%define ros_distro humble
%define RosPkgName foxglove-bridge
%define src_version 3.5.0-1
# 上游 Foxglove C++ SDK 版本（CMakeLists.txt 中 FOXGLOVE_SDK_VERSION），随 ROS 包发布
%define sdk_version 0.27.0

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        3.5.0
Release:        1%{?dist}
Summary:        ROS Foxglove Bridge
License:        MIT
URL:            https://github.com/foxglove/foxglove-sdk
# Source0：foxglove-sdk monorepo 归档（含 ros/src/foxglove_bridge 包），src_version 为完整清单版本号
Source0:        %{RosPkgName}-%{src_version}.tar.gz
# Source1：上游 CMake FetchContent 下载的预编译 Foxglove C++ SDK zip（aarch64，GitHub release tag sdk/v0.27.0）。
# COPR 构建环境无网络，FetchContent 必败，故在此声明为 Source 并于 %prep 离线解压、%build 以
# -DFETCHCONTENT_SOURCE_DIR_FOXGLOVE_SDK 重定向。zip 顶层目录为 foxglove/，内含
# lib/cmake/foxglove-sdk/foxglove-sdkConfig.cmake。
# 本 Source 由 pkg-fixer 离线抓取后放 pkgs/<pkg>/ 本地文件，_prepare_inputs 的本地文件复制
# 优先于 URL 下载（规避 release-assets.githubusercontent.com CDN 限速）。
# COPR chroot 仅为 openEuler-24.03_LTS_SP3-aarch64，故仅提供 aarch64 zip（原 x86_64 Source 已删除）。
Source1:        https://github.com/foxglove/foxglove-sdk/releases/download/sdk/v%{sdk_version}/foxglove-v%{sdk_version}-cpp-aarch64-unknown-linux-gnu.zip

# 预编译 SDK zip 仅为 aarch64；限制构建架构与 COPR chroot 一致
ExclusiveArch:  aarch64

# debug 子包无意义（/opt 前缀），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:  unzip
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ament-index-cpp
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-rcl-interfaces
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-rcpputils
BuildRequires:  ros-%{ros_distro}-rcutils
BuildRequires:  ros-%{ros_distro}-resource-retriever
BuildRequires:  ros-%{ros_distro}-ros-environment
BuildRequires:  ros-%{ros_distro}-rosgraph-msgs
BuildRequires:  ros-%{ros_distro}-rosidl-typesupport-introspection-cpp
# rosx-introspection 仅在 ros-upstream.list（rosdistro 全量），SIG 源尚未移植：
# 依 §6 写 BuildRequires 交构建失败诊断循环注册递归引入，禁止静默丢弃
BuildRequires:  ros-%{ros_distro}-rosx-introspection
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-std-msgs

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-ament-index-cpp
Requires:       ros-%{ros_distro}-rcl-interfaces
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-rcpputils
Requires:       ros-%{ros_distro}-rcutils
Requires:       ros-%{ros_distro}-resource-retriever
Requires:       ros-%{ros_distro}-rosgraph-msgs
Requires:       ros-%{ros_distro}-rosidl-typesupport-introspection-cpp
Requires:       ros-%{ros_distro}-rosx-introspection
Requires:       ros-%{ros_distro}-std-msgs

# 单包策略：严禁拆实体子包（路径重叠致安装事务冲突），改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
High performance ROS 2 WebSocket bridge using the Foxglove SDK, written in C++.
The foxglove_bridge bridges ROS 2 topics, services and parameters to WebSocket
clients (such as Foxglove Studio) with low overhead.

%prep
%autosetup -n %{RosPkgName}-%{src_version}
# 离线本地化上游 CMake FetchContent 下载的预编译 Foxglove C++ SDK（COPR 构建无网络）。
# 解压到 %{_builddir}，顶层目录 foxglove/ 与 Source0 目录不冲突；unzip -d 不改变当前工作目录。
# 仅 aarch64（ExclusiveArch 限制，COPR chroot 为 openEuler-24.03_LTS_SP3-aarch64）。
unzip -q -o %{_sourcedir}/foxglove-v%{sdk_version}-cpp-aarch64-unknown-linux-gnu.zip -d %{_builddir}

%build
# ROS 基座环境（setup.sh 可能不存在，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}
# 包位于 monorepo 的 ros/src/foxglove_bridge 子目录
cd ros/src/foxglove_bridge
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 \
    -DFOXGLOVE_BRIDGE_REMOTE_ACCESS=OFF \
    -DFETCHCONTENT_SOURCE_DIR_FOXGLOVE_SDK=%{_builddir}/foxglove \
    ..
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 ros/src/foxglove_bridge
cd .obj
make install DESTDIR=%{buildroot}

# %files 整树拥有 /opt/ros/<distro>，对"装了没打包"类错误免疫（SIG 模板标准做法）
%files
/opt/ros/%{ros_distro}

%changelog
* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 3.5.0-1
- Initial import (ROS batch)