MPC Auto-Export Bug

.gitignore

@@ -15,3 +15,7 @@ __pycache__/
 
 #vscode config
 .vscode/
+
+#Generated MPC Code
+main/src/vtr_path_planning/include/vtr_path_planning/mpc/mpc_solver.hpp
+main/src/vtr_path_planning/src/mpc/mpc_solver.cpp

main/src/vtr_common/vtr_include.cmake

@@ -36,18 +36,18 @@ endif()
 set(SelectedPipeline "$ENV{VTR_PIPELINE}")
 
 
-if(SelectedPipeline MATCHES "LIDAR")
+if(SelectedPipeline STREQUAL "LIDAR")
   add_definitions(-DVTR_ENABLE_LIDAR)
   set(VTR_ENABLE_LIDAR true)
-elseif(SelectedPipeline MATCHES "RADAR")
+elseif(SelectedPipeline STREQUAL "RADAR")
   add_definitions(-DVTR_ENABLE_RADAR)
   set(VTR_ENABLE_RADAR true)
-elseif(SelectedPipeline MATCHES "RADAR-LIDAR")
+elseif(SelectedPipeline STREQUAL "RADAR-LIDAR")
   add_definitions(-DVTR_ENABLE_RADAR)
   set(VTR_ENABLE_RADAR true)
   add_definitions(-DVTR_ENABLE_LIDAR)
   set(VTR_ENABLE_LIDAR true)
-elseif(SelectedPipeline MATCHES "VISION")
+elseif(SelectedPipeline STREQUAL "VISION")
   ## GPUSURF enable/disable flag (used by vision pipeline only)
   # Note: currently assume that gpusurf is always available, because we have no
   # other options, so do not disable (i.e. comment out) this flag

main/src/vtr_path_planning/CMakeLists.txt

@@ -46,8 +46,12 @@ ament_target_dependencies(${PROJECT_NAME}_base
   vtr_path_planning_msgs
 )
 
+
+execute_process(COMMAND ${PYTHON_EXECUTABLE} scripts/export_unicycle.py
+                    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+
 add_custom_command(OUTPUT "include/vtr_path_planning/mpc/mpc_solver.hpp"
-  COMMAND "${PYTHON_EXECUTABLE}" "${CMAKE_CURRENT_SOURCE_DIR}/scripts/export_unicycle.py"
+  COMMAND ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_SOURCE_DIR}/scripts/export_unicycle.py"
   DEPENDS "scripts/unicycle_solver.py")
 
 add_custom_target(generate_header ALL

main/src/vtr_path_planning/scripts/export_unicycle.py

@@ -1,9 +1,25 @@
 #! /usr/bin/python3
 
+import sys
 from unicycle_solver import solver
 import shutil
 import os
 
 solver.generate_dependencies("mpc_solver.cpp", {"cpp": True, "with_header": True})
-shutil.move('mpc_solver.cpp', os.getenv("VTRSRC") + '/main/src/vtr_path_planning/src/mpc/mpc_solver.cpp')
-shutil.move('mpc_solver.h', os.getenv("VTRSRC") + '/main/src/vtr_path_planning/include/vtr_path_planning/mpc/mpc_solver.hpp')
+print("Generated MPC files.", file=sys.stderr)
+try:
+    if os.path.exists('mpc_solver.cpp'):
+        shutil.move(os.getcwd() + '/mpc_solver.cpp', os.getenv("VTRSRC") + '/main/src/vtr_path_planning/src/mpc/mpc_solver.cpp')
+    elif not os.path.exists(os.getenv("VTRSRC") + '/main/src/vtr_path_planning/src/mpc/mpc_solver.cpp'):
+        raise FileNotFoundError("An error occurred while exporting the MPC.")
+
+
+    if os.path.exists('mpc_solver.h'):
+        shutil.move(os.getcwd() + '/mpc_solver.h', os.getenv("VTRSRC") + '/main/src/vtr_path_planning/include/vtr_path_planning/mpc/mpc_solver.hpp')
+    elif not os.path.exists(os.getenv("VTRSRC") + '/main/src/vtr_path_planning/include/vtr_path_planning/mpc/mpc_solver.hpp'):
+        raise FileNotFoundError("An error occurred while exporting the MPC.")
+
+    print("Copied files successfully", file=sys.stderr)
+except Exception as e:
+    print(f"Unknown error. Debug info pwd: {os.getcwd()}\nls: {os.listdir(os.getcwd())}", file=sys.stderr)
+    raise e