula Continental ROS Wrapper
License:        Apache-2.0
URL:            https://github.com/tier4/nebula
# GitHub branch main 归档；URL 后缀 #/ 强制 rpm 内部文件名，与 autosetup -n 统一目录名
Source0:        https://github.com/tier4/nebula/archive/refs/heads/main.tar.gz#/nebula-continental-%{version}.tar.gz

# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭
%global debug_package %{nil}
# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

# ===== BuildRequires =====
# 系统构建工具与库
BuildRequires:  cmake
BuildRequires:  gcc-c++
BuildRequires:  boost-devel
BuildRequires:  yaml-cpp-devel

# 构建基座（ament_cmake 形态强制）
BuildRequires:  ros-%{ros_distro}-ament-cmake

# buildtool_depend（package.xml）
BuildRequires:  ros-%{ros_distro}-autoware-cmake
BuildRequires:  ros-%{ros_distro}-ros-environment
BuildRequires:  ros-%{ros_distro}-ros-testing

# depend（package.xml，条件依赖 agnocast_components 默认不启用故省略）
# 内嵌构建的 sibling 包不写 BuildRequires（同源 %build 编译安装）：
#   nebula_continental_common / nebula_continental_decoders /
#   nebula_continental_hw_interfaces / nebula_core_ros /
#   nebula_core_hw_interfaces（nebula_continental_hw_interfaces 的传递依赖）
BuildRequires:  ros-%{ros_distro}-autoware-sensing-msgs
BuildRequires:  ros-%{ros_distro}-continental-msgs
BuildRequires:  ros-%{ros_distro}-continental-srvs
BuildRequires:  ros-%{ros_distro}-diagnostic-msgs
BuildRequires:  ros-%{ros_distro}-diagnostic-updater
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-message-filters
BuildRequires:  ros-%{ros_distro}-nebula-core-common
BuildRequires:  ros-%{ros_distro}-nebula-msgs
BuildRequires:  ros-%{ros_distro}-radar-msgs
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-rosbag2-storage
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-sync-tooling-msgs
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-visualization-msgs

# ===== Requires（运行时；/opt/ros 被 autodeps 豁免，必须手写）=====
# 强制基座（§6 运行时 Requires 三件套）
Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake

# package.xml <depend> 的运行时部分（exec 依赖）
# 内嵌构建的 sibling 包不写 Requires（文件已在本包 %files 中）
Requires:       ros-%{ros_distro}-autoware-sensing-msgs
Requires:       ros-%{ros_distro}-continental-msgs
Requires:       ros-%{ros_distro}-continental-srvs
Requires:       ros-%{ros_distro}-diagnostic-msgs
Requires:       ros-%{ros_distro}-diagnostic-updater
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-message-filters
Requires:       ros-%{ros_distro}-nebula-core-common
Requires:       ros-%{ros_distro}-nebula-msgs
Requires:       ros-%{ros_distro}-radar-msgs
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-sync-tooling-msgs
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-visualization-msgs
Requires:       yaml-cpp

# 单包策略：虚拟别名兼容依赖方，禁止拆实体子包（路径重叠致安装事务冲突）
Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}
# 内嵌构建的 sibling 包虚拟别名（满足下游 Requires 与 CI 可安装性检查）
Provides:       ros-%{ros_distro}-nebula-continental-common = %{version}-%{release}
Provides:       ros-%{ros_distro}-nebula-continental-decoders = %{version}-%{release}
Provides:       ros-%{ros_distro}-nebula-continental-hw-interfaces = %{version}-%{release}
Provides:       ros-%{ros_distro}-nebula-core-ros = %{version}-%{release}
Provides:       ros-%{ros_distro}-nebula-core-hw-interfaces = %{version}-%{release}

%description
Nebula Continental ROS Wrapper — Continental ARS548 / SRR520 雷达 ROS 封装，
提供解码器封装、硬件接口封装与 ROS 节点组件。属于 TIER IV Nebula
多雷达驱动框架的 Continental 分支，构建进 /opt/ros/humble 前缀。
本包内嵌构建同仓 sibling 包（nebula_continental_common/decoders/hw_interfaces、
nebula_core_ros、nebula_core_hw_interfaces），因 EUR 命名约定（下划线）
与 COPR 批量构建均不可用，改由同源 monorepo 编译安装。

