%define ros_distro humble
%define RosPkgName irobot-create-toolbox
%define src_version 2.0.0

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.0.0
Release:        1%{?dist}
Summary:        Components and helpers for the iRobot(R) Create(R) 3 Educational Robot.
License:        BSD
URL:            https://github.com/iRobotEducation/create3_sim/tree/humble
Source0:        %{RosPkgName}-%{src_version}.tar.gz

# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭
%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:  ros-%{ros_distro}-ament-cmake
# package.xml 声明 ignition-math6，CMakeLists.txt 为 find_package(ignition-math6 REQUIRED)：
# 该 rosdep key 在 openEuler 源集合中无同名 RPM（repoquery 实证无 provider），
# 实际 provider 是 ros-humble-ignition-math6-vendor（ros-projects.list 已有），
# 其装入 /opt/ros/humble/lib/cmake/ignition-math6/ignition-math6-config.cmake
BuildRequires:  ros-%{ros_distro}-ignition-math6-vendor
BuildRequires:  ros-%{ros_distro}-rclcpp

# 运行时依赖：/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}-ignition-math6-vendor
Requires:       ros-%{ros_distro}-rclcpp

# 单包策略：ROS 包严禁拆实体子包，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
Components and helpers for the iRobot(R) Create(R) 3 Educational Robot.

%prep
%autosetup -n %{RosPkgName}-%{src_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）
[ -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 irobot_create_common/irobot_create_toolbox
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 -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
    ..
make %{?_smp_mflags}

%install
[ -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 irobot_create_common/irobot_create_toolbox
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.0.0-1
- Initial import (ROS batch)