# ROS 2 包：easynav_vff_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_vff_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_vff_controller → easynav-vff-controller）
%define ros_distro humble
%define RosPkgName easynav-vff-controller

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    0.5.0
Release:    1%{?dist}
Summary:    Easy Navigation: VFF 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（spec-rules §2 实测纪律，禁止猜测）：
#   本地 `python3 -c "import tarfile; print(tarfile.open('<f>').getnames()[0])"`
#   实测 GitHub archive/<full-sha>.tar.gz 解压根目录为 easynav_plugins-<完整SHA>
#   （<repo>-<commit> 格式）。故 %%autosetup -n 用 easynav_plugins-%%{commit}。
#   注：同仓兄弟 spec easynav-serest-controller 误用 -n %%{commit}（纯 SHA），
#   SRPM 阶段不跑 %%prep 故未暴露，COPR 构建时 %%prep 会因 `cd: <sha>: No such file`
#   失败；本包据实测纠正。解压目录名与 Name/RosPkgName 解耦（§2）。
%global commit 2580d29baefe77305c6e9336dca743aa5ce51c2c
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>；每条均经源码 include 核实为实际引用
# （VffController.hpp / VffController.cpp），并经 CMakeLists find_package 确认：
#   easynav-common / easynav-core / easynav-sensors：easynav_*/*.hpp 实际 include
#   geometry-msgs：VffController.hpp include geometry_msgs/msg/twist_stamped.hpp
#   nav-msgs：VffController.cpp include nav_msgs/msg/{odometry,goals}.hpp
#   pluginlib：VffController.cpp include pluginlib/class_list_macros.hpp（插件注册）
#   rclcpp / rclcpp-lifecycle：CMakeLists 显式 find_package REQUIRED
#   tf2：VffController.cpp include tf2/LinearMath/{Quaternion,Matrix3x3}.hpp
#   visualization-msgs：VffController.hpp include visualization_msgs/msg/{marker,marker_array}.hpp
# 注：本包 package.xml 未声明 easynav-system / tf2-ros / tf2-geometry-msgs /
#   sensor-msgs / pcl-conversions / eigen（与同仓 mpc/serest controller 不同），
#   据本包自身 package.xml 纪律不写入，不盲抄兄弟 spec（spec-rules §6 反幻觉铁律）。
#   test_depend（ament_cmake_gtest / ament_lint_auto / ament_lint_common /
#   easynav_controller）按 §5 规定不写 BuildRequires，BUILD_TESTING=OFF 关闭。
BuildRequires:  ros-%{ros_distro}-easynav-common
BuildRequires:  ros-%{ros_distro}-easynav-core
BuildRequires:  ros-%{ros_distro}-easynav-sensors
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}-rclcpp-lifecycle
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-visualization-msgs
# 系统依赖：CMakeLists find_package(PCL REQUIRED COMPONENTS common io)，
# VffController.hpp include pcl/{point_cloud,point_types}.h。Debian 名
# libpcl-all-dev 禁用（§6 Debian 名禁令），openEuler 实证为 pcl-devel
# （同仓 mpc spec 已 dnf 实证 pcl-devel-1.12.1 提供 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}-geometry-msgs
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-lifecycle
Requires:       ros-%{ros_distro}-tf2
Requires:       ros-%{ros_distro}-visualization-msgs
# 控制器 .so 动态链接 libpcl_common/libpcl_io（在 /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: VFF Controller package.

A VFF (Vector Field Histogram) style local obstacle avoidance controller for
the Easy Navigation stack. Generates cmd_vel commands from proximity/cost data
and a target path reference using histogram-based steering selection. Built as
an ament_cmake shared library (vff_controller) registered as a pluginlib plugin
(easynav_vff_controller/VffController, type easynav::VffController, base
easynav::ControllerMethodBase) via easynav_core.

%prep
# 解压根目录 = easynav_plugins-<完整SHA>（本地 tar 实测，spec-rules §2）
%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_vff_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_vff_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_vff_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-vff-controller (humble)
- Source: easynav_plugins humble branch snapshot (commit 2580d29)
- ament_cmake shared library, pluginlib plugin via easynav_core
- Single-package policy with virtual devel/doc/runtime Provides