%define ros_distro humble
%define RosPkgName kuka-sunrise-fri-driver
%define src_version 1.1.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.1.0
Release:        5%{?dist}
Summary:        ROS2 KUKA sunrise interface
License:        Apache-2.0
URL:            https://github.com/kroshu/kuka_drivers/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}-controller-manager
BuildRequires:  ros-%{ros_distro}-controller-manager-msgs
BuildRequires:  ros-%{ros_distro}-effort-controllers
BuildRequires:  ros-%{ros_distro}-hardware-interface
BuildRequires:  ros-%{ros_distro}-joint-state-broadcaster
BuildRequires:  ros-%{ros_distro}-joint-trajectory-controller
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-std-srvs
BuildRequires:  ros-%{ros_distro}-fri-configuration-controller
BuildRequires:  ros-%{ros_distro}-fri-state-broadcaster
BuildRequires:  ros-%{ros_distro}-joint-group-impedance-controller
BuildRequires:  ros-%{ros_distro}-kuka-control-mode-handler
BuildRequires:  ros-%{ros_distro}-kuka-driver-interfaces
BuildRequires:  ros-%{ros_distro}-kuka-drivers-core
BuildRequires:  ros-%{ros_distro}-kuka-event-broadcaster
BuildRequires:  ros-%{ros_distro}-kuka-lbr-iiwa-support
BuildRequires:  libnanopb-dev

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-controller-manager
Requires:       ros-%{ros_distro}-controller-manager-msgs
Requires:       ros-%{ros_distro}-effort-controllers
Requires:       ros-%{ros_distro}-hardware-interface
Requires:       ros-%{ros_distro}-joint-state-broadcaster
Requires:       ros-%{ros_distro}-joint-trajectory-controller
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-std-srvs
Requires:       ros-%{ros_distro}-fri-configuration-controller
Requires:       ros-%{ros_distro}-fri-state-broadcaster
Requires:       ros-%{ros_distro}-joint-group-impedance-controller
Requires:       ros-%{ros_distro}-kuka-control-mode-handler
Requires:       ros-%{ros_distro}-kuka-driver-interfaces
Requires:       ros-%{ros_distro}-kuka-drivers-core
Requires:       ros-%{ros_distro}-kuka-event-broadcaster
Requires:       ros-%{ros_distro}-kuka-lbr-iiwa-support
Requires:       libnanopb-dev

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

%description
ROS2 KUKA sunrise interface

%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}
export CFLAGS="${CFLAGS:-} -I/usr/include/nanopb -fPIC"
export CXXFLAGS="${CXXFLAGS:-} -I/usr/include/nanopb -fPIC"
# COPR 复用的 ros-humble-kuka-drivers-core 旧版包缺失 joint_interface_validator.hpp
# 且 libkuka_drivers_core.so 无 ValidateJoint* 符号（nm -D 实证）
# 改 CMakeLists.txt：补 include 路径 + 编译 joint_interface_validator.cpp 到本包
sed -i 's|^include_directories(include src/fri_client_sdk)|include_directories(include src/fri_client_sdk ../kuka_drivers_core/include)|' kuka_sunrise_fri_driver/CMakeLists.txt
sed -i '/src\/hardware_interface.cpp$/a\  ../kuka_drivers_core/src/joint_interface_validator.cpp' kuka_sunrise_fri_driver/CMakeLists.txt
cd kuka_sunrise_fri_driver
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}" \
    -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
    -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 kuka_sunrise_fri_driver
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-5
- Fix Permission denied: stop copying headers to /opt/ros (read-only in mock chroot); instead sed-patch CMakeLists.txt to add kuka_drivers_core/include path and compile joint_interface_validator.cpp into the library (libkuka_drivers_core.so from COPR reuse lacks ValidateJoint* symbols)

* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-4
- Copy missing kuka_drivers_core headers (joint_interface_validator.hpp) from tarball source to buildroot include path; COPR reuse package built from older source lacks this header

* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-3
- Add -fPIC to CFLAGS/CXXFLAGS and CMAKE_POSITION_INDEPENDENT_CODE=ON to fix aarch64 R_AARCH64_ADR_PREL_PG_HI21 relocation error

* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-2
- Add -I/usr/include/nanopb to CFLAGS/CXXFLAGS to fix pb.h not found

* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial import (ROS batch)