# ROS spec：nebula-hesai-hw-interfaces
# 上游：tier4/nebula monorepo（https://github.com/tier4/nebula，branch main）
# 本包为 monorepo 子包，源码位于 src/nebula_hesai/nebula_hesai_hw_interfaces/
# 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；SRPM 内捆绑归档实测根目录名 = 纯 commit SHA（spec-rules §2）

%define ros_distro humble
%define RosPkgName nebula-hesai-hw-interfaces
%global commit 26749c80dff89f39000a9817141143c05ec151ab

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.2.0
Release:        1%{?dist}
Summary:        Nebula Hesai Hardware Interfaces Library
License:        Apache-2.0
URL:            https://github.com/tier4/nebula
# 实测 SRPM 内捆绑归档解压根目录为纯 commit SHA（spec-rules §2：GitHub commit 归档根=纯 SHA，
# build 550 用 nebula-<sha> 失败、551 改 %%{commit} 成功；rpmbuild -bs 不跑 %%prep 故兄弟包的
# nebula-<sha> 写法从未被实测打回，此处置信 spec-rules §2 + SRPM 归档实测），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 —— embedded 附加源（eulermaker）有
#   autoware-cmake / nebula-core-common —— embedded 附加源有（provides 连字符名）
#   nebula-core-hw-interfaces —— EUR ROS-humble-3 有二进制（1.2.0-1），本批构建
#   nebula_hesai_common —— embedded 附加源有（下划线包名，provides 下划线名）
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
BuildRequires:  ros-%{ros_distro}-nebula-core-hw-interfaces
# EUR embedded 附加源（eulermaker openEuler-Embedded-ROS2-humble-release3）的
# 二进制包名为下划线形态 ros-humble-nebula_hesai_common，不 provides 连字符
# 形态 ros-humble-nebula-hesai-common（nebula_core_common 则 provides 连字符名）。
# 改用下划线 capability 名匹配 embedded 源的 Provides。
BuildRequires:  ros-%{ros_distro}-nebula_hesai_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
# libnebula_hesai_hw_interfaces.so 经 ament_target_dependencies 链接这些兄弟库，运行期须就绪；
# ament_export_dependencies 导出 nebula_core_common/nebula_hesai_common/nebula_core_hw_interfaces/Boost
Requires:       ros-%{ros_distro}-nebula-core-common
Requires:       ros-%{ros_distro}-nebula-core-hw-interfaces
# 与 BuildRequires 同步：embedded 附加源二进制为下划线包名
Requires:       ros-%{ros_distro}-nebula_hesai_common
# ament_export_dependencies 导出 Boost，消费方构建期需 boost-devel
Requires:       boost-devel

%description
Nebula Hesai Hardware Interfaces Library. ament_cmake package (autoware_cmake
buildtool) providing the shared library libnebula_hesai_hw_interfaces.so, the
Hesai LiDAR hardware interface abstraction for the Nebula LiDAR driver stack,
built into /opt/ros/%{ros_distro}.

%prep
# 归档根目录为纯 commit SHA（spec-rules §2 + SRPM 内归档实测），autosetup -n 与之匹配
%autosetup -n %{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_hesai/nebula_hesai_hw_interfaces
cd src/nebula_hesai/nebula_hesai_hw_interfaces
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_hesai/nebula_hesai_hw_interfaces/.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-hesai-hw-interfaces（ament_cmake / autoware_cmake 形态）。
- 源自 tier4/nebula monorepo commit 26749c80（branch main），子包 src/nebula_hesai/nebula_hesai_hw_interfaces。
- 构建 SHARED 库 libnebula_hesai_hw_interfaces.so，安装 Hesai 硬件接口与头文件。