From 0c49eb703150aa1539e2f315918bb76c57c84a68 Mon Sep 17 00:00:00 2001
From: Pantelis Sopasakis <p.sopasakis@gmail.com>
Date: Mon, 14 Oct 2024 18:37:34 +0100
Subject: [PATCH 1/2] missing library file

---
 open-codegen/opengen/builder/ros_builder.py | 32 +++++++++++++++++++--
 1 file changed, 30 insertions(+), 2 deletions(-)

diff --git a/open-codegen/opengen/builder/ros_builder.py b/open-codegen/opengen/builder/ros_builder.py
index 0108a8a5..ba89c092 100644
--- a/open-codegen/opengen/builder/ros_builder.py
+++ b/open-codegen/opengen/builder/ros_builder.py
@@ -34,6 +34,11 @@ class RosBuilder:
     """
 
     def __init__(self, meta, build_config, solver_config):
+        if os.name == 'nt':
+            self.__logger.warning(
+                "You're on Windows; you will not be able to run ROS!")
+            self.__logger.info(
+                "The ROS code will be generated, but without the static library")
         self.__meta = meta
         self.__build_config = build_config
         self.__solver_config = solver_config
@@ -106,7 +111,10 @@ def __copy__ros_files(self):
                 target_ros_dir, 'include', header_file_name))
         original_include_file = os.path.abspath(
             os.path.join(self.__target_dir(), header_file_name))
-        shutil.copyfile(original_include_file, target_include_filename)
+        try:
+            shutil.copyfile(original_include_file, target_include_filename)
+        except:
+            pass
 
         # 2. --- copy library file
         lib_file_name = 'lib' + self.__meta.optimizer_name + '.a'
@@ -120,7 +128,27 @@ def __copy__ros_files(self):
                 'target',
                 self.__build_config.build_mode,
                 lib_file_name))
-        shutil.copyfile(original_lib_file, target_lib_file_name)
+
+        if not os.path.exists(original_lib_file):
+            # No static library file (most likely, because the user is on Windows)
+            # otherwise an error would have been produced earlier. Windows produces
+            # a DLL file, however it doesn't make sense to move it to the target
+            # directory (extern_lib) because ROS doesn't run on Windows anyway
+            self.__logger.warning(
+                f"File {original_lib_file} not found; proceeding without")
+            if os.name == 'nt':
+                self.__logger.warning(
+                    "File {lib_file_name} not found because you're running on Windows")
+            # Create a LIBRARY_MISSING_README.md file in the target directory
+            warning_file_name = \
+                os.path.abspath(os.path.join(
+                    target_ros_dir, 'extern_lib', 'LIBRARY_MISSING_README.md'))
+            with open(warning_file_name, 'w') as wfh:
+                wfh.write(f"""WARNING!\n\n
+Library file {lib_file_name} is missing. You will need to compile
+on the target device and copy the library file here by yourself.""")
+        else:
+            shutil.copyfile(original_lib_file, target_lib_file_name)
 
         # 3. --- copy msg file OptimizationParameters.msg
         original_params_msg = os.path.abspath(

From c4af72656702416881fd49c077619db7fd278f00 Mon Sep 17 00:00:00 2001
From: Pantelis Sopasakis <p.sopasakis@gmail.com>
Date: Mon, 14 Oct 2024 22:53:52 +0100
Subject: [PATCH 2/2] addressing #360

---
 open-codegen/opengen/builder/optimizer_builder.py | 5 +++++
 open-codegen/opengen/builder/ros_builder.py       | 5 +----
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/open-codegen/opengen/builder/optimizer_builder.py b/open-codegen/opengen/builder/optimizer_builder.py
index 55c96f64..75f46603 100644
--- a/open-codegen/opengen/builder/optimizer_builder.py
+++ b/open-codegen/opengen/builder/optimizer_builder.py
@@ -860,6 +860,11 @@ def build(self):
                 self.__build_python_bindings()
 
         if self.__build_config.ros_config is not None:
+            if self.__generate_not_build:
+                self.__logger.fatal(
+                    "Do not use with_ros and with_generate_not_build_flag simultaneously")
+                raise ValueError(
+                    "Unless the optimiser has been built, a ROS package cannot be generated")
             ros_builder = RosBuilder(
                 self.__meta,
                 self.__build_config,
diff --git a/open-codegen/opengen/builder/ros_builder.py b/open-codegen/opengen/builder/ros_builder.py
index ba89c092..2e06694a 100644
--- a/open-codegen/opengen/builder/ros_builder.py
+++ b/open-codegen/opengen/builder/ros_builder.py
@@ -111,10 +111,7 @@ def __copy__ros_files(self):
                 target_ros_dir, 'include', header_file_name))
         original_include_file = os.path.abspath(
             os.path.join(self.__target_dir(), header_file_name))
-        try:
-            shutil.copyfile(original_include_file, target_include_filename)
-        except:
-            pass
+        shutil.copyfile(original_include_file, target_include_filename)
 
         # 2. --- copy library file
         lib_file_name = 'lib' + self.__meta.optimizer_name + '.a'