%define ros_distro humble
%define RosPkgName as2-behaviors-perception

%global release_num 1

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.1.3
Release:    %{release_num}%{?dist}
Summary:    AS2 Behavior for object perception using a modular plugin-based pipeline
License:    BSD-3-Clause
URL:        https://github.com/aerostack2/aerostack2
Source0:    as2-behaviors-perception-%{version}-%{release_num}.tar.gz

# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），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: gcc-c++
BuildRequires: make

# ROS 构建工具
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-ament-cmake-ros

# ROS 依赖（SIG 源已有）
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-action
BuildRequires: ros-%{ros_distro}-action-msgs
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-cv-bridge
BuildRequires: ros-%{ros_distro}-visualization-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-std-msgs

# ROS 依赖（同 COPR project / additional_repos，aerostack2 monorepo 同源包）
BuildRequires: ros-%{ros_distro}-as2-core
BuildRequires: ros-%{ros_distro}-as2-behavior
BuildRequires: ros-%{ros_distro}-as2-msgs
BuildRequires: ros-%{ros_distro}-as2-usb-camera-interface

# 系统依赖
BuildRequires: opencv

# 运行时 Requires（/opt/ros 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}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-action
Requires: ros-%{ros_distro}-action-msgs
Requires: ros-%{ros_distro}-as2-core
Requires: ros-%{ros_distro}-as2-behavior
Requires: ros-%{ros_distro}-as2-msgs
Requires: ros-%{ros_distro}-as2-usb-camera-interface
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-cv-bridge
Requires: ros-%{ros_distro}-visualization-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-std-msgs

# 单包策略：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
AS2 Behavior for object perception using a modular plugin-based pipeline.
This package is part of the Aerostack2 framework, a ROS 2 framework for
autonomous multi-aerial-robot systems.

%prep
%autosetup -n as2-behaviors-perception-%{version}-%{release_num}

%build
# ROS 基座环境
[ -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}

# Workaround: openEuler opencv 包未安装 contrib 模块 (face, wechat_qrcode,
# xfeatures2d) 的 .so 文件，但 OpenCV CMake config 传递性引用这些模块。
# 创建指向 libopencv_core 的 dev 符号链接，让链接器能解析 -lopencv_face 等。
# 本包不调用这三个模块的任何函数（仅 ament_target_dependencies 传递性引入）。
for mod in opencv_face opencv_wechat_qrcode opencv_xfeatures2d; do
  [ -e /usr/lib64/lib${mod}.so ] || ln -sf "$(ls /usr/lib64/libopencv_core.so.* 2>/dev/null | head -1)" /usr/lib64/lib${mod}.so
done

# monorepo 子包，进入实际构建目录
cd as2_behaviors/as2_behaviors_object_perception
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 \
  ..
make %{?_smp_mflags}

%install
cd as2_behaviors/as2_behaviors_object_perception/.obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Sat Oct 10 2026 ROS SIG <ros-sig@openeuler.org> - 1.1.3-1
- Initial RPM package for as2-behaviors-perception (Aerostack2 monorepo)