# ROS spec：nebula-continental-common
# 上游：tier4/nebula monorepo（https://github.com/tier4/nebula，branch main）
# 本包为 monorepo 子包，源码位于 src/nebula_continental/nebula_continental_common/
# 构建形态：ament_cmake（buildtool 依赖 autoware_cmake + ros_environment）
# Version 取自 ros_pkg_manifest.json 的 target_version=1.2.0
# Source0 用 ros_fetch 实际拉取的 commit 归档（实测根目录名 = nebula-<full-sha>）

%define ros_distro humble
%define RosPkgName nebula-continental-common
%global commit 26749c80dff89f39000a9817141143c05ec151ab

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.2.0
Release:        1%{?dist}
Summary:        Nebula Common Continental Libraries and headers
License:        Apache-2.0
URL:            https://github.com/tier4/nebula
# 实测 GitHub commit 归档解压根目录为 nebula-<full-sha>（非纯 SHA），故 -n 与之匹配
Source0:        https://github.com/tier4/nebula/archive/%{commit}.tar.gz

# ROS /opt 前缀：关闭 debug 子包、摘除 python 字节码 brp、豁免自动依赖扫描
%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}/.*$

# 单包策略：虚拟别名兼容依赖方，严禁拆实体 -devel 子包（路径重叠致安装事务冲突）
Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

# ROS 依赖（均有清单依据，非幻觉）：
#   ament-cmake / ros-environment —— SIG 已移植（ros-projects.list）
#   autoware-cmake / nebula-core-common —— SIG 未移植但 rosdistro 全量存在（ros-upstream.list），同 COPR project 注册构建
BuildRequires:  cmake
BuildRequires:  gcc-c++
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-autoware-cmake
BuildRequires:  ros-%{ros_distro}-ros-environment
BuildRequires:  ros-%{ros_distro}-nebula-core-common
# 系统依赖（package.xml <depend>boost</depend>，CMakeLists find_package(Boost)）
BuildRequires:  boost-devel

# 运行时 Requires（ROS /opt 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}-nebula-core-common
# 头包（INTERFACE）通过 ament_export_dependencies 导出 Boost/nebula_core_common，消费方构建期需 boost-devel
Requires:       boost-devel

%description
Nebula Common Continental Libraries and headers. Header-only ament_cmake package
providing Continental SRR520 and ARS548 radar definitions for the Nebula LiDAR
driver stack, built into /opt/ros/%{ros_distro}.

%prep
%autosetup -n nebula-%{commit} -p1

%build
# ROS 基座环境（chroot 未装 setup.sh 时用 [ -f ] 守卫，避免严格 sh 中止整个 %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}

# monorepo 子包，CMakeLists 在 src/nebula_continental/nebula_continental_common
cd src/nebula_continental/nebula_continental_common
mkdir -p .obj
cd .obj
# 显式 out-of-source 构建（避免 openEuler %cmake 宏位置参数坑，spec-rules §5）
cmake .. \
    -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_build

%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 src/nebula_continental/nebula_continental_common/.obj
make install DESTDIR=%{buildroot}

%files
%license LICENSE
# 整树拥有（SIG 模板标准，对「装了没打包」类错误免疫，spec-rules §7）
/opt/ros/%{ros_distro}

%changelog
* Wed Sep 23 2026 AI Importer <ai-importer@opencode.local> - 1.2.0-1
- 初始引入 ros-humble-nebula-continental-common（ament_cmake / autoware_cmake 形态）。
- 源自 tier4/nebula monorepo commit 26749c80（branch main），子包 src/nebula_continental/nebula_continental_common。
- 头包（INTERFACE），仅安装头文件与 CMake 导出目标。