%define ros_distro humble
%define RosPkgName tiago-dual-controller-configuration
%define src_version 3.1.2-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        3.1.2
Release:        1%{?dist}
Summary:        Configuration and launch files of TIAGo Dual 's controllers
License:        Apache License 2.0
URL:            https://github.com/pal-robotics/tiago_dual_robot/tree/humble-devel
Source0:        %{RosPkgName}-%{src_version}.tar.gz

%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires:  cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake-auto
# 上游 package.xml 中 launch / launch_pal / ros2controlcli /
# tiago_controller_configuration 四项均为 <exec_depend>（非 build_depend、
# 非 buildtool_depend）。ament_cmake_auto 的 ament_auto_find_build_dependencies()
# 只遍历 BUILD_DEPENDS / BUILDTOOL_DEPENDS 调用 find_package（且默认 QUIET、
# 未传 REQUIRED），exec_depend 不参与构建期；本包 CMakeLists.txt 中亦无对这
# 四者的显式 find_package。故按 spec-rules-ros §6 的映射纪律（buildtool_depend
# 只进 BuildRequires，exec_depend 只进 Requires），这四项不写 BuildRequires。
# 本轮构建失败根因即在此：BuildRequires 把运行期包
# ros-humble-tiago-controller-configuration 拖进构建期依赖链，而该 RPM
# （来自 openEuler Embedded ROS2 humble 外挂源，版本 4.24.1）自身声明的
# gravity_compensation_controller2 / omni_drive_controller 在全部已配置源
# （官方 everything/update/EPOL + COPR result + additional_repos）均无
# provider，dnf builddep 报 conflicting requests 而失败。该依赖链断裂源于
# 外挂源 RPM 自身，非本包 spec 可修复；四项在本包运行期仍需，故按弱依赖禁令
# 保留在下方 Requires 中，仅从构建期依赖中移除。
# 上游 package.xml 的 pal_module_cmake 是条件依赖（PAL 自家 distro 变量）：
#   <build_depend condition="$PAL_DISTRO >= alum">pal_module_cmake</build_depend>
# 本构建环境（openEuler COPR，非 PAL_DISTRO）该条件不成立，依赖语义上不生效；
# 上游 CMakeLists.txt 亦将其写作可选依赖（if(pal_module_cmake_FOUND) ...
# elseif(DEFINED ENV{PAL_DISTRO}) message(FATAL_ERROR)），PAL_DISTRO 未定义时
# 静默跳过 module 注册，不 find_package、不报错——官方 buildfarm 的 humble
# 二进制包同样是在无该包的前提下构建的。pal_module_cmake 既不在 ros-projects.list
# 也不在 ros-upstream.list（rosdistro humble 无此包），openEuler 全部已配置源
# 均无 provider，不能凭猜测引入。故按 waived_deps.txt 显式豁免，不写进 spec。

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-launch
Requires:       ros-%{ros_distro}-launch-pal
Requires:       ros-%{ros_distro}-ros2controlcli
Requires:       ros-%{ros_distro}-tiago-controller-configuration

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
Configuration and launch files of TIAGo Dual 's controllers

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

%build
[ -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 tiago_dual_controller_configuration
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 tiago_dual_controller_configuration
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 3.1.2-1
- Initial import (ROS batch)