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

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.2.0
Release:    1%{?dist}
Summary:    Nebula Velodyne Decoders Library
License:    Apache-2.0
URL:        https://github.com/tier4/nebula
Source0:    https://github.com/tier4/nebula/archive/%{commit}.tar.gz#/nebula-velodyne-decoders-%{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: cmake
BuildRequires: gcc-c++
# ament_cmake 形态构建工具依赖
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
BuildRequires: ros-%{ros_distro}-ros-environment
# <depend> ROS 包（SIG 已有 / 同 COPR 递归构建）
BuildRequires: ros-%{ros_distro}-angles
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-velodyne-msgs
BuildRequires: ros-%{ros_distro}-nebula-core-common
BuildRequires: ros-%{ros_distro}-nebula-core-decoders
BuildRequires: ros-%{ros_distro}-nebula-velodyne-common
# <depend> 系统库（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）
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-angles
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-velodyne-msgs
Requires: ros-%{ros_distro}-nebula-core-common
Requires: ros-%{ros_distro}-nebula-core-decoders
Requires: ros-%{ros_distro}-nebula-velodyne-common
Requires: boost-devel

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

%description
Nebula Velodyne Decoders Library — shared library providing Velodyne LiDAR
decoder implementations (VLP-16, VLP-32, VLS-128) for the Nebula universal
sensor driver platform.
Built from the tier4/nebula monorepo (package: nebula_velodyne_decoders).

%prep
%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_velodyne/nebula_velodyne_decoders
cd src/nebula_velodyne/nebula_velodyne_decoders
# 显式 out-of-source 构建（避免 openEuler %cmake 宏位置参数坑）
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
[ -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_velodyne/nebula_velodyne_decoders/.obj
make install DESTDIR=%{buildroot}

%files
/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-velodyne-decoders
- Built from tier4/nebula monorepo (commit 8ce64073)