%prep
%autosetup -n nebula-continental-%{version} -p1

%build
# ROS 基座环境（chroot 已配置 ROS SIG repo；无 ROS 依赖的包 buildroot 里
# 可能没有 setup.sh，必须用 [ -f ] 守卫——直接 source 不存在的文件在
# 严格 sh 下会中止整个 %build 脚本，|| true 挡不住）
[ -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}

# staged install prefix：sibling 包 make install DESTDIR=%{buildroot} 后，
# 后续包通过 CMAKE_PREFIX_PATH / AMENT_PREFIX_PATH 含 %{buildroot}/opt/ros 发现
_STAGED="%{buildroot}/opt/ros/%{ros_distro}"
export AMENT_PREFIX_PATH="${_STAGED}:/opt/ros/%{ros_distro}${AMENT_PREFIX_PATH:+:$AMENT_PREFIX_PATH}"
export PKG_CONFIG_PATH="${_STAGED}/lib/pkgconfig:${PKG_CONFIG_PATH}"

# monorepo 多包内嵌构建：按依赖拓扑序逐个 cmake + build + install
# 拓扑序：common → hw_interfaces → decoders → hw_interfaces(continental) → core_ros → continental
# 1. nebula_continental_common（header-only INTERFACE，依赖 nebula_core_common）
mkdir -p src/nebula_continental/nebula_continental_common/.obj
cd src/nebula_continental/nebula_continental_common/.obj
%cmake3 .. \
  -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
  -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF \
  -DBUILD_TESTING=OFF
%cmake_build
make install DESTDIR=%{buildroot}
cd - >/dev/null

# 2. nebula_core_hw_interfaces（header-only INTERFACE，依赖 nebula_core_common）
mkdir -p src/nebula_core/nebula_core_hw_interfaces/.obj
cd src/nebula_core/nebula_core_hw_interfaces/.obj
%cmake3 .. \
  -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
  -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF \
  -DBUILD_TESTING=OFF
%cmake_build
make install DESTDIR=%{buildroot}
cd - >/dev/null

# 3. nebula_continental_decoders（SHARED lib，依赖 #1 nebula_continental_common）
mkdir -p src/nebula_continental/nebula_continental_decoders/.obj
cd src/nebula_continental/nebula_continental_decoders/.obj
%cmake3 .. \
  -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
  -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF \
  -DBUILD_TESTING=OFF
%cmake_build
make install DESTDIR=%{buildroot}
cd - >/dev/null

# 4. nebula_continental_hw_interfaces（SHARED lib，依赖 #1 + #2）
mkdir -p src/nebula_continental/nebula_continental_hw_interfaces/.obj
cd src/nebula_continental/nebula_continental_hw_interfaces/.obj
%cmake3 .. \
  -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
  -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF \
  -DBUILD_TESTING=OFF
%cmake_build
make install DESTDIR=%{buildroot}
cd - >/dev/null

# 5. nebula_core_ros（SHARED lib，依赖 nebula_core_common + rosbag2_storage）
mkdir -p src/nebula_core/nebula_core_ros/.obj
cd src/nebula_core/nebula_core_ros/.obj
%cmake3 .. \
  -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
  -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF \
  -DBUILD_TESTING=OFF
%cmake_build
make install DESTDIR=%{buildroot}
cd - >/dev/null

# 6. nebula_continental（主包，依赖 #1 #3 #4 #5 + 外部 ROS 包）
mkdir -p src/nebula_continental/nebula_continental/.obj
cd src/nebula_continental/nebula_continental/.obj
%cmake3 .. \
  -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
  -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro};${_STAGED}" \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF \
  -DBUILD_TESTING=OFF
%cmake_build

%install
# 所有 sibling 包在 %build 阶段已 make install DESTDIR=%{buildroot}，
# 仅需安装主包（nebula_continental）的最终产物
cd src/nebula_continental/nebula_continental/.obj
make install DESTDIR=%{buildroot}

%files
%license LICENSE
# 整树拥有（SIG 模板标准做法，对"装了没打包"类错误免疫）
/opt/ros/%{ros_distro}

%changelog
* Thu Oct 08 2026 ROS SIG <ros-sig@openeuler.org> - 1.2.0-1
- 初始引入 ros-humble-nebula-continental 1.2.0
- 内嵌构建同仓 sibling 包（EUR 下划线命名不匹配 + COPR 构建失败）