# ROS 2 包：easynav_mppi_controller（ament_cmake 形态）
# 来源：EasyNavigation/easynav_plugins 仓库 humble 分支（多包仓库，本包位于
#       controllers/easynav_mppi_controller/ 子目录）
# 严格遵循 /app/.claude/skills/build-rpm/spec-rules-ros.md 生成

# ros_distro 取自 session.json（禁止硬编码）；RosPkgName 为 package.xml <name>
# 经下划线→连字符归一化（easynav_mppi_controller → easynav-mppi-controller）
%define ros_distro humble
%define RosPkgName easynav-mppi-controller

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    0.5.0
Release:    1%{?dist}
Summary:    Easy Navigation: MPPI Controller package.
License:    Apache-2.0
URL:        https://github.com/EasyNavigation/easynav_plugins

# 源码取自 humble 分支 HEAD（branch 快照，无 0.5.0 tag）。target_version=0.5.0-1
# 已由 manifest/gate 给定，Version 取 0.5.0（剥离发布号 -1）；记录实际 commit 以保可追溯。
# commit 为 ros_fetch checkout 后实测的 HEAD（git rev-parse），非占位值。
# 归档解压根目录：GitHub archive/<commit>.tar.gz 既定命名为 <repo>-<fullSHA>，
# 即 easynav_plugins-703b73ae...，与同仓 easynav-mpc-controller 兄弟 spec 一致。
# （构建环境无外网，未能下载归档 tar tzf 实测；依据 GitHub 归档命名约定确定 -n。）
%global commit 703b73ae55bf6a419bf309b26084ca523b063ddf
Source0:    https://github.com/EasyNavigation/easynav_plugins/archive/%{commit}.tar.gz

# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），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:  gcc-c++
BuildRequires:  make
# ament_cmake 形态构建工具依赖（spec-rules §6）；ros-workspace 提供 /opt/ros setup.sh
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ros-workspace
# package.xml <depend> → ros-humble-<dep>（均经 ros-projects.list 实证为 SIG 维护包）：
#   easynav-common / easynav-core / easynav-sensors / easynav-system（ros-projects.list maintained）
#   geometry-msgs / nav-msgs / pluginlib / rclcpp / tf2 / tf2-geometry-msgs / tf2-ros / visualization-msgs
BuildRequires:  ros-%{ros_distro}-easynav-common
BuildRequires:  ros-%{ros_distro}-easynav-core
BuildRequires:  ros-%{ros_distro}-easynav-sensors
BuildRequires:  ros-%{ros_distro}-easynav-system
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-nav-msgs
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-visualization-msgs
# 系统依赖：package.xml 声明 libpcl-all-dev，CMakeLists find_package(PCL COMPONENTS common io)
# data/ros/global_config/pkg.remap 映射 libpcl-all-dev → pcl-devel（buildroot 需 cmake(PCL)）
BuildRequires:  pcl-devel

# 运行时 Requires（spec-rules §6 三件套 + <depend> 运行期依赖）：
#   ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks（所有 ROS 包强制）
#   ament-cmake ament 运行期钩子（ament_cmake 形态强制）
#   /opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，故运行期依赖手写
Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-easynav-common
Requires:       ros-%{ros_distro}-easynav-core
Requires:       ros-%{ros_distro}-easynav-sensors
Requires:       ros-%{ros_distro}-easynav-system
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-tf2
Requires:       ros-%{ros_distro}-tf2-geometry-msgs
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-visualization-msgs
# 控制器 .so 动态链接 libpcl_common/libpcl_io（位于 /usr/lib64），/opt/ros 下 .so 被豁免
# 不扫 requires，故显式声明运行期 pcl
Requires:       pcl

# 单包策略：严禁拆实体子包（spec-rules §7），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
Easy Navigation: MPPI Controller package.

A Model Predictive Path Integral (MPPI) controller implementation for the
Easy Navigation stack. Built as an ament_cmake shared library registered as
a pluginlib plugin (easynav::MPPIController, base easynav::ControllerMethodBase)
via easynav_core.

%prep
# 解压根目录 = easynav_plugins-<完整SHA>（GitHub commit 归档既定命名）
%autosetup -n easynav_plugins-%{commit}

%build
# ROS 基座环境（spec-rules §4）：setup.sh 用 [ -f ] 守卫，避免无 ROS 依赖 chroot 中止脚本
[ -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}

# 多包仓库：仅构建目标包子目录 controllers/easynav_mppi_controller
# ament_cmake 形态显式 out-of-source（spec-rules §5），避免 openEuler %cmake 宏位置参数坑
cd controllers/easynav_mppi_controller
mkdir -p .obj
cd .obj
%cmake3 .. \
  -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
cd controllers/easynav_mppi_controller/.obj
make install DESTDIR=%{buildroot}

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

%changelog
* Tue Oct 20 2026 AI Importer <ai-importer@opencode> - 0.5.0-1
- Initial ROS spec for easynav-mppi-controller (humble)
- Source: easynav_plugins humble branch snapshot (commit 703b73a)
- ament_cmake shared library, pluginlib plugin via easynav_core
- Single-package policy with virtual devel/doc/runtime Provides