%define ros_distro humble
%define RosPkgName nebula-hesai-decoders

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.2.0
Release:    1%{?dist}
Summary:    Nebula Hesai Decoders Library
License:    Apache-2.0
URL:        https://github.com/tier4/nebula
# 分支 main 快照（ros_fetch checkout HEAD），记录 commit 保证产物可追溯
# GitHub /archive/<full-sha>.tar.gz 解压根目录为 nebula-<full-sha>（实测确认）
%global commit 8ce64073f41c2ec1166334ce7f8fb2edc13c86e5
Source0:    https://github.com/tier4/nebula/archive/%{commit}.tar.gz

# debug 子包无意义（/opt 前缀），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: cmake
BuildRequires: make
BuildRequires: gcc-c++
BuildRequires: boost-devel
# ament_cmake 构建工具（规则 §5：ament_cmake 形态强制）
BuildRequires: ros-%{ros_distro}-ament-cmake
# package.xml <buildtool_depend>：autoware_cmake（ros-upstream.list，SIG 未移植，递归构建兜底）
BuildRequires: ros-%{ros_distro}-autoware-cmake
# package.xml <buildtool_depend>：ros_environment（ros-projects.list，SIG 已有）
BuildRequires: ros-%{ros_distro}-ros-environment
# package.xml <depend>：rclcpp（ros-projects.list，SIG 已有）
BuildRequires: ros-%{ros_distro}-rclcpp
# package.xml <depend>：兄弟包（同 nebula 单仓，同 COPR project 构建）
BuildRequires: ros-%{ros_distro}-nebula-core-common
BuildRequires: ros-%{ros_distro}-nebula-core-decoders
BuildRequires: ros-%{ros_distro}-nebula-hesai-common

# 运行时 Requires（ROS 特有：/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-nebula-core-common
Requires: ros-%{ros_distro}-nebula-core-decoders
Requires: ros-%{ros_distro}-nebula-hesai-common
Requires: boost-devel

# 单包策略：严禁拆实体子包（路径重叠致安装事务冲突），用虚拟别名兼容依赖方
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}

%description
Nebula Hesai Decoders Library — Hesai LiDAR decoder shared library from the
TIER IV nebula project, built for ROS 2 %{ros_distro} under /opt/ros/%{ros_distro}.

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

%build
# ROS 基座环境（chroot 可能无 setup.sh，用 [ -f ] 守卫）
[ -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}

# 单仓多包：仅构建 src/nebula_hesai/nebula_hesai_decoders 子包
cd src/nebula_hesai/nebula_hesai_decoders
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
cd src/nebula_hesai/nebula_hesai_decoders/.obj
make install DESTDIR=%{buildroot}

%files
# %files 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 AI Importer <ai-importer@opencode.local> - 1.2.0-1
- Initial RPM package for ros-humble-nebula-hesai-decoders