%define ros_distro humble
%define RosPkgName dynamixel-hardware-interface
%define src_version 1.5.0-2

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.5.0
Release:        2%{?dist}
Summary:        ROS 2 package providing a hardware interface for controlling Dynamixel motors v
License:        Apache 2.0
URL:            https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface/tree/humble
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}-dynamixel-sdk
BuildRequires:  ros-%{ros_distro}-hardware-interface
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-realtime-tools
BuildRequires:  ros-%{ros_distro}-std-srvs
BuildRequires:  ros-%{ros_distro}-dynamixel-interfaces

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-dynamixel-sdk
Requires:       ros-%{ros_distro}-hardware-interface
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-realtime-tools
Requires:       ros-%{ros_distro}-std-srvs
Requires:       ros-%{ros_distro}-dynamixel-interfaces

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

%description
ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.

%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}
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 .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 1.5.0-2
- Add compatibility typedefs for DynamixelSDK 3.7.x (GroupFastSyncRead -> GroupSyncRead, GroupFastBulkRead -> GroupBulkRead)

* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 1.5.0-1
- Initial import (ROS batch)