%define ros_distro humble
%define RosPkgName easynav-simple-recovery
%define src_version 0.5.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.5.0
Release:        1%{?dist}
Summary:        Easy Navigation: a simple recovery system, as an example of how to write one.
License:        Apache-2.0
URL:            https://github.com/EasyNavigation/easynav_plugins/tree/humble
Source0:        %{RosPkgName}-%{src_version}.tar.gz

# ROS 包统一关闭 debug 子包（/opt 前缀，strip/debugedit 路径非常规，spec-rules §2）
%global debug_package %{nil}
# 摘掉 brp-python-bytecompile（/opt 下 python 字节码编译会写标准 sitelib 路径，spec-rules §2）
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# /opt/ros 下 .so 不做自动依赖扫描（由 ament 间接依赖模型替代，spec-rules §2）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

# ── BuildRequires ──
# 构建工具
BuildRequires:  cmake
BuildRequires:  make
# ROS 构建工具（buildtool_depend ament_cmake，spec-rules §6）
BuildRequires:  ros-%{ros_distro}-ament-cmake
# ROS 依赖（package.xml <depend>，经 ros-projects.list 验证 SIG 源已有）
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-nav-msgs
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp
# 批次兄弟包（同一 COPR project 构建，dep_registry 注册）
BuildRequires:  ros-%{ros_distro}-easynav-common
BuildRequires:  ros-%{ros_distro}-easynav-core
BuildRequires:  ros-%{ros_distro}-easynav-sensors

# ── Requires（运行时，/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写，spec-rules §6）──
# 强制三件套：ros-workspace 提供 setup.sh 环境就绪，ament-cmake 提供 ament 运行期钩子
Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
# package.xml <depend> 的运行时映射（<depend> 隐含 exec_depend）
Requires:       ros-%{ros_distro}-easynav-common
Requires:       ros-%{ros_distro}-easynav-core
Requires:       ros-%{ros_distro}-easynav-sensors
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp

# 单包策略：严禁拆实体子包（主包 %files 整树拥有时路径必然重叠，spec-rules §7）
Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
Easy Navigation: a simple recovery system, as an example of how to write one.
Provides the SimpleRecoveryManager plugin for the Easy Navigation framework.

%prep
%autosetup -n %{RosPkgName}-%{src_version}

%build
# 源码在 monorepo 子目录中
cd recoveries/easynav_simple_recovery

# 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，spec-rules §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}

# 显式 out-of-source 构建（避免 openEuler %cmake 宏位置参数坑，spec-rules §5）
# BUILD_TESTING=OFF 关闭测试（package.xml <test_depend> 不写 BuildRequires，spec-rules §5）
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 -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
  ..
make %{?_smp_mflags}

%install
cd recoveries/easynav_simple_recovery/.obj

# 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}

make install DESTDIR=%{buildroot}

%files
# 整树拥有：对「装了没打包」类错误免疫（spec-rules §7）
/opt/ros/%{ros_distro}

%changelog
* Sat Oct 10 2026 AI Importer <ai-importer@opencode.local> - 0.5.0-1
- 初始 ROS humble spec，引入 easynav-simple-recovery