%define ros_distro humble
%define RosPkgName nebula-robosense-decoders
%define commit 8ce64073f41c2ec1166334ce7f8fb2edc13c86e5

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.2.0
Release:    1%{?dist}
Summary:    Nebula Robosense Decoders Library
License:    Apache-2.0
URL:        https://github.com/tier4/nebula
Source0:    https://github.com/tier4/nebula/archive/%{commit}.tar.gz#/%{RosPkgName}-%{version}.tar.gz

# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规）
%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++
# pkg.remap: boost -> boost-devel
BuildRequires: boost-devel

# ament_cmake 形态构建工具依赖（§5/§6）
BuildRequires: ros-%{ros_distro}-ament-cmake
# autoware_cmake 提供 autoware_package() 宏（ros-upstream.list，同 COPR 递归构建）
BuildRequires: ros-%{ros_distro}-autoware-cmake
# buildtool_depend（package.xml）
BuildRequires: ros-%{ros_distro}-ros-environment

# <depend> ROS 包（ros-projects.list SIG 已有 / ros-upstream.list 同 COPR 递归构建）
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-nebula-core-common
BuildRequires: ros-%{ros_distro}-nebula-core-decoders
BuildRequires: ros-%{ros_distro}-nebula-robosense-common

# ===== Requires（运行时；/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写，§6）=====
# 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
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-nebula-core-common
Requires:       ros-%{ros_distro}-nebula-core-decoders
Requires:       ros-%{ros_distro}-nebula-robosense-common
Requires:       boost-devel

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

%description
Nebula Robosense Decoders Library — TIER IV Nebula 激光雷达驱动栈中 Robosense
传感器的解码器库，提供 robosense_driver 与 robosense_info_driver 两个共享库。
构建自 tier4/nebula monorepo（包名：nebula_robosense_decoders），安装进
/opt/ros/humble 前缀。

%prep
# Source0 #/ 重定向配合本地 --transform tar，解压根目录为 %{RosPkgName}-%{version}
%autosetup -n %{RosPkgName}-%{version}

%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}

# monorepo 子包目录：src/nebula_robosense/nebula_robosense_decoders
cd src/nebula_robosense/nebula_robosense_decoders
# 显式 out-of-source 构建（避免 openEuler %cmake 宏位置参数坑，§3/§5/§9）
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_build

%install
# ROS 基座环境（rpmbuild 每阶段重置 CWD 到 builddir，须重新引导，§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}

cd src/nebula_robosense/nebula_robosense_decoders/.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 ROS AI Importer <ros-sig@openeuler.org> - 1.2.0-1
- Initial RPM package for ros-humble-nebula-robosense-decoders
- Built from tier4/nebula monorepo (commit 8ce64073)