%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}

# 兼容性修复：本地源码（main 分支）使用 as2::Node::getParameter<T>(...) 模板方法，
# 但已安装的 as2-core（旧版 tag）node.hpp 不含此方法。创建等价自由函数
# as2_compat::getParameter 并替换所有调用点（3 文件 / 25 处）。
python3 - << 'PYEOF'
import os, re

base = "as2_behaviors/as2_behaviors_object_perception"

# 1. 创建兼容头文件
compat_path = os.path.join(base, "include/as2_behaviors_object_perception/as2_compat.hpp")
if not os.path.exists(compat_path):
    with open(compat_path, 'w') as f:
        f.write(
            '#ifndef AS2_BEHAVIORS_OBJECT_PERCEPTION__AS2_COMPAT_HPP_\n'
            '#define AS2_BEHAVIORS_OBJECT_PERCEPTION__AS2_COMPAT_HPP_\n'
            '\n'
            '#include <string>\n'
            '#include <rclcpp/rclcpp.hpp>\n'
            '\n'
            'namespace as2_compat {\n'
            '\n'
            'template<typename T>\n'
            'T getParameter(rclcpp::Node * node, const std::string & name, const T & default_value)\n'
            '{\n'
            '  if (!node->has_parameter(name)) {\n'
            '    node->declare_parameter<T>(name, default_value);\n'
            '  }\n'
            '  const rclcpp::Parameter parameter = node->get_parameter(name);\n'
            '  return parameter.template get_value<T>();\n'
            '}\n'
            '\n'
            'template<typename T>\n'
            'T getParameter(rclcpp::Node * node, const std::string & name)\n'
            '{\n'
            '  if (!node->has_parameter(name)) {\n'
            '    node->declare_parameter<T>(name);\n'
            '  }\n'
            '  const rclcpp::Parameter parameter = node->get_parameter(name);\n'
            '  return parameter.template get_value<T>();\n'
            '}\n'
            '\n'
            '}  // namespace as2_compat\n'
            '#endif  // AS2_BEHAVIORS_OBJECT_PERCEPTION__AS2_COMPAT_HPP_\n'
        )
    print("[fix] Created as2_compat.hpp")
else:
    print("[fix] as2_compat.hpp already exists")

# 2. 需要修改的文件
patch_files = [
    os.path.join(base, "src/as2_behaviors_object_perception.cpp"),
    os.path.join(base, "plugins/aruco/src/aruco.cpp"),
    os.path.join(base, "include/as2_behaviors_object_perception/common/common.hpp"),
]

# 3. 正则替换: <receiver>->getParameter<<type>>(<args>)
#    => as2_compat::getParameter<<type>>(<receiver>, <args>)
pat = re.compile(
    r'(\w+)->getParameter<((?:[^<>]|<[^<>]*>)*)>+\(([^)]*)\)'
)

for fp in patch_files:
    with open(fp) as f:
        content = f.read()

    # 添加 include（在最后一个 #include 之后）
    if 'as2_compat.hpp' not in content:
        lines = content.split('\n')
        last_inc = -1
        for i, ln in enumerate(lines):
            if ln.strip().startswith('#include'):
                last_inc = i
        if last_inc >= 0:
            lines.insert(last_inc + 1, '#include "as2_behaviors_object_perception/as2_compat.hpp"')
            content = '\n'.join(lines)

    # 替换调用
    new_content, count = pat.subn(
        lambda m: 'as2_compat::getParameter<' + m.group(2) + '>(' + m.group(1) + ', ' + m.group(3) + ')',
        content
    )

    if count > 0:
        with open(fp, 'w') as f:
            f.write(new_content)
        print("[fix] %s: replaced %d getParameter calls" % (fp, count))
    else:
        print("[fix] %s: no getParameter calls found" % fp)

PYEOF

%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。
# 在可写构建目录创建指向 libopencv_core 的符号链接，通过 LIBRARY_PATH 让
# 链接器解析 -lopencv_face 等。本包不调用这三个模块的任何函数（仅传递性引入）。
mkdir -p opencv-lib-fix
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)" opencv-lib-fix/lib${mod}.so
done
export LIBRARY_PATH="$PWD/opencv-lib-fix${LIBRARY_PATH:+:$LIBRARY_PATH}"
export LD_LIBRARY_PATH="$PWD/opencv-lib-fix${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"

# 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